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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2795 条记录，以下是111-120 订阅

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TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

引用

6th international conference on informatics in control, automation and robotics

作者： Zeiger, Florian Sauer, Markus Stolz, Lothar Schilling, Klaus Zentrum Telemat eV Allesgrundweg 12 Gerbrunn Germany

ISBN: (纸本)9789896740009

Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. this work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. thereby, the robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. the focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. the results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.

关键词： Networked robotics Teleoperation UMTS Wireless teleoperation Wireless networks of robots

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Sample-Based Motion Planning for Multi-Robot Systems 6

Sample-Based Motion Planning for Multi-Robot Systems

引用

6th international conference on control, automation and robotics (ICCAR)

作者： Muradi, Murad Wanka, Rolf Univ Erlangen Nurnberg Dept Comp Sci Munich Germany BMW Grp Munich Germany

ISBN: (纸本)9781728161396

We present a methodology for robot path planning and smoothing based on the probabilistic roadmap algorithm and simulated annealing algorithm. Furthermore, a fast and accurate collision detection and a suitable format for the abstract description of robot problems are introduced. the methods are tested on the automotive sealing process by applying them to a practical problem.

关键词： robotics motion planning collision detection path smoothing probabilistic roadmap simulated annealing

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ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDBACK-controlLED SERVO SYSTEMS

ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDB...

引用

6th international conference on informatics in control, automation and robotics

作者： Radac, Mircea-Bogdan Precup, Radu-Emil Petriu, Emil M. Preitl, Stefan Dragos, Claudia-Adina Politehn Univ Timisoara Dept Automat & Appl Inf Bd V Parvan 2 Timisoara 300223 Romania Univ Ottawa Sch Informat Technol & Engn Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898111999

An original control structure dedicated to a class of second-order state feedback control systems is presented in the paper. the controlled processes are accepted to be characterized by second-order servo systems with integral component. Optimal state feedback control systems are designed for those processes making use of the Iterative Feedback Tuning (IFT) approach. the state feedback control system structure is extended with an integral component to ensure the rejection of constant disturbances. A case study concerning the position control of a DC servo system with backlash is included. Real-time experimental results validate the theoretical part of the IFT approach.

关键词： Iterative Feedback Tuning Servo systems State feedback control systems

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MR Meets robotics: A Review of Mixed Reality Technology in robotics 6

MR Meets Robotics: A Review of Mixed Reality Technology in R...

引用

6th international conference on robotics, control and automation (ICRCA)

作者： Yu, Jiawei Wang, Tengyue Shi, Yunze Yang, Liangjing Zhejiang Univ Zhejiang Univ Univ Illinois Urbana Champaign Inst Haining Peoples R China

ISBN: (纸本)9781665481748

the rising interest in Mixed Reality (MR) technology in robotics and the lack of prior work in the literature of this subject motivate this review paper. Our purpose is to discuss current research and the advancement of MR applications in the context of robotics. Development in modern robots towards a more human-centric role is driven largely by enabling technology including, but not limited to, machine vision, cobots, virtual reality, and more recently, MR technology. the scope encompasses MR technology in various aspects of robotics, namely, robot vision, control and planning, human-robot interaction, multi-user collaborations, and swarm robotics. through discussions of the benefits and knowledge gaps in contemporary development, the review is expected to provide readers with an in-depth appreciation of the state-of-the-art technology and the possibility of MR technology in robotics.

关键词： mixed reality robotics visualization teleoperation and control

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An Efficient Algebraic Method for Direct Kinematics of the 5-6 Stewart Platform

An Efficient Algebraic Method for Direct Kinematics of the 5...

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2nd international Asia conference on informatics in control, automation and robotics (CAR)

作者： Huang, Xiguang Hang, Zuquan He, Guangpin Tan, Xiaolan North China Univ Technol Sch Mech & Elect Engn Beijing Peoples R China

ISBN: (纸本)9781424451944

An algorithm for direct kinematics of the 5-6 Stewart platform is presented. We construct a set of fifteen 4th degree equations in three unknowns and obtain the univariate polynomial of 20th degree. Due to dual solutions of other unknowns, this indicates a maximum of 40 possible solutions. A numerical example is given to verify the effectiveness and the accuracy of the proposed algorithm.

关键词： Forward kinematics Parallel mechanism Closed-form solutions

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informatics in control, automation and robotics 2011

引用

丛书名： Lecture Notes in Electrical Engineering

2011年

作者： Juan Andrade Cetto Jean-Louis Ferrier Joaquim Filipe

ISBN: (数字)9783642195396

ISBN: (纸本)9783642195389

the present book includes a set of selected papers from the seventh "international conference on informatics in control automation and robotics"(ICINCO 2010), held in Madeira, Portugal, from 15 to 18 June 2010. the conference was organized in three simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation" and "Signal Processing, Systems Modeling and control". the book is based on the same *** received 320 paper submissions, not including those of workshops or special sessions, from 57 countries, in all continents. After a double blind paper review performed by the Program Committee only 27 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 8%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO *** to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics.

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STRAIN FIELD INTERPOLATION OVER thE SCIARA DEL FUOCO (STROMBOLI VOLCANO) FROM GEODETIC MEASUREMENTS ACQUIRED BY thE AUTOMATIC thEODOROS SYSTEM

STRAIN FIELD INTERPOLATION OVER THE SCIARA DEL FUOCO (STROMB...

