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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511-520 订阅

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Bayesian estimation of distributed phenomena using discretized representations of partial differential equations

Bayesian estimation of distributed phenomena using discretiz...

引用

3rd international conference on informatics in control, automation and robotics

作者： Sawo, Felix Roberts, Kathrin Hanebeck, Uwe D. Univ Karlsruhe TH Inst Comp Sci & Engn Intelligent Sensor Actuator Syst Lab Karlsruhe Germany

ISBN: (纸本)9728865619

this paper addresses a systematic method for the reconstruction and the prediction of a distributed phenomenon characterized by partial differential equations, which is monitored by a sensor network. In the first step, the infinite-dimensional partial differential equation, i.e. distributed-parameter system, is spatially and temporally decomposed leading to a finite-dimensional state space form. In the next step, the state of the resulting lumped-parameter system, which provides an approximation of the solution of the underlying partial differential equations, is dynamically estimated under consideration of uncertainties both occurring in the system and arising from noisy measurements. By using the estimation results, several additional tasks can be achieved by the sensor network, e.g. optimal sensor placement, optimal scheduling, and model improvement. the performance of the proposed model-based reconstruction method is demonstrated by means of simulations.

关键词： stochastic systems Baysian estimation model-based reconstruction distributed phenomenon environmental monitoring sensor-actuator-network

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A robotics task scheduler - TAPAS

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8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Focant, G. Fontaine, B. Steinicke, L. Joudrier, L. Space Applicat Serv Leuvensesteenweg 325 B-1932 Zaventem Belgium ESA ESTEC NL-2201 Noordwijk Netherlands

ISBN: (纸本)3540264132

Within the frame of the ESA project TAPAS (TAsk Planner for automation & robotics in Space), a generic scheduling tool has been developed. Its prime objective is to interactively assist a robot operator in planning and scheduling the activities of a robot-tended payload facility concurrently used by several (scientific) users, taking into account resources and various constraints. the system is potentially reusable in other space automation and robotics scenarios where this decentralised payload operations concept is applicable. One of the facilities analysed to establish the requirements was ERA, a robotic arm foreseen to be attached to the international Space Station. this abstract mainly gives an overview of the scheduling engine which is at the core of the software and constitutes its intelligence.

关键词： space robotics scheduling resources constraints

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Fully Adaptive Feedforward Decentralized control for 6-Degree-of-Freedom Parallel Robot

Fully Adaptive Feedforward Decentralized Control for 6-Degre...

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10th international conference on control, automation, robotics and Vision

作者： Zhao, Dongya Li, Shaoyuan Ga, Feng Shanghai Jiao Tong Univ Inst Automat 800 Dongchuan Rd Shanghai 200030 Peoples R China Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200030 Peoples R China China Univ Petr Coll Mech Engn Dongying Shandong Peoples R China

ISBN: (纸本)9781424422869

In this paper, a new fully adaptive feedforward decentralized controller is developed for 6 degree of freedom (6DOF) parallel robot. this method makes the position error and velocity error converge to zero asymptotically. theoretical analysis and simulation results are presented to illustrate the proposed approach. the controller parameter tuning method is also proposed.

关键词： Decentralized control Adaptive control Parallel robot

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Artificial Neural Network Based E-Nose And their Analytical Applications In Various Field

Artificial Neural Network Based E-Nose And Their Analytical ...

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11th international conference on control, automation, robotics and Vision (ICARCV 2010)

作者： Jamal, Maria Khan, M. R. Imam, S. A. Jamal, Arif GGSIPU IGIT ECE Dept Delhi 6 India JMI ECE Dept Delhi 25 India CPWD Delhi 01 India

ISBN: (纸本)9781424478132

A brief and historical overview of research and development in the field of artificial neural network based electronic nose system is presented. Electronic-nose devices have received considerable attention in the field of sensor technology during the past twenty years, largely due to the discovery of numerous applications derived from research in diverse fields of applied sciences. Electronic/artificial noses are being developed as systems for the automated detection and classification of odors, vapors, and gases. An electronic nose is generally composed of a chemical sensing system (e. g., sensor array or spectrometer) and a pattern recognition system (e. g., artificial neural network). We are developing electronic noses for the automated identification of volatile chemicals for environmental, medical applications, commercial industries, including the agricultural, biomedical, cosmetics, food, manufacturing, military, pharmaceutical, regulatory applications and various scientific research fields. this paper is a review of the major electronic nose technologies, developed since this specialized field was born and became prominent in the mid 1980s, and a summarization of some of the more important and useful applications that have been of greatest benefit to man.

关键词： Artificial Neural Network Back propagation algorithm multilayer Feed-forward network e-nose

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Probabilistic Decision-Making at Road Intersections: Formulation and Quantitative Evaluation 15

Probabilistic Decision-Making at Road Intersections: Formula...

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15th international conference on control, automation, robotics and Vision (ICARCV)

作者： Barbier, Mathieu Laugier, Christian Simonin, Olivier Ibanez-Guzman, Javier Renault SAS 1 Ave Golf F-78288 Guyancourt France Inria Grenoble Rhone Alpes Chroma Team 655 Ave Europe F-38330 Montbonnot St Martin France INSA Lyon CITI Lab 6 Ave Arts F-69680 Villeurbanne France

ISBN: (纸本)9781538695821

As drivers approach a road intersection, they must decide whether to cross it or to come to a stop. For this purpose, drivers make a situation assessment and adapt their behaviour accordingly. When this task is performed by a computer, the available information is partial and uncertain. Any decision requires the system to use this information as well as taking into account the behaviour of other drivers to avoid collisions. Common metrics such as collision rate can remain low in an interactive environment because of other driver's actions. Consequently, evaluation metrics must depend on other driving aspects. In this paper a decision-making mechanism and metrics to evaluate such a system at road intersection crossing are presented. For the former, a Partially Observable Markov Decision Process is used to model the system with respect to uncertainties in the behaviour of other drivers. For the latter, different key performance indicators are defined to evaluate the resulting behaviour of the system with different configurations and scenarios. the approach is demonstrated within an automotive grade simulator. It has showed at times, that whilst the vehicle can cross safely the intersection, it might not satisfy other key performance indicators related to highway code.

