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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191-200 订阅

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Design of missile rudder control system based on digital PWM

Design of missile rudder control system based on digital PWM

引用

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

作者： Li, Yaxin Li, Hui Institute of Astronautics and Aeronautics University of Electronic Science and Technology of China Chengdu Sichuan Province 611731 China

ISBN: (纸本)9781467312776

To meet the high requirements of missile rudder control, this paper offer the design of digital servo control system with digital PWM technology. Meanwhile, the structure and control schemes of system are analyzed and the design of software and hardware is explained in the paper. the system with permanent magnet DC motor as servo motor is based on Microchip DsPIC30F5011. the control strategy combining Mixed Fuzzy-PID and traditional PID may serve as primary control algorithm of system. the experimental results show that this control system with the property of high accuracy and realtime capability is efficient and stable, and is more suitable for a type of high speed missile rudder control system. © 2012 IEEE.

关键词： Rudders

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Modeling and adaptive control of a quadrotor

Modeling and adaptive control of a quadrotor

引用

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

作者： Schreier, Matthias Institute of Automatic Control and Mechatronics Control Theory and Robotics Lab. TU Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781467312776

In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive controller (MIAC) is proposed in terms of combining a recursive least-squares estimator with exponential forgetting with an integral discrete-time state space controller. Furthermore, a continuous-time Model Reference Adaptive control (MRAC) scheme based on Lyapunov theory is applied to the simplified dynamics of a quadrotor, which guarantees global asymptotic stability for at least linear overall systems. the effectiveness of the suggested adaptive methods is demonstrated in simulations with a quaternion-based nonlinear dynamic model of a quadrotor derived in this work. the results are compared to a designed nonadaptive integral state space controller. © 2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Adaptive control for a cable driven robot arm

Adaptive control for a cable driven robot arm

引用

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

作者： Ma, Jianjun Li, Yanan Ge, Shuzhi Sam Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 119077 Singapore Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore 119613 Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781467312776

the cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. the desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE.

关键词： Cables

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People tracking with body pose estimation for human path prediction

People tracking with body pose estimation for human path pre...

引用

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

作者： Ratsamee, Photchara Mae, Yasushi Ohara, Kenichi Takubo, Tomohito Arai, Tatsuo Division of Systems Science and Applied Informatics Graduate School of Engineering Science Osaka University Japan Faculty of Systems Science and Applied Informatics Osaka University Japan

ISBN: (纸本)9781467312776

Prediction and observation of human motion are essential functions for robots co-existing with humans in everyday environments. We propose a people motion tracking and prediction approach by using the advantage of detailed 3D information about the positions of body joints. Using the shoulder position displayed in a geometrical skeleton diagram of a human's upper body part, the body pose from the proposed human kinematic model is estimated. Human motion tracking and path prediction are achieved via the extended Kalman Filter. the proposed method is verified in an indoor environment where humans pass by each other. Experiment results demonstrate that walking people and their body pose are robustly tracked and predicted accurately, with less occlusions compared to traditional human tracking. © 2012 IEEE.

关键词： Kalman filters

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Expert system for trace direction control of the amphibious air cushion vehicle

Expert system for trace direction control of the amphibious ...

引用

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

作者： Fu, Mingyu Zhang, Lina Wang, Jianqin Liang, Yuan Department of Automation University of Harbin Engineering Harbin Heilongjiang 150001 China

ISBN: (纸本)9781467312776

As the nonlinearity, uncertainties and other features of Hovercraft, the application of traditional control method is difficult to obtain good control results. During hovercraft navigation, the safety of navigation to a large extent depends on the level of the driver's manipulation and proficiency, expert system provides a good means for such empirical, nonlinear and uncertain systems, and therefore putting up with the expert system to solve the problem hovercraft's trace direction. the rule-based knowledge base is established according to the literature, the experiment and trace direction maintaining data, adaptive backstepping controller is as the underlying controller of an expert system. Based on the above methods simulation is made, the simulation results show that the trace direction control based expert system is effective. © 2012 IEEE.

关键词： Expert systems

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A real-time controller development framework for high degrees of freedom systems

A real-time controller development framework for high degree...

