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检索条件"任意字段=6th International Conference on Informatics in Control Automation and Robotics, ICINCO 2009"

共 205 条记录，以下是91-100 订阅

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Kamanbaré: A tree-climbing biomimetic robotic platform for environmental research

Kamanbaré: A tree-climbing biomimetic robotic platform for ...

引用

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

作者： Bernardi, Reinaldo De Da Cruz, José Jaime Genius Institute of Technology Sao Paulo Brazil Department of Telecommunications and Control São Paulo University Sao Paulo Brazil

Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. this paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.

关键词： robotics

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A control Engineering Framework for Quadrotors: An Application for the Crazyflie 2.X 18

A Control Engineering Framework for Quadrotors: An Applicati...

引用

18th international conference on informatics in control, automation and robotics (icinco)

作者： Socas, Rafael Dormido, Raquel Guinaldo, Maria Dormido, Sebastian Univ Nacl Educ Distancia UNED Dept Comp Sci & Automat Control Madrid 28040 Spain

ISBN: (纸本)9789897585227

In this work, a new framework to develop and investigate new control algorithms in quadrotors is presented. the proposed system includes two main elements: 1) a simulation laboratory and 2) a real environment based on the Crazyflie 2.X quadcopter. Both elements offer all the necessary tools to design and implement a wide variety of controllers in the real system. the phases to carry out the controller's designs and how to apply them to the real quadrotor are explained in detail. A practical application to check the proposed framework and some additional experiments have been investigated in depth. the simulation and experimental results corroborate the validity of the proposed framework.

关键词： Non-linear Systems Autonomous Robots control Laboratories Crazyflie 2.X control Education

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Optimal Waypoint Navigation for Underactuated Cruising AUVs 16

Optimal Waypoint Navigation for Underactuated Cruising AUVs

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

作者： Kim, Kangsoo Natl Inst Maritime Port & Aviat Technol Natl Maritime Res Inst 6-38-1 Shinkawa Mitaka Tokyo 1810004 Japan

ISBN: (纸本)9789897583803

An advanced approach to the waypoint-based navigation for near-bottom survey of a cruising AUV is presented. Pursuing vehicle safety as well as high-definition bottom survey data, we apply GDS-based optimization technique for achieving waypoint-based minimum-altitude flight of an underactuated cruising AUV. While the objective of our optimization is minimizing average altitude of a vehicle throughout its flight interval, depth or altitude references on waypoints are used as control inputs. In our optimization, bottom bathymetry is incorporated as a constraint used for bottom collision avoidance. As another constraint, dynamic model of an AUV is included. By solving the dynamic model in time domain, motion responses of the vehicle following reference waypoints are derived. Our approach of the optimal waypoint navigation is validated by not only simulation but also at-sea deployment of an AUV.

关键词： Navigation Waypoint Optimization Depth Altitude Cruising AUV Bottom Collision

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Formal Verification for Validation of PSEEL's PLC Program 14

Formal Verification for Validation of PSEEL's PLC Program

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

作者： Niang, Mohamed Philippot, Alexandre Gellot, Francois Coupat, Raphael Riera, Bernard Lefebvre, Sebastien Univ Reims Champagne Ardenne Moulin Housse CReSTIC EA3804 BP 1039 F-51687 Reims 2 France Soc Natl Chemins Francais IP TE CES Direct Ingn 6 Ave Francois Mitterrand F-93574 La Plaine St Denis France

ISBN: (纸本)9789897583049

In order to keep its leadership in French rail market and to improve work conditions of its systems engineers during automation projects, the SNCF (French acronym for National Society of French Railways) wants to develop solutions increasing the productivity. One of these improvements focuses on the current methodology used by systems engineers to verify and validate PLC programs of electrical installations. this task remains one of the most important during an automation project because it is supposed to ensure installations safety, but it must be optimized. through an industrial thesis financed by SNCF, the aim of this research project is to improve this method and reduce time validation of programs by providing a tool which will help systems engineers to verify and validate quickly and automatically PLC programs during any automation project, not necessarily during factory tests but directly from their office.

关键词： Model-checking Recipe Book Factory Tests Systems Engineers Railways Safety

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On the asymptotic stability analysis of a certain type of discrete-time 3-D linear systems 11

On the asymptotic stability analysis of a certain type of di...

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

作者： Izuta, Guido Department of Social Information Yonezawa Women's College 6-15-1 Toori Machi Yonezawa Yamagata Japan

ISBN: (纸本)9789897580390

this work is concerned with the analysis of 3-d (3-dimensional) systems. the aim is to establish conditions that guarantee the asymptotic stability of these kinds of systems. To accomplish it, the Lagrange candidate solutions method for partial difference equations is adopted here. We show that the systems are asymptotically stable if the entries of the matrices of their state space descriptions yield a solution in the Lagrange solution sense. Furthermore, the particular cases in which the matrices can be turned into a diagonal matrix by means of the canonical transformation is studied in order to figure out the role of the eigenvalues on the stability conditions.

