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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341-350 订阅

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ICARA 2015 - Proceedings of the 2015 6th international conference on automation, robotics and Applications

ICARA 2015 - Proceedings of the 2015 6th International Confe...

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6th international conference on automation, robotics and Applications, ICARA 2015

ISBN: (纸本)9781479964666

the proceedings contain 100 papers. the topics discussed include: active electromagnetic damping for a lightweight electric vehicles;an engineering design of real-time fault monitoring method for power-on-wheel electric vehicles;4-wheel independent in-wheel-motor drive and independent steering electric vehicle safety analysis method based on mass re-distribution experiment;robotics audition using kinect;topological mapping for robot navigation using affordance features;utilization of terrain elevation map in SLAM for unmanned aircraft;augmented reality behind the wheel - human interactive assistance by mobile robots;human-driven multi-robot design process - for social interactions with children on complex environments;and a comparison of sampling-based path planners for a grape vine pruning robot arm.

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Dynamic collision avoidance for an anthropomorphic manipulator using a 3D TOF camera

Dynamic collision avoidance for an anthropomorphic manipulat...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Natarajan, Sankaranarayanan Vogt, Andreas Kirchner, Frank Robotics Innovation Center Bremen Germany

ISBN: (纸本)9781617387197

this paper describes a practical approach for dynamic collision avoidance for a position-controlled anthropomorphic manipulator. the collision avoidance problem is solved as a virtual spring-damper force control problem [16]. A 3D Time-Of-Flight (TOF) camera is used as a proximity sensor to identify the position of the obstacle near the elbow of the manipulator. the dynamic collision avoidance algorithm forms a virtual spring-damper around an obstacle which is near to the elbow of the manipulator. the inverse kinematics of the manipulator is solved analytically [17], in which the redundancy is used to avoid the obstacle. the experimental results show that the dynamic collision avoidance algorithm along with the 3D TOF camera can be used to avoid dynamic obstacle.

关键词： Cameras

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A ROS Based Open Source Simulation Environment for robotics Beginners 6

A ROS Based Open Source Simulation Environment for Robotics ...

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6th international conference on robotics and automation Engineering, ICRAE 2021

作者： Su, Linyu Qiu, Guoping Tang, Wengming Chen, Min Shenzhen University College of Electronic and Information Engineering Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Institute of Artificial Intelligence and Robotics for Society China Super-accurate Vision Science and Technology Ltd Shenzhen China

ISBN: (纸本)9781665406970

this paper presents an open source robot simulation environment based on the robot operating system (ROS). To help novice to learn robotics, we have designed several important experiments that most robotics beginners will need to practice. Our simulation environment provides an efficient, safe, and transferable testing and operating environment for the rapid verification of robot algorithms. through practicing the experiments in this paper, robotics beginners can learn robotics knowledge faster, better and at a lower cost, which should great facilitate them to operate robots in real-world applications. Source code, simulation video and detailed wiki for the simulation environment are available online at https://***/Suyixiu/robot_sim. © 2021 IEEE.

关键词： robotics

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Model predictive path integral control for car driving with dynamic cost map 15

Model predictive path integral control for car driving with ...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Buyval, Alexander Gabdullin, Aidar Klimchik, Alexander Robotics Institute Innopolis University 1 University Street Innopolis Russia

ISBN: (纸本)9789897583216

Path planning in a complex dynamic environment is one of the key subsystems in an autonomous vehicle. this paper presents an extension of Model Predictive Path Integral (MPPI) control method which is able to take moving objects into account while path planning and driving. To obtain real-time performance, cost map update with respect to dynamic objects both as basic MPPI is implemented as a set of concurrent processes using CUDA technology. the algorithm’s performance is demonstrated on a model of a stock car in a simulation environment. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Motion planning

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Optimizing PTP Motions of Industrial Robots through Addition of Via-points 14

Optimizing PTP Motions of Industrial Robots through Addition...

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

作者： Ziaukas, Zygimantas Eggers, Kai Kotlarski, Jens Ortmaier, Tobias Leibniz Univ Hannover Inst Mechatron Syst Appelstr 11a Hannover Germany

ISBN: (纸本)9789897583049

this paper presents how the addition of via-points can improve the state-of-the-art trajectory planning towards lower energy consumption and/or lower travel time. In contrast to existing approaches using trajectory interpolation methods like B-splines, exclusively standard commands of commonly available robotic systems are used in order to get practicable results. the system's energy demand for a given trajectory is determined based on a model of system energy characterized by low complexity. Trajectory profiles are obtained from original robot trajectory planning by using hardware in the loop. therefore, results can directly be formulated in machine code. Experimental results demonstrate the effectiveness of the proposed approach. Depending on the given task, energy savings up to 17.3 % at equal travel time and time savings up to 13.3 % compared to initial PTP motion are possible. the approaches presented are applicable to any robotic application that utilizes PTP motions, e. g. pick-and-place or spot welding tasks.

关键词： Energy Savings Energy Efficiency Time Savings Efficient Trajectory Reduced Moment of Inertia Industrial robotics

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Progression of Human Hand Trajectory Variabilities during a Pick-and-Place Task 16

Progression of Human Hand Trajectory Variabilities during a ...

