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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181-190 订阅

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Predictive data reduction in wireless sensor networks using selective filtering

Predictive data reduction in wireless sensor networks using ...

引用

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

作者： McCorrie, David James Gaura, Elena Burnham, Keith Poole, Nigel Cogent Computing ARC Coventry University Priory Street Coventry CV1 5FB United Kingdom Control Theory and Applications Centre Coventry University Priory Street Coventry CV1 5FB United Kingdom

In a wireless sensor network, transmissions consume a large portion of a node9;s energy budget. Data reduction is generally acknowledged as an effective means to reduce the number of network transmissions, thereby ... 详细信息

ISBN: (纸本)9789898565211

In a wireless sensor network, transmissions consume a large portion of a node's energy budget. Data reduction is generally acknowledged as an effective means to reduce the number of network transmissions, thereby increasing the overall network lifetime. this paper builds on the Spanish Inquisition Protocol, to further reduce transmissions in a single-hop wireless sensor system aimed at a gas turbine engine exhaust gas temperature (EGT) monitoring application. A new method for selective filtering of sensed data based on state identification has been devised for accurate state predictions. Low transmission rates are achieved even when significant temperature step changes occur. A simulator was implemented to generate flight temperature profiles similar to those encountered in real-life, which enabled tuning and evaluation of the algorithm. the results, summarized over 280 simulated flights of variable duration (from approximately 58 minutes to 14 hours) show an average reduction in the number of transmissions by 95%, 99.8% and 91% in the take-off, cruise and landing phases respectively, compared to transmissions encountered by a sense-and-send system sampling at the same rate. the algorithm generates an average error of 0:11 0:04 °C over a 927 °C range. Copyright © 2012 SciTePress.

关键词： Signal reconstruction

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State estimation and send on delta strategy codesign for networked control systems

State estimation and send on delta strategy codesign for net...

引用

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

作者： Pe˜narrocha, Ignacio Dolz, Daniel Romero, Julio A. Sanchis, Roberto Dep. Enginyeria de Sistemes Industrials i Disseny University Jaume I Campus de Riu Sec Castellón Spain

ISBN: (纸本)9789898565211

In this work, a new strategy to minimize the use of the network in state estimation over networks is addressed, leading to a co-design procedure of both the observer and the policy for message sending. the sensor nodes implements a send-on-delta approach, sending new data only when there is a considerable deviation from the last sent measurement. the estimator node implements a gain scheduling approach that takes into account the availability of new received data. the performance of the observer is analyzed through ℋ ?norm in both deterministic and stochastic data transfer rate. this norm is used to design both the observer gains and the output variations that induce the sensors to send new outputs to the estimator node, while guaranteeing a given level of performance on the state estimation error. the design approach is based on an optimization procedure with linear and bilinear matrix inequalities constraints that is solved iteratively. Copyright © 2012 SciTePress.

关键词： State estimation

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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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Integrated control Techniques for PARASURG 9M Parallel Robot

Integrated Control Techniques for PARASURG 9M Parallel Robot

引用

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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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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Cross-coupling control of dexterous hand based on neuron networks

Cross-coupling control of dexterous hand based on neuron net...

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

作者： Gu, Haiwei Fan, Shaowei Zhang, Yuanfei Liu, Yiwei Jin, Minghe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In this paper, the author proposes a cross-coupling control approach based on neuron network, of which multiple parameters can be adjusted on line. According to the demand on the convergence of synchronization error in cross-coupling control, synchronization error item is introduced in this method to improve the performance function of BP (back propagation) neuron network, therefore it decreases synchronization error and meanwhile realizes the real-time adjustment of multiple parameters. the results of experiments show that compared with cross-coupling control method of which the parameters are stable, the method proposed in the paper holds the advantage that it can decrease position error and increase the stability of position tracking. © 2012 IEEE.

关键词： Backpropagation

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control of a biped walking with dynamic balance

Control of a biped walking with dynamic balance

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

作者： Liu, Guocai Li, Mantian Guo, Wei Cai, Hegao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Human can walk agilely because of their dynamic balance. In this article, we develop a simple algorithm to control bipedal walking with active balance. the robot can reach its expected velocity by controlling stance leg length and can maintain dynamic balance by selecting suitable swing direction. We test our control algorithm in a simulation environment. the tests show that the robot can follow the given velocity, endure external disturbance from front and rear direction, and walk on the uneven or ramp ground. this control algorithm can be used to develop bipedal robot or humanoid robot. © 2012 IEEE.

关键词： Anthropomorphic robots

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Fractional-order PI speed control for permanent magnet synchronous motor

Fractional-order PI speed control for permanent magnet synch...

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

作者： Wang, Ruiping Pi, Youguo Department of Automation Science and Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781467312776

Fractional order controller for a permanent magnet synchronous motor (PMSM) speed control system is proposed in this paper. the detailed systematic controller design procedures are discussed. Simulation and experimental results including transient responses, load disturbance responses, and tracking responses of sinusoidal-wave and triangular-wave commands are discussed and compared. the simulation and experimental results validate the theoretical analysis. © 2012 IEEE.

关键词： Transient analysis

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Nonlinear trajectory tracking controller design for flight control with disturbance rejection capability

Nonlinear trajectory tracking controller design for flight c...

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

作者： Wang, Qi Wu, Wenhai Xu, Li Qingdao Branch Naval Aeronautical Engineering Institute Qingdao Shandong 266041 China

ISBN: (纸本)9781467312776

this article presents the equation of motion for the aircraft in the turbulence. Based on these equations, a trajectory tracking controller is designed using the nonlinear dynamic inverse. In order to reject the disturbance influence, the nonlinear disturbance observer is compensated for the design of the trajectory tracking controller. Simulation results show that the trajectory tracking controller with the nonlinear disturbance observer has a better control performance. © 2012 IEEE.

关键词： Equations of motion

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Contour error and control algorithm in CNC machining tool

Contour error and control algorithm in CNC machining tool

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

作者： Wang, Jun Liang, Hu Guan, Da-Gong Wang, Xin Shen, Hao Luo, Miaojuan Automatic Technology Research Center Shenzhen Xuji Automation Technology Co. Ltd. Shenzhen Guangdong Province China Department of Intelligent Robotics Shenzhen Graduate School Harbin Institute of Technology Shenzhen Guangdong Province China

ISBN: (纸本)9781467312776

A contour error controller is put for ward to analyze and solve accuracy problem of the high-speed CNC machining. In this paper, a three-dimensional contour error model base on the definition of space contour error model is built and analyzed. And the contour error feedback control algorithms are adopted to modify the influence of the contour error. Simulation and experimental results show that the proposed approaches can effectively reduce the contour error for multi-axis following task. © 2012 IEEE.

关键词： Feedback control

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