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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151-160 订阅

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Intelligent Labware Transportation Solution for the Hierarchical Life Science automation 14th

Intelligent Labware Transportation Solution for the Hierarch...

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

作者： Neubert, S. Roddelkopf, T. Goede, B. Gu, X. Junginger, S. Stoll, N. thurow, K. Univ Rostock Inst Automat Friedrich Barnewitz Str 8 D-18119 Rostock Germany Automat Celisca Ctr Life Sci Friedrich Barnewitz Str 8 D-18119 Rostock Germany

ISBN: (纸本)9783030112929;9783030112912

In life science laboratories spatially distributed automation systems are increasingly applied to process complex professional tasks of an overall workflow. the transportation-logistic fusion of interacting automation systems is so far often the job of human operators who are parallel involved in regular laboratory tasks. this paper describes the integration of mobile robots and human operators in a hierarchical workflow management system (HWMS) to increase the degree of automation concerning complex process chains. Mobile robots combine distributed automation systems by labware-transportation processes and enable automated building-wide workflows. the necessity of laboratory assistance for transportation and assistance tasks in these workflows still remains and consequently the flexible integration of human operators, via mobile devices such as smartphones and/or tablet PCs, in the environment of life science automation (LSA) is pursued. Besides the infrastructure for the connection of automation systems (instruments, workstations, integrated systems) also a transportation infrastructure needs to be considered for the workflow control, which distributes and controls transportation and assistance tasks for mobile robots and human operators. the development of the transportation infrastructure is discussed in detail by three potential variants. the implementation and application of the favored variant is amplified in context with automation systems.

关键词： Life science automation Laboratory execution system Mobile robot integration Dynamical scheduling Human machine interaction

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Combining Voronoi Graph and Spline-Based Approaches for a Mobile Robot Path Planning 14th

Combining Voronoi Graph and Spline-Based Approaches for a Mo...

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

作者： Magid, Evgeni Lavrenov, Roman Svinin, Mikhail Khasianov, Airat Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Intelligent Robot Dept Kremlyovskaya Str 35 Kazan Russia Ritsumeikan Univ Coll Informat Sci & Engn Robot Dynam & Control Lab Kyoto Japan Kazan Fed Univ Higher Sch Informat Technol & Informat Syst Kremlyovskaya Str 35 Kazan Russia

ISBN: (纸本)9783030112929;9783030112912

Potential function based methods play significant role in both global and local path planning. While these methods are characterized with good reactive behaviour and implementation simplicity, they suffer from a well-known problem of getting stuck in local minima of a navigation function. In this paper we propose a modification of our original spline-based path planning algorithm for a mobile robot navigation, which succeeds to solve local minima problem and considers additional criteria of start and target points visibility to help optimizing the path selection. We apply a Voronoi graph based path as an input for iterative multi criteria optimization algorithm and present a path finding strategy within different homotopies that uses the new method. the algorithm was implemented in Matlab environment and demonstrated significantly better results than the original approach. the comparison was based on success rate, number of iterations and running time of the algorithms. In total, several thousands tests were performed in 18 different simulated environments.

关键词： robotics Path planning algorithm Voronoi diagram Potential field Mobile robot Simulated experiments MATLAB

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A Discrete-time PID-like Consensus control: Application to the Wind Farm Distributed control Problem 14th

A Discrete-time PID-like Consensus Control: Application to t...

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

作者： Gionfra, Nicolo Sandou, Guillaume Siguerdidjane, Houria Faille, Damien Loevenbruck, Philippe Univ Paris Saclay Univ Paris Sud Cent Supelec L2SCNRS F-91192 Gif Sur Yvette France EDF R&D Dept PRISME F-78401 Chatou France EDF R&D Dept EFESE F-91120 Palaiseau France

ISBN: (纸本)9783030112929;9783030112912

the problem of discrete-time multi-agent systems governed by general MIMO dynamics is addressed. By employing a PID-like distributed protocol, we aim to solve two relevant consensus problems, namely the leaderless weighted consensus under disturbances and the leader-follower weighted consensus under time-varying reference state. Sufficient conditions for stability as well as a LMI approach to tune the controller gains are provided. the two consensus techniques are then applied to solve two issues concerning the wind farm (WF) power maximization problem under wake effect. Leaderless consensus aims at averaging out zero-mean wind disturbance effects on the optimal WF power sharing, while leader-follower control is employed to restore it in the case of power reference errors. Simulations are carried out on a small WF example, whose wind turbines parameters are the ones of NREL's CART turbine.

关键词： Consensus control Multi-agent systems Wind farm Wake effect

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Combined Feedback-Feed Forward control Strategy for a Knee Rehabilitation Device with Soft Actuation 15th

Combined Feedback-Feed Forward Control Strategy for a Knee R...

