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检索条件"任意字段=8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011"

共 40 条记录，以下是21-30 订阅

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Linear model for canal pools

Linear model for canal pools

引用

作者： Nabais, Joao Miguel Lemos Chasqueira Botto, Miguel Ayala Department of Systems and Informatics Escola Superior de Tecnologia Setúbal Campus do IPS Estefanilha 2910-761 Setúbal Portugal Department of Mechanical Engineering IDMEC Instituto Superior Técnico Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9789898425744

Water is vital for human life. Water is used widespread from agricultural to industrial as well as simple domestic activities. Mostly due to the increase on world population, water is becoming a sparse and valuable resource, pushing a high demand on the design of efficient engineering water distribution control systems. this paper presents a simple yet sufficiently rich and flexible solution to model open-channels. the hydraulic model is based on the Saint-Venant equations which are then linearized and transformed into a state space dynamic model. the resulting model is shown to be able to incorporate different boundary conditions like discharge, water depth or hydraulic structure dynamics, features that are commonly present on any water distribution system. Besides, due its computational simplicity and efficient monitoring capacity, the resulting hydraulic model is easily integrated into safety and fault tolerant control strategies. In this paper the hydraulic model is successfully validated using experimental data from a water canal setup.

关键词： Delay control systems

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Forecast error reduction by preprocessed high-performance structural break detection

Forecast error reduction by preprocessed high-performance st...

引用

作者： Pauli, Dirk Feller, Jens Mauersberg, Bernhard Timm, Ingo J. FCE Frankfurt Consulting Engineers GmbH Frankfurter Str. 5 65239 Hochheim/Main Germany Department IV Institute of Business Information Systems Business Informatics I University of Trier 54286 Trier Germany

ISBN: (纸本)9789898425744

In this paper a new method for detecting multiple structural breaks, i.e. undesired changes of signal behavior, is presented and applied to real-world data. It will be shown how Chernoff Bounds can be used for highperformance hypothesis testing after preprocessing arbitrary time series to binary random variables using k-means-clustering. theoretical results from part one of this paper have been applied to real-world time series from a pharmaceutical wholesaler and show striking improvement in terms of forecast error reduction, thereby greatly improving forecast quality. In order to test the effect of structural break detection on forecast quality, state of the art forecast algorithms have been applied to time series with and without previous application of structural break detection methods.

关键词： Time series

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Trajectory Adaptation with Impedance control for Human-Robot Collaboration Tasks 8

Trajectory Adaptation with Impedance Control for Human-Robot...

引用

8th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Chaoyi Luo, Jing Zeng, Chao Tang, Biwei Pang, Muye Yang, Chenguang School of Automation Wuhan University of Technology Wuhan430070 China University of Hamburg Department of Informatics Hamburg22527 Germany School of Automation Science and Engineering South China University of Technology Guangzhou510641 China

ISBN: (纸本)9798350300178

In human-robot collaboration tasks, an operator usually interacts with a robot physically and guides the robot to move by employing the interaction force in the model of impedance control. However, in physical human-robot interaction (pHRI), the trade-off between the position accuracy and interaction force is one of the main disadvantages of impedance control. In order to achieve compliant control with a high position control accuracy, a method of trajectory adaptation based on impedance control is proposed with minimized interaction force and small position error in pHRI and the effectiveness of the collaboration tasks is guaranteed. We use impedance control to generate the robot's movement for compliant control and use trajectory adaptation to regulate the robot's reference trajectory. By employing the proposed method, the interaction force can be reduced with small position error. the results of experiment verify the effectiveness of the proposed method. © 2023 IEEE.

