Proceedings incorporates 108 papers that are grouped according to the following subjects: actuators, compliant systems, end effectors, control of multirobot systems, kinematics, dynamics, advanced control strategies, ...
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ISBN:
(纸本)0948507152
Proceedings incorporates 108 papers that are grouped according to the following subjects: actuators, compliant systems, end effectors, control of multirobot systems, kinematics, dynamics, advanced control strategies, sensor-based control, integrated production systems, sensorsystems, nontraditional applications, industrial applications, programming, simulation, performance testing, monitoring reliability, economic and strategic considerations, robotics education, and human factors. Topics considered include: workplaces, decoupled control, flexible manufacturing systems, industrial management and economics, robot manipulators, fire protection and safety hazards, productivity enhancement, cost effectiveness, automobile manufacture, welding, plasma-arc cutting, water jet cutting, computer software and hardware, feedback and adaptive control, programming, robotic assembly, tactile sensors, computer architecture, production planning, robotic arms and grippers.
The following topics are dealt with: robust control system design;modeling and control of electrical machines;advanced robotic mechanisms;pole-placement regulators;singular stochastic control;distributed-parameter sys...
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The following topics are dealt with: robust control system design;modeling and control of electrical machines;advanced robotic mechanisms;pole-placement regulators;singular stochastic control;distributed-parameter systems;stochastic space-time modeling and estimation;nonlinear control theory;distributed detection and estimation;optimal control and management/economics applications;detection and identification;variable-structure control systems;robust and sensor-based control of robots;robust adaptive control;stochastic optimal control;parameterization;numerical analysis and algorithms;nonlinear systems;decision and expert systems;aerospace control;multivariable feedback control;modeling dynamic systems;decentralized control;signal processing and estimation;macroeconomic systems;fault tolerance;flexible manipulators;multiple robots;communication networks;mathematical programming;decision in operations research;and estimation and tracking. 514 papers were presented, all of which are published in full in the present proceedings.
A new scheme for solving the sensor failure detection, isolation and accommodation (FDIA) problem in optimally controlled linear systems has been developed. The proposed technique uses Luenberger observers with a dete...
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A new scheme for solving the sensor failure detection, isolation and accommodation (FDIA) problem in optimally controlled linear systems has been developed. The proposed technique uses Luenberger observers with a detection logic based on the minimum value of the cost functional at any time instant. The advantages of this new technique are: (1) it can detect and isolate as many failed sensors as there are sensors, even when the failures are multiple and simultaneous; (2) FDIA can be accomplished at any time, since it does not depend on the convergence of the observer estimates to the actual system states; (3) it is not applications dependent, since it requires neither a priori information concerning likely failure modes nor the knowledge of the nominal path resulting from a specific input command. The method assumes the system is observable from each available output.
Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such...
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Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such as multi-input and multi-output characteristics, nonlinearity, time-varying parameters, and highly coupled system dynamics. Furthermore, they require consideration of such issues as robustness to external disturbances, parameter uncertainty, sensor noise, payload changes and computational errors. Thus the development of a real-time optimal control scheme with high reliability, high robustness, high accuracy and acceptable computational burden becomes an urgent and important problem for research and development. This paper presents an optimal control scheme which involves a nice combination of self-adaptive control strategy, exact linearization with output decoupling, and the computational procedure for solving the robotic dynamic equations based on a compact Lagrangian formulation. It is found from the simulation studies on the PUMA 560 robot that the actual trajectories of the robot arm converge quickly to the desired trajectories under large initial errors and robotic parameter deviations.
This conference contains 28 articles dealing with the various applications of modern computer systems, hardware and software in a variety of engineering environments. Among the subjects discussed are: Real-time feedba...
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ISBN:
(纸本)0858252686
This conference contains 28 articles dealing with the various applications of modern computer systems, hardware and software in a variety of engineering environments. Among the subjects discussed are: Real-time feedback control of switching processes;Computer graphics simulation in advanced manufacturing;Multi-microprocessor-based fault-tolerant controller;Minicomputer-based data acquisition and control;Computer-based control center;Software unreliability;Data processing architecture for Track-while-Scan radar;Data acquisition system for fluid mechanics experimentation;Processing of data from robot thermal sensor;and Graphic simulation of robotic workcell.
This conference proceedings contains 57 articles dealing with robot vision and sensory controls. Among the areas covered are: International perspectives in vision and sensing;sensory Feedback;Mobile/Intelligent System...
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ISBN:
(纸本)0903608960
This conference proceedings contains 57 articles dealing with robot vision and sensory controls. Among the areas covered are: International perspectives in vision and sensing;sensory Feedback;Mobile/Intelligent systems;sensorsystems;sensory controlled production;Multisensorsystems;advanced industrial systems;Software;Computer Vision;and Industrial applications of robotics.
A distributed multitarget tracking problem is considered. The joint probilistic data association (JPDA) algorithm has been applied successfully for tracking in a multiple-target and clutter environment. However, it as...
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A distributed multitarget tracking problem is considered. The joint probilistic data association (JPDA) algorithm has been applied successfully for tracking in a multiple-target and clutter environment. However, it assumes a centralized processing architecture in which all the sensors' measurements are transmitted to a single processor and processed. In many applications, however, a set of local processors are present, each processing the local sensors' measurements instead of transmitting them to the central processor. The locally processed results are then interchanged and fused through the communication network. A distributed version of JPDA algorithm which handles the fusion problem from multiple processors is presented.
Robotic contact/noncontact sensor technology has progressed recently at a rate that deserves a critical review by itself. And yet, the power of sensor technology can be further augmented by the addition of artificial ...
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Robotic contact/noncontact sensor technology has progressed recently at a rate that deserves a critical review by itself. And yet, the power of sensor technology can be further augmented by the addition of artificial intelligence in the perception-manipulation loop. The significance of this important concept is emphasized. A good example of th coupling of sensing and AI is machine vision. Examples are given to enhance the proposed concepts. Equal emphasis is given to the systems and hardware design and to the AI approach in robotic sensor technology. Pattern recognition and scene analysis are discussed as possible approaches to the image-analysis problem.
A prototype of a knowledge-based flight expert system (FLES) has been developed to assist airplane pilots in monitoring, analyzing, and diagnosing faults and to provide support in reducing the pilot's own mistakes...
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ISBN:
(纸本)0818606886
A prototype of a knowledge-based flight expert system (FLES) has been developed to assist airplane pilots in monitoring, analyzing, and diagnosing faults and to provide support in reducing the pilot's own mistakes. A sensor simulation model has been developed to provide FLES with the airplane status information during the diagnostic process. The simulator is based partly on the advanced Concept System (ACS), a future-generation airplane, and partly on the Boeing 737, an existing airplane. The architecture of FLES contains several subsystems. One of the major subsystems performs fault diagnosis in the electrical system of the ACS. A description is given of the mechanism and functionality of the automatic diagnosis performed in this expert system.
A distributed multitarget tracking problem is considered. The Joint Probabilistic Data Association (JPDA) algorithm has been applied successfully for tracking under the multiple-target and clutter environment. However...
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A distributed multitarget tracking problem is considered. The Joint Probabilistic Data Association (JPDA) algorithm has been applied successfully for tracking under the multiple-target and clutter environment. However, it assumes a centralized processing architecture in which all the sensors' measurements are transmitted to a single processor and processed. In many applications, however, a set of local processors are present and each processor processes the local sensors' measurements instead of transmitting them to the central processor. The locally processed results are then interchanged and fused together through the communication network. A distributed version of JPDA algorithm which handles the fusion problem from multiple processors is presented.
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