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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111-120 订阅

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Feeding a genetic algorithm with an ant colony for constrained optimization an application to the unit commitment problem

Feeding a genetic algorithm with an ant colony for constrain...

引用

icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Sandou, Guillaume Font, Stéphane Tebbani, Sihem Hiret, Arnaud Mondon, Christian Supelec Automatic Control Department 3 rue Joliot Curie 91192 Gif-sur-Yvette France EDF Recherche et Développement 6 quai Watier 78401 Chatou France

ISBN: (纸本)9789898111319

In this paper, a new optimisation strategy for the solution of the classical Unit Commitment problem is proposed. this problem is known to be an often large scale, mixed integer programming problem. Due to high combinatorial complexity, the exact solution is often intractable. thus, a metaheuristic based method has to be used to compute a very often suitable solution. the main idea of the approach is to use ant colony algorithm, to explicitly deal with the feasibility of the solution, and to feed a genetic algorithm whose goal is to intensively explore the search space. Finally, results show that the proposed method leads to the tractable computation of satisfying solutions for the Unit Commitment problem.

关键词： Genetic algorithms

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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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Forecasting the class of daily clearness index for PV applications 15

Forecasting the class of daily clearness index for PV applic...

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

作者： Nunnari, Giuseppe Dipartimento di Ingegneria Elettrica Elettronica e Informatica Universitá degli Studi di Catania Viale A. Doria 6 Catania95125 Italy

ISBN: (纸本)9789897583216

this paper deals with the problem of forecasting the class of the daily clearness index which can be relevant for PV applications. A large number of solar stations, publicly available, was processed by using five different approaches, namely, the feed-forward neural networks, the Hidden Markov models, the Naive-Bayes models, the Surrogate models and the Persistent models. Experimental results show that one-day ahead forecasting of the class of daily clearness can be reliable performed in a 2-class framework and with less accuracy in a 3-class framework. Furthermore, for this purpose, the HMM approach is recommended among the considered ones. the global performance of the class prediction models, evaluated by calculating the average confusion rate (CR), showed that using HMM models provide CR ≤ 0.3 for 2-class clustering classes, while, for the 3-class framework it rises to 0.35. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Neural network models

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Determination and control of the Satellites' Attitude by using a Pyramidal Configuration of Four control Moment Gyros 12

Determination and Control of the Satellites' Attitude by usi...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Lungu, Romulus Lungu, Mihai Ioan, Mihai Univ Craiova Fac Elect Engn Carol Blv 6 Craiova Romania Univ Politehn Bucuresti Fac Aerosp Engn Bucharest Romania

ISBN: (纸本)9789897581496

the paper presents a new architecture for mini-satellites' attitude control using a cluster consisting of four control moment gyros, in pyramidal configuration, and feedback from the quaternion and angular velocity vectors. the designed control law modifies the cluster's equivalent gyroscopic moment, the equivalent kinetic moment and the angular velocities' vector, this leading to the modification of the quaternion vector and to the change of the satellite's attitude. Matlab environment is used for the architecture's software implementation and validation, this being achieved for a mini-satellite involved in a typical motion around its own axis.

关键词： control Moment Gyro Pyramidal Configuration Satellite Attitude control

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control of Force in Surgical Robots with Random Time Delays Using Model Predictive control 15th

Control of Force in Surgical Robots with Random Time Delays ...

引用

15th international conference on informatics in control, automation and robotics (icinco)

作者： Ladoiye, Jasmeet Singh Necsulescu, Dan S. Sasiadek, Jurek Univ Ottawa Ottawa ON K1N 6N6 Canada Carleton Univ Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9783030319939;9783030319922

Robotic telesurgery has gained a lot of interest in the medical and engineering field with the advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the faster recovery of the patients. In the commercially available surgical systems, the surgeon cannot feel the sense of touch of the environment, unlike open type surgery. the control becomes harder when the robotic surgery is performed remotely in the presence of time delays. the development of the force feedback will help to reduce the tissue damage and end-effector deflection. the primary goal of this work is to develop the force feedback for the surgical arms affected by the time delays. the random behavior of the network delays makes the control realization even harder and can make the response go unstable. A novel approach is used to develop the haptic feedback for the Minimally Invasive Robotic Systems (MIRS) by using Model Predictive control (MPC) in case of random communication delays.

关键词： Minimum invasive robotic surgery Surgical robots Force control Model Predictive control Telecommunication Bilateral master-slave control

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the hand-gesture-based control interface with wearable glove system 15

The hand-gesture-based control interface with wearable glove...