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

作者： Solaque, Leonardo Valbuena, Yair Romero, Marianne Velasco, Alexandra Univ Mil Nueva Granada Mechatron Engn Dept Bogota Colombia

ISBN: (纸本)9783030319939;9783030319922

Assistive devices for rehabilitation purposes have gained much attention in robotics research. Using actuation systems that include compliant elements, provide advantages such as natural motions of robotic devices and safety in the interaction with people. these actuation systems are called soft actuators. there are parallel elastic actuators (PEA), series elastic actuators (SEA) and variable stiffness actuators (VSA), which differ among them by the position of the compliant element and the possibility of changing the stiffness online. We have designed a five-bar-linkage knee rehabilitation system which uses the advantages of soft actuation. To accomplish desired tasks in a proper manner, using automatic systems, control strategies are required. In our case, this means to reproduce the desired motions without affecting the patient. In this way, the control system is crucial. In this chapter, we present a combined feedback-feedforward control strategy for the knee rehabilitation device designed. this work was partially presented before in [16], where we discussed the strategy and presented some simulation results. In this chapter we extend the results, presenting experimental trials to validate the performance of the controller and the behavior of the system. the goal of the proposed strategy is to control the system while maintaining the intrinsic softness of the actuators when the patient is in the rehabilitation process. the feedback control strategy acts in a defined threshold to maintain the stiffness of the system, and it is combined with a feed-forward decision control to reject disturbances. the simulations and the experimental results presented are obtained from the analysis of a One-Degree-of-Freedom (DoF) soft actuated system, to allow us to have an insight of the controller and the system, without losing generality.

关键词： Feedback and feedforward control Knee rehabilitation device Soft actuation Intrinsic compliant dynamics

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thermal Imaging for Psychophysiological State Detection in the Human-Machine Interface (HMI) control System 15th

Thermal Imaging for Psychophysiological State Detection in t...

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

作者： He, Changjiang Mahfouf, Mahdi Torres-Salomao, Luis A. Univ Sheffield Dept Automat Control & Syst Engn Mappin St Sheffield S1 3JD S Yorkshire England Gen Elect Infrastruct Queretaro Digital Syst & Solut Queretaro Mexico

ISBN: (纸本)9783030319939;9783030319922

Psychophysiological state prediction is of great importance to the human-machine interface (HMI) as far as both safety and reliability are concerned. In this paper, the use of facial temperature changes for predicting psychophysiological state and task performance has been investigated. the effectiveness of using facial temperature with the thermal camera to estimate the human psychophysiological state has been validated with the statistical results from a carefully designed HMI experiment with ten (10) healthy subjects. the new facial temperature biomarkers have exhibited a similar or even better ability to differentiate various psychophysiological state in comparison with the traditional biomarkers (e.g. heart rate variability (HRV), task load index (TLI) and pupil size). the mean nasal temperature and the differential energy between philtrum and forehead (DEFP) have been shown to be more sensitive to the psychophysiological state changes comparing to the conventional biomarkers. the maximum facial temperature and the mean forehead temperature have also shown clear correlations with psychophysiological state and task performance. As a final step, an adaptive type-2 fuzzy logic model combining the new markers with previously used bio-indicators has elicited and as a result achieved significantly high accuracy in predicting task load performance.

关键词： Human-Machine Interfaces Psychophysiology human factors Stress detection Facial temperature

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BNCA: Full-rank Factorisable Subgraphs Based Unique Structure-Constrained Matrix Factorisation 14th

BNCA: Full-rank Factorisable Subgraphs Based Unique Structur...

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

作者： Prabhu, H. R. Sachin Wei, Hua-Liang Univ Sheffield Dept Automat Control & Syst Engn Mappin St Sheffield S1 3JD S Yorkshire England

ISBN: (纸本)9783030112929;9783030112912

A Structure-Constrained Matrix Factorisation (SCMF) problem is considered where data and structural constraints on one of the matrix factors specific to an application are known. A simple two-step iterative optimisation algorithm can produce unique solutions provided both matrix factors are full-ranked and constraints matrix satisfies certain additional rank conditions. Constraints matrix is apriori known and hence, it can be tested for these rank conditions. Graph theoretical approaches can be used to decompose a graph representing incompatible constraints matrix into compatible subgraphs. However, there is no method available in relevant literature to compute the rank of second matrix factor as it is apriori unknown. Previously, it has been argued that the second matrix factor will naturally be full-ranked, but we show that this is not necessarily true. We develop theoretical bounds on rank of the second matrix factor in terms of ranks of constraints matrix, data matrix and their dimensions. With this new result, uniqueness of a solution can be guaranteed solely based on available constraints and data. Furthermore, we propose Beaded Network Component Analysis algorithm that introduces necessary corrections to the available graph decomposition and mixing algorithms to obtain unique solutions by computing a convex-combination of full-rank factors of subgraphs. the key contributions in this paper are theoretical bounds on rank of a matrix factor and unique solutions to a general SCMF problem.

关键词： Constraints Matrix factorisation Graphs Convex combination Rank Augmented matrix Uniqueness

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Reliable On-Line Re-Optimization control of a Fed-Batch Fermentation Process Using Bootstrap Aggregated Extreme Learning Machine 14th

Reliable On-Line Re-Optimization Control of a Fed-Batch Ferm...

