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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是91-100 订阅

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Interval-based Sound Source Mapping for Mobile Robots 17

Interval-based Sound Source Mapping for Mobile Robots

引用

17th international conference on informatics in control, automation and robotics (icinco)

作者： Rauschenberger, Axel Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp RTS Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897584428

Auditory information can expand the knowledge of the environment of a mobile robot. therefore, assigning sound sources to a global map is an important task. In this paper, we first form a relationship between the microphone positions and auditory features extracted from the microphone signals to describe the 3D position of multiple static sound sources. Next, we form a Constraint Satisfaction Problem (CSP), which links all observations from different measurement positions. Classical approaches approximate these non-linear system of equations and require a good initial guess. In contrast, in this work, we solve these equations by using interval analysis in less computational effort. this enables the calculation being performed on the hardware of a robot at run time. Next, we extend the approach to model uncertainties of the microphone positions and the auditory features extracted by the microphones making the approach more robust in real applications. Last, we demonstrate the functionality of our approach by using simulated and real data.

关键词： Mobile robotics Sound Source Mapping Robot Audition Interval Analysis

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Clustering Algorithm for Generalized Recurrences using Complete Lyapunov Functions 16

Clustering Algorithm for Generalized Recurrences using Compl...

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

作者： Argaez, Carlos Giesl, Peter Hafstein, Sigurdur Univ Iceland Sci Inst Dunhagi 3 IS-107 Reykjavik Iceland Univ Sussex Dept Math Falmer BN1 9QH England

ISBN: (纸本)9789897583803

Many advances and algorithms have been proposed to obtain complete Lyapunov functions for dynamical systems and to properly describe the chain-recurrent set, e.g. periodic orbits. Recently, a heuristic algorithm was proposed to classify and reduce the over-estimation of different periodic orbits in the chain-recurrent set, provided they are circular. this was done to investigate the effect on further iterations of the algorithm to compute approximations to a complete Lyapunov function. In this paper, we propose an algorithm that classifies the different connected components of the chain-recurrent set for general systems, not restricted to (circular) periodic orbits. the algorithm is based on identifying clustering of points and is independent of the particular algorithm to construct the complete Lyapunov functions.

关键词： Complete Lyapunov Functions Chain-recurrent Set Clustering Algorithm Mathematics Dynamical Systems

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Observability for the Wave Equation with Variable Support in the Dirichlet and Neumann Cases 15th

Observability for the Wave Equation with Variable Support in...

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

作者： Agresti, Antonio Andreucci, Daniele Loreti, Paola Sapienza Univ Dept Math Piazzale Aldo Moro 5 I-00185 Rome Italy Sapienza Univ SBAI Dept Via Antonio Scarpa 16 I-00161 Rome Italy

ISBN: (纸本)9783030319939;9783030319922

We study the observability of the wave equation when the observation set changes over time. For the one dimensional Neumann problem, using Fourier series, we are able to prove for the exact observability an equivalent condition already known for the Dirichlet problem;see [1]. For the observability problem with Dirichlet boundary conditions, we focus on multidimensional problems and the observability inequality is proven through a multiplier approach. Besides this, we present some applications and a numerical simulation.

关键词： Exact controllability Wave equation Variable control subset Multiplier Fourier series

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A Multicopter Design Software Tool for Automated Generation of Simulation and Visualization Models 14th

A Multicopter Design Software Tool for Automated Generation ...

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

作者： Shaqura, Mohammad Shamma, Jeff S. King Abdullah Univ Sci & Technol Thuwal 23955 Saudi Arabia

ISBN: (纸本)9783030112929;9783030112912

Multicoptor unmanned aerial vehicles (UAVs) are popular robotics platforms in various research and applications fields. Research in robotics, control, estimation and computer vision relies heavily on open-source software and hardware to build custom UAV. this is motivated by lower cost of material and rapid development desire. the presented tool automates the task of obtaining realistic models for simulation and visualization of multicoptors using state-of-the-art Computer Aided Design engineering tools (CAD). Users interact with the software through a desktop application that offers interface to CAD tools, hardware database and simulation files generation. Custom models can be generated for three popular multirotor simulators. Modeling parameters accuracy has been validated using data of IRIS+ quadcopter model.

