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

共 2796 条记录，以下是2501-2510 订阅

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Adaptive Neural Network Dynamic Surface Trajectory Tracking control for Underactuated Autonomous Underwater Vehicles

Adaptive Neural Network Dynamic Surface Trajectory Tracking ...

引用

robotics and Computer Vision (ICRCV), international conference on

作者： Guohong Jiang Meng Joo Er Huibin Gong Siqi Wang Institute of Artificial Intelligence and Marine Robotics College of Marine Electrical Engineering Dalian Maritime University Dalian China

ISBN: (数字)9798331527426

ISBN: (纸本)9798331527433

Aiming at the trajectory tracking control problem of underactuated autonomous underwater vehicles (AUVs) with unknown dynamic model parameters and time-varying ocean disturbances, a dynamic surface adaptive control strategy based on radial basis function neural network is proposed to complete the desired three-dimensional trajectory tracking. Firstly, an output redefinition method is used to solve the underactuated problem. Secondly, a dynamic surface control method is used to overcome the “explosion of complexity” problem in traditional backstepping control, and complexity of the control law design is simplified. At the same time, a nonlinear damping term is added in control law to overcome unknown external disturbances. Finally, unknown dynamic model parameters are approximated by a neural network, and the neural network weights are estimated online by an adaptive law. the Lyapunov theory is used to prove that all signals of closed-loop system are semi-globally uniformly bounded, and effectiveness of the control law is verified by comparative simulations.

关键词： Damping Sea surface Autonomous underwater vehicles Adaptation models Trajectory tracking Computational modeling Explosions Complexity theory Vehicle dynamics Adaptive control

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An analysis of security and communication constraints of IPv6-based Sensor Networks

An analysis of security and communication constraints of IPv...

引用

international conference on Electronics, Computers and Artificial Intelligence (ECAI)

作者： Ionela Halcu Grigore Stamatescu Iulia Stamatescu Valentin Sgarciu Department of Automatic Control and Industrial Informatics University “Politehnica” of Bucharest

Wireless Sensor Networks (WSN) offer a significant potential for ubiquitous monitoring and control in future internet-connected pervasive systems architectures. this can be achieved through seamless integration along existing networking devices and systems, while taking account the data-driven nature and security constraints imposed upon such low power, efficient embedded networked platforms. We argue that only through a combined security and communication approach can the relevant goals be achieved, by considering security issues as an integral part of high level layers of the protocol stack. this paper presents an analysis of security and communication constraints of IPv6-based wireless sensor networks at the network and transport layer. Leveraging the Contiki operating system for resource constrained devices along with the ContikiSec security layer and RPL, IPv6 Protocol for Low Power and Lossy Networks, helpful insight is achieved for evaluation and deployment. the results of the analysis are discussed and functions of its modules are explained. this opens up the path towards robust implementation in real world applications following comparative experimental work on simulated and emulated mote platforms.

关键词： Wireless sensor networks Protocols Internet Hardware Ad hoc networks Authentication

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Humanoid Mobile Manipulation Using controller Refinement

Humanoid Mobile Manipulation Using Controller Refinement

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IEEE-RAS international conference on Humanoid Robots

作者： Robert Platt Robert Burridge Myron Diftler Jodi Graf Mike Goza Eric Huber Oliver Brock Dexterous Robotics Laboratory NASA-Johnson Space Center USA Dexterous Robotics Laboratory NASA Department of Computer Science University of Massachusetts Amherst

ISBN: (纸本)1424401992;142440200X

An important class of mobile manipulation problems are "move-to-grasp" problems where a mobile robot must navigate to and pick up an object. One of the distinguishing features of this class of tasks is its coarse-to-fine structure. Near the beginning of the task, the robot can only sense the target object coarsely or indirectly and make gross motion toward the object. However, after the robot has located and approached the object, the robot must finely control its grasping contacts using precise visual and haptic feedback. this paper proposes that move-to-grasp problems are naturally solved by a sequence of controllers that iteratively refines what ultimately becomes the final solution. this paper introduces the notion of a refining sequence of controllers and defines it in terms of controller goal regions and domains of attraction. Refining sequences are shown to be more robust than other types of controller sequences. In addition, a procedure for converting a refining sequence into an equivalent "parallelized" controller is proposed. Executing this parallelized controller confers all the advantages of iteratively executing the controllers sequentially. the approach is demonstrated in a move-to-grasp task where Robonaut, the NASA/JSC dexterous humanoid, is mounted on a mobile base and navigates to and picks up a geological sample box

关键词： Robot sensing systems Navigation Mobile robots Robot control Grasping Haptic interfaces Feedback Robust control NASA Geology

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Dynamic Multi-Robot Path Planning in Narrow-Lane Environments with One-Way Constraint

Dynamic Multi-Robot Path Planning in Narrow-Lane Environment...

