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

共 1360 条记录，以下是441-450 订阅

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Implementation of CAPI and Traditional PCIe and Delay of Comparison

Implementation of CAPI and Traditional PCIe and Delay of Com...

引用

IEEE international conference on Cloud Computing and Big Data Analysis (ICCCBDA)

作者： Fudong Wang Tao Zhang Bingjie Zhao Fan Yang Qingxin Li Ziyang Li Key Laboratory of Networked Control Systemsm Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang China Chinese Academy of Sciences Dalian University of Technology Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Liaoning Shenyang China

ISBN: (数字)9781728160245

ISBN: (纸本)9781728160252

With the development of artificial intelligence technology and heterogeneous computing, heterogeneous communication speed is becoming more and more important. the latency of transmitting data determines whether a heterogeneous computing architecture is available. Current acceleration cards usually use PCIe interface. IBM developed the CAPI communication architecture for heterogeneous computing. this paper compares the technical principles and delays of the Power CAPI architecture and a high speed PCIe communication method.

关键词： Field programmable gate arrays Kernel Computer architecture Acceleration Linux Hardware

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Hand Gesture Recognition Based on Multi-Classification Adaptive Neuro-Fuzzy Inference System and pMMG

Hand Gesture Recognition Based on Multi-Classification Adapt...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Lei Wang Jian Huang Dongrui Wu Tao Duan Rui Zong Shicong Jiang Key Laboratory of Image Processing and Intelligent Control School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Laboratory for Economics and Computation City University of Hong Kong Kowloon Hong Kong SAR China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

In this paper, a multi-classification adaptive neuro-fuzzy inference system combining neural-network and a TSK fuzzy system is proposed to recognize six commonly used gestures. Several techniques including mini-batch gradient descent with L2 regularization, DropRule and AdaBound are integrated to improve the generalization ability of the system and the efficiency of training. Numerical results show that the average classification accuracy of the multiple classifier systems is 95.12%, and this value is higher than some other multiple classifier systems (CNN, LDA, etc.) using MMG signals as the inputs for hand gesture recognition.

关键词： Training Electromyography Muscles Skin Robots Mechatronics Adaptive systems

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Modeling of Shape Memory Alloy Actuated System Using a Modified Rate-dependent Prandtl-Ishlinskii Hysteresis Model

Modeling of Shape Memory Alloy Actuated System Using a Modif...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Mingwei Liang Ying Feng School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Shape memory alloys (SMAs) are widely used as actuators to construct various robotics systems, such as, minimally invasive surgery robots, micro in-pipe robots and biomimetic micro robots. However, the nonlinear hysteresis behaviors in SMA actuators seriously degrade the control accuracy and desired performances of SMA-actuated control systems. In this paper, an experimental platform based on SMA actuator is conducted. To make the platform capable of achieving precise control, the complex hysteresis characteristics of the SMA actuators are studied. the SMA actuator in this study exhibits complicated nonlinear properties with saturation nonlinearity and asymmetric hysteresis influenced by both the duty cycle of the input voltage and the load mass, which are different from the classical rate-dependent hysteresis behaviors. To explore the nonlinear properties of the SMA actuated system, open-loop experiments under different duty cycles and loads are testified, and a modified Rate-dependent Prandtl-Ishlinskii (RDPI) model is developed to enhance modeling abilities. Fitting effects of the modified RDPI model is validated by the comparison between the modeling output and experimental data.

关键词： Hysteresis Load modeling Robots Actuators Wires Parameter estimation Heat transfer

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Learning to Modulate Action of Deterministic Policy for Autonomous Navigation

Learning to Modulate Action of Deterministic Policy for Auto...

