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

作者： Szedlak-Stinean, Alexandra-Iulia Precup, Radu-Emil Petriu, Emil M. Politehn Univ Timisoara Dept Automat & Appl Informat Bd V Parvan 2 Timisoara 300223 Romania Univ Ottawa Sch Elect Engn & Comp Sci 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789897583049

the application with a discontinuously variable parameter (moment of inertia) discussed in this paper is represented by an experimental setup, namely the Model 220 Industrial Plant Emulator (M220IPE), which allows the testing of several control solutions by performing real-time experiments. this paper suggests a simple state feedback control structure with three position controllers developed with the aid of linearized mathematical models and particular features of the process. the control structures contain conventional controllers (PID) and also advanced control solutions (Takagi-Sugeno PD+I fuzzy and two-degree-offreedom PID controllers). the aim of these control structures is to achieve good robustness, good disturbance control behaviours regarding the model uncertainties and also to improve set-point responses. the proposed control structures are validated by digital and experimental results obtained for three specific values of the moment of inertia.

关键词： Classical PID controllers Digital and Experimental Results Flexible Drive Dynamics Fuzzy controllers Mechatronics Application Two-Degree-of-Freedom PID controllers Variable Moment of Inertia

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Data-based tuning of PI controllers for vertical three-tank systems

Data-based tuning of PI controllers for vertical three-tank ...

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

作者： RǍdac, Mircea-Bogdan Bigher, Bogdan-Alexandru Precup, Radu-Emil Petriu, Emil M. Dragoş, Claudia-Adina Preitl, Stefan Stînean, Alexandra-Iulia Dept. of Automation and Appl. Inf. Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania School of Electrical Eng. and Computer Science University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898565211

this paper suggests the application of Iterative Feedback Tuning (IFT) as a data-based control technique to parameter tuning of PI controllers dedicated to vertical three-tank systems. the level control in the first two tanks is carried out using a multivariable control system structure which consists of two control loops, one for each level. the two PI controllers in these control loops are first tuned in terms of the Modulus Optimum method. New IFT algorithms are proposed in order to ensure the performance improvement of level control systems by means of six steps assisted by experiments. the experimental results show the strong performance improvement obtained after few iterations of IFT algorithms in terms of a model reference tracking optimization problem. Copyright © 2012 SciTePress.

关键词： Level control

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Self-organisation of gait pattern transition - An efficient approach to implementing animal gaits and gait transitions

Self-organisation of gait pattern transition - An efficient ...

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

作者： Yang, Zhijun Huo, Juan Murray, Alan Univ Edinburgh Inst Micro & Nano Syst Sch Engn & Elect Edinburgh EH16 6XD Midlothian Scotland

ISBN: (纸本)9789898111302

As an engine of almost all. life phenomena, the motor information generated by the central nervous system (CNS) plays a critical role in the activities of all animals. Despite the difficulty of being physically identified, the central pattern generator (CPG), which is a concrete branch of studies on the CNS, is widely recognised to be responsible for generating rhythmic patterns. this paper presents a novel, macroscopic and model-independent approach to the retrieval of different patterns of coupled neural oscillations observed in biological CPGs during the control of legged locomotion. Based on the simple graph dynamics, various types of oscillatory building blocks (OBB) can be reconfigured for the production of complicated rhythmic patterns. Our quadrupedal locomotion experiments show that an OBB-based artificial CPG model alone can integrate all gait patterns and undergo self-organised gait transition between different patterns.

关键词： central pattern generator oscillatory building block gait transitions Self-organisation Hopfield network

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Development of Self Support Device and control for Operating the Wheelchair for Upper Limb Disabled Persons 13

Development of Self Support Device and Control for Operating...

