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

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Human-aware Robot Navigation in Logistics Warehouses 16

Human-aware Robot Navigation in Logistics Warehouses

引用

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

作者： Kenk, Mourad A. Hassaballah, M. Brethe, Jean-Francois Normandy Univ Electrotech & Automat Res Grp GREAH Le Havre France South Valley Univ Dept Math Qena Egypt South Valley Univ Dept Comp Sci Luxor Egypt

ISBN: (纸本)9789897583803

Industrial and mobile robots demand reliable and safe navigation capabilities to operate in human populated environments such as advanced manufacturing industries and logistics warehouses. Currently mobile robot platforms can navigate through their environment avoiding coworkers in the shared workspace, considering them as static or dynamic obstacles. this strategy is efficient for safety, strictly speaking, but is not sufficient to provide humans integrity and comfortable working conditions. To this end, this paper proposes a human-aware navigation framework for comfortable, reliable and safely navigation designed to run in real-time on a mobile robot platform in logistics warehouses. this is accomplished by estimating human localization using RGB-D detector, then generating a virtual circular obstacle enclosing human pose. this virtual obstacle is then fused with the 2D laser range scan and used in ROS navigation stack local costmap for human-aware navigation. this strategy guarantees a different approach distance to obstacles depending on the human or non-human nature of the obstacle. Hence the mobile robot can approach closely to pallet to pick up objects while maintaining an integrity distance to humans. the reliability of the proposed framework is demonstrated in a workbench of experiments using simulated mobile robot navigation in logistics warehouses environment.

关键词： Human-aware Navigation Collision Avoidance Human Detection in RGB-D Camera 2D-LIDAR Sensor Logistics Warehouses Mobile Robot Autonomous Navigation robotics

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informatics in control, automation and robotics 2009

引用

丛书名： Lecture Notes in Electrical Engineering

2009年

作者： Juan Andrade Cetto Jean-Louis Ferrier Joaquim Filipe

ISBN: (数字)9783642002717

ISBN: (纸本)9783642002700

the present book includes a set of selected papers from the 5th "international conference on informatics in control automation and robotics" (icinco 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. the conference was organized in three simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation" and "Systems Modeling, Signal Processing and control". the book is based on the same structure. the purpose of this conference is to bring together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. informatics applications are pervasive in many areas of control, automation and robotics, and this conference intends to emphasize this connection, therefore, most papers highlight applications of Information Technology (IT) in these areas and present ideas on how to solve problems using IT, both in R&D and industrial applications. A diversity of papers are included in the book, ranging from papers describing advanced prototypes, systems, tools and techniques to papers presenting surveys indicating future directions.

关键词： control theory automation robotics

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informatics in control, automation and robotics 1

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丛书名： Lecture Notes in Electrical Engineering

1000年

作者： Joaquim Filipe Juan Andrade Cetto Jean-Louis Ferrier

ISBN: (数字)9783540856405

ISBN: (纸本)9783540856399

the present book includes a set of selected papers from the fourth “international conference on informatics in control automation and robotics” (icinco 2007), held at the University of Angers, France, from 9 to 12 May 2007. the conference was organized in three simultaneous tracks: “Intelligent control Systems and Optimization”, “robotics and automation” and “Systems Modeling, Signal Processing and control”. the book is based on the same structure. icinco 2007 received 435 paper submissions, from more than 50 different countries in all continents. From these, after a blind review process, only 52 where accepted as full papers, of which 22 were selected for inclusion in this book, based on the classifications provided by the Program Committee. the selected papers reflect the interdisciplinary nature of the conference. the diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends. these high quality standards will be maintained and reinforced at icinco 2008, to be held in Funchal, Madeira - Portugal, and in future editions of this conference. Furthermore, icinco 2007 included 3 plenary keynote lectures given by Dimitar Filev (Ford Motor Company), Patrick Millot (Université de Valenciennes) and Mark W. Spong (University of Illinois at Urbana-Champaign).

关键词： control and Systems theory Applications of Mathematics control, robotics, Mechatronics Artificial Intelligence Systems theory, control

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Concept and design of the intellwheels platform for developing intelligent wheelchairs

Concept and design of the intellwheels platform for developi...

引用

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

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo LIACC - Artificial Intelligence Computer Science Lab University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal Informatics Engineering Department FEUP-DEI - Faculty of Engineering University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal

ISBN: (纸本)9783642002700

Many people with severe disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling these electrical devices. Intelligent wheelchairs are 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 a development platform for intelligent wheelchairs called IntellWheels. the intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. the paper describes the concept and design of the platform, including the hardware and software, multimodal input interface and the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also described showing the autonomous movement capabilities of the prototype. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Wheelchairs

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Mobile robot teleoperation via wireless multihop networks - Parameter tuning of protocols and real world application scenarios

Mobile robot teleoperation via wireless multihop networks - ...

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

作者： Zeiger, Florian Krämer, Nikolaus Sauer, Markus Schilling, Klaus University of Wuerzburg Department of Robotics and Telematics Am Hubland Wuerzburg Germany

ISBN: (纸本)9783642002700

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. this work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. the time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and BATMAN allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network. Finally a small application is presented to show the interaction of the different protocol layers in order to provide a communication network for services and applications to increase the capabilities of networked mobile robots. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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Linear Delta Kinematics Feedrate Planning for NURBS Toolpaths Implemented in a Real-Time Linux control System 1

引用

19th international conference on informatics in control, automation and robotics, icinco 2022

作者： Karasek, Gabriel Erwinski, Krystian Department of Automatics and Measurement Systems Institute of Engineering and Technology Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University in Torun Torun Poland

ISBN: (数字)9783031483035

ISBN: (纸本)9783031483028

this paper presents an advanced concept of a computationally efficient feedrate planning algorithm for parallel kinematics machine in a linear delta configuration. the algorithm is developed for toolpaths defined as Non-Uniform Rational B-Splines (NURBS). the proposed method is developed to generate feedrate profiles subject to velocity, acceleration and jerk limitations. It is shown that limiting the cartesian parameter also significantly limits the violations of actual joint velocities, accelerations and jerks. the algorithm is implemented in a real-time Linux based control system and its real-time performance is ascertained. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Acceleration

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Convergent iterative feedback tuning of state feedback-controlled servo systems 1

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6th international conference on informatics in control automation and robotics, icinco 2009

作者： RǍdac, Mircea-Bogdan Precup, Radu-Emil Petriu, Emil M. Preitl, Stefan Dragoş, Claudia-Adina Politehnica University of Timisoara Dept. of Automation and Applied Informatics Bd. V. Parvan 2 300223 Timisoara Romania University of Ottawa School of Information Technology and Engineering 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

this paper presents a new Iterative Feedback Tuning (IFT)-based optimal state feedback control solution dedicated to a class of second-order servo systems with integral component. the state feedback controllers for these controlled plants are extended with an integrator to ensure the rejection of constant load type disturbances. Original IFT algorithms are suggested for the accepted state feedback controllers such that to set the step size in order to guarantee the convergence. An attractive convergence theorem based on the application of Popov's hypertability theory to the parameter update law in the IFT algorithms is offered. the theoretical results are validated by a case study concerning the position control of a DC servo system with backlash. Implementation issues are discussed and exemplified by real-time experimental results. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Servomechanisms

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Development of a low-pressure fluidic servo-valve for wearable haptic interfaces and lightweight robotic systems

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7th international conference on informatics in