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automation, Control and robotics Engineering (CACRE), international conference on

作者： Xin Chen Ke Zhu Jianming Zhang State Laboratory of Industrial Control Technology College of Control Science and Technology Zhejiang University Institute of Robotics Zhejiang University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Unmanned mobile robots are widely used in unknown environments, where the exact overall arrangement of environments may not be available. this paper investigates navigation strategy for mobile robots based on reinforcement learning method to allow mobile robots to navigate in such environments. Deterministic policy gradient algorithm has recently been shown to be effective in complex tasks. However,deterministic policy may not be safe to solve navigation problem in unknown environments due to its determinacy. We propose a learning framework composed of dual policy networks, in which one of the policies acts as a tuner for the other. Multiple simulation results demonstrate that the proposed framework implicitly learns key navigation ability and is more efficient than baseline method.

关键词： Mobile Robot Navigation Reinforcement Learning Deterministic Policy Dual Network

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System Modeling for Construction of the Diagnostic Subsystem of the Integrated Automated Control System for the Technological Complex of Food Industries 19

System Modeling for Construction of the Diagnostic Subsystem...

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5th international conference on Mechatronics and robotics Engineering (ICMRE)

作者： Zaiets, Nataliia Vlasenko, Lidiia Lutskaya, Nataliia Usenko, Sergey Natl Univ Food Technol Vladimirskaya St 68 UA-01033 Kiev Ukraine Natl Univ Life & Environm Sci Ukraine Geroiv Oborony St 15 UA-03041 Kiev Ukraine

ISBN: (纸本)9781450360951

the development and implementation of an effective automated control system which is based on modern methods and means requires a competent system analysis at an early stage. Conducting a system modeling of the technological complex on the basis of the scenario-target approach, in particular the development of A- and C-scenarios, provides a clear visual perception and logical understanding of all the processes, the interactions and interrelations that occur in it. the main features of the components of successful functioning which are characteristic of the technological complexes of a food production facility have been identified. Since food production is complicated, including extremely stringent requirements to its products, the main components were formally divided into 7 groups: raw materials, electricity, thermal energy, natural gas, refrigerants, equipment and end products. the main requirements which ensure the nonstop operation of the technological complexes have been specified for each separate group. the conducted system modeling has resulted in the A-and C-scenarios, which are the basis for forecasting the state of the equipment: sensors, microprocessor controllers, actuation units and processing vessels.

关键词： Technological complex system models system analysis scenario automation system

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Robust Adaptive Fault-Tolerant Control for the Turbofan Aero-Engine System

Robust Adaptive Fault-Tolerant Control for the Turbofan Aero...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Fan Liu Mou Chen College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

the problem of adaptive robust fault-tolerant control is investigated for the turbofan system with uncertainties, actuator faults and unknown disturbances in this paper. Disturbances are considered to be energy bounded, and the actuator faults are the loss of effectiveness faults. A state-fault observer is devised to estimate the unmeasurable states and actuator faults. the energy bounded disturbances are suppressed using the H ∞ control method. then, a reference mode adaptive robust control strategy is built via combining the reference mode control approach, the state-fault observer scheme and H ∞ control theory. By means of Lyapunov stability theory and linear matrix inequality method, some results are achieved that the turbofan system can track asymptotically the desired performance of the reference model under the designed controller. Finally, the simulation results indicate that the proposed method is robust and effective.

关键词： Observers Robustness Adaptive systems Actuators Engines Robust control

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Real-time QoS-aware Routing Scheme in SDN-based Robotic Cyber-Physical systems 5

Real-time QoS-aware Routing Scheme in SDN-based Robotic Cybe...

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5th IEEE international conference on Mechatronics System and Robots (ICMSR)

作者： Jhaveri, Rutvij H. Tan, Rui Ramani, Sagar V. Nanyang Technol Univ DeltaNTU Corp Lab CPS Singapore Singapore Nanyang Technol Univ Sch Comp Sci & Engn Singapore Singapore Govt Polytechn Comp Engn Porbandar India

