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Remote tracking control of unicycle robots with network-induced delays

7th international conference on informatics in control, automation and robotics, icinco 2010

作者： Alvarez-Aguirre, Alejandro Van De Wouw, Nathan Oguchi, Toshiki Kojima, Kotaro Nijmeijer, Henk Department of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven 5600 MB Netherlands Department of Mechanical Engineering Tokyo Metropolitan University 1-1 Minami-osawa Hachioji-shi Tokyo 192-0397 Japan

ISBN: (纸本)9783642195389

In this chapter, the tracking control problem for a unicycle-type mobile robot with network-induced delays is addressed. the time-delay affects the system due to the fact that the controller and the robot are linked via a delay-inducing communication channel, by which the performance and stability of the system are possibly compromised. In order to tackle the problem, a state estimator with a predictor-like structure is proposed. Acting in conjunction with a tracking control law, the resulting control strategy is capable of stabilizing the system and compensates for the negative effects of the time-delay. the local uniform asymptotic stability of the closed-loop system is guaranteed up to a maximum admissible time-delay, for which explicit expressions are provided in terms of the system's control parameters. the applicability of the proposed estimator-control strategy is demonstrated by means of experiments carried out between multi-robot platforms located in Eindhoven, the Netherlands and Tokyo, Japan. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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Joint Stiffness Identification of a Heavy Kuka Robot with a Low-cost Clamped End-effector Procedure

Joint Stiffness Identification of a Heavy Kuka Robot with a ...

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international conference on informatics in control, automation and robotics

作者： A. Jubien G. Abba M. Gautier IRCCyN (Institut de Recherche en Communications et Cybernetique de Nantes) Dep. of Design Manufacturing and Control (LCFC) and ENIM (National College of Engineering of Metz)

ISBN: (纸本)9781479979202

this paper proposes two new methods for the identification of static stiffnesses of multi degrees of freedom heavy industrial robots. they are based on a locked link joint procedure obtained with an end-effector fixed to the environment. the first method requires only measurements of motor positions and motor torques data computed from motor current measurements and manufacturer's drive gains. the second one needs a torque sensor to measure the interaction wrench between the clamped end-effector and the environment. these methods are being experimentally validated and compared on the 2 first joints of a 6 degrees of freedom heavy 500Kg payload industrial Kuka KR500 robot.

关键词： Stiffness Industrial Robot Identification Clamped End-effector

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Planning stacking operations with an unknown number of objects

Planning stacking operations with an unknown number of objec...

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作者： Trilla, Lluis Alenyà, Guillem Institut de Robòtica i Informàtica Industrial CSIC-UPC Llorens i Artigas 4-6 08028 Barcelona Spain

ISBN: (纸本)9789898425010

A planning framework is proposed for the task of cleaning a table and stack an unknown number of objects of different size on a tray. We propose to divide this problem in two, and combine two different planning algorithms. One, plan hand motions in the Euclidean space to be able to move the hand in a noisy scenario using a novel Time-of-Flight camera (ToF) to perform the perception of the environment. the other one, chooses the strategy to effectively clean the table, considering the symbolic position of the objects, and also its size for stacking considerations. Our formulation does not use information about the number of objects available, and thus is general in this sense. Also, it can deal with different object sizes, planning adequately to stack them. the special definition of the possible actions allows a simple and elegant way of characterizing the problem, and is one of the key ingredients of the proposed solution. Some experiments are provided in simulated and real scenarios that validate our approach.

关键词： Cameras

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Generating multidimensional response surfaces from process data: Finding optimal set points for machine control

Generating multidimensional response surfaces from process d...

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作者： Mergenthaler, Wolfgang Feller, Jens Mauersberg, Bernhard Chevalier, Roger FCE Frankfurt Consulting Engineers GmbH Altmünsterstrasse 2D D-65439 Flörsheim Germany Electricité de France R and D 6 Quai Watier F-78401 Chatou Cedex France

ISBN: (纸本)9789898425744

Technical processes, notably in the power transforming industries, generate a wealth of process data, commonly organized in a file with M records and 1 + n + m fields, i.e. a time stamp, followed by n independent and m dependent variables, summarized in the vectors x and y, respectively. Regardless of the availability of physical models it is interesting and often necessary to generate functional relationships between x and y from process data. the most prominent purpose is the optimization of certain performance indices under given constraints. this paper describes response surface estimation using Gaussian shapes along with finding optimal points on the surfaces to be used in machine control. the practical impact lies in the usability of this technique to increase machine efficiency on a broad industrial scale with its applications towards energy efficiency and climate protection.