关键词： Aerial robots UAV simulation System ID SolidWorks API Dynamic assembly Flight control Robot visualization

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Temperature Correction and Reflection Removal in thermal Images using 3D Temperature Mapping 13

Temperature Correction and Reflection Removal in Thermal Ima...

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

作者： Zeise, Bjoern Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897581984

Many mobile robots nowadays use thermal imaging cameras (TICs) in order to enhance the environment model that is created during exploration tasks. In conventional thermography, thermal images always have to be carefully revised by human operators, which is not practicable in autonomous applications. Unknown surface emissivities are the main source of misinterpretations in thermal images. In this work, we present two methods dealing with these misinterpretations by exploiting the TIC's changing point of view. While the first approach classifies the regarded material in order to estimate improved surface temperature values, the second one is capable of detecting and removing thermal reflections. the spatial relationship between the thermal images and the regarded surface is made by using a rigidly mounted sensor stack consisting of a TIC and a 3D laser range finder, whose extrinsic calibration is described. During evaluation, we demonstrate the functionality of both approaches.

关键词： Infrared thermography 3D Temperature Mapping Emissivity Estimation Temperature Correction thermal Reflection Removal Mobile Service robotics

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Optimization-based Trajectory Prediction Enhanced with Goal Evaluation for Omnidirectional Mobile Robots 18

Optimization-based Trajectory Prediction Enhanced with Goal ...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Luo, Wei Eberhard, Peter Univ Stuttgart Inst Engn & Computat Mech Pfaffenwaldring 9 D-70569 Stuttgart Germany

ISBN: (纸本)9789897585227

In this paper, an optimization-based trajectory prediction enhanced with goal evaluation for omnidirectional mobile robots is proposed. the proposed approach tries to predict the mobile platform's trajectory based on its previous positions. A two-stage strategy is introduced. At the first stage, the likely goal of the robot in the scenario is evaluated based on an improved Bayesian framework, which also predicts the possible waypoints in a discrete roadmap based on Monte-Carlo sampling in the future. then, based on the predicted waypoints, an optimization problem is formulated based on the complementary progress constraints, the system dynamics, and the model constraints. After solving the proposed optimization problem, a more reasonable predicted trajectory can be generated. At the end, an experimental scenario is set up, and it is verified with the experimental data, whether the trajectories can be predicted well.

关键词： Goal Intention Evaluation Monte-Carlo Sampling Optimization Trajectory Prediction Complementary Progress Constraint Mobile Robot

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Robot-dog - Human interaction in urban search and rescue scenarios: Improving the efficiency of rescue teams in hazardous environments

Robot-dog - Human interaction in urban search and rescue sce...

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

作者： Bosch, Anna Cufí, Xavier De La Rosa, Josep Ll. Figueras, Albert Institute of Informatics and Applications University of Girona Campus Montilivi EPS-4 17071 Girona Spain Department of Computer Engineering University of Girona Campus Montilivi EPS-4 17071 Girona Spain

ISBN: (纸本)9789898565211

After a natural urban disaster the interior of the rubble is often where the majority of victims are located. Mortality rates increases and peaks after 48 hours, so it is of major importance to have fast and effective search and rescue teams. Nowadays, the rescue and exploration teams normally use dogs as a companion to find victims. Trained dogs are very helpful in these situations since their high mobility, speed and detection capacity. However they need constant instructions and supervision, they can be in danger in some situations and they are not able to collect precise data from the environment. Instead of trying to build competing devices, the COMPANIONS project looks at cooperation between natural and artificial creatures and in particular robots and dogs. this is rather new ground for research, where all the dog shortcomings can be complemented with autonomous robots with cognitive abilities able to cooperate with dogs and humans in search and rescue environments. the aim of the project is to analyse how a team of agents (robots-dogshumans in this case) can cooperate and interact during search and rescue. Research will be towards a new rescue scenario composed that will allow: (i) to empower the best characteristics of all the involved agents and to minimize the worst ones;(ii) provide the fundamental tools for enabling these three agents to work in a cooperative and efficient way in rescue missions;and (iii) and to lengthen the human-dog link by allowing the exploration combining mobile robots and trained dogs with more distant and safer human intervention in the dangerous rescue scenes. the main challenge will be the dog-robot interaction: to give visual cognitive and reasoning abilities to the robot in order to let him autonomously interact and cooperate with the dog according its behaviour and the environment conditions;and to specifically train a dog to correctly accept and interact the robot (in charge of an expert dog training company).