ISBN: (纸本)9781728122236

Industrial cyber-physical systems (CPS) have gained enormous attention of manufacturers in recent years due to their automation and cost reduction capabilities in the fourth industrial revolution (Industry 4.0). Such an industrial network of connected cyber and physical components may consist of highly expensive components such as robots. In order to provide efficient communication in such a network, it is imperative to improve the Quality-of-Service (QoS). Software Defined Networking (SDN) has become a key technology in realizing QoS concepts in a dynamic fashion by allowing a centralized controller to program each flow with a unified interface. However, state-of-the-art solutions do not effectively use the centralized visibility of SDN to fulfill QoS requirements of such industrial networks. In this paper, we propose an SDN-based routing mechanism which attempts to improve QoS in robotic cyber-physical systems which have hard real-time requirements. We exploit the SDN capabilities to dynamically select paths based on current link parameters in order to improve the QoS in such delay-constrained networks. We verify the efficiency of the proposed approach on a realistic industrial OpenFlow topology. Our experiments reveal that the proposed approach significantly outperforms an existing delay-based routing mechanism in terms of average throughput, end-to-end delay and jitter. the proposed solution would prove to be significant for the industrial applications in robotic cyber-physical systems.

关键词： manufacturing robotics software defined networking robotic cyber-physical system quality-of-service routing

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Kinematics and Workspace Analysis of Target Alignment Sensor for ICF

Kinematics and Workspace Analysis of Target Alignment Sensor...

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automation, Control and robotics Engineering (CACRE), international conference on

作者： Luchun Zhang Yanan Zhang Linyong Shen Jinwu Qian School of Mechatronics Engineering and Automation Shanghai University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Inertial confinement fusion(ICF) is one of the main ways to realize controllable thermonuclear fusion energy. It has high precision requirements for the aiming and positioning of experimental targets. the target alignment sensor for ICF is used to achieve beam-target coupling, and its adjustment accuracy will directly affect the accuracy of the target experiment. First, this article introduces the function and structure of the ICF target alignment sensor(TAS). then, the inverse kinematics solution of the 6-PTRT parallel manipulator with parallel posture adjustment mechanism is calculated, and the constraints of the inverse solution are given. Finally, the three-dimensional search method is used to search the working space of the parallel robot in a given attitude and convert it into the working space at the end of the target alignment sensor.

关键词： target alignment sensor parallel robot inverse kinematic solution workspace

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Stability analysis of grid-connected inverter with adaptive PLL

Stability analysis of grid-connected inverter with adaptive ...

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automation, Control and robotics Engineering (CACRE), international conference on

作者： Haocheng Meng College of Automation Nanjing University of Aeronautics and Astronautics

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

the adaptive PLL with an automatic gain control module has a good performance in improving the stability margin of the grid-connected inverter in face of varying grid properties. this paper investigates into the impedance model of a grid-connected inverter with adaptive PLL, and theoretically reveals its benefits from the perspective of Nyquist and bode plots. In a frequency domain comparative analysis, adaptive PLL increases the phase margin by 78.6% in the 5 mH grid impedance case and make the unstable system stable in the 10 mH grid impedance case. MATLAB/Simulink based time-domain simulation results demonstrate an improvement in the output currents quality with less oscillation. Furthermore, FFT analysis of the same cases discussed above shows a 22.11% and a 30.01% thD reduction respectively, indicating an enhancement in decreasing harmonics.

关键词： adaptive phase-locked loop grid-connected inverters stability analysis impedance model

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Distributed Parameter Estimation Using Invariant Manifold Approach

Distributed Parameter Estimation Using Invariant Manifold Ap...

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automation, Control and robotics Engineering (CACRE), international conference on

作者： Jingping shao Yang-Yang Chen Department of Automation Henan University of Science and Technology School of Automation Southeast University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

A novelty of distributed parameter estimation strategy for a class of nonlinear system with a time-varying parameter is proposed in this paper. the approach relies upon the concepts of invariant manifold and cooperative persistent excitation condition, does not require a priori knowledge of the time-varying parameters. In addition, it is shown that the parameter estimation error is not only bounded but also can converge to a small neighborhood of the origin for sufficiently large value of gain. A numerical simulation example is presented to demonstrate the effectiveness of the proposed method.

关键词： distributed parameter estimation invariant manifold persistent excitation(PE) consensus topology

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