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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31-40 订阅

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ROBUST control FOR AN ARTIFICIAL MUSCLES ROBOT ARM

ROBUST CONTROL FOR AN ARTIFICIAL MUSCLES ROBOT ARM

引用

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

作者： Boudoua, S. Chettouh, M. Hamerlain, M. Adv Technol Dev Ctr CDTA Algiers Algeria

ISBN: (纸本)9789896740009

We are concerned with the control of a 3-DOF robot arm actuated by pneumatic rubber muscles. the system is highly non-linear and somehow difficult to model therefore resorting to robust control is required. the work in this paper addresses this problem by presenting two types of robust control. One uses neural network control, which has powerful learning capability, adaptation and tackles nonlinearities;in our work the learning performed on-line is based on a binary reinforcement signal without knowing the nonlinearities appearing in the system and no preliminary off-line learning phase is required. the other control law is a Classical variable structure which is robust against parameters variations and external disturbances. Experimental results together with a comparative study are presented and discussed.

关键词： Neural Network Reinforcement Learning Variable Structure System Pneumatic Artificial Muscle Manipulator Robot Arm

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PASSIVITY-BASED DYNAMIC BIPEDAL WALKING WIth TERRAIN ADAPTABILITY Dynamics, control and Robotic Applications

PASSIVITY-BASED DYNAMIC BIPEDAL WALKING WITH TERRAIN ADAPTAB...

引用

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

作者： Wang, Qining Wang, Long Zhu, Jinying Huang, Yan Xie, Guangming Peking Univ Coll Engn Intelligent Control Lab Beijing 100871 Peoples R China

ISBN: (纸本)9789896740009

this paper presents an approach for passivity-based bipedal robots to achieve stable walking on uneven terrain. A powered two-dimensional seven-link walking model with flat feet and compliant ankles has been proposed to analyze and simulate the walking dynamics. We further describe an optimization based control method, which uses optimized hip actuation and ankle compliance as control parameters of bipedal walking. Satisfactory results of simulations and real robot experiments show that the passivity-based walker can achieve stable bipedal walking with larger ground disturbance by the proposed method in view of stability and efficiency.

关键词： Passive dynamic walking Bipedal robots Terrain adaptability Modeling

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INFORMATION-thEORETIC VIEW OF control

INFORMATION-THEORETIC VIEW OF CONTROL

引用

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

作者： Roy, Prateep Cela, Arben Hamam, Yskandar Univ Paris Est ESIEE Dept Syst Embarques Paris France

ISBN: (纸本)9789896740016

In this paper we are presenting the information-theoretic explanation of Bode Sensitivity Integral, a fundamental limitation of control theory, controllability grammian and the issues of control under communication constraints. As resource-economic use of information is of prime concern in communication-constrained control problems, we need to emphasize more on informational aspect which has got direct relation with uncertainties in terms of Shannon Entropy and Mutual Information. Bode Integral which is directly related to the disturbances can be correlated with the difference of entropies between the disturbance-input and measurable output of the system. these disturbances due to communication channel-induced noises and limited bandwidth are causing the information packet-loss and delays resulting in degradation of control performances.

关键词： Information theory Shannon Entropy Mutual-Information control Bode Sensitivity Integral

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GENERATING HIGH-SPEED thREE-DIMENSIONAL DYNAMIC QUADRUPED WALKING USING AN EVOLUTIONARY SEARCH

GENERATING HIGH-SPEED THREE-DIMENSIONAL DYNAMIC QUADRUPED WA...

引用

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

作者： He, Di Wang, Qining Rong, Chunxia Xie, Guangming Peking Univ Intelligent Control Lab Coll Engn Beijing 100871 Peoples R China

ISBN: (纸本)9789898111999

this paper presents an evolutionary computation approach to generate three-dimensional fast forward gaits for quadruped robots with three motor-driven joints on each limb. We use linear constraints to reduce the high-dimensional space of parameters in order to generate the speed effectively. Real robot experiments show that the evolutionary approach is effective in developing quadruped gaits. Satisfactory results are obtained in about an hour by the autonomous learning process, which starts with a set of hand-tuned parameters.

关键词： Quadruped walking three-dimensional gaits Evolutionary search Legged robots Locomotion

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IMPACT OF thE ICT ON thE MANAGEMENT AND PERFORMANCE OF INTELLIGENT TRANSPORTATION SYSTEMS

IMPACT OF THE ICT ON THE MANAGEMENT AND PERFORMANCE OF INTEL...

引用

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

作者： Fanti, Maria Pia Polytech Bari Dept Elect & Elect Engn Bari Italy

ISBN: (纸本)9789898111999

Intelligent Transportation Systems (ITS) modelling, planning, and control are research streams that, in the last years, have received a significant attention by the researcher and practitioner communities due not only to their economic impact, but also to the complexity of decisional, organizational, and management problems. Indeed, the increasing complexity of these systems and the availability of the modern ICT (Information and Communication Technologies) for the interaction among the different decision makers and for the acquisition of information by the decision makers, require both the development of suitable models and the solution of new decision problems. this presentation is aimed at showing the new attractive researches and projects in the field of ITS operational control and management in Europe. In particular, it points out the key solution of using effectively and efficiently the latest developments of ICT for ITS operational management.