关键词： Cognitive systems

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Genetic Optimization of Excitation Signals for Nonlinear Dynamic System Identification 18

Genetic Optimization of Excitation Signals for Nonlinear Dyn...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Smits, Volker Nelles, Oliver DEUTZ AG Ottostr 1 Cologne Germany Univ Siegen Dept Mech & Control Mechatron Paul Bonatz Str 9-11 Siegen Germany

ISBN: (纸本)9789897585227

Two new methods for optimization of passive step-based excitation signals for system identification of nonlinear dynamic processes via a genetic algorithm are introduced - an optimized Amplitude Pseudo Random Binary Signal (APRBSOpt) and a Genetic Optimized Time Amplitude Signal (GOATS). the investigated optimization objectives are the evenly excitation of all frequencies and the uniform data distribution of the space spanned by the system's input and output. the results show that the GOATS optimized according to the uniform data distribution outperform the state-of-the-art excitation signals standard ARPBS (APRBSStd), Optimized Nonlinear Input Signal (OMNIPUS), Chirp and Multi-Sine in the achieved model quality on three artificially created Single-Input Single-Output (SISO) nonlinear dynamic processes. However, the APRBSOpt only exceeds the Chirp, Multi-Sine and APRBSStd in the achievable model quality. Additionally, the GOATS can be used for stiff systems, supplementing existing data and easy incorporation of constraints.

关键词： Design of Experiment Genetic Algorithm System Identification of Nonlinear Dynamic Systems Optimal Excitation Signals APRBS GOATS

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A State Dependent Approach to Resource Allocation Strategies 14th

A State Dependent Approach to Resource Allocation Strategies

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

作者： Di Giamberardino, Paolo Iacoviello, Daniela Sapienza Univ Rome Dept Comp Control & Management Engn A Ruberti I-00185 Rome Italy

ISBN: (纸本)9783030112929;9783030112912

In optimal control problems, once the model, the boundary conditions and the constraints are fixed, the result depends obviously on the choice of the cost index and, in particular, on the weights assumed for the variables considered. the weights take into account the different mutual influence of the elements included in the cost index;therefore different choices yield to different control strategies. In this paper the aim is to face the problem of optimal resource allocation depending on the system evolution;in the definition of the cost function, the control action is weighted by a piecewise constant function of the state, aiming at optimizing the planned resources according to the global goal. the switching instants are not known in advance and their identification is part of the problem. A constructive algorithm to compute iteratively the final control law is outlined. the effectiveness of the proposed approach is tested on a model of human immunodeficiency virus (HIV) recently proposed in literature.

关键词： Optimal control State-based cost function Switching control Epidemic models HIV model

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Nonlinear Model Predictive control Algorithms for Industrial Articulated Robots 15th

Nonlinear Model Predictive Control Algorithms for Industrial...

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

作者： Belda, Kvetoslav Czech Acad Sci Dept Adapt Syst Inst Informat Theory & Automat Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic

ISBN: (纸本)9783030319939;9783030319922

this paper deals with a novel nonlinear design of the discrete model predictive control represented by two algorithms based on the features of linear methods for the numerical solution of ordinary differential equations. the design algorithms allow more accurate motion control of robotic or mechatronic systems that are usually modelled by nonlinear differential equations up to the second order. the proposed ways apply nonlinear models directly to the construction of equations of predictions employed in predictive control design. these equations are composed using principles of explicit linear multi-step methods leading to straight-forward and unambiguous construction of the predictions. Examples of the noticeably improved behaviour of proposed ways in comparison with conventional linear predictive control are demonstrated by comparative simulations with the nonlinear model of six-axis articulated robot.

关键词： Discrete model predictive control Nonlinear design Lagrange equations Articulated robots

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