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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261-270 订阅

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Visual Predictive control of Robotic Arms with Overlapping Workspace 16

Visual Predictive Control of Robotic Arms with Overlapping W...

引用

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

作者： Le Flecher, E. Durand-Petiteville, A. Cadenat, V Sentenac, T. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Fed Univ Pernambuco UFPE Mech Dept Recife PE Brazil

ISBN: (纸本)9789897583803

this paper deals with multi-arms fruits picking in orchards. More specifically, the goal is to control the arms to approach the fruits position. To achieve this task a VPC strategy has been designed to take into account the dynamic of the environment as well as the various constraints inherent to the mechanical system, visual servoing manipulation and shared workspace. Our solution has been evaluated in simulation using on PR2 arms model. Different models of visual features prediction have been tested and the entire VPC strategy has been run on various cases. the obtained results show the interest and the efficiency of this strategy to perform a fruit picking task.

关键词： Agricultural robotics Multi-arms Non-linear Model Predictive control Image based Visual Servoing

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Characterization of a 6 DOF Acoustic-Inertial Navigation System for Minimally-Invasive Surgery 13

Characterization of a 6 DOF Acoustic-Inertial Navigation Sys...

引用

13th international conference on control automation robotics & Vision (ICARCV)

作者： Rapp, Philipp Haegele, Lena Sawodny, Oliver Tarin, Cristina Univ Stuttgart Inst Syst Dynam D-70550 Stuttgart Germany

ISBN: (纸本)9781479951994

A highly accurate 6 DOF real-time navigation system for minimally-invasive surgical interventions is presented. the system consists of short range acoustic transducers that combine time-of-flight and carrier-phase measurements and a standard inertial measurement unit. With Hybrid Extended Kalman Filtering, a precise pose estimation of the surgical instrument is achieved. In this contribution, simulation results focussing on different noise variances, which are experimentally obtained from a prototype setup, and initial errors are presented. In addition to previous work, the main advance lies in the estimate of the orientation of the laparoscopic instrument through the use of multiple acoustic transducers.

关键词： Inertial navigation systems

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Combining Onthologies and Behavior-based control for Aware Navigation in Challenging Off-road Environments 16

Combining Onthologies and Behavior-based Control for Aware N...

引用

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

作者： Wolf, Patrick Ropertz, thorsten Feldmann, Philipp Berns, Karsten TD Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583803

Autonomous navigation in off-road environments is a challenging task for mobile robots. Recent success in artificial intelligence research demonstrates the suitability and relevance of neural networks and learning approaches for image classification and off-road robotics. Nonetheless, meaningful decision making processes require semantic knowledge to enable complex scene understanding on a higher abstraction level than pure image data. A promising approach to incooperate semantic knowledge are ontologies. Especially in the off-road domain, scene object correlations heavily influence the navigation outcome and misinterpretations may lead to the loss of the robot, environmental, or even personal damage. In the past, behavior-based control systems have proven to robustly handle such uncertain environments. this paper combines both approaches to achieve a situation-aware navigation in off-road environments. Hereby, the robot's navigation is improved using high-level off-road background knowledge in form of ontologies along with a reactive, and modular behavior network. the feasibility of the approach is demonstrated within different simulation scenarios.

关键词： Off-road robotics Ontology Behavior-based control Navigation Simulation

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A receding horizon control approach to obstacle avoidance

A receding horizon control approach to obstacle avoidance

引用

6th IEEE international Symposium on Applied Computational Intelligence and informatics, SACI 2011

作者： Kiss, Domokos Tevesz, Gábor Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

ISBN: (纸本)9781424491094

the dynamic window approach to collision avoidance is a well-known method in the mobile robotics field. It provides an elegant way to navigate safely in the presence of obstacles, also taking the dynamic properties of the robot into account. there are different variants of this method, all having the same limitation, namely they use an objective function consisting of weighted terms. Different situations require different weights, however, there is no algorithm for choosing them. An inappropriate weighting can inhibit reaching the goal. this paper presents a navigation scheme based on the idea of dynamic window approach (DWA) and using receding horizon control (RHC). this method uses an objective function that does not contain weights. Kinematic and dynamic constraints of the robot are taken into account and a safe and goal-oriented motion is ensured. © 2011 IEEE.

关键词： Robots

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A Comparative Evaluation of Percussion Mechanisms for Musical robotics Applications 6

A Comparative Evaluation of Percussion Mechanisms for Musica...

引用

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

作者： Long, J. Murphy, J. W. Kapur, A. Carnegie, D. A. Victoria Univ Sch Engn & Comp Sci New Zealand Sch Mus Wellington New Zealand Victoria Univ Sch Engn & Comp Sci Wellington New Zealand

ISBN: (纸本)9781479964666

this paper presents a summary of several of the various types of percussion mechanisms commonly utilized in the field of musical robotics, with a goal of comparing their effectiveness regarding a number of musical outcomes. A testing system was set up to compare the devices and analyze a number of relevant attributes of their performance, such as maximum speed and volume, consistency and latency. the advantages and disadvantages of each of the types of mechanisms are discussed, and suggestions are offered about which types of mechanisms are suitable for various musical contexts.

关键词： Musical robotics Percussion MIDI Solenoid Servo Pneumatic

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Obstacle detection in mobile outdoor robots -: A short-term memory for the mobile outdoor platform RAVON

Obstacle detection in mobile outdoor robots -: A short-term ...