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

作者： Kuehnlenz, Kolja Hermann, Sergej Kalb, Kevin Marschollek, Lucas Kuehnlenz, Barbara Coburg Univ Appl Sci & Arts Robot Res Lab Dept Elect Engn & Comp Sci D-96450 Coburg Germany Tech Univ Munich Inst Cognit Syst Dept Elect Engn & Informat Technol D-80290 Munich Germany

ISBN: (纸本)9789897583803

this paper investigates the progression of human hand trajectory variabilities during a pick-and-place task. A user study is conducted and human hand positions are tracked optically. Standard deviations of human hand positions over all trajectories within a trial are computed point-wise orthogonally to the direct path between start and goal positions. Statistical tests reveal a decrease of standard deviations from hand start to goal positions. Moreover, stronger variations of standard deviations are noted in during the center part of the trajectories. Contrary to expectations, a longitudinal study design does not reveal learning effects in terms of reduction of trajectory variabilities. the results suggest, that uncertainties of human hand positions increase with the distance to a goal location and could constitute a larger risk for collisions within a cooperative human-robot pick-and-place scenario, e.g. assembly.

关键词： robotics Human-robot Interaction Human Factors

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Formal verification of safety behaviours of the outdoor robot RAYON

Formal verification of safety behaviours of the outdoor robo...

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4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Proetzsch, Martin Bems, Karsten Schuele, T. Schneider, K. Robotics Research Lab University of Kaiserslautern Germany Reactive Systems Group University of Kaiserslautern Germany

this paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAYON. In particular, we consider behaviours that are used for the computation of the projected vehicle's velocity from obstacle proximity sensor data and inclination information. We describe how this group of behaviours is implemented in the synchronous language Quartz in order to be formally verified using model checking techniques of the Averest verification framework. Moreover, by integrating the automatically generated and verified code into the behaviour network, it can be guaranteed that the robot slows down and stops as required by the given safety specifications.

关键词： Model checking

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Temperature Correction and Reflection Removal in thermal Images using 3D Temperature Mapping 13

Temperature Correction and Reflection Removal in Thermal Ima...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Zeise, Bjoern Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897581984

Many mobile robots nowadays use thermal imaging cameras (TICs) in order to enhance the environment model that is created during exploration tasks. In conventional thermography, thermal images always have to be carefully revised by human operators, which is not practicable in autonomous applications. Unknown surface emissivities are the main source of misinterpretations in thermal images. In this work, we present two methods dealing with these misinterpretations by exploiting the TIC's changing point of view. While the first approach classifies the regarded material in order to estimate improved surface temperature values, the second one is capable of detecting and removing thermal reflections. the spatial relationship between the thermal images and the regarded surface is made by using a rigidly mounted sensor stack consisting of a TIC and a 3D laser range finder, whose extrinsic calibration is described. During evaluation, we demonstrate the functionality of both approaches.

关键词： Infrared thermography 3D Temperature Mapping Emissivity Estimation Temperature Correction thermal Reflection Removal Mobile Service robotics

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Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots 13

Dynamic Coupling Map: Acceleration Space Analysis for Undera...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Zamzami, Ziad Ben Amar, Faiz UPMC Paris VI Sorbonne Univ Inst Syst Intelligents & Robot ISIR CNRS UMR 7222 Boite Courrier 1734 Pl JUSSIEU F-75252 Paris France

ISBN: (纸本)9789897581984

Swing-up and throwing tasks for underactuated manipulators are examples of dynamic motions that exhibit highly nonlinear coupling dynamics. One of the key ingredients for such complex behaviors is motion coordination to exploit their passive dynamics. Despite the existence of powerful tools such as nonlinear trajectory optimization, they are usually treated as blackboxes that provide local optimal trajectories. We introduce the Dynamical Coupling Map (DCM), a novel graphical technique, to help gain insight into the output trajectory of the optimization and analyze the capability of underactuated robots. the DCM analysis is demonstrated on the swing up motion of a simplified model of a gymnast on high bar. the DCM shows in a graphical and intuitive way the pivotal role of exploiting the nonlinear inertial forces to reach the unstable equilibrium configuration while taking into account the torque bounds constraints. In this paper, we present the DCM as a posteriori analysis of a local optimal trajectory, found by employing the direct collocation trajectory optimization framework.

关键词： Underactuated robotics Trajectory Optimization Dynamic Coupling Passive Dynamics Acceleration Space Dynamic Capability Visualization

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Optimal camera placement based resolution requirements for surveillance applications 11

Optimal camera placement based resolution requirements for s...

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

作者： Bettahar, Houari Morsly, Yacine Djouadi, Mohand Said Robotics Laboratory Ecole Militaire Polytechnique BP 17 Bordj el Bahri Algiers Algeria

ISBN: (纸本)9789897580390

In this paper, we focus on the problem of optimally placing a mixture of static and PTZ cameras based on the resolution requirement, this configuration will be useful later cameras planning. the static cameras used for detecting an object or an event, this result is used to select the best PTZ camera within the network to identify or recognize this moving object or event. In our work the monitoring area is represented by a grid of points distributed uniformly or randomly (S. thrun, 2002), then using surface-projected monitoring area and camera sensing model we develop a binary integer programming algorithm. the results of the algorithm are applied successfully to a variety of simulated scenarios.

关键词： Integer programming

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