引用

6th international conference on informatics in control, automation and robotics

作者： Nunnari, Giuseppe Spata, Alessandro Puglisi, Giuseppe Bonforte, Alessandro Guglielmino, Francesco Univ Catania Dipartimento Ingn Elettr Elettron & Sistemi Viale A Doria 6 I-95125 Catania Italy

ISBN: (纸本)9789896740016

In this paper we treat two important aspects concerning the automatic monitoring of the ground deformation at the Sciara del Fuoco (SdF), the Stromboli volcano (Italy) steep flank subjects to dangerous landslide events: the developments of suitable software procedures to process observations and the evaluation of both 3D motion maps and 3D strain tensor over the whole investigated area. Ground deformation measured by the monitoring system known as thEODOROS (thEOdolite and Distancemeter Robot Observatory of Stromboli) is often affected by offsets and spikes, due to both malfunctioning and periodical maintenances of the system, and other noise sources making very difficult the interpretation of the ground deformation dynamics. To this purpose a suitable software tool able to reduce these drawbacks was developed. Furthermore, both 3D motion maps and 3D strain tensor are computed in order to provide new useful information aimed to better understanding the complex dynamic of the SdF.

关键词： Automatic monitoring system Data-processing Strain interpolation Stromboli volcano

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HIERARCHICAL PERFORMANCE-ORIENTED control OF FLEXIBLE MANUFACTURING CELLS

HIERARCHICAL PERFORMANCE-ORIENTED CONTROL OF FLEXIBLE MANUFA...

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6th international conference on informatics in control, automation and robotics

作者： Fahmy, Sherif Balakrishnan, Subramaniam ElMekkawy, Tarek Univ Manitoba Dept Mech & Mfg Engn Winnipeg MB R3T 5V6 Canada

ISBN: (纸本)9789898111999

In a job shop, each product may have a different processing route through the system. Automated Flexible Manufacturing Cells (FMC) that adopt this flow pattern are highly prone to deadlocks. A supervisor is a controller that uses available data via feedback loops to characterize the current behavior of the cell, and modify the equipment controllers to achieve the desired operational specifications in a deadlock-free manner. this paper proposes a hierarchical control system divided into an upper level scheduler and a lower level supervisor to control FMCs. the scheduler is responsible for determining a deadlock-free allocation of the resources that optimizes some performance measure, based on the current production requirements, and the supervisor guarantees that the flow plan (behavior) determined by the scheduler is realized on the shop floor. For that purpose, a formal method that can transform a production schedule into a supervisor, in real time, is also proposed. the supervisor is an augmented Marked Graph (MG) that captures all the events that can take place in the cell. the proposed approach is validated by generating and simulating the supervisors for two benchmark problems.

关键词： Deadlock-free scheduling Flexible manufacturing cells Hierarchical control Job shops Marked graphs Petri nets

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Processing Time Optimization for Robot Applications 6

Processing Time Optimization for Robot Applications

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6th international conference on control, automation and robotics (ICCAR)

作者： Muradi, Murad Wanka, Rolf Univ Erlangen Nurnberg BMW Grp Dept Comp Sci Munich Germany Univ Erlangen Nurnberg Dept Comp Sci Erlangen Germany

ISBN: (纸本)9781728161396

this research work includes the use of heuristic algorithms to automatically generate processing time optimized robot programs for manufacturing processes in the automotive industry. For this, we've implemented a genetic algorithm with multi-parent recombination and adjacency-based crossover. A reallocation mutation is also introduced to optimize the load balancing by classifying tasks into common and fixed tasks depending on their location relative to the robots' workspace. the heuristic is compared to an exact solver by applying it to a test problem. Lastly, the methodology is also applied to a real business problem in the area of vehicle sealing.

关键词： robotics processing time optimization sequencing scheduling load balancing genetic algorithm held-karp algorithm branch-and-bound algorithm

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IFT-BASED PI-FUZZY controlLERS Signal Processing and Implementation

IFT-BASED PI-FUZZY CONTROLLERS <i>Signal Processing and Impl...

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6th international conference on informatics in control, automation and robotics

作者： Precup, Radu-Emil Radac, Mircea-Bogdan Preitl, Stefan Tomescu, Marius-Lucian Petriu, Emil M. Paul, Adrian Sebastian Politehn Univ Timisoara Dept Automat & Appl Inf Bd V Parvan 2 Timisoara 300223 Romania Aurel Vlaicu Univ Arad Fac Comp Sci Arad 310330 Romania Univ Ottawa Sch Informat Technol & Engn Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898111999

New Takagi-Sugeno PI-fuzzy controllers (PI-FCs) are suggested in this paper. the PI-FC design is based on the optimization of PI controllers in terms of the Iterative Feedback Tuning (IFT) approach. Next the parameters of the PI controllers are mapped onto the parameters of the Takagi-Sugeno PI-FCs in terms of the modal equivalence principle. An attractive design method is derived to support the implementation of low-cost PI-FCs. the design is enabled by a stability analysis theorem based on Lyapunov's theorem for time-varying systems. the theoretical approaches are validated by a case study corresponding to the position control of a servo system. Real-time experimental results are included.

关键词： Iterative Feedback Tuning PI-fuzzy controllers Stability analysis

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