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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41-50 订阅

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Auto-tuning of PID controllers for Robotic Manipulators Using PSO and MOPSO 14th

Auto-tuning of PID Controllers for Robotic Manipulators Usin...

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

作者： Zidan, Ahmed Tappe, Svenja Ortmaier, Tobias Leibniz Univ Hannover Inst Mechatron Syst D-30167 Hannover Germany

ISBN: (纸本)9783030112929;9783030112912

this work proposes two approaches to automatic tuning of PID position controllers based on different global optimization strategies. the chosen optimization algorithms are PSO and MOPSO, i.e. the problem is handled as a single objective problem in the first implementation and as a multiobjective problem in the second one. the auto-tuning is performed without assuming any previous knowledge of the robot dynamics. the objective functions are evaluated depending on real movements of the robot. therefore, constraints guaranteeing safe and stable robot motion are necessary, namely: a maximum joint torque constraint, a maximum position error constraint and an oscillation constraint. Because of the practical nature of the problem in hand, constraints must be observed online. this requires adaptation of the optimization algorithm for reliable observance of the constraints without affecting the convergence rate of the objective function. Finally, Experimental results of a 3-DOF robot for different trajectories and with different settings show the validity of the two approaches and demonstrate the advantages and disadvantages of every method.

关键词： Robotic manipulators PSO MOPSO PID control Automatic tuning

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Computational Experience with a Modified Newton Solver for Discrete-Time Algebraic Riccati Equations 15th

Computational Experience with a Modified Newton Solver for D...

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

作者： Sima, Vasile Benner, Peter Natl Inst Res & Dev Informat Bucharest 011455 Romania Max Planck Inst Dynam Complex Tech Syst D-39106 Magdeburg Germany

ISBN: (纸本)9783030319939;9783030319922

A Newton-type algorithm and line search strategies for solving generalized discrete-time algebraic Riccati equations are dealt with. the conceptual algorithm is presented, and its main computational steps are discussed. Evaluation of residuals and closed-loop matrices at each iteration, determination of the step size, and the use of line search with backtracking, are addressed in detail. Algorithmic and implementation issues taken into account in the developed solver are described. An extensive performance investigation on a large collection of examples has been performed, and the results are summarized. Both usual line search and line search with backtracking, and either identity or diagonal performance index matrices are considered. Difficult examples are included. the results often show significantly improved accuracy, measured in terms of normalized and relative residuals, in comparison with the state-of-the-art MATLAB function. the new solver is strongly recommended for improving the solutions computed by other solvers.

关键词： Algebraic Riccati equation Numerical linear algebra Numerical methods Optimal control Optimal estimation

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Application of a Distributed Containment Algorithm: Trajectory Tracking for Mobile Robots 14th

Application of a Distributed Containment Algorithm: Trajecto...

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

作者： Vizuete, Renato Abad Torres, Jackeline Leica, Paulo Univ Grenoble Alpes UFR Phys Ingn TerreEnvironmMecan Grenoble France Escuela Politec Nacl Dept Automatizac & Control Ind Quito Ecuador

ISBN: (纸本)9783030112929;9783030112912

In this work, a distributed containment algorithm is proposed for the control of a formation of unicycle-type robots and mobile manipulators. this algorithm considers an interaction network among the agents in the formation, which is associated with a weighted directed graph. the structure of the formation considers the cases when virtual or real leaders delimit it. Further, the leaders form a convex hull that bounds the formation, and the positions of the followers inside this convex hull are determined by the Laplacian matrix of the network graph. the robot models are separated into a kinematic and a dynamic component. For the kinematic component, a containment algorithm is designed, while for the dynamic component, a controller based on the compensation of the mechanical parameters is proposed. the designed controllers are verified through computer simulations considering distinct number of agents and formation shapes. Additionally, some perturbations and mechanical parameters variations were applied to verify the robustness of the control laws.

关键词： Multi-agent system Formation control Distributed control Containment algorithm Consensus Unicycle-type robot Mobile manipulator

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Local Decay of Residuals in Dual Gradient Method with Soft State Constraints 14th

Local Decay of Residuals in Dual Gradient Method with Soft S...

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

作者： Perne, Matija Gerksic, Samo Pregelj, Bostjan Jozef Stefan Inst Jamova Cesta 39 Ljubljana Slovenia

ISBN: (纸本)9783030112929;9783030112912

Quadratic programs resulting from a model predictive control problem in real-time control context are solved using a dual gradient method. the projection operator of the method is modified so as to implement soft state constraints with linear and quadratic cost on constraint violation without directly calculating values of slack variables. Evolution of iterates and residuals throughout iterations of the modified method is studied. We notice that in most iterations, the set of the constraints that are active and the ones that are violated does not change. Observing the residuals through multiple iterations in which the active and violated sets do not change leads to interesting results. When the dual residual is transformed into a certain base, its components are decaying independently of each other and at exactly predictable rates. the transformation only depends on the system matrices and on the active and violated sets. Since the matrices are independent of the system state, so is the transformation, and the decay rate of the components stays constant through multiple iterations. the predictions are confirmed by numerical simulations of MPC control, which is shown for the AFTI-16 benchmark example.

关键词： Model predictive control Gradient method Optimization

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Design of a Vibration Driven Motion System Based on a Multistable Tensegrity Structure 15th

Design of a Vibration Driven Motion System Based on a Multis...