关键词： Intelligent Transportation Systems Urban Traffic control Intermodal Transportation Networks Information and Communication Technologies

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ANALYTICAL KINEMATICS FRAMEWORK FOR thE control OF A PARALLEL MANIPULATOR A Generalized Kinematics Framework for Parallel Manipulators

ANALYTICAL KINEMATICS FRAMEWORK FOR THE CONTROL OF A PARALLE...

引用

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

作者： Saleem, Muhammad Saad Sultan, Ibrahim A. Khan, Asim A. Univ Ballarat Sch Sci & Engn Mt Helen Vic Australia

ISBN: (纸本)9789896740009

Forward and inverse kinematics operations are important in the operational space control of mechanical manipulators. In case of a parallel manipulator, the forward kinematics function relates the joint variables of the active joints to the position of end-effector. this paper finds analytically forward kinematics function by exploiting the position-closure property. Using the proposed function along with the analytical Jacobian presented in the literature, the forward and the inverse kinematics blocks are formulated for a prospective operational space control scheme. Finally, an example is presented for a 3-RPR robot.

关键词： Analytical kinematic function Jacobian Forward kinematics Inverse kinematics Closed-loop manipulators Parallel manipulators Operational space control

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ON thE WORK-IN-PROCESS control OF PRODUCTION NETWORKS

ON THE WORK-IN-PROCESS CONTROL OF PRODUCTION NETWORKS

引用

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

作者： Tsourveloudis, Nikos C. Tech Univ Crete Machine Tools Lab Khania Greece

ISBN: (纸本)9789898111999

the effectiveness of evolutionary optimized fuzzy controllers for production scheduling has been proven in the past. the objective of the control/scheduling task in this context, is to continuously adjust the production rate in a way that: 1) satisfies the demand for final products, 2) keeps the inventory as low as possible. the evolutionary optimization identifies fuzzy control solutions which simultaneously satisfy those restrictions. the important question here is: How robust and generic is the outcome of the evolutionary process? In this paper we face this question by testing the evolutionary tuned fuzzy controllers under several demand patterns, as the actual demand might be different from those used for evolution\optimization. Extensive simulations of a supervisory controller identify the performance of the evolutionary-fuzzy strategy in comparison to a pure knowledge based one.

关键词： Production Networks Work-In-Process Fuzzy control Evolutionary Algorithms controller Design

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DIFFERENTIAL-DRIVE STEERING SYSTEM USING PLANETARY GEARING FOR OMNIDIRECTIONAL MOBILE ROBOT

DIFFERENTIAL-DRIVE STEERING SYSTEM USING PLANETARY GEARING F...

引用

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

作者： Kitagawa, Hideo Ohno, Takashi Ueno, Yuki Terashima, Kazuhiko Gifu Natl Coll Technol Dept Elect Control Engn Gifu Japan

ISBN: (纸本)9789896740009

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. this paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.

关键词： Mobile robots Movement Robot kinematics Vehicles Wheels Ride comfort

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thREEDIMENSIONAL TRACKING USING OBJECT DEFOCUS In Twodimensional Scanning Electron Microscope Images

THREEDIMENSIONAL TRACKING USING OBJECT DEFOCUS <i>In Twodime...

引用

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

作者： Dahmen, Christian Carl von Ossietzky Univ Oldenburg Div Microrobot & Control Engn D-2900 Oldenburg Germany

ISBN: (纸本)9789896740009

this paper proposes a tracking algorithm for the extraction of threedimensional position data from SEM images. An algorithm based on active contours with region-based minimization is chosen as basis for twodimensional tracking. this algorithm is then augmented by the incorporation of defocus analysis to estimate the out-of-focus displacement of the object. To solve the ambiguity of the out-of-focus displacement, the astigmatism of the SEM images is used. the separate calculation of variances for the rows and columns of the image enables a successful direction estimation. With the information on the direction, the out-of-focus displacement and the working distance of the acquired image, the distance of the object to the electron gun can be calculated. In combination with the twodimensional part of the tracking, a full threedimensional coordinate set is generated. the approach is tested and evaluated using a positioning setup and the principal feasibility is shown.

关键词： Image processing Object tracking Depth estimation Focus analysis

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MULTI SCALE MOVING control MEthOD FOR AUTONOMOUS OMNI-DIRECTIONAL MOBILE ROBOT

MULTI SCALE MOVING CONTROL METHOD FOR AUTONOMOUS OMNI-DIRECT...

引用

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

作者： Takahashi, Masaki Suzuki, Takafumi Keio Univ Dept Syst Design Engn Kohoku Ku Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)9789896740009

this paper proposes a hierarchical moving control method for autonomous omni-directional mobile robot to achieve both safe and effective movement in a dynamic environment with moving objects such as humans. In the method, the movement of the robot can be realized based on prediction of the movement of obstacles by taking account of time scale differences. In this paper, the design method of the proposed method based on the virtual potential approach is proposed. In the method, modules that generate the potential field are structured hierarchically based on the prediction time to each problem. To verify the effectiveness of the proposed method, the numerical simulations and the experiments using a real robot are carried out. From the results, it is confirmed that the robot with the proposed method can realize safe and efficient movement in dynamic environment.

关键词： Collision avoidance Service robots Hierarchical control Omni-directional mobile robot

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