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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351-360 订阅

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Design of Velocity control Model in Robot Vehicle Platoon

Design of Velocity Control Model in Robot Vehicle Platoon

引用

international conference on robotics and automation Engineering (ICRAE)

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

ISBN: (数字)9798331518301

ISBN: (纸本)9798331518318

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.

关键词： Sensitivity Velocity control Linear programming Numerical simulation Numerical models Optimization Robots

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A reconfigurable wheelchair/bed system for the elderly and handicapped

A reconfigurable wheelchair/bed system for the elderly and h...

引用

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

作者： Ye, Aixue Zou, Wei Yuan, Kui Xu, Zhengdong Ren, Yanan Institute of Automation Chinese Academy of Sciences 95 Zhongguancun East Road 100190 Beijing China

ISBN: (纸本)9781467312776

A Reconfigurable Wheelchair/Bed System (RWBS) for the elderly and handicapped is designed. the control system of this reconfigurable wheelchair consists of a main control unit, a motion control unit, a posture adjusting unit, a physiological signal acquisition unit, a sensors processing unit, an image processing unit and an intelligent human-machine interaction (HMI) unit. With the human-machine interaction (HMI) unit, the wheelchair can be used as a common powered wheelchair, adjust its posture so that the user can change his/her body to an ideal position or to a flat stationary bed. One of the distinguished points of this reconfigurable wheelchair/bed system is that it can be docked into the bed frame automatically by just push a button with the help of a visual feedback control unit. the three control modes can be changed via the touch screen. Posture stabilization and trajectory tracking methods for the visual servoing system are exploited and, experiments are also carried out to show the effectiveness. © 2012 IEEE.

关键词： Visual servoing

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A component library information model supporting web service components description

A component library information model supporting web service...

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

作者： Liao, Ya-Jing Guo, Min Academy of Electronic Information and Control Beijing University of Technology Beijing China

ISBN: (纸本)9781467312776

Component description plays an important role in the management of components. With the evolution of the component technology and Web techniques, more Web Service components become available. UDDI, as Web Services registration and discovery, has the limitations of descriptions and management of components. thus, a component library information model supporting description of Web Services component is proposed in this paper. On the basis of describing the information required for the management of components, essential features are incorporated for describing Web Service component, and the information required for the management of components is extended to the UDDI for effective and comprehensive descriptions of components in this model, which can better support the descriptions and management of Web Service, and improve the reuse rate of components. © 2012 IEEE.

关键词： Web services

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Test system for the vehicles ESP control performances on the horizontal pendulum restriction vehicle system

Test system for the vehicles ESP control performances on the...

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

作者： Wang, Guoye Yu, Fengzhu Zhang, Zhongfu Zhang, Lu Department of Vehicle and Traffic Engineering China Agricultural University Beijing 100083 China Transportation Institute Inner Mongolia University Hohhot 010070 China

ISBN: (纸本)9781467312776

Project the structure of horizontal pendulum restriction vehicle system, and set up the system dynamic model. Based on the Matlab/Simulink, establish the dynamic simulation system of the horizontal pendulum restriction vehicle system for the Chery A3 car. Using the brake/drive integrated ESP control principle, based on the simulation model, we respectively simulate and analyze the ESP control performances of the vehicle system and the horizontal pendulum restriction vehicle system in different simulation conditions. the study results indicate that the ESP control performances of the vehicle system and the horizontal pendulum restriction vehicle system have remarkable consistency. the theory of the horizontal pendulum restriction vehicle system for the ESP control performances test is not only feasible but also safe, reliable, high efficiency and low cost. © 2012 IEEE.

关键词： Simulink

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Predictive control and stabilizing effect analysis of controlled passive tank

Predictive control and stabilizing effect analysis of contro...

引用

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

作者： Liang, Lihua Zhang, Songtao He, Changjiu Automation of College Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

controlled passive tank is able to achieve a more perfect stabilizing effect by extending the natural period of water tank with opening/closing the air-valves in accordance with the variation tendency of ship's rolling. Two controlling parameters, which are most important, are the closing-time and closing time span. the determination of closing time span has a direct relation with the ship's real-time rolling period. By adopting wavelet neural network to predict the ship's rolling motion and real-time updating the closing time span of closing valves with the predicted values, meanwhile, real-time analysing the rolling power spectrum is applied before and after anti rolling according to the known input-output relation of anti-rolling tank model coupled with rolling. the paper shows this predictive control method which is more perfect than traditional anti rolling control effect and possess favourably practical value in engineering. © 2012 IEEE.

关键词： Water tanks

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Image sub-pixel recognition method for optical precise adjustment

Image sub-pixel recognition method for optical precise adjus...

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

作者： Ma, Li Zhou, Shasha Ouyang, Hangkong He, Zhengfeng Rong, Weibin Sun, Lining School of Mechatronic Engineering and Automation University of Shanghai Shanghai China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Cavity adjustment is a critical step for manufacturing laser gyro. Location relation of the laser facula and the aperture images should be detected to provide control information for the movement of the cavity adjustment mechanism. According to the image features, a sequence image variance method is proposed to segment the laser facula image, and maximum variance between clusters method (Ostu algorithm) is adopted to acquire automatic threshold value to segment the aperture image. Use the edge detection of binary image to obtain pixel edge of the laser facula and the aperture images. And sub-pixel edge point information of the images is given by a parameter fitting method. Centre points coordinates of the laser facula and the aperture are achieved by fitting sub-pixel edge utilizing the least square ellipse fitting method. the experimental results of cavity adjustment verify the validity of image recognition method of the laser facula and the aperture. © 2012 IEEE.

