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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171-180 订阅

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Soft sensor modeling of AlCl₃•6H₂O content based on Powell-BP

Soft sensor modeling of AlCl<sub>3</sub>•6H<sub>2</sub>O co...

引用

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

作者： Yang, Jie Gao, Zengliang Liu, Yi Zhejiang Univ Technol Inst Proc Equipment & Control Engn Hangzhou 310032 Zhejiang Peoples R China

ISBN: (纸本)9781424451944

the production period of the crystalline aluminium chloride is considerably long. However, the offline assay of AlCl3 center dot 6H(2)O content has large time delay. thus soft sensor modeling is needed to analyze its content, and estimate the value to improve the product quality. the conventional back propagation (BP) neural network training is easily trapped to the local minimum, To overcome this embarrassment, the Powell method is adopted to optimize the training algorithm, improve the method of extremum computing, and reduce the difficulty of network realization. Finally, the soft sensor model ofAlCl(3)center dot 6H(2)O is established. Test results show that, compared with conventional neural network algorithms, the prediction of Powell-BP is more accurate and the convergence time is shorter.

关键词： soft sensor crystalline aluminium chloride BP neural network Powell method

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Forward kinematics and geometric control of a medical robot - Application to dental implantation

Forward kinematics and geometric control of a medical robot ...

引用

4th international conference on informatics in control, automation and robotics

作者： Chaumont, Richard Vasselin, Eric Lefebvre, Dimitri GREAH LE HAVRE Univ F-76058 Le Havre France

ISBN: (纸本)9789728865832

Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the requirements of dental surgeons, we offer a robotic system dedicated to dental implants. A dental implant is a mechanical device fixed into the patient's jaw. It is used to replace a single tooth or a set of missing teeth. Fitting the implant is a difficult operation that requires great accuracy. this work concerns the prototype of a medical robot. Forward and inverse kinematics as dynamics are considered in order to drive a control algorithm which is as accurate and safe as possible.

关键词： surgical robotics geometric modelling inverse geometric modelling dynamic modelling non linear system identification

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A set approach to the simultaneous localization and map building - Application to underwater robots

A set approach to the simultaneous localization and map buil...

引用

4th international conference on informatics in control, automation and robotics

作者： Jaulin, Luc Dabe, Frederic Bertholom, Alain Legris, Michel ENSIETA E3I2 2 Rue Franois Verny F-29200 Brest France GESMA Brest France

ISBN: (纸本)9789728865832

this paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficiently using interval analysis and propagation algorithms. the efficiency of the resulting propagation method is illustrated on the localization of submarine robot, named Redermor. the experiments have been collected by the GESMA (Groupe d'Etude Sous-Marine de l'Atlantique) in the Douarnenez Bay, in Brittany.

关键词： bounded-error constraint propagation interval analysis SLAM state estimation submarine robots robotics

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Towards Multi-functional Robot-based automation Systems 12

Towards Multi-functional Robot-based Automation Systems

引用

12th international conference on informatics in control automation and robotics (ICINCO)

作者： Angerer, Andreas Vistein, Michael Hoffmann, Alwin Reif, Wolfgang Krebs, Florian Schnheits, Manfred Univ Augsburg ISSE Augsburg Germany German Aerosp Ctr Inst Struct & Design Ctr Lightweight Prod Technol Stuttgart Germany

ISBN: (纸本)9789897581496

Multi-functional robot cells will play an important role in smart factories of the future. Equipped with flexible toolings, teams of robots will be able to realize manufacturing processes with growing complexity. However, to efficiently support small batch sizes and a multitude of process variants, powerful software tools are required. this paper illustrates the challenges that developers face in multi-functional robot cells, using the example of CFRP production. the vision of a new programming environment for such future flexible automation systems is sketched.

关键词： Cooperating Robots Industrial automation and robotics Robot Programming Modelling and Simulation

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Energy-based control for Soft Manipulators using Cosserat-beam Models 18

Energy-based Control for Soft Manipulators using Cosserat-be...

引用

18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Caasenbrood, Brandon Pogromsky, Alexander Nijmeijer, Henk Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands St Petersburg Natl Res Univ Informat Technol Mech Dept Control Syst & Informat St Petersburg Russia

ISBN: (纸本)9789897585227

In this work, we describe an energy-based control method for under-actuated soft manipulators. the continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.

关键词： Soft robotics Cosserat Beam theory Dynamic Modeling Energy-based control

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OPART: Towards an Open Platform for Abstraction of Real-Time Communication in Cross-Domain Applications 6

OPART: Towards an Open Platform for Abstraction of Real-Time...

