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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351-360 订阅

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Optimal camera placement based resolution requirements for surveillance applications 11

Optimal camera placement based resolution requirements for s...

引用

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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Time efficient hybrid motion planning algorithm for HOAP-2 humanoid robot

Time efficient hybrid motion planning algorithm for HOAP-2 h...

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

作者： Elmogy, Mohammed Habel, Christopher Zhang, Jianwei Department of Informatics MIN Faculty University of Hamburg Germany

ISBN: (纸本)9781617387197

the development of practical motion planning algorithms and obstacle avoidance techniques is considered as one of the most important fields of study in the task of building autonomous or semiautonomous robot systems. the motion planners designed for humanoid robots combine both path planning generation and the ability of executing the resulting path with respect to their characteristics. these planners should consider the specific dynamical constraints and stability problems of the humanoid robots. In this paper, we present a time-efficient hybrid motion planning system for a Fujitsu HOAP-2 humanoid robot in indoor and miniature city environments. the proposed technique is a combination of sampling-based planner and D* Lite search to generate dynamic footstep placements in unknown environments. It generates the search space depending on non-uniform sampling of the free configuration space to direct the computational resources to troubled and difficult regions. D* Lite search is then implemented to find dynamic and low-cost footstep placements within the resulting configuration space. the proposed hybrid algorithm reduces the searching time and produces a smoother path for the humanoid robot with low cost.

关键词： Anthropomorphic robots

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Comparative, study of robot-designs for a handheld medical robot

Comparative, study of robot-designs for a handheld medical r...

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5th international conference on informatics in control, automation and robotics

作者： Pott, Peter P. Schwarz, Markus L. R. Wagner, Achim Badreddin, Essameddin Heidelberg Univ Med Fac Mannheim OUZ Lab Biomechan & Expt Orthopaed Theodor Kutzer Ufer 1-3 D-68167 Mannheim Germany Univ Mannheim Automat Lab Mannheim Germany

ISBN: (纸本)9789898111319

Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regarding size, weight and dynamic properties. A new hybrid kinematics - the Epizactor - seems to be advantageous and is compared to two well-known parallel kinematics regarding the ratio of workspace and volume the number of kinematic elements, the cost of computation, the stiffness the effects of clearance, actuation (weight), and accuracy using a well-described industrial method for comparison. It becomes clear that the Epizactor has advantages concerning the ratio of workspace and volume, needs a smaller number of kinematic elements and fewer computations, and has less than half the mass than the parallel kinematics. Its accuracy, stiffness and the effects of clearance are comparable. the advantages of this new kinematic set-up lead to a first deployment within the field of medical robotics.

关键词： hybrid kinematics medical robotics comparison

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Chaos engineering and control in mobile robotics applications 15

Chaos engineering and control in mobile robotics application...

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

作者： Nasr, Salah Abadi, Amine Bouallegue, Kais Mekki, Hassen Networked Objects Control and Communication Systems-Laboratory National Engineering School of Sousse University of Sousse Tunisia Department of Electrical Engineering Higher Institute of Applied Sciences and Technology of Sousse Tunisia

ISBN: (纸本)9789897583216

this article briefly summarizes the theory of chaos and its applications. Firstly, we begin by describing chaos as an aperiodic bounded deterministic motion, which is sensitive to initial states and therefore unpredictable after a certain time. then, fundamental tools of the chaos theory, used for identifying and quantifying chaotic dynamics, are shared. the paper covers a main numerical approach to identify chaos such as the Lyapunov exponents. Many important applications of chaos in several areas such as chaos in electrical and electronic engineering and chaos applications in robotics have been presented. An analysis of the reviewed publications is presented and a brief survey is reported as well. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Chaos control

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Automatic generation of the Denavit-Hartenberg convention

Automatic generation of the Denavit-Hartenberg convention

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

作者： Weber, Wolfgang Hochschule Darmstadt University of Applied Sciences Birkenweg 8 D-64295 Darmstadt Germany

ISBN: (纸本)9781617387197

this paper presents the automatic setup of the Denavit-Hartenberg notation for open chain robots. A graphical interface and a virtual construction kit using established joint and link symbols are provided. the user combines symbols by pick and place to define the kinematical configuration. A matrix is automatically generated that competely represents the geometric configuration. Related to this matrix the Denavit-Hartenberg notation is automatically determined - a new feature that solves the generic problem for the first time. Since the definitions resulting from the Denavit-Hartenberg convention are not unique, some additional rules and modifications in the sequence of applying the rules are used in order to obtain a unique description. Furthermore it is outlined how the presented solution can be extended to an integrated tool for the prototyping of new or modified robotic structures.

关键词： robotics

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Adaptive Design and Analysis of Starvation Free controller Area Network for Multi-Robot System: Barrier Synchronization Technique Applied 2018

Adaptive Design and Analysis of Starvation Free Controller A...