关键词： Dynamic programming

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Lecture Notes in Electrical Engineering: Preface

Lecture Notes in Electrical Engineering

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Lecture Notes in Electrical Engineering 2009年 37 LNEE卷 VI页

作者： Andrade-Cetto, Juan Ferrier, Jean-Louis Filipe, Joaquim Institut de Robòtica i Informàtica Industrial CSIC-UPC Llorens i Artigas 4-6 08028 Barcelona Spain INSTICC Av. D. Manuel I 27A 2 Esq. 2910-595 Setubal Portugal 62 avenue Notre Dame du Lac 49000 Angers France

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A morphing wing used shape memory alloy actuators new control technique with Bi-positional and pi laws optimum combination - Part 1: Design phase

A morphing wing used shape memory alloy actuators new contro...

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作者： Grigorie, Teodor Lucian Popov, Andrei Vladimir Botez, Ruxandra Mihaela Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada National Research Council Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

the paper presents the design phase of the actuators control system development for a morphing wing application. Some smart materials, like Shape Memory Alloy (SMA), are used as actuators to modify the upper surface of the wing made of a flexible skin. the actuations lines control is designed and validated using a numerical simulation model developed in Matlab/Simulink. the finally adopted control law is a combination of a bi-positional law and a PI law;the control must behave like a switch between cooling phase and heating phase, situations where the output current is 0 A, or is controlled by a law of PI type. the PI controller, for the heating phase, is optimally tuned using the Ziegler-Nichols criterion and the linear model obtained using the System Identification Toolbox of Matlab. the controlled linearized system for heating phase is numerically tested in terms of time response, stability, controllability and the observability. In the actuation control design final phase, numerical simulations, based on SMA non-linear analytical model, were used for validation.

关键词： Observability

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Morphing wing real time optimization in wind tunnel tests

Morphing wing real time optimization in wind tunnel tests

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作者： Popov, Andrei V. Grigorie, Lucian T. Botez, Ruxandra Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada Institute for Aerospace Research NRC Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

In this paper, wind tunnel results of a real time optimization of a morphing wing in wind tunnel for delaying the transition towards the trailing edge are presented. A morphing rectangular finite aspect ratio wing, having a wind tunnel experimental airfoil reference cross-section, was considered with its upper surface made of a flexible composite material and instrumented with Kulite pressure sensors, and two smart memory alloys actuators. Several wind tunnel tests runs for various Mach numbers, angles of attack and Reynolds numbers were performed in the 6'x9' wind tunnel at the Institute for Aerospace Research at the National Research Council Canada. Unsteady pressure signals were recorded and used as feed back in real time control while the morphing wing was requested to reproduce various optimized airfoils by changing automatically the two actuators strokes. the paper shows the optimization method implemented into the control software code that allows the morphing wing to adjust its shape to an optimum configuration under the wind tunnel airflow conditions.

关键词： Wind tunnels

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Genetic algorithm based X-ray diffraction analysis for chemical control of aluminium smelters baths

Genetic algorithm based X-ray diffraction analysis for chemi...

