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检索条件"任意字段=ICINCO 2008 - 5th International Conference on Informatics in Control, Automation and Robotics"

共 41 条记录，以下是21-30 订阅

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Communication, configuration, application - the three layer concept for Plug-and-Produce

Communication, configuration, application - The three layer ...

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5th international conference on informatics in control, automation and robotics

作者： Zimmermann, Uwe E. Bischoff, Rainer Grunwald, Gerhard Plank, Georg Reintsema, Detlef KUKA Roboter Gmbh Sugspitzstr 140 D-86165 Augsburg Germany German Aerosp Ctr DLR Inst Robot & Mechatron D-88234 Wessling Germany

ISBN: (纸本)9789898111319

the Plug-And-Play is a synonym for the simple use of computer systems in office applications. this appealing idea also emerges in the branches of robotics and automation. But due to their specific technical and application driven requirements i.e. real-time, determinism, safety... a simple taking over of the technology is not sufficient. Plug-and-Produce extends the "easy to use" for applications in robotics and automation. this will lead to a dramatically reduction of set-up times of work-cells. In order to fulfil the various requirements a three layered Plug-and-Produce architecture is presented. the communication layer addresses all topics regarding the bus-system level;the configuration layer is responsible for the control and operation system level;and the application layer addresses the needs of the user and system programmer. A prototypical implementation is also presented.

关键词： Plug&Play robotics reduced set-up time determinism real-time communication device description

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Multi-level control of an intelligent wheelchair in a hospital environment using a Cyber-Mouse simulation system

Multi-level control of an intelligent wheelchair in a hospit...

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5th international conference on informatics in control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Oliveira, Eugenio Reis, Luis Paulo Univ Porto Artificial Intelligence & Comp Sci Lab LIACC Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

the development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. the experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

关键词： intelligent wheelchair intelligent robotics Strips Planning path planning A* algorithm

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informatics in control, automation and robotics - Selected Papers from the international conference on informatics in control, automation and robotics 2008

Informatics in Control, Automation and Robotics - Selected P...

引用

5th international conference on informatics in control automation and robotics, icinco 2008

ISBN: (纸本)9783642002700

the proceedings contain 20 papers. the topics discussed include: distributed technology for global control;dealing with uncertainty in the hybrid world;adaptive fuzzy controller for output power maximization of induction generators;architectural approach for the implementation of a position control system for a boat-like inspection robot;dynamic-based simulation for humanoid robot walking using walking support system;people tracking and identification using laser features and color distributions;robotic wheelchair trajectory control considering user comfort;calibration and comparison of visual tracking on the ground for multi camera tracking;mobile robot teleoperation via wireless multihop networks - parameter tuning of protocols and real world application scenarios;safe test flights for small rotorcrafts;and particle filter with temporal smoothing for mobile robot vision-based localization.

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Comparative, study of robot-designs for a handheld medical robot

Comparative, study of robot-designs for a handheld medical r...

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5th international conference on informatics in control, automation and robotics

作者： Pott, Peter P. Schwarz, Markus L. R. Wagner, Achim Badreddin, Essameddin Heidelberg Univ Med Fac Mannheim OUZ Lab Biomechan & Expt Orthopaed Theodor Kutzer Ufer 1-3 D-68167 Mannheim Germany Univ Mannheim Automat Lab Mannheim Germany

ISBN: (纸本)9789898111319

Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regarding size, weight and dynamic properties. A new hybrid kinematics - the Epizactor - seems to be advantageous and is compared to two well-known parallel kinematics regarding the ratio of workspace and volume the number of kinematic elements, the cost of computation, the stiffness the effects of clearance, actuation (weight), and accuracy using a well-described industrial method for comparison. It becomes clear that the Epizactor has advantages concerning the ratio of workspace and volume, needs a smaller number of kinematic elements and fewer computations, and has less than half the mass than the parallel kinematics. Its accuracy, stiffness and the effects of clearance are comparable. the advantages of this new kinematic set-up lead to a first deployment within the field of medical robotics.

