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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

共 1356 条记录，以下是1241-1250 订阅

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Environment for designing and simulating control networks at digital home

Environment for designing and simulating control networks at...

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5th international conference on Informatics in Control, automation and robotics

作者： Azorin-Lopez, Jorge Valdivieso-Sarabia, Rafael J. Fuster-Guillo, Andres Garcia-Chamizo, Juan M. Univ Alicante Dpto Tecnol Informat & Computac E-03080 Alicante Spain

ISBN: (纸本)9789898111319

A design and simulation environment for control network is presented. Control network design could be complex task because many technologies are involved. Each network technology uses its own design and configuration software. Also, it is necessary realize network installation in order to validate its correct operation. this situation introduces high temporal and economical costs in the network life cycle. Simulation design methodology as a task allows detect errors prematurely. System validations are made to a high level of abstraction. this paper proposes a design and simulation environment of digital home control network. It is based on a design independent from technology and postpone the technology choice and incorporates a simulation task that allows simulate the network.

关键词： simulation control network design automation digital home

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(A) vision for 2050 - the road towards image understanding for a human-robot soccer match

(A) vision for 2050 - The road towards image understanding f...

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5th international conference on Informatics in Control, automation and robotics

作者： Frese, Udo Laue, Tim DFKI D-28359 Bremen Germany Univ Bremen Fac Math & Comp Sci 3 SFB TR Spatial Cognit 8 D-28359 Bremen Germany

ISBN: (纸本)9789898111319

We believe it is possible to create the visual subsystem needed for the RoboCup 2050 challenge - a soccer match between humans and robots - within the next decade. In this position paper, we argue, that the basic techniques are available, but the main challenge will be to achieve the necessary robustness. We propose to address this challenge through the use of probabilistically modeled context, so for instance a visually indistinct circle is accepted as the ball, if it fits well with the ball's motion model and vice versa. Our vision is accompanied by a sequence of (partially already conducted) experiments for its verification. In these experiments, a human soccer player carries a helmet with a camera and an inertial sensor and the vision system has to extract all information from that data, a humanoid robot would need to take the human's place.

关键词： vision recognition image processing state estimation sensor fusion robot soccer sport robotics

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Multi-level control of an intelligent wheelchair in a hospital environment using a Cyber-Mouse simulation system

Multi-level control of an intelligent wheelchair in a hospit...

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5th international conference on Informatics in Control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Oliveira, Eugenio Reis, Luis Paulo Univ Porto Artificial Intelligence & Comp Sci Lab LIACC Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

the development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. the experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

关键词： intelligent wheelchair intelligent robotics Strips Planning path planning A* algorithm

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Clock synchronization in industrial automation networks - Comparison of different syntonization methods

Clock synchronization in industrial automation networks - Co...

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5th international conference on Informatics in Control, automation and robotics

作者： Obradovic, Dragan Scheiterer, Ruxandra Lupas Na, Chorigning Steindl, Guenter Goetz, Franz-Josef Siemens AG Corp Technol Informat & Commun Otto Hahn Ring 6 D-8000 Munich Germany Siemens AG Automat & Dr Ind Automat Amberg Germany Siemens AG Automat & Dr Adv Technol & Stand Nurnberg Germany

ISBN: (纸本)9789898111319

Synchronization of distributed clocks is a critical task in many real time applications over Ethernet. the Ethernet protocol, due to its non-deterministic nature, is not suitable for real-time applications with very strict synchronicity requirements. However, the limit is continuously being pushed outwards by current research. the Precision Time Protocol (PTP), delivered by the IEEE 1588 standard, provides high synchronization accuracy and has been adopted in many real time applications in the areas of industrial automation, measurement & control, communications etc. this paper will discuss several issues aimed at improving the synchronization performance.

关键词： IEEE 1588 PTP synchronization syntonization industrial automation network

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Shape memory alloy tendons actuated tentacle - Robotic structure models and control

Shape memory alloy tendons actuated tentacle - Robotic struc...

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ICINCO 2008 - 5th international conference on Informatics in Control, automation and robotics

作者： Bîzdoaca, Nicu George Petrisor, Anca Bîzdoaca, Elvira Diaconu, Ilie Degeratu, Sonia Faculty of Automation Computers and Electronics University of Craiova Romania Faculty of Electromechanical Engineering University of Craiova Romania

ISBN: (纸本)9789898111319

A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. the results are commented.

关键词： Shape memory effect

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An approach to obtain a PLC program from a DEVS model

An approach to obtain a PLC program from a DEVS model

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5th international conference on Informatics in Control, automation and robotics

作者： Park, Hyeong T. Seong, Kil Y. Dangol, Suraj Wang, Gi N. Park, Sang C. Ajou Univ Dept Ind Informat & Syst Engn Suwon 441749 South Korea

ISBN: (纸本)9789898111319

Proposed in the paper is an approach to generate the PLC code from the Discrete Event System Specification (DEVS) model. DEVS have been widely accepted to model the real system for the discrete event system simulation. the objective of this paper is to generate PLC control code from the DENS model. To achieve it, this paper proposes two steps. First step is to convert the real system into the virtual model using the 'three-phase-modeling procedure'. In the second step, the obtained model is formalized with DEVS formalism. the final model consists of different components, among them the State manager and the Flow controller model plays vital role to generate PLC code. In this paper, proposed steps are described with a work cell example.

关键词： programmable logic controller(PLC) DEVS factory automation simulation

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Design of an analog-digital PI controller with gain scheduling for laser tracker systems

Design of an analog-digital PI controller with gain scheduli...