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

作者： Schorr, Philipp Boehm, Valter Zentner, Lena Zimmermann, Klaus Tech Univ Ilmenau D-98693 Ilmenau Germany Ostbayer TH Regensburg D-93053 Regensburg Germany

ISBN: (纸本)9783030319939;9783030319922

In this paper a novel approach to realize a uniaxial bidirectional vibration driven motion system with controllable direction of motion is investigated. the considered motion system bases on a tensegrity structure with multiple stable equilibrium configurations. the structure is in contact with a horizontal plane due to gravity and the actuation is realized by the harmonic change of the length of a selected member. Beside varying the actuation parameters, the direction of motion can be controlled by changing the equilibrium configuration of the tensegrity structure. In this paper the topology of the tensegrity structure and the parameter values are chosen appropriately to provide two symmetric equilibrium configurations. A change of the equilibrium state yields a novel configuration of the entire motion system which is symmetric to the original state. Utilizing the symmetry of the system the same actuation yields an opposite motion. this approach represents a reliable opportunity to control the direction of motion by changing the equilibrium state for constant actuation parameters. this paper focuses on the parameter selection and the design of the actuation of the vibration driven motion system. the working principle of the vibration driven motion system is verified by numerical simulations. this contribution represents the theoretical investigation for the further development of a prototype.

关键词： Compliant tensegrity structure Vibration driven motion multistability

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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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Automated Nonlinear control Structure Design by Domain of Attraction Maximization with Eigenvalue and Frequency Domain Specifications 15th

Automated Nonlinear Control Structure Design by Domain of At...

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

作者： Reichensdoerfer, Elias Odenthal, Dirk Wollherr, Dirk BMW Grp Knorrstr 147 D-80788 Munich Germany BMW M GmbH Daimlerstr 19 D-85748 Garching Germany Tech Univ Munich Chair Automat Control Engn Theresienstr 90 D-80333 Munich Germany

ISBN: (纸本)9783030319939;9783030319922

this work proposes a new method for nonlinear control structure design for nonlinear dynamical systems by grammatical evolution. the optimization is based on a novel fitness function which implements three different design objectives. First, the closed loop eigenvalues of the linearized system dynamics are restricted to be located in a pre-defined region of the complex plane. Second, design specifications on the frequency magnitude of the sensitivity transfer functions of the linearized system dynamics are imposed. third, the estimated domain of attraction of the nonlinear closed loop system dynamics is maximized by evaluating a quadratic Lyapunov function, obtained by the solution of the Lyapunov equation, with a Monte-Carlo sampling algorithm. Additionally, a general formula for the centroid of a design region for pole placement is derived analytically and embedded in the optimization framework. the generated controllers are evaluated on a common, nonlinear benchmark system. It is shown that the proposed method can efficiently generate control laws which meet the imposed design specifications on the closed loop system while maximizing the domain of attraction.

关键词： Nonlinear control structure design Lyapunov equation Grammatical evolution Robust control Domain of attraction maximization Frequency domain specifications Stability centroid

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Modelling and Minimum Cost control of Multiple Tank Pumping Systems 14th

Modelling and Minimum Cost Control of Multiple Tank Pumping ...

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

作者： Sanchis, Roberto Penarrocha, Ignacio Univ Jaume 1 D Engn Sistemes Ind & Disseny Castellon de La Plana Spain

ISBN: (纸本)9783030112929;9783030112912

this paper studies the minimization of the operation cost of a water supply pumping system by means of standard solvers. the system consists of a set of tanks that supply the water to different districts in a city. the tanks can be filled from different wells through a hydraulic system that can be reconfigured by means of several valves. the aim of the automatic operation is to determine which valves and pumps must be active at each instant of time in order to minimise the overall cost, taking into account the tariff periods. We propose a mathematical model of the problem to be able to formulate, in matrix form, the cost index and the constraints, such that standard solvers as Mosek or CBC can be used. the optimization problem is a mixed integer one, with a high computational cost. To reduce this cost, we propose to reduce the number of integer variables, replacing them with real variables from a given moment in the optimization horizon. An important part of the problem is the future output flow, that must be predicted in order to use that data in the optimization. We propose a prediction strategy that takes into account the different behaviour of working and weekend days. A simulation example based on a a real water supply system model is analysed to demonstrate the validity of the approach, using Yalmip as parser and CBC as solver.

关键词： Pumping optimization Electric tariff Pumping scheduling

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6-DoF Extrinsic Calibration Between a Manipulator and a 2D Laser Scanner 16th

6-DoF Extrinsic Calibration Between a Manipulator and a 2D L...

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16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Alberts, Jan Kleinschmidt, Sebastian P. Wagner, Bernardo Real-Time Systems Group Institute for Systems Engineering Leibniz Universität Hannover Appelstraße 9A Hannover30167 Germany

ISBN: (纸本)9783030631925

A precise geometric calibration between the subsystems of a robotic system is crucial for its usage and applicability. As mobile robots are already being used in industry and households, the interest in mobile manipulators rises, and the calibration procedures between manipulators and the robot’s exteroceptive sensors becomes necessary. Nevertheless, state-of-the-art calibration procedures between a manipulator and a 2D laser scanner often require complex calibration targets or additional sensors for calibration. As a consequence the practical usage in an industrial context is limited. For this reason, we propose a simple but effective approach for determining the transformation between a manipulator and a 2D laser scanner. the transformation is solved for six degrees of freedom using a 1D calibration target. In this paper, the modeling of the original approach presented in[1] is extended to decrease the number of restrictions. therefore, the objective function was improved leading to better optimization results and the methodology of the proposed approach is presented in more detail. Moreover, additional experiments are carried out to evaluate the accuracy of the extended calibration procedure. the effect of different calibration trajectories and calibration target’s geometries is evaluated additionally. © 2021, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Calibration

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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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