引用

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

作者： Zhou, Yang Wang, Bin Jiang, Li Liu, Hong State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9781467312776

Recently, the rapid development of high DOFs systems such as humanoids raises the need for a common and real-time control platform. Most works of control platforms focus mainly on software by C/C++. However, the lack of realtime becomes the limitation on controlling such complex robotic systems. In this paper, we present a real-time controller development framework for high DOFs systems. To take the best advantage of Hardware Description Language (HDL), a distributed field programmable gate arrays (FPGAs) controller network is provided. this framework also consists of robotic middleware and programming environment. the proposed scheme allows control of a wide class of robotic systems in hard real-time. A control platform under the framework is designed and applied on several mechatronic systems. Experiments are presented to show the performance on current computing hardware. © 2012 IEEE.

关键词： Real time control

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A mobile robot self-localization approach based on unidirectional vision

A mobile robot self-localization approach based on unidirect...

引用

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

作者： Wang, Ke Huo, Guanglei Zhao, Lijun Li, Ruifeng Wang, Wei Key Laboratory of Measurement and Control of CSE Ministry of Education Nanjing 210096 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province 150080 China Research Center of Information and Control Dalian University of Technology Dalian Liaoning Province 116024 China

ISBN: (纸本)9781467312776

this paper presents a self-localization system for mobile robot in large-scale indoor environments. For a structured corridor environment, the vision information is adopted to track the robot pose with a predefined hybrid metric-topological map. A nonlinear unidirectional camera model is developed to project the probabilistic map elements with uncertainty manipulation. Extended Information filters are deployed to estimate the robot pose. the proposed system can perform localization tasks on-the-fly, with the features of efficient map modeling and computational simplicity. Experimental results are provided to demonstrate the performance and effectiveness of the proposed techniques. © 2012 IEEE.

关键词： Mobile robots

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SEMG control of an upper limb rehabilitation robot based on boosting of neural networks

SEMG control of an upper limb rehabilitation robot based on ...

引用

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

作者： Li, Qingling Song, Yu School of Mechanical Electronic and Information Engineering China University of Mining and Technology Beijing China State Key Laboratory of Robotics and System of HIT Harbin Institute of Technology Harbin China School of Electronic and Information Engineering Beijing Jiaotong University Beijing China

ISBN: (纸本)9781467312776

this paper presents a surface electromyography (sEMG) control strategy for robot-assisted upper limb rehabilitation after stroke which can make the rehabilitation robot follow the patient's intention. A new method for feature extraction is proposed aiming at non-stationary feature of sEMG firstly. And then, an ensemble classification method based on BP base classifier is brought forward to discriminate upper limb motions. Experimental results verify that the feature extraction method is superior to traditional ones with respect to recognition rate and convergence speed of classifier, and the ensemble classifier have stronger generalization ability and higher recognition accuracy than single neural network classifier. © 2012 IEEE.

关键词： Feature extraction

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A new type of nozzle AFM machine tool and control system research

A new type of nozzle AFM machine tool and control system res...

引用

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

作者： Bin, Wangwen Wei, Chen Jin, Chaoyu Xia, Caihong School of Mechanical and Electrical Engineering Polytechnic of Shenzhen Shenzhen Guangdong Province China CIMS Robot Center University of Shanghai Shanghai China

ISBN: (纸本)9781467312776

In this paper, a new type of nozzle abrasive flow machining(AFM) machine tool is proposed, and its control system is researched. the working mechanism of AFM tool is explained in detail and the complex control of flow coefficient during the grinding process is presented. then a new forecasting processing time model based on multiple-parameter is put forward to improve flow coefficient and reduce flux dissipation. the hardware and software realization of AFM tool control system is also presented. Finally, the validity of the equipment and control system is verified by a prototype of AFM tool. © 2012 IEEE.

关键词： Nozzles

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Adaptive fuzzy sliding mode control for spherical underwater robots

Adaptive fuzzy sliding mode control for spherical underwater...

引用

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

作者： Guo, Shuxiang Du, Juan Lin, Xichuan Yue, Chunfeng College of Automation Harbin Engineering University China Faculty of Engineering Kagawa University Japan

ISBN: (纸本)9781467312776

An adaptive fuzzy sliding mode controller is proposed to deal with the depth and heading regulation of spherical underwater robots. the performance of the proposed controller is investigated in simulation. the controller can realize a better control of the spherical underwater robots. Furthermore, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. Also, the controller is easy for engineering realization. the controller is not specific to such a system and is applicable to a reasonably wide class of engineering systems which can, at least in an operating region of interest, be adequately represented. © 2012 IEEE.

关键词： controllers

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