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

作者： Itami, Taku Yabunaka, Toshihito Yano, Ken'ichi Kobayashi, Yasuyuki Aoki, Takaaki Nishimoto, Yutaka Mie Univ Dept Mech Engn 1577 Kurimamachiya Cho Tsu Mie 5148507 Japan LUMINOUS JAPAN CO LTD 68 Hagae Murakami 9593134 Japan Gifu Univ Hosp Dept Rehabil & Orthoped 1-1 Yanagido Gifu 5011193 Japan Gifu Univ Sch Med Dept Surg Nursing 1-1 Yanagido Gifu 5011193 Japan

ISBN: (纸本)9789897581984

Nowadays, it has been actively expanded to develop assist robots attached directly. In this study, we focused on developing an exoskeletal robot, specifically, a force transmission robot with a rotary drive type ratchet mechanism, to enable users with upper limb disability to make use of their residual function to achieve better function of their upper limbs. A lock/unlock mechanism on the elbow joint is effectively used to transmit the user's residual function around the shoulder to the hand. We conducted verification experiments on whether the developed mechanism enables the user to transfer the remaining force in the shoulder joint to operation force in the hand. three subjects with C5 and C6 spinal cord injury with disabilities affecting their hands, lower limbs, and trunk muscles performed the verification experiment with the developed device. We confirmed that they could operate a wheelchair on a slope and on grass when using the developed device, and they could use their residual function around the shoulder more strongly. It can be expected to rehabilitation effect.

关键词： Exoskeleton Rehabilitation Operating Analysis Electromyographic(EMG) Signals

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Convergent iterative feedback tuning of state feedback-controlled servo systems 1

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

作者： RǍdac, Mircea-Bogdan Precup, Radu-Emil Petriu, Emil M. Preitl, Stefan Dragoş, Claudia-Adina Politehnica University of Timisoara Dept. of Automation and Applied Informatics Bd. V. Parvan 2 300223 Timisoara Romania University of Ottawa School of Information Technology and Engineering 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

this paper presents a new Iterative Feedback Tuning (IFT)-based optimal state feedback control solution dedicated to a class of second-order servo systems with integral component. the state feedback controllers for these controlled plants are extended with an integrator to ensure the rejection of constant load type disturbances. Original IFT algorithms are suggested for the accepted state feedback controllers such that to set the step size in order to guarantee the convergence. An attractive convergence theorem based on the application of Popov's hypertability theory to the parameter update law in the IFT algorithms is offered. the theoretical results are validated by a case study concerning the position control of a DC servo system with backlash. Implementation issues are discussed and exemplified by real-time experimental results. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Servomechanisms

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Deep level situation understanding and its application to casual communication between robots and humans

Deep level situation understanding and its application to ca...

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

作者： Tang, Yongkang Dong, Fangyan Yuhki, Mina Yamazaki, Yoichi Shibata, Takanori Hirota, Kaoru Dept. of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology G3-49 4259 Nagatsuta Midori-ku Yokohama 226-8502 Japan Dept. of Electrical Electronic and Information Engineering Faculty of Engineering Kanto Gauin University 1-50-1 Mutsuura-higashi Kanazawa-ku Yokohama 236-8501 Japan Central 6 1-1-1 Higashi Tsukuba 305-8566 Japan

ISBN: (纸本)9789898565716

the concept of Deep Level Situation Understanding is proposed to realize human-like natural communication among agents (e.g., humans and robots/machines), where it consists of surface level understanding (such as gesture/posture recognition, facial expression recognition, and speech/voice recognition), emotion understanding, intention understanding, and atmosphere understanding by applying customised knowledge of each agent and by taking considerations to careful attentions. It aims to not impose burden on humans in human-machine communication, to realize harmonious communication by excluding unnecessary troubles or misunderstandings among agents, and finally to create a peaceful, happy, and prosperous humans-robots society. A scenario is established to demonstrate several communication activities between a businessman and a secretary-robot/a human-boss/a waitress-robot/a human-partner/a therapy-robot (PARO) in one day.