关键词： Binary images

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Platoon-Based Distributed control for Automated Material Handling Systems

Platoon-Based Distributed Control for Automated Material Han...

引用

international conference on control, Decision and Information Technologies (CoDIT)

作者： Alessandro Bozzi Jose-Fernando Jimenez Camilo Hernandez-Rodriguez Eliana-Maria Gonzalez-Neira Damien Trentesaux Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy Laboratory System and Materials for Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Industrial Engineering Department Pontificia Universidad Javeriana Bogota Columbia Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH) Université Polytechnique Hauts-de-France Valenciennes France

Smart manufacturing systems combine collaborative and autonomous control systems to provide optimal performance and respond to volatile demands. A key component of smart manufacturing is material management, as raw materials, work-in-progress, and finished products must be transported to the right location at the right time. However, during the production phase, it is imperative to establish an optimal traffic control scheme in order to avoid congestion and optimize material flow. this paper proposes a platooning-based control procedure implemented in a virtual agent-based manufacturing environment to increase the material flow efficiency on a manufacturing shop floor. An analysis of the production makespan and an indicator of the level of congestion in the material handling system was conducted in order to determine productivity improvements. An agent-based simulation is used to test the effectiveness of the novel platooning approach versus a traditional basic approach. A multivariate analysis of variance (MANOVA) reveals that the inclusion of a platoon-based procedure improves production performance and reduces congestion risks.

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Optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place applications

Optimal kinematic design of a new 3-DOF planar parallel mani...

引用

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

作者： Liao, Bin Lou, Yunjiang Harbin Institute of Technology Shenzhen Graduate School Shenzhen Key Lab. for Advanced Motion Control and Modern Automation Equipments Shenzhen China

ISBN: (纸本)9781467312776

this paper presents an optimal kinematic design of a new 3-DOF planar parallel manipulator for pick-and-place operations. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of 3-DOF parallel manipulator is presented with a co-axis actuated joints arrangement and three subchains in parallel planes. First, the loop-closure equations of the robot are derived. the inverse kinematics and singularity analysis are discussed. After that, the index of the average inverse condition number is used for design. For kinematics, velocities are important for pick-and-place applications. Bounded velocities indices are also used to limit the lengths of the links. Finally, the result of the optimal design has been analyzed. this optimal method can be applied to other manipulators for pick-and-place operations. © 2012 IEEE.

关键词： Inverse kinematics

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Design of a master-slave rehabilitation system using self-tuning fuzzy PI controller

Design of a master-slave rehabilitation system using self-tu...

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

作者： Guo, Shuxiang Zhang, Songyuan Song, Zhibin Pang, Muye Department of Intelligent Mechanical Systems Engineering Kagawa University Takamatsu 761-0396 Japan Graduate School of Engineering Kagawa University Hayashi-cho Takamatsu 761-0396 Japan College of Automation Harbin Engineering University 145 Nantong Street Harbin Heilongjiang China

ISBN: (纸本)9781467312776

Many robotic devices have been developed for stroke patients to recover their upper limb motor function. Among them, master-slave type rehabilitation systems provide surveillance of the therapist to the patient who is performing home-rehabilitation. In this study, we proposed a wearable and light exoskeleton device for upper limb rehabilitation and designed a master-slave rehabilitation system using the exoskeleton device as slave device and a haptic device (Phantom Premium) as master device. To convey therapist's experience to patients using this system, the slave device is driven to track the motion of the master device manipulated by the therapist. In order to improve the tracking efficacy of traditional PI control, a self-tuning fuzzy PI control was proposed. Results of simulation indicated the proposed control method is more effective than the traditional PI control, particularly in tracking accuracy and response speed. © 2012 IEEE.

关键词： Simulink

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Analysis on an uncalibrated image-based visual servoing for 6 DOF industrial welding robots

Analysis on an uncalibrated image-based visual servoing for ...

引用

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

作者： Chen, Qingcheng Zhu, Shiqiang Wang, Xuanyin Wu, Wenxiang State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou Zhejiang Province China

ISBN: (纸本)9781467312776

It is of quite great significance to research on automatic operation for industrial welding robots. this paper presents an uncalibrated control scheme for guiding 6 DOF welding robot to track a target via image-based visual servoing. Recently this method has been a novel trend for automation application of the welding robot and raises great interests among researchers. this closed-loop control law is based on the feedback of visual features from eye-in-hand camera. It can be applied in controlling the industrial robot to track weld seam or to guide the robot somewhere without knowing correct robot kinematic model or camera calibration. In the paper, Lyapunov method is employed to analyze the necessary and sufficient conditions for asymptotic stability and robustness of this control scheme. this proposed scheme is verified to ensure the convergence of image-features to desired reference image. Finally the image-based visual servoing simulation for 6 DOF robot is presented, which testifies the steady-state tracking behaviour and good performance. © 2012 IEEE.

关键词： Industrial robots

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