关键词： Trajectories

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Flexible discrete time state space model for canal pools

Flexible discrete time state space model for canal pools

引用

8th international conference on informatics in control, automation and robotics, icinco 2011

作者： Nabais, João Lemos Botto, Miguel Ayala Dept. of Systems and Informatics Escola Superior de Tecnologia de Setúbal Campus Do IPS Estefanilha 2910-761 Setúbal Portugal Instituto Superior Técnico Technical University of Lisbon Dept. of Mechanical Engineering Av. Rovisco Pais 1049-001 Lisboa Portugal

ISBN: (纸本)9783642313523

Water is a vital resource for mankind used in activities such as agriculture, industry and domestic activity. Irrigation is one of the most consuming water resources in human activity. Irrigation canals are characterized for being spatially distributed crossing different administrative regions. As water is becoming a scarce and valuable resource, efficient engineering water conveyance networks are required. In this paper a discrete state space for modeling open-channels is presented. the well known Saint-Venant equations are first linearized for a steady state and then discretized using the Preissmann scheme. the resulting model is shown to be computational simple and flexible to accommodate different type of boundary conditions, in flow, water depth or hydraulic structures dynamics, which are important features for modeling complex water conveyance systems. the hydraulic model also offers monitoring ability along the canal axis and can therefore be integrated in fault diagnosis and tolerant control strategies. the model is validated with experimental data from a real canal property of the Évora University. © 2013 Springer-Verlag.

关键词： Timing circuits

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Structure-preserving algorithms for discrete-time algebraic matrix Riccati equations

Structure-preserving algorithms for discrete-time algebraic ...

引用

作者： Sima, Vasile National Institute for Research and Development in Informatics 8-10 Bd. Mareşal Averescu Bucharest Romania

ISBN: (纸本)9789898425003

Structure-preserving algorithms for solving discrete-time algebraic matrix Riccati equations are presented. the proposed techniques extract the stable deflating subspaces for extended, inverse-free symplectic matrix pencils. the algorithms are based on skew-Hamiltonian/Hamiltonian pencils derived by an extended Cayley transformation, which only involves matrix additions and subtractions. the structure-preserving approach has the potential to avoid the numerical difficulties which are encountered for a traditional, non-structured solution, returned by the currently available software tools.

关键词： Quadratic programming

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

引用

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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A Vision-Integrated Navigation Method in AUV Terminal Mobile Docking Based on Factor Graph Optimization 8

A Vision-Integrated Navigation Method in AUV Terminal Mobile...

引用

8th international conference on automation, control and robotics Engineering, CACRE 2023

作者： Ma, Tianheng Chen, Shumin Ruan, Liang Xu, Yuanxin Zhejiang University College of Information Science and Electronic Engineering Hangzhou China Zhejiang Sci-Tech University Faculty of Informatics and Electronics Hangzhou China

ISBN: (纸本)9798350302776

the widespread use of Autonomous Underwater Vehicles (AUVs) highlights the need for autonomous docking, during which accurate pose estimation and navigation play a vital role. this paper proposes a multi-sensor fusion navigation framework based on the factor graph optimization method, integrating tightly-coupled visual information from the light array to provide high-accuracy and high-frequency relative pose estimations between AUV and its mobile dock at the terminal docking stage. Simulation results demonstrate that the proposed algorithm outperforms PnP and achieves smaller RMSE in relative attitude and translation estimations. Furthermore, the experiments show that the proposed algorithm provides smoother estimation results and that it has the potential to be deployed in embedded applications. © 2023 IEEE.

关键词： Computer vision

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A Teaching Mechanism of Supernumerary Robotic Limbs for Natural Human-robot Collaboration 8

A Teaching Mechanism of Supernumerary Robotic Limbs for Natu...