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6th international conference on control, Mechatronics and automation (ICCMA)

作者： Kimm, Haklin Kimm, Hanke East Stroudsburg Univ Penn Dept Comp Sci East Stroudsburg PA 18301 USA

ISBN: (纸本)9781450365635

the controller Area Network (CAN) is a message based event triggered communication service, and primarily applied in automotive and various industries such as vehicles, multi-robot, real-time communication systems and others. the CAN bus connects several independent CAN modules and allows them to communicate and work together asynchronously and/or synchronously. All nodes can simultaneously transmit data to the CAN bus, and the collision of multiple messages on the bus is resolved by a bitwise arbitration algorithm, which operates by assigning a node with low-priority message to switch to a "listening" mode while a node with high-priority message remains in a "transmitting" mode. this arbitration mechanism results in the starvation of lower priority messages. Previous studies resolving the CAN starvation problem have been mostly focused on the arbitration between two nodes, not considering simultaneous transmission of two or more nodes. In this paper, we present a starvation free CAN model that resolves the arbitration of multiple simultaneous transmission of two or more messages.

关键词： controller Area Network Distributed robotics Starvation-free scheduling Barrier synchronization

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RTFM: Towards Understanding Source Code using Natural Language Processing 17

RTFM: Towards Understanding Source Code using Natural Langua...

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17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Galanis, Maximilian Dietrich, Vincent Kast, Bernd Fiegert, Michael Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany

ISBN: (纸本)9789897584428

the manual configuration of today's autonomous systems for new tasks is becoming increasingly difficult due to their complexity. One solution to this problem is to use planning algorithms that can automatically synthesize suitable data processing pipelines for the task at hand and thus simplify the configuration. Planners usually rely on models, which are created manually based on already existing methods. these methods are often provided as part of domain specific code libraries. therefore, using existing planners on new domains requires the manual creation of models based on the methods provided by other libraries. To facilitate this, we propose a system that generates an abstract semantic model from C++ libraries automatically. the necessary information is extracted from the library using a combination of static source code analysis to analyze its header files and natural language processing (NLP) to analyze its official documentation. We evaluate our approach on the perception domain with two popular libraries: HALCON and OpenCV. We also outline how the extracted models can be used to configure data processing pipelines for the perception domain automatically by using an existing planner.

关键词： Semantics-based Software Engineering Information Extraction Natural Language Processing Planning

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Suboptimal assignment when creating a formation of mobile objects 6

Suboptimal assignment when creating a formation of mobile ob...

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6th international conference on Systems and informatics, ICSAI 2019

作者： Karkishchenko, A.N. Pshikhopov, V. Kh. Research and Design Bureau for Robotics and Control Systems Southern Federal University Taganrog Russia

ISBN: (纸本)9781728152561

A formal description of the formation and the task of assigning moving objects to the formation is given, the main parameters affecting the quality of the assignment are considered. Assignment quality criteria are determined, and the method of approximation using a separable function is described. A general approach to the approximate solution of the assignment problem is given with corresponding algorithm realizing suboptimal assignment search. In conclusion, the simulation results are represented. © 2019 IEEE.

关键词： Combinatorial optimization

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Hardware on-board implementation of a possible solution to introduce UAVs into non segregated areas

Hardware on-board implementation of a possible solution to i...

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9th international conference on informatics in control, automation and robotics, ICINCO 2012

作者： Taraglio, Sergio Nanni, Vincenzo Taurino, Damiano Robotics Lab ENEA Via Anguillarese 301 Rome Italy Deep Blue Piazza Buenos Aires 20 Rome Italy Facoltà di Ingegneria University of Florence Via di Santa Marta 3 Florence Italy

ISBN: (纸本)9789898565211

the implementation of a distributed control algorithm for the safe flight of Unmanned Aerial Vehicles (UAVs) in traffic conditions in an embedded processor unit is presented. Details on the implementation are given. the control algorithm is designed in order to avoid separation infringements with aircraft in the neighbourhood. the algorithm is grounded on Satisficing Game theory and supplies manoeuvres aimed at providing separation distance among aircraft. Some results of simulated flight trials of UAVs in segregated and non segregated areas are reviewed. Some experiments on the capability of the embedded algorithm to pilot a simulated UAV in different traffic condition are presented. Copyright © 2012 SciTePress.

关键词： Game theory

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Nonlinear Identification of a Liquid-saturated Steam Heat Exchanger using WSDP Models

Nonlinear Identification of a Liquid-saturated Steam Heat Ex...

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11th international conference on control, automation and Systems (ICCAS)/Robot World conference

作者： Nguyen-Vu Truong Intelligent Robotics and Automation Laboratory (IRAL) Institute of Applied Mechanics and Informatics Vietnam Academy of Science and Technology Vietnam

ISBN: (纸本)9788993215038

In this paper, nonlinear identification of a Liquid-saturated Steam Heat Exchanger using Wavelet based State Dependent Parameter (WSDP) models is presented. this is a highly nonlinear, non-minimum phase process, and often operated under varying conditions. Here, in order to characterize such dynamics, 2-D WSDP model is used. the simulation results demonstrate the merit of the identified model.

关键词： Identification Steam paper Steam heating Simulation results exchangers wavelets nonlinearity Magneto electrical resistivity imaging technique Authentication

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