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international conference on Intelligent Autonomous Systems (ICoIAS)

作者： Zhenyu Song Ronghao Zheng Senlin Zhang Meiqin Liu College of Electrical Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xian China

With the rapid development of the logistics industry, the path planning problem for automated guided vehicles (AGVs) in warehousing systems has become a prominent research topic. Traditional multi-robot path planning algorithms often perform poorly in narrow-lane environments found in warehouses. this paper proposes an improved dynamic multi-robot path planning algorithm specifically tailored for narrow-lane environments. By constraining the traversal directions within narrow lanes and dynamically determining the optimal directions, this algorithm achieves efficient multi-robot path planning and enhances the quality of robot paths. the effectiveness of the algorithm is theoretically proven in this paper. Extensive simulation data demonstrates that our algorithm efficiently generates high-quality paths in high-density narrow-lane warehouse environments.

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Efficient and Accurate Template-based Reconstruction of Deformable Surfaces

Efficient and Accurate Template-based Reconstruction of Defo...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Dominik Slomma Shoudong Huang Liang Zhao Faculty of Engineering and Information Technology Robotics Institute University of Technology Sydney Australia School of Informatics The University of Edinburgh Scotland

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated meshes as reference data. these methods rely on feature detection in both the reference and current images to establish corresponding points, leveraging reprojection and deformation constraints for precise reconstruction. However, challenges arise when features are not uniformly distributed across mesh triangles, potentially resulting in sparse or coarse reconstructions. Moreover, the combined computational cost of reprojection and deformable constraints often leads to prolonged optimisation times. this study aims to enhance efficiency in reconstructing deformations within the field of view. Our approach involves back-projecting vertices from a reference mesh onto the reference image plane and subsequently tracking them directly in the subsequent image. this method assumes the resulting observations are sufficiently accurate, encoding the deformation within this information. By eliminating the re-projection constraint and focusing solely on a deformation constraint based on Euclidean distances between vertices, we significantly reduce computational and memory costs. the results of our proposed algorithm demonstrate a notable reduction in computational cost and memory cost, while maintaining reconstruction accuracy comparable to related methods. the code of our algorithm is publicly available at https://***/DominikSlomma/Efficient-and-Accurate-Template-based-Reconstruction-of-Deformable-Surfaces

关键词： Surface reconstruction Accuracy three-dimensional displays Costs Deformation Linear programming Computational efficiency Image reconstruction Optimization Robots

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Locomotion control Architecture for the Pneumatic Biped Lucy consisting of a Trajectory Generator and Joint Trajectory Tracking controller

Locomotion Control Architecture for the Pneumatic Biped Lucy...

引用

IEEE-RAS international conference on Humanoid Robots

作者： Bram Vanderborght Bjorn Verrelst Michael Van Damme Ronald Van Ham Pieter Beyl Dirk Lefeber Vrije Universiteit Brussel Robotics & Multibody Mechanics Research Group Brussels Belgium Vrije Universiteit Brussel Brussel Brussel BE

ISBN: (纸本)1424401992;142440200X

the biped Lucy is actuated with pleated pneumatic artificial muscles because compliant actuation is important for energy-efficient legged locomotion. To control such a robot a specific control architecture is needed. In this paper we propose a trajectory generator and a joint trajectory tracking controller. the first one calculates dynamic balanced trajectories and is based on an inverted pendulum approximation, which models the robot as a single point mass. the trajectory generator allows the step-length, intermediate foot lift and velocity to be chosen for each step while keeping the zero moment point (ZMP) in the ankle point during the single support phase and it provides a smooth transition of the ZMP from the rear ankle point to the front ankle point during the double support phase. this strategy can be used for every biped. the second part is very specific for a robot powered with pneumatic artificial muscles. Out of the desired trajectories the pressures inside the muscles are calculated. the proposed combination is successfully implemented and the robot is able to walk at 0.11 m/s

关键词： Trajectory Legged locomotion Muscles Foot Knee Robot control Leg Torque control Pressure control Rails

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Improving viewpoint invariance of image feature extraction methods using intensity and range images

Improving viewpoint invariance of image feature extraction m...

