the proceedings contain 196 papers. the topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a prop...
ISBN:
(纸本)9789898565211
the proceedings contain 196 papers. the topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a proposal of multiobjective fuzzy regulator design for state space nonlinear systems;rotor speed sensor fault detection in induction motors;visual anomaly detection in production plants;global optimal solution to SLAM problem with unknown initial estimates;spacecrafts' control systems effective variants choice with self-configuring genetic algorithm;robust arbitrary reference command tracking with application to hydraulic actuators;an application of goal programming technique for reconfiguration of transfer lines;a control strategy for reducing fuel consumption in a hybrid electric vehicle;and towards manufacturing execution systems for the food and beverage packaging industry.
In this paper we describe a Wireless Body Area Network (WBAN) designed and implemented for an autonomous robot. We concentrate in particular on the ultra-low power radio aspects. We compare and contrast standard and p...
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ISBN:
(纸本)9789897581984
In this paper we describe a Wireless Body Area Network (WBAN) designed and implemented for an autonomous robot. We concentrate in particular on the ultra-low power radio aspects. We compare and contrast standard and proprietary solutions before deciding on a proprietary radio SoC in the 2.4 GHz. band. We describe the protocol implementation and tests on both a test jig and on the robot itself at sampling rates of up to 1 kHz. and conclude that the principle of a robot based WBAN works well. We also show that the proposed WBAN is suitable for connection by nodes employing energy harvesting.
Many mobile robots nowadays use thermal imaging cameras (TICs) in order to enhance the environment model that is created during exploration tasks. In conventional thermography, thermal images always have to be careful...
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ISBN:
(纸本)9789897581984
Many mobile robots nowadays use thermal imaging cameras (TICs) in order to enhance the environment model that is created during exploration tasks. In conventional thermography, thermal images always have to be carefully revised by human operators, which is not practicable in autonomous applications. Unknown surface emissivities are the main source of misinterpretations in thermal images. In this work, we present two methods dealing withthese misinterpretations by exploiting the TIC's changing point of view. While the first approach classifies the regarded material in order to estimate improved surface temperature values, the second one is capable of detecting and removing thermal reflections. the spatial relationship between the thermal images and the regarded surface is made by using a rigidly mounted sensor stack consisting of a TIC and a 3D laser range finder, whose extrinsic calibration is described. During evaluation, we demonstrate the functionality of both approaches.
this paper proposes a novel way of constructing strut-type modular robotic structures to avoid some difficulties of designing and implementing ideal compliant nodes. Rigid nodes are employed to replace the ideal compl...
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ISBN:
(纸本)9789897581984
this paper proposes a novel way of constructing strut-type modular robotic structures to avoid some difficulties of designing and implementing ideal compliant nodes. Rigid nodes are employed to replace the ideal compliant nodes and to reduce the structural complexity while the feasibility of hardware implementation is dramatically improved. To release some kinematic constraints caused by the rigid nodes, we introduce robotic struts that consist of two prismatic actuators linked by a passive revolute joint. Physics-based robot models are constructed using a robot simulator. A scalable distributed control method is implemented using coupled central pattern generators. And, for comparison, the same control method is applied to conventional and the proposed strut-type modular robotic structures. Simulation results show that the proposed strut-type structures have several advantages over the conventional ones including less number of passive joints and shape-maintenance property.
LiDAR sensors are unable to detect objects that are inside or behind dense smoke, fog or dust. these aerosols lead to problems for environmental modeling with mobile robotic platforms. For example, if a robot equipped...
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ISBN:
(纸本)9789897581984
LiDAR sensors are unable to detect objects that are inside or behind dense smoke, fog or dust. these aerosols lead to problems for environmental modeling with mobile robotic platforms. For example, if a robot equipped with a LiDAR is surrounded by dense smoke, it can neither localize itself nor can it create a map. Radar sensors, on the other hand, are immune to these conditions, but are unable to represent the structure of an environment in the same quality as a LiDAR due to limited range and angular resolution. In this paper, we introduce the mechanically pivoting radar (MPR), which is a 2D high bandwidth radar scanner. We present first results for robotic mapping and a fusion strategy in order to reduce the negative influence of the aforementioned harsh conditions on LiDAR scans. In addition to the metric representation of an environment with low visibility, we introduce the LRR (LiDAR-Radar-Ratio), which correlates withthe amount of aerosols around the robot discussing its meaning and possible application.
In this paper, a new virtual reality (VR) control concept for operating robots in search and rescue (SAR) scenarios is introduced. the presented approach intuitively provides different sensor signals as RGB, thermal a...
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ISBN:
(纸本)9789897581984
In this paper, a new virtual reality (VR) control concept for operating robots in search and rescue (SAR) scenarios is introduced. the presented approach intuitively provides different sensor signals as RGB, thermal and active infrared images by projecting them onto 3D structures generated by a Time of Flight (ToF)-based depth camera. the multichannel 3D data are displayed using an Oculus Rift head-up-display providing additional head tracking information. the usage of 3D structures can improve the perception of scale and depth by providing stereoscopic images which cannot be generated for stand-alone 2D images. Besides the described operating concept, the main contributions of this paper are the introduction of an hybrid calibration pattern for multi-sensor calibration and a high performance 2D-to-3D mapping procedure. To ensure low latencies, all steps of the algorithm are performed parallelly on a graphics processing unit (GPU) which reduces the traditional processing time on a central processing unit (CPU) by 80.03%. Furthermore, different input images are merged according to their importance for the operator to create a multi-sensor point cloud.
the paper describes the development of educational Cyber-Physical Robotic Platforms, remotely controlled via cloud technologies. the platform is implemented using Parallax ActivityBot kit (only for mechanical part), c...
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ISBN:
(纸本)9789897581984
the paper describes the development of educational Cyber-Physical Robotic Platforms, remotely controlled via cloud technologies. the platform is implemented using Parallax ActivityBot kit (only for mechanical part), controlled by Arduino, and includes a Quad core ARM-processor Mini PC MK802 V5 LE running Xubuntu Linux. the programming on the developed platform could be performed in JavaScript and HTML, providing the web interface for controlling the system through Wi-Fi. Programming the platform is possible through the Cloud9 IDE web interface, enabling rewriting the code or running different programs by the user. Four equal platforms were implemented to address the need for the easily accessible educational Cyber-Physical Robotic Platforms / Internet of things hardware for students and tested in the experiment.
this article presents two methods for setting up a scanning unit with low bandwidth radar sensors with a wide opening angle of the main beam and evaluates their suitability for robotic mapping. Both approaches, namely...
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In the work we present the stability criteria for difference linear equations obtained by the freezing method. the results are presented for discrete version of damped oscillator equation. We also report stability cri...
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