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

作者： Berezhnoy, Vladislav Popov, Dmitry Afanasyev, Ilya Mavridis, Nikolaos Institute of Robotics Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (纸本)9789897583216

the paper presents an approach to building a gesture-based control interface with a wearable glove system and a real-time gesture recognition algorithm. the glove-based system is a wireless wearable device with hardware components, including Arduino Nano controller, IMU and flex sensors, and software for gesture recognition. Our gesture recognition methodology requires two stages: 1) Building a library of dynamic gesture models with the reference human gesture graphs;2) Gesture capturing and evaluating with fuzzy c-means (FCM) clustering and constructing grammars of gestures by fuzzy membership functions. the system tests were provided with 6 different dynamic gestures to control position and orientation of a quadcopter in V-Rep simulator that has demonstrated encouraging results with a reasonable quality of real-time gesture-based quadcopter control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Gesture recognition

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Energy model based control for forming processes

Energy model based control for forming processes

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

作者： Girard, Patrick thomson, Vincent Natl Res Council Canada Inst Ind Mat 75 Blvd Mortagne Boucherville PQ J4B 6Y4 Canada

ISBN: (纸本)9789898111302

thermoforming consists of shaping a plastic material by deforming it at an adequate deformation rate and temperature. It often exhibits abrupt switches between stable and unstable material behaviour that have neither been identified nor controlled up to now. PID control, although adequate for simple parts, has not been able to control very well the forming of complex parts and parts made of newer materials. In this paper, the state parameters that allow the development of predictive models for the forming process and the construction of control systems are identified. A robust, model based control system capable of in-cycle control is presented. It is based on a simulator continuously tuned and supported in real time by intelligent agents that incorporate diagnostic capabilities.

关键词： model based control forming energy simulation real time identification intelligent agents on-line diagnostics

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informatics in control, automation and robotics - Selected Papers from the international conference on informatics in control, automation and robotics 2008

Informatics in Control, Automation and Robotics - Selected P...

引用

5th international conference on informatics in control automation and robotics, icinco 2008

ISBN: (纸本)9783642002700

the proceedings contain 20 papers. the topics discussed include: distributed technology for global control;dealing with uncertainty in the hybrid world;adaptive fuzzy controller for output power maximization of induction generators;architectural approach for the implementation of a position control system for a boat-like inspection robot;dynamic-based simulation for humanoid robot walking using walking support system;people tracking and identification using laser features and color distributions;robotic wheelchair trajectory control considering user comfort;calibration and comparison of visual tracking on the ground for multi camera tracking;mobile robot teleoperation via wireless multihop networks - parameter tuning of protocols and real world application scenarios;safe test flights for small rotorcrafts;and particle filter with temporal smoothing for mobile robot vision-based localization.

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the prototype of human - robot interactive voice control system

The prototype of human - robot interactive voice control sys...

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

作者： Holada, Miroslav Kopetschke, Igor Pirkl, Pavel Peic, Martin Matela, Lukáš Horcicka, Jirí Štilec, Jakub Faculty of Mechatronics and Interdisciplinary Engineering Studies Technical University of Liberec Hálkova 6 Liberec Czech Republic

this contribution shows our recent activities of human - robot voice-control system. the keynote lays in design of a system that allows easy control and programming of various robots by a uniform interactive interface. Generally the robots are actuated by sets of control commands, sometimes by a manual control interface (touchpad, joystick). the operator has to know the control commands, syntax rules and other properties necessary for successful robot control. Our system offers commands like move left or elevate arm that are translated and sent into the corresponding device (robot). Speech recognition is based on an isolated-word HMM engine with distributed recognition system (DSR). the vocabulary may contain thousands of word and short phrases. It allows us to design an easy dialogue scenario for the robot control system. the system allows direct robot control like moving or programming short sequences. A video camera is included for displaying the working place and employed algorithms of image processing allow the system to detect the position of objects in the working area and facilitate robot's navigation.

关键词： Video cameras

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Design and balancing control of AIT Leg EXoskeleton-I (ALEX-I)

Design and balancing control of AIT Leg EXoskeleton-I (ALEX-...

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

作者： Aphiratsakun, Narong Chirungsarpsook, Kittipat Parnichkun, Manukid Asian Inst Technol Klongluang 12120 Pathumthanee Thailand

ISBN: (纸本)9789898111319

this paper is focused on the design of mechanical hardware, controller architectures, and analysis of balancing control at the Asian Institute of Technology Leg EXoskeleton-I (ALEX-I). ALEX-I has 12 DOF (6 DOF for each leg: 3 at the Hip, I at the knee and 2 at the ankle), controlled by 12 DC motors. the main objective of the research is to assist patients who suffer from the paraplegia and immobility due to the loss of lower limbs. ALEX-I's parts and assembly are designed on CAD software, SolidWorks, exported to MATLAB simulation environment, and observed using 3D VRML script interpreter to investigate balancing postures of the exoskeleton. the simulation model is proven to be accurate by comparing the resulting kinematics characteristics with the results from Corke's MATLAB robotics Toolbox (Corke, 1996). PC] 04 is employed as the main (master) processing unit for calculation of the balanced gait motion corresponding to feedback signals from the force sensors mounted at the two feet plates, whereas ARM7's are used for the low-level (slave) control of the angular position of all joints. the balanced posture set-points (joint trajectories) under the Center of Mass (CM) Criterion are generated in the simulation before testing on the real mechanical parts is implemented to avoid damaging the system.

关键词： ALEX-I EXoskeleton robot suit balancing control mechanical design

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