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

作者： Schaefer, H. Proetzsch, M. Berns, K. Univ Kaiserslautern Robot Res Lab D-67653 Kaiserslautern Germany

ISBN: (纸本)9789728865832

In this paper a biologically inspired approach for compensating the limited angle of vision in obstacle detection systems of mobile robots is presented. Most of the time it is not feasible to exhaustively monitor the environment of a mobile robot. In order to nonetheless achieve safe navigation obstacle detection mechanisms need to keep in mind certain aspects of the environment. In mammals this task is carried out by the creature's short-term memory. Inspired by this concept an absolute local map storing obstacles in terms of representatives has been introduced in the obstacle detection and avoidance system of the outdoor robot RAVON. that way the gap between the fields of vision of two laser range finders can be monitored which prevents the vehicle from colliding with obstacles seen some time ago.

关键词： obstacle detection obstacle avoidance behaviour-based navigation mobile robotics short-term memory distributed minimal world model algorithms biologically inspired robotics

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A Robust control Technique for Pitch control of an Aeropendulum 6

A Robust Control Technique for Pitch Control of an Aeropendu...

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6th international conference on robotics, control and automation Engineering, RCAE 2023

作者： Tanveer, M. Hassan Koduru, Charles Roy, Rupam Gupta Lakhekar, Girish V. Chun, Cary Kennesaw State University Department of Robotics and Mechatronics Engineering MariettaGA30067 United States National Institute of Technology Department of Electronics and Instrumentation Engineering Agartala Barjala Jirania Tripura Agartala India College of Engineering Department of Instrumentation Engineering Maharashtra Pune India

ISBN: (纸本)9798350315301

Pitch control of an aviation system presents a plethora of control complications, such as nonlinear effects, parameter uncertainties, disturbances, etc. In the face of parametric uncertainties and disturbances, as well as communication limits in an auditory medium, it is difficult to create efficient control algorithms that can accomplish precise path-following tasks and effective resilient control actions. this paper presents the Second Order Sliding Mode control method for regulating the pitch angle in an aero-pendulum mechatronic system. the fundamental purpose of this study is to develop a reliable controller capable of minimising the system error between the regulated signal and the planned signal that corresponds to the pitch angle of the vehicle. By employing the proposed approach, both the prevalence of chattering and the control efficiency can be greatly improved. A comparison is given between the proposed model and the classical technique now in use, such as the classical Sliding Mode controller. © 2023 IEEE.

关键词： Sliding mode control

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A Hierarchical Planner based on Set-theoretic Models: Towards Automating the automation for Autonomous Systems 16

A Hierarchical Planner based on Set-theoretic Models: Toward...

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

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian Feiten, G. Wendelin Zhang, Jianwei Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany Univ Hamburg Fac Math Informat & Nat Sci Vogt Kolln Str 30 D-22527 Hamburg Germany

ISBN: (纸本)9789897583803

the complexity of today's autonomous systems renders the manual engineering of control strategies or behaviors for all possible system states infeasible. therefore, planning algorithms are required that match the capabilities of the system to the tasks at hand. Solutions to typical problems with robotic systems combine aspects of symbolic action planning with sub-symbolic motion planning and control. the problem complexity of this combination currently prohibits online planning without task specific, manually defined heuristics. To counter that we use a set-theoretic approach to model declarative and procedural knowledge which allows for flexible hierarchies of planning tasks. the coordination of the planning tasks on different levels, the classification of information and various views on data are the core functions of hierarchical planning. We propose suitable graph structures to capture all relevant information and discuss the elements of our hierarchical planning algorithm in this paper. Furthermore, we present two use-cases of an autonomous manufacturing system to highlight the capabilities of our system.

关键词： Hierarchy Planning Autonomy

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Variable Stiffness Multi-joint Mechanism: Design, Model and Validation 12

Variable Stiffness Multi-joint Mechanism: Design, Model and ...

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12th international conference on control Mechatronics and automation

作者： Fletcher, Benedict Glovnea, Romeo Herzig, Nicolas Univ Sussex Engn & Design Brighton E Sussex England Univ Sussex Engn & Design Falmer England

ISBN: (纸本)9798331517519;9798331517526

Compliant mechanisms have been used in several robotics applications, including locomotion and grasping. Variable stiffness joints are part of these compliant mechanisms and generally use one passive element per joint. this paper presents the design, model, and characterization of a Variable Stiffness Multi-joint Mechanism (VSMM) using a single carbon fibre rod as its passive element. the VSMM employs a variable lever mechanism, allowing the modulation of the joints' stiffness. We present an analytical model of the mechanism, providing insights into its mechanical behaviour and enabling the prediction of stiffness variations under different design parameters. through experimental testing, the mechanism demonstrates a stiffness range of 0.19N/ mm to 0.27N/ mm, offering variable compliance that can change to suit specific task requirements.

关键词： Compliant variable stiffness soft robotics mechanisms

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A pursuit-evasion game between unmanned aerial vehicles 11

A pursuit-evasion game between unmanned aerial vehicles

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11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Alexopoulos, Alexander Schmidt, Tobias Badreddin, Essameddin Automation Laboratory Institute for Computer Engineering Heidelberg University B6 Mannheim Germany

ISBN: (纸本)9789897580406

In this paper the problem of two-player pursuit-evasion games with unmanned aerial vehicles (UAVs) in a three-dimensional environment is solved. A game theoretic framework is presented, which enables the solution of dynamic games in discrete time based on dynamic programming. the UAV agents taking part in the pursuitevasion game are two identical quad-rotors with the same non-linear state space model, while the evaders' absolute velocity is smaller than the pursuers'. the convergence of the pursuit-evasion game is shown in numerical simulations. Finally, the approach is simulated on an embedded computer and tested for real-time applicability. Hence, the implementation and real-time execution on a physical UAV system is feasible.

关键词： Dynamic programming

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