关键词： hybrid kinematics medical robotics comparison

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

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5th international conference on informatics in control automation and robotics, icinco 2008

作者： Solea, Razvan Nunes, Urbano Department of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Coimbra 3030-290 Portugal Department of Automation and Industrial Informatics Dunarea de Jos University of Galati Galati 800-008 Romania

ISBN: (纸本)9783642002700

this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. the user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Degrees of freedom (mechanics)

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Safe test flights for small rotorcrafts

Safe test flights for small rotorcrafts

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5th international conference on informatics in control automation and robotics, icinco 2008

作者： Vitzilaios, Nikos Tsourveloudis, Nikos Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania 73300 Greece

ISBN: (纸本)9783642002700

In this paper we present an experimental test bed for the development and evaluation of unmanned helicopters control. Main component of the suggested test bed is a flying stand which permits all possible movements but, also, prevents helicopters' damage because of crashing. A variety of sensors mounted on the stand, monitor and feedback rotorcraft's attitude and operational states. Based on the sensory information, a fuzzy logic controller has been developed and tested on a real rotorcraft, using the developed test bed. this controller proved able to perform hovering and altitude control. Experimental results are presented for various test cases. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fuzzy control

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control system with state feedback and NN based load torque feedforward for PMSM with LC filter Fed by 3-level NPC inverter

Control system with state feedback and NN based load torque ...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Grzesiak, L.M. Tarczewski, T. Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland

ISBN: (纸本)9789898565709

this paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral point clamped inverter with an output LC filter. Our main objective is to reduce the effect of load torque changes and to improve dynamic behaviour of the motor during load changing. the full state feedback algorithm has been chosen to control the angular velocity of the motor and to provide true sine wave of the input motor voltages. It was found that gains of the controller and feedforward path are non-stationary and depends on the angular velocity. In such a case linearization and decoupling process of the motor with LC filter is not needed. Simulation results (at the level of 3kW) illustrate the proposed approach.

关键词： State feedback

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A real-time motion data reduction and restoration compatible with robot's physical limits 11

A real-time motion data reduction and restoration compatible...

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11th international conference on informatics in control, automation and robotics, icinco 2014

作者： Kim, Doik Park, Jung-Min Hong, Seokmin Interaction and Robotics Research Center KIST Hwarangno 14-gil 5 Seongbuk-gu Seoul136-791 Korea Republic of

ISBN: (纸本)9789897580406

In order to control a robot, motion data obtained from various interface devices such as haptic and tele-operating interfaces, and a motion capture system, or from predefined parametric equations are needed. It is hard to store and transmit the data because of their high control frequency and synchronization problem. In addition, usually, all these data are only for one target robot system, i.e., it is hard to use them to other robot system with different hardware limits. In order to solve the problems, the reduction of the original data is conducted with two stage magnitude quantization and the restoration without violating the hardware limits, such as maximum velocity, acceleration, etc., is conducted with the convolution interpolation, in this paper. the proposed method can be used in on-line data transmission and for off-line data storage.

关键词： Restoration

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Towards a "holistic" safety monitoring in intelligent vehicle control

Towards a "holistic" safety monitoring in intelligent vehicl...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Köhler, Tim Schröer, Martin DFKI GmbH Robotics Innovation Center Bremen Germany University of Bremen Robotics Research Group Robert-Hooke-Straße 5 28359 Bremen Germany

ISBN: (纸本)9789898565709

Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of allowed values (e.g. minimal distance). the disadvantage of such an approach is that safety issues which were unconsidered at design time are not detectable. Furthermore, a detection of issues that are only indirectly measurable is difficult to realize. In this paper, a holistic safety monitoring approach is presented that makes use of all available sensor data and tries to find an implicit definition of "safety". By such an inverse approach vehicle safety issues which are hard to be directly measurable might be detectable, too. For instance, an identification of driver-initiated critical situations (e.g. caused by distraction) could be possible if taking multiple sensor modalities into account and having an implicitly defined "safe" state. Furthermore, the article describes the selection of potential test platforms and shows already collected test data of a mobile robot platform. Presented in this work-in-progress paper is the concept of definition, implementation, and detection of implicit vehicle safety.

关键词： Fault detection

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Application of artificial neural network state feedback controller to torque ripple minimization of PMSM 11

Application of artificial neural network state feedback cont...

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11th international conference on informatics in control, automation and robotics, icinco 2014

作者： Niewiara, L. Tarczewski, T. Grzesiak, L.M. Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland

ISBN: (纸本)9789897580390

this paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. the novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.

关键词： Neural networks

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