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8th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Liu, Shiyang Luo, Jing Zeng, Chao Lei, Ting Yang, Chenguang School of Automation Wuhan University of Technology Wuhan430070 China University of Hamburg Department of Informatics Hamburg22527 Germany School of Mechanical and Electronic Engineering Wuhan University of Technology Wuhan430070 China School of Automation Science and Engineering South China University of Technology Guangzhou510641 China

ISBN: (纸本)9798350300178

Supernumerary robotic limb (SRL) is an intelligent platform for providing assistance to humans at extreme conditions in natural human-robot collaboration (HRC) tasks. However, it is still difficult to control the SRL by using a simple way and to eliminate the cognitive burden placed on the human operator. of the human operator. Learning that the burden on human operators can be reduced by using Learning from Demonstrations (LfD) which learns repetitive teleoperation tasks. Our study introduces a method for teaching SRL that utilizes Dynamic Time Warping in combination with Gaussian Mixture Model and Gaussian Mixture Regression. the proposed mechanism utilizes a DTW algorithm to align and compare motion patterns between the human teacher and the SRL. then, the GMM algorithm was applied to encode the motion patterns into statistical models. Additionally, these models are used to reate a task model that is applicable in a broad range of situations through the GMR method, which can be utilized to regulate the motion of SRL in real-time. the proposed mechanism is tested in experiments, and the results show that the SRL can accurately replicate the motion patterns with an average error of less than 10% for the HRC tasks. the proposed teaching mechanism has potential applications in fields such as rehabilitation and industrial automation, where the use of SRL can strengthen human capabilities and improve task efficiency. © 2023 IEEE.

关键词： Intelligent robots

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Auto-generated control Program in Mobile Robot using Grammatical Evolution 8

Auto-generated Control Program in Mobile Robot using Grammat...

引用

8th international conference on robotics and Artificial Intelligence, ICRAI 2022

作者： Sukarman, Firdaus Kita, Eisuke Graduate School of Informatics Nagoya University Nagoya Japan

ISBN: (纸本)9781450397544

Complexity of robot control program is become a problem as variety of robot used today is dramatically increased due to demand of automation. Several studies has been made using GE to solve robot tasks but application in actual environment is still lack of proof. In this research, auto-generated control program using Grammatical Evolution (GE) is proposed to resolve the burden of constructing manually adjusted control program that consider both physical condition of robot and input from sensors. Grammatical Evolution (GE) is a genetic programming that map genotype to phenotype using predetermined grammar. As GE is subset to Genetic Programming which produce heuristics solution, the grammar-based algorithm enable the search range evolve in a set of rules. this search strategy can be applied to build the structure of control program which consists of multiple sets of program blocks with adjustable parameter. this system is evaluated using Santa Fe Trail problem with open world configuration. the results show the usability of the algorithm by manipulating crossover and mutation rates. Another important factors that effect the performance of the algorithm is the grammar that can govern the evolution of the control program. the proposed method able to generate control automatically with sets of rules determined using grammar. © 2022 Association for Computing Machinery.

关键词： Genetic programming

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A Bio-Inspired Electro-Active Velcro Mechanism Using Shape Memory Alloy for Wearable and Stiffness controllable Layers 8

A Bio-Inspired Electro-Active Velcro Mechanism Using Shape M...

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8th IEEE international conference on Information and automation for Sustainability (ICIAfS) - Interoperable Sustainable Smart Systems for Next Generation

作者： Afrisal, Hadha Sadati, S. M. Hadi Nanayakkara, thrishantha Center for Robotics Research (CoRe) Department of Informatics King's College London Strand-London WC2R 2LS United Kingdom

ISBN: (纸本)9781509061327

Smart attachment mechanisms are believed to contribute significantly in stiffness control of soft robots. this paper presents a working prototype of an active Velcro based stiffness controllable fastening mechanism inspired from micro active hooks found in some species of plants and animals. In contrast to conventional passive Velcro, this active Velcro mechanism can vary the stiffness level of its hooks to adapt to external forces and to maintain the structure of its supported layer. the active hooks are fabricated using Shape Memory Alloy (SMA) wires which can be actuated using Lenz-Joule heating technique via thermo-electric manipulation. In this paper, we show experimental results for the effects of active SMA Velcro temperature, density and number on the attachment resisting force profile in dynamic displacement. We aim to provide new insights into the novel design approach of using active hook systems to support future implementation of active velcro mechanisms for fabrication of wearable stifl" ness controllable thin layers.

关键词： Stiffness

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