关键词： Human robot interaction

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Strain analysis of the sciara del fuoco (Stromboli Volcano) 1

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

作者： Nunnari, G. Spata, A. Puglisi, G. Bonforte, A. Guglielmino, F. Universitá Degli Studi di Catania viale A. Doria 6 95125 Catania Italy Istituto Nazionale di Geofisica e Vulcanologia Sezione di Catania Piazza Roma 2 95125 Catania Italy

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

In this paper we describe the pre-processing techniques and the theory of classical mechanics we have adopted in order to computed both 3D motion maps and 3D strain tensor over the Sciara del Fuoco (SdF), the Stromboli volcano (Italy) steep flank subjects to dangerous landslide events. Movements affecting the SdF are measured by the monitoring system known as thEODOROS (thEOdolite and Distancemeter Robot Observatory of Stromboli). © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Volcanoes

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Performance optimization in intelligent manufacturing: Decision support system for value engineering in flour mills

Performance optimization in intelligent manufacturing: Decis...

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

作者： Keller, Jürg P. Agarwal, Mukul Institute for Automation University of Applied Sciences and Arts Northwestern Switzerland Steinackerstrasse 5 5210 Brugg-Windisch Switzerland Corporate Technology Bühler AG 9240 Uzwil Switzerland

ISBN: (纸本)9789898565716

the performance of modern flour mills depends crucially on value-engineering decisions involving optimal mixing of up to 80 intermediate product streams into at most 6 final product streams during continuous operation. Optimal mixing decision depends on given physical properties and yields of intermediate streams, goals and constraints on physical properties and yields of final streams, physical and quality constraints on mixing decision variables, and qualitative judgments relating value of final streams to their physical properties. In a previous work, the authors presented an interactive tool that guided the production personnel towards an optimal decision for fractions of each intermediate stream that should be piped to each final stream. this tool could exploit multiple Linear Programming computations and graphic user-interface to enable scenario overview and manoeuvring with no perceptible time lag. However, it cannot be used in a majority of flour mills where each intermediate stream is diverted to a single final stream using physical flaps. the mixed-integer programming required in this case renders the tool too slow for interactive use. In this work, a new tool is developed for the prevalent case of discrete decision variables, which enables computations and graphic interface for scenario manoeuvring without prohibitive time lag.

关键词： Decision support systems

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Toward Relative Mass With a Pulley-Based Differential Transmission

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IEEE TRANSACTIONS ON robotics 2009年第4期25卷 818-828页

作者： Stocco, Leo J. Yedlin, Matthew J. Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

In the well-known electromechanical analogy that converts between electrical and mechanical system representations, mass is the dual of a grounded capacitor. Consequently, any electrical circuit that contains ungrounded capacitors, such as a filter, does not have a mechanical equivalent. A new mechanical system element representing a pulley-based differential transmission is proposed, which, when connected to a mass, is shown to simulate a capacitor in the general case. this new differential mass model provides an additional conceptual framework to model complex mechanical systems such as robotic manipulators.

关键词： Dual electromechanical system analogy grounded capacitor relative mass system model

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A suboptimal strategy for autonomous marine vehicle navigation in variable sea currents 15

A suboptimal strategy for autonomous marine vehicle navigati...

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

作者： Kim, Kangsoo National Maritime Research Institute National Institute of Maritime Port and Aviation Technology 6-38-1 Shinkawa Mitaka Tokyo181-0004 Japan

ISBN: (纸本)9789897583216

A navigation strategy achieving suboptimality in the transits of autonomous marine vehicles is presented. the objective of optimal navigation is the minimum-time transit of a marine vehicle moving in a flow field of sea currents. Reactive revisions of an ongoing optimal navigation followed by tracking controls are the key features of the proposed suboptimal strategy. In this research, a globally working numerical procedure for obtaining the solution of an optimal heading guidance law is presented. the developed solution procedure derives optimal heading reference that achieves the minimum-time transit of a marine vehicle in any deterministic sea currents whether stationary or time varying. the proposed suboptimal navigation works as a fail-safe strategy for the optimal navigation when there happen significant hostile actions which possibly cause the failure in ongoing optimal navigation. Simplicity and robustness are notable characteristics of our suboptimal strategy compared to others seeking rigorous optimality. Simulation results of autonomous underwater vehicle routing conducted by suboptimal navigation in various sea currents are presented. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Autonomous underwater vehicles

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