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international Carpathian control conference (ICCC)

作者： V. Kovács G. Tevesz Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

the most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. these algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images.

关键词： Feature extraction Vectors Detectors Image color analysis Algorithm design and analysis Image resolution Transforms

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Event-Triggered Synchronization control of Delayed RDNNs via Semi Loop Functional

Event-Triggered Synchronization Control of Delayed RDNNs via...

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international conference on Electronic Engineering and informatics (EEI)

作者： Xianhao Zheng Jun Wang Jia Ding Kaibo Shi Yiqian Tang College of Electrical Engineering Southwest Minzu University Chengdu China School of Electrical Information and Electrical Engineering Chengdu University Chengdu China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

Under the framework of spatially averaged Measurements (SAMs), this study investigates the synchronization problem of delayed reaction-diffusion neural networks (RDNNs) via an event-triggered control strategy (ETS). Firstly, a method utilizing semi-looped functional techniques is introduced. By optimizing the constraints of the initial control algorithm, the probability of finding solutions is enhanced, thereby accelerating the exploration of control parameters. To conserve limited transmission channel resources, an event-triggered control scheme is introduced. Secondly, we derive the synchronization criteria under SAMs using Lyapunov-Krasovskii functional (LKF) and inequality techniques. Subsequently, the Event-Triggered Sampling controller is obtained by solving linear matrix inequalities (LMIs). Finally, the effectiveness of the proposed method is validated through a numerical example.

关键词： Actuators Neural networks Linear matrix inequalities Synchronization informatics

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Path delay fault testing of Benes multistage interconnection networks

Path delay fault testing of Benes multistage interconnection...

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IEEE international conference on Electronics, Circuits and Systems (ICECS)

作者： H.T. Vergos M. Bellos D. Nikolos Department of Computer Engineering and Informatics University of Patras Rio Greece Computer Technology Institute Patras Greece

In this paper we present two methods for path delay fault testing of circuit-switched Benes Multistage Interconnection Networks (MINs) with centralized control. Although the number of paths is O(n/sup 3/), the first method exploiting the inherent parallelism of the Benes MIN requires O(n/sup 2/) pairs of test vectors. In the second method we propose the selection of a minimal subset of paths, that are robustly testable by only O(log/sub 2/n) test vector pairs. the delay along all other paths can be calculated based on the selected path delays.

关键词： Multiprocessor interconnection networks Circuit testing Switches Circuit faults Propagation delay Delay effects Computer networks Centralized control Joining processes Degradation

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Advanced Distribution Management System: automation of Optimal Feeder Reconfiguration in Spindle Distribution Networks

Advanced Distribution Management System: Automation of Optim...

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international conference on Power Engineering and Renewable Energy (ICPERE)

作者： Fajar Wahyu Saputra Kevin Marojahan Banjarnahor Nanang Hariyanto School of Electrical Engineering and Informatics Bandung Institute of Technology Bandung Indonesia

ISBN: (数字)9798331504694

ISBN: (纸本)9798331504700

this study aims to develop Optimal Feeder Reconfiguration using ADMS and SCADA technology for the spindle distribution network at Gandul Primary Substation, South Jakarta. Using DIgSILENT PowerFactory software, the automation of OFR operates by detecting real-time load conditions and automatically reconfiguring feeders to support the Smart Grid, improve voltage quality, reduce losses, and maintain load balance during contingencies. As a result, the voltage at the JGK29 Distribution Substation increased from 19.8 kV to 20 kV and losses at Gandul Primary Substation were reduced by 14.2%, or 10.8 MWh from a total daily loss of 76.1 MWh. In the N-1 contingency simulation, OFR successfully reduced the load on Feeder Express Krukut from 250.7 A to 170.6 A by automatically switching to Feeder Besan and Buyut.

关键词： Renewable energy sources Substations automation Contingency management Voltage Distribution networks Switches Software Real-time systems Smart grids

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