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

作者： Baron, Carolina Maria Cardona Zhang, Jie Newcastle Univ Merz Court Sch Engn Newcastle Upon Tyne NE1 7RU Tyne & Wear England

ISBN: (纸本)9783030112929;9783030112912

this paper presents a reliable on-line re-optimization control of a fed-batch fermentation process using bootstrap aggregated extreme learning machine. In order to overcome the difficulty in developing detailed mechanistic models, extreme learning machine (ELM) based data driven models are developed. In building an ELM model, the hidden layer weights are randomly assigned and the output layer weights are obtained in a one step regression type of learning. this feature makes the development of ELM very fast. A single ELM model can lack of robustness due the randomly assigned hidden layer weights. To overcome this problem, multiple ELM models are developed from bootstrap re-sampling replications of the original training data and are then combined. In addition to enhanced model accuracy, bootstrap aggregated ELM can also give model prediction confidence bounds. A reliable optimal control policy is achieved by means of the inclusion of model prediction confidence bounds within the optimization objective function to penalize wide model prediction confidence bounds which are associated with uncertain predictions as a consequence of plant model-mismatch. Finally, in order to deal with unknown process disturbances, an on-line re-optimization control strategy is developed in that on-line optimization is carried out while the batch process is progression. the proposed technique is successfully implemented on a simulated fed-batch fermentation process.

关键词： Fed-Batch processes Fermentation Neural networks Extreme learning machine Re-optimization

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Octopus-inspired sensorimotor control of a multi-arm soft robot

Octopus-inspired sensorimotor control of a multi-arm soft ro...

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2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Li, Tao Nakajima, Kohei Calisti, Marcello Laschi, Cecilia Pfeifer, Rolf Department of Informatics University of Zurich 8050 Zurich Switzerland Italy

ISBN: (纸本)9781467312776

Soft robots have significant advantages over traditional rigid robots because of their morphological flexibility. However, the use of conventional engineering approaches to control soft robots is difficult, especially to achieve autonomous behaviors. With its completely soft body, the octopus has a rich behavioral repertoire, so it is frequently used as a model in building and controlling soft robots. However, the sensorimotor control strategies in some interesting behaviors of the octopus, such as octopus crawling, remain largely unknown. In this study, we review related biological studies on octopus crawling behavior and propose its sensorimotor control strategy. the proposed strategy is implemented with an echo state network on an octopus-inspired, multi-arm crawling robot. We also demonstrate the control strategy in the robot for autonomous direction and speed control. Finally, the implications of this study are discussed. © 2012 IEEE.

关键词： Shellfish

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Design of Velocity control Model in Robot Vehicle Platoon 9

Design of Velocity Control Model in Robot Vehicle Platoon

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9th international conference on robotics and automation Engineering, ICRAE 2024

作者： Yoshida, Yuki Kita, Eisuke Nagoya University Graduate School of Informatics Nagoya Japan

ISBN: (纸本)9798331518301

the vehicle platoon is a technology in which multiple vehicles runs in a short vehicle distance. When the velocity control algorithm is defined based on the vehicle following model, some model parameters should be determined. the aim of this study is to discuss the design of the model parameters. three objective functions are defined by terms related to the velocity, the vehicle distance and so on. the parameters are defined by solving the optimization problem including the objective functions. Model 1, which emphasizes the velocity terms, tends to reduce the overshoot amount of velocity, but the reaction to the velocity change tends to be poor. Model 2, which emphasizes the vehicle distance, tends to react the velocity change sensitively and has a large overshoot amount. However, there is a tendency to quickly accommodate the vehicle distance. Model 3 tends to reduce vehicle distance quickly. Next, models are implemented in LEGO MindStorms EV3 and an actual machine experiment is conducted. the experimental results were similar to the results obtained by numerical simulation. © 2024 IEEE.

关键词： Machine design

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Integrated control Techniques for PARASURG 9M Parallel Robot

Integrated Control Techniques for PARASURG 9M Parallel Robot

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IEEE international conference on automation, Quality and Testing, robotics

作者： Gyurka, B. Pisla, D. Stancel, E. Vaida, C. Kovacs, I. Gherman, B. Balogh, Sz. Plitea, N. IPA R&D Inst Automat Cluj Subsidiary Cluj Napoca Romania Tehn Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9781467307024

the paper presents the mechanical and electronic structure, the basic functions and the operation block diagrams developed for the command and control unit of the PARASURG 9M hybrid parallel robot. the operator interface, structure and functions, algorithm and operating diagrams, deployment and implementation of the of CI-Parmis program are illustrated. the last part of the paper focuses on methods for functional testing of robot operation;subsequent analysis of operating parameters and controls specific to the robotic arms using the data mining technique.

关键词： Parallel robots control technology INTEGRATED SHIP control basis functions control unit Mechanical BLOCK DIAGRAM commands command and control Electronics

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