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5th international conference on Informatics in Control, automation and robotics, ICINCO 2008

作者： Wachten, Christian Friedrich, Lars Müller, Claas Reinecke, Holger Ament, Christoph Department of Microsystems Technology University of Freiburg Georges-Koehler-Allee 103 79110 Freiburg Germany Institue for Automation and Systems Engineering TU Ilmenau 98693 Ilmenau Germany

ISBN: (纸本)9789898111326

Laser trackers are important devices in position metrology. A moving reflector is tracked by a laser beam to determine its position in space. To ensure a proper function of the device the feedback control loop is an essential part. An analog PI controller with online parameter adaptation and absolute distance measurement ability is used to guarantee an optimal dynamic system. the feedback controller is connected to a quadrant detector which serves as the sensor element in the control loop. the position of an incoming laser beam is measured by the quadrant detector and the controller provides the input signals for a subsequent actuator. the control variable is the deviation of the laser beam from the centre of the diode which should ideally be zero. the actuator consists of two axes and each one is equipped with a rotatable mirror. the task of the controller is to rotate the mirrors in such a way so that the laser beam follows the movements of the reflector. To design an optimal controller linear, time-invariant models of the actuator and the position sensor are developed to optimize its parameters. the gain of the plant correlates with the distance between the reflector and the laser tracker. To achieve the optimal dynamic performance the controller is automatically adapted to the distance during operation. A method based on oscillation injection to measure the absolute distance is developed. Due to higher dynamic demands a standard analog PI controller is implemented with the controller gain tuned by digital potentiometers. A microcontroller is used to adjust the parameters and to estimate the distance. During the power up sequence and in case of a beam loss the system is completely controlled by the digital part.

关键词： Laser beams

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Calibration aspects of multiple line-scan Vision System application for planar objects inspection

Calibration aspects of multiple line-scan Vision System appl...

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5th international conference on Informatics in Control, automation and robotics

作者： Hossu, Andrei Hossu, Daniela Univ Politehn Bucuresti Fac Control & Comp Dept Automat & Ind Informal RO-77206 Bucharest Romania

ISBN: (纸本)9789898111319

the System Set-up Time it is one of the characteristics of an Industrial Vision System, besides the accuracy performances and response time. Minimizing the set-up time while keeping the performances in accuracy and in response time is one of the goals of any advanced Vision System. Starting from the purpose and the required performances of the proposed Industrial Vision System, in the paper is presented a calibration method developed for a multiple line-scan camera Vision System (in particular for a dual line-scan camera system). the calibration method presented is based on analyzing the image of a calibration tool exposed to the Vision System. there are presented the type of dimensional distortions identified from the experimental results. the second part of the paper presents the calibration method. the Industrial Vision System described in the paper is designed for silhouette inspection of planar objects located on a moving scene (transport conveyor), in a robotic handling application (it is a pure 2D Vision System, the volumetric characteristics of the analyzed objects being not relevant for the application). However the height of the object is varying in time (from one set of objects to another). Due to the fact the distance between the cameras and the objects is changing, the measuring results are affected. the proposed calibration method allows the Vision System to self adjust the calibration parameters for a known change in height of the objects, without affecting the accuracy system performances. In the final section of the paper are presented some practical aspects of the proposed calibration method, and the balance between the off-line and the online required computational efforts from the Vision System.

关键词： Industrial Vision System line-scan camera dual-camera Vision System moving scene in robotic automation

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Housewives or technophiles?: Understanding domestic robot owners 08

Housewives or technophiles?: Understanding domestic robot ow...

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3rd ACM/IEEE international conference on Human-Robot Interaction, HRI 2008

作者： Sung, Ja-Young Grinter, Rebecca E. Christensen, Henrik I. Guo, Lan Center for Robotics and Intelligent Machines Georgia Institute of Technology 85 5th Street Atlanta GA 30332 United States Siemens Medical Solutions Inc. 51 Valley Stream Pkwy Malvern PA 19355 United States

ISBN: (纸本)9781605580173

Despite the growing body of Human-Robot Interaction (HRI) research focused on domestic robots, surprisingly little is known about the demographic profile of robot owners and their influence on usage patterns. In this paper, we present the results of a survey of 379 iRobot's Roombao wners, that identified their demographic and usage trends. the outcome of the survey suggests that Roomba users are equally likely to be men or women, and they tend to be younger with high levels of education and technical backgrounds. their adoption and use patterns illustrate the important role that gift exchange plays in adoption, and how the robot changes cleaning routines and creates non-cleaning activities. More generally, we argue that domestic robot adoption is growing, and suggest some of the factors that lead to a positive experience. Copyright 2008 ACM.

关键词： Surveys

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conference reports: Spatially and temporally distributed - international conference on Control, automation, robotics, and Vision (ICARCV2006)

Conference reports: Spatially and temporally distributed - I...

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作者： Xie, Lihua

the 9th international conference on Control, automation, robotics, and Vision (ICARCV2006) was held on 5-8 December at the Grand Hyatt Singapore. the event attracted 400 delegates. three researchers in the areas of robotics, control and computer vision were invited to deliver keynote speeches. Specifically, the keynote speeches are "Rescue robotics: A Grand Challenge" by Robin Roberson Murphy, University of South Florida, USA;"Identification of Nonlinear Dynamical systems" by Lennart Ljung, Linköping Universitet, Sweden;and "Probabilistic Inference in Low Level Vision" by Andrew Blake, University of Oxford and Microsoft Research, UK.

关键词： Technical presentations

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