关键词： Asymptotic stability

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the Furtherance of Autonomous Engineering via Reinforcement Learning 18

The Furtherance of Autonomous Engineering via Reinforcement ...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Antensteiner, Doris Dietrich, Vincent Fiegert, Michael Siemens Technol Siemens AILab Munich Germany

ISBN: (纸本)9789897585227

Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. these processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.

关键词： Autonomous Engineering Reinforcement Learning Artificial Intelligence Industrial robotics 6D Pose Estimation Computer Vision

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An Efficient Replication Approach based on Trust for Distributed Self-healing Systems 14

An Efficient Replication Approach based on Trust for Distrib...

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

作者： Msadek, Nizar Ungerer, theo Univ Augsburg Inst Comp Sci Univ Str 6a D-86135 Augsburg Germany

ISBN: (纸本)9789897583049

Replication typically occurs in a wide range of open distributed systems, especially in self-healing systems (i.e., mainly for fault-tolerance purposes) and in high-performance computing (i.e., mainly for fast response times). All these systems face a common issue: how can replicas automatically and efficiently be managed in a system despite changing requirements of their environment? One way to overcome this issue is trust. the contribution of this paper is a novel approach based on trust that provides a good management of replicas - especially for those of important services - despite uncertainties in the behavior of nodes. Depending on the importance level of a service possessing the replicas and the assessment of the trustworthiness of a node, we can optimize the trust distribution of replicas at runtime. For evaluation purposes we applied our approach to an evaluator based on the TEM middleware. In this testbed, the usage of trust reduced the replication overhead by about 14% while providing a much better placement of important replicas than without trust.

关键词： Autonomous Systems Open Distributed System Trust Replication High-performance Computing

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Improving performance of generalised conditioning technique anti-windup compensator 1

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6th international conference on informatics in control automation and robotics, icinco 2009

作者： Horla, Dariusz Poznan University of Technology Institute of Control and Information Engineering ul. Piotrowo 3a 60-965 Poznan Poland

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

the paper presents a novel modification to the generalised conditioning technique anti-windup compensator presented as a triplet of its possible modifications. the results are presented from application of pole-placement control, with an analysis of closed-loop system behaviour for a class of second-order minimumphase stable plants of oscillatory and aperiodic characteristics with different dead-times. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Closed loop systems

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Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression control of a String 13

Development of Discrete Mechanics for Distributed Parameter ...

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

作者： Kai, Tatsuya Yamaki, Kouhei Koike, Shunpei Tokyo Univ Sci Katsushika ku 6-3-1 Niijuku Tokyo 12585859 Japan Simplex Inc Minato Ku 1-23-1 Toranomon Tokyo 1056319 Japan

ISBN: (纸本)9789897581984

In this study, a new stabilization method by blending discrete mechanics and nonlinear optimization for 1-dimensional distributed parameter mechanical systems is developed. Discrete mechanics is a kind of numerical solutions for distributed parameter mechanical systems and it is known that it has some advantages in terms of numerical errors and preserving property of the original systems. First, for discrete Euler-Lagrange equations with control inputs, we formulate a nonlinear optimal control problem with constraints by setting an objective function, and initial and boundary conditions. then, it is shown that the problem is represented as a finite-dimensional nonlinear optimal problem with constraints and it can be solved by the sequential quadratic programming method. After that, a vibration suppression control problem for a string is dealt with as a physical example. As a result, it can be confirmed that vibration of the string is suppressed and the whole of the system is stabilized by the proposed new method.

关键词： Discrete Mechanics Distributed Parameter Mechanical Systems Nonlinear Optimization Vibration Suppression control String

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Object Detection and 6D Pose Estimation for Precise Robotic Manipulation in Unstructured Environments 14th

Object Detection and 6D Pose Estimation for Precise Robotic ...

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

作者： di Castro, Mario Camarero Vera, Jorge Ferre, Manuel Masi, Alessandro CERN European Org Nucl Res Meyrin Switzerland UPM CSIC Ctr Automat & Robot Madrid Spain

ISBN: (纸本)9783030112929;9783030112912

In this paper we present an algorithm for the robust 6D pose estimation with an RGB-D camera in harsh and unstructured environments using object detection. While the pose estimation uses clustering and segmentation to find a robust point in multiple frames to track changes in the position of the camera, its functionality is enhanced with Faster-RCNN for classification and detection, providing the operator with information about the object of interest. this work further facilitates the goal of increasing the robot's autonomy and helping operators to recover 3D reconstructions of the objects to be manipulated with the robot.

关键词： Mobile robots and intelligent autonomous systems Deep learning Faster-RCNN Perception and awareness

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