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6th international conference on automation, robotics and Applications (ICARA)

作者： Farzaneh, Morteza Hashemi Knoll, Alois Pfeiffer, Jonas Tech Univ Munich Robot & Embedded Syst D-85748 Garching Germany Tech Univ Munich Micro Technol & Med Device Technol D-85748 Garching Germany

ISBN: (纸本)9781479964666

Developing real-time communication in various application fields such as robotics, factory automation, etc. is one the most important steps achieving a deterministic system. However, the development of this step is very complex and requires low level and advanced knowledge about the realtime communication systems. this complexity decelerates the developing process specially in cross-domain applications e. g. surgical control applications in Networked Medical Systems (NMS) requiring real-time communication and deterministic system behavior. General complexities developing real-time communication systems are classified. the architecture of an Open Platform for Abstraction of Real-Time Communication (OPART) is introduced for reducing these complexities. the architecture of OPART is based on the Ethernet-based real-time communication protocol openPOWERLINK. An experimental setup of OPART using a medical sensor and actuator is demonstrated.

关键词： automation Embedded systems Industrial Ethernet Medical Networked Medical Systems POWERLINK Real-time Communication robotics

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Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle 16

Exploiting Physical Contacts for Robustness Improvement of a...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Chaffre, thomas Tudal, Kevin Bertrand, Sylvain Prevost, Lionel ESIEA Learning Data & Robot Lab Paris France ONERA French Aerosp Lab Palaiseau France

ISBN: (纸本)9789897583803

In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization. A method is proposed to cope with uncertainties on the initial positioning of the MAV with respect to the wall and to deal with walls composed of multiple segments. this method is based on an online estimation algorithm that makes use of information of physical contacts detected by the drone during the flight to improve the positioning accuracy of the painted dots. Simulation results are presented to assess quantitatively the efficiency of the proposed approaches.

关键词： Aerial robotics Contact based Navigation Dot-painting

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A Distributed PID-like Consensus control for Discrete-time Multi-agent Systems 14

A Distributed PID-like Consensus Control for Discrete-time M...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Gionfra, Nicolo Sandou, Guillaume Siguerdidjane, Houria Faille, Damien Univ Paris Saclay Lab Signaux & Syst L2S Cent Supelec 3 Rue Joliot Curie F-91192 Gif Sur Yvette France EDF R&D Dept STEP 6 Quai Watier F-78401 Chatou France

ISBN: (纸本)9789897583049

the problem of discrete-time multi-agent systems governed by general MIMO dynamics is addressed. By employing a PID-like distributed protocol, we aim to solve two relevant consensus problems, namely the leaderless consensus under disturbances and leader-follower under time-varying reference state ones. Sufficient conditions for stability as well as two LMI approaches to tune the controller gains are provided. the latter are either based on a H-infinity formulation of the problem or on fast response to a reference exogenous signal. Numerical simulations give some insight of which tuning should be considered according to the problem addressed.

关键词： Multi-agent Systems Consensus control Discrete-time LTI Systems

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A Reactive Learning Mechanism for Multihoming MN on PMIPv6

A Reactive Learning Mechanism for Multihoming MN on PMIPv6

引用

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

作者： Wang Lingjiao Guo Hua Su Yongxin Liu Chuan Xiangtan Univ Coll Informat Engn Xiangtan Peoples R China Jiang Nan Machinery Grp CO LTD CNGC Dept Sci & Res Xiangtan Peoples R China

ISBN: (纸本)9781424451944

For a multihoming Mobile Node (MN), more resource is consumed because of multiple copies of every packet being forwarded to an MN according to the basic Proxy Mobile IPv6 (PMIPv6) specification. therefore, network congestion and some security issues can't be avoided. To tackle the issues, this paper presents a reactive learning mechanism that a Local Mobility Anchor (LMA) initiates a learning procedure of IP addresses of interfaces when it firstly forwards a packet to a registered "pending" interface. the statuses of Binding Cache Entry (BCE) are set for "active" from "pending" after the Home Network Prefixes (HNPs) at BCEs have been updated with the learned IP addresses respectively. For achieving an IP address, minimum required messages and extension of messages are defined and detailed message sequence charts are elaborated in the mechanism. the mechanism is applicable to all current access technologies and possesses well expansibility. It does not change the BCE's matching principle of PMIPv6 and abides by the network prefix match. Moreover the mechanism can suite the alternation of IP address.

关键词： multihoming PMIPv6 PBU/PBA MN LMA

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Laboratory tools for robotics and automation education

Laboratory tools for robotics and automation education

引用

20th IEEE international conference on robotics and automation (ICRA)

作者： Cosma, C Confente, M Botturi, D Fiorini, P Univ Verona Dipartimento Informat I-37134 Verona Italy

ISBN: (纸本)0780377362

this paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. these efforts are characterized by the need of blending R&A subjects into a traditional Computer Science curriculum, thus forcing a specific selection of development topics. In this context, the robotics Laboratory must provide basic as well as advanced experiments, to address the needs of students at different education levels. In this paper, we present the development of three main applications, to support control Systems and robotics classes, as well as thesis and dissertation research. Of particular interest is the effort in the area of teleoperation, preliminary to the opening, next year, of a new curriculum on Medical informatics, in which Computer Assisted Surgery will play an important role.

关键词： robotics

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