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

作者： Shakhnaz Akhmedova Igor Yakimov Aleksandr Zaloga Sergey Burakov Eugene Semenkin Petr Dubinin Oksana Piksina Eugene Andryushenko Siberian State Aerospace University Krasnoyarsk Russia Siberian Federal University Krasnoyarsk Russia

Aluminium production is based on the high-temperature electrolysis of alumina in molten fluoride salts. Part of the fluoride compounds continuously evaporates, which violates the optimal composition of the electrolyte in the electrolytic baths. It causes a technological necessity for regular adjustment of the electrolyte composition by the addition of fluorides according to results of automatic express analysis of the electrolyte. control of the main composition characteristics is performed automatically by XRD phase analysis of crystallized electrolyte samples. the XRD method, usually used on aluminium smelters, requires periodic calibration with reference samples, whose phase composition is exactly known. the preparation of such samples is a rather complicated problem because samples include 5–6 different phases with variable microcrystalline structure. An alternative diffraction method is the Rietveld method, which does not require reference samples to be used. the method is based on the modelling of the experimental powder patterns of electrolyte samples as the sum of the phase of component powder patterns, calculated from their atomic crystal structure. the simulation includes a refinement of the profile parameters and crystal structure of phases by the nonlinear least squares method (LSM). the problem with the automation of this approach is the need to install a set of initial values of the parameters that can and should be automatically refined by LSM to exact values. To solve this problem, the article proposed an optimization method based on an evolutionary choice of initial values of profile and structural parameters using a genetic algorithm. the criterion of the evolution is the minimization of the profile R-factor, which represents the weighted discrepancy between the experimental and model powder patterns of the electrolyte sample. It is shown that this approach provides the necessary accuracy and complete automation of the electrolyte composition contr

关键词： Genetic algorithms Crystals X-ray diffraction X-ray scattering Diffraction Aluminum Powders

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6-DoF Extrinsic Calibration Between a Manipulator and a 2D Laser Scanner 16th

6-DoF Extrinsic Calibration Between a Manipulator and a 2D L...

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16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Alberts, Jan Kleinschmidt, Sebastian P. Wagner, Bernardo Real-Time Systems Group Institute for Systems Engineering Leibniz Universität Hannover Appelstraße 9A Hannover30167 Germany

ISBN: (纸本)9783030631925

A precise geometric calibration between the subsystems of a robotic system is crucial for its usage and applicability. As mobile robots are already being used in industry and households, the interest in mobile manipulators rises, and the calibration procedures between manipulators and the robot’s exteroceptive sensors becomes necessary. Nevertheless, state-of-the-art calibration procedures between a manipulator and a 2D laser scanner often require complex calibration targets or additional sensors for calibration. As a consequence the practical usage in an industrial context is limited. For this reason, we propose a simple but effective approach for determining the transformation between a manipulator and a 2D laser scanner. the transformation is solved for six degrees of freedom using a 1D calibration target. In this paper, the modeling of the original approach presented in[1] is extended to decrease the number of restrictions. therefore, the objective function was improved leading to better optimization results and the methodology of the proposed approach is presented in more detail. Moreover, additional experiments are carried out to evaluate the accuracy of the extended calibration procedure. the effect of different calibration trajectories and calibration target’s geometries is evaluated additionally. © 2021, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

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2-DOF PI-fuzzy controllers for a magnetic levitation system

2-DOF PI-fuzzy controllers for a magnetic levitation system

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作者： Drago, Claudia-Adina Precup, Radu-Emil Petriu, Emil M. Tomescu, Marius L. Preitl, Stefan David, Radu-Codruţ RǍdac, Mircea-Bogdan Dept. of Automation and Appl. Inf. Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania School of Information Technology and Eng. University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada Computer Sci. Faculty Aurel Vlaicu University of Arad Complex Univ. M Str. Elena Dragoi 2 310330 Arad Romania

ISBN: (纸本)9789898425744

this paper treats aspects concerning the design of two-degree-of-freedom (2-DOF) PI-fuzzy controllers dedicated to the position control of magnetic levitation system. 2-DOF Mamdani and Takagi-Sugeno PI-fuzzy controller structures based on the fuzzification of some linear blocks in the 2-DOF linear controller structures are discussed. A design approach of three new cascade control system structures is offered. the design approach carries out first the pole placement design of the inner state feedback control system. the 2-DOF PI-fuzzy controllers in the outer loops are next designed to merge separately designed linear PI controllers accounting for the linearization of the process model at certain operating points. Samples of realtime experimental results related to a laboratory equipment are given to validate the new fuzzy control system structures and the design approach.

关键词： Degrees of freedom (mechanics)

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