关键词： Decision making

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Path following control of rhombic like vehicles: Performance assessment with dynamic vehicle model

Path following control of rhombic like vehicles: Performance...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Silva, Nuno Vale, Alberto Baglivo, Luca Institute de Plasmas e Fusão Nuclear Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal

ISBN: (纸本)9789898565716

this paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration;the fourth is a nonlinear controller built upon a kinematic model of a RLV using Lyapunov functions. All the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. the dynamic modelling of a RLV is lastly introduced. Simulated results present a comparative performance assessment of the controllers while dealing, or not, with vehicle dynamics. the main conclusions of these controllers are summarized, leading to a possible application in the actual vehicles that will operate in the remote handling missions of the international thermonuclear Experimental Reactor (ITER).

关键词： controllers

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A Local Planning Method Based on Graph Optimization Framework 6

A Local Planning Method Based on Graph Optimization Framewor...

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6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Zha, Tianjun Wen, Jian Li, Yang Sun, Lei Nankai University Institute of Robotics and Automatic Information System Tianjin300353 China

ISBN: (纸本)9781665424370

To generate a collision free local trajectory respect to the dynamic and kinematic constrains of car-like mobile robots, a local planning method is proposed in this paper. the method generates a local path in the graph optimization framework of the Timed Elastic Band (TEB) algorithm firstly. the generated local path is made of a series of waypoints and concerned with collision avoidance, curvature constraints. then some post-processes are offered: the fifth-order splines are used to get a smooth path through these waypoints;Finally, shortest time trajectory generation algorithm along the given path generates a shortest time trajectory satisfying the dynamic and kinematic constraints. © 2021 IEEE.

关键词： Mobile robots

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Recognizing people's faces: From human to machine vision

Recognizing people's faces: From human to machine vision

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9th international conference on control, automation, robotics and Vision

作者： Tistarelli, Massimo Bicego, Manuele Grosso, Enrico Univ Sassari Comp Vis Lab DAP Piazza Duomo 6 I-07041 Alghero Italy Univ Sassari Comp Vis Lab DEIR I-07100 Sassari Italy

ISBN: (纸本)9781424403417

As confirmed by recent neurophysiological studies, the use of dynamic information is extremely important for humans in visual perception of biological forms and motion. Apart from the mere computation of the visual motion of the viewed objects, the motion itself conveys far more information, which helps understanding the scene. this paper provides an overview and some new insights on the use of dynamic visual information for face recognition. In this context, not only physical features emerge in the face representation, but also behavioral features should be accounted. While physical features are obtained from the subject's face appearance, behavioral features are obtained from the individual motion and articulation of the face. In order to capture both the face appearance and the face dynamics, a dynamical face model based on a combination of Hidden Markov Models is presented. the number of states (or facial expressions) are automatically determined from the data by unsupervised clustering of expressions of faces in the video. the underlying architecture closely recalls the neural patterns activated in the perception of moving faces. Preliminary results on real video image data show the feasibility of the proposed approach.

关键词： face recognition biometrics human visual system human perception

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Singularity Configuration Pass Algorithm of Manipulator Based on PVT Trajectory Planning 6

Singularity Configuration Pass Algorithm of Manipulator Base...

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6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Chunlai, He Yunfei, Liu Shuo, Cheng The 21ST Research Institute of China Electronic Technology Group Corporation Robotics Engineering Center Shanghai China

ISBN: (纸本)9781665424370

In order to satisfy the requirement that Cartesian space trajectory planning requires high real-time calculation of inverse kinematics of the manipulator, the analytical solution method is used to calculate the inverse kinematics of the tandem manipulator. According to the judgment conditions in the process of obtaining the analytical solution, three kinds of singular configuration situations that the manipulator may encounter in the process of obtaining the inverse solution are determined. For the singular configuration, a manipulator singularity based on PVT trajectory planning is proposed. the configuration passes the algorithm, so that the robot arm can maintain the continuity and stability of the motion of the robot arm when passing through the singular configuration. Finally, the algorithm was verified from two aspects of theory and experimental data simulation, and the result analysis showed that the algorithm was correct and feasible. this method has good adaptability to traditional industrial six-axis manipulators, cooperative six-axis manipulators and redundant seven-degree-of-freedom manipulators. © 2021 IEEE.

关键词： Inverse kinematics

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Efficient 3D control for needle steering using duty-cycled rotation

Efficient 3D control for needle steering using duty-cycled r...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Li, Xiao Lehocky, Craig A. Riviere, Cameron N. Dept. of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Dept. of Biomedical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

ISBN: (纸本)9789898565716

Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing proportional control of trajectory curvature. this paper presents computationally efficient techniques for path planning and path-following control for this application, using a 3D simulated brain environment. Path planning algorithms for this class of steerable needles have been developed using Rapidly-exploring Random Trees (RRTs). this paper expands on these methods, using quaternions for representation of rotation, and enhancing computational efficiency through use of interpolation, and by relaxing the entry constraint. For path-following, a look-ahead proportional controller for position and orientation is presented. Simulations in a 3D brain-like environment demonstrate the performance of the proposed planner and path-following controller. the look-ahead is seen to improve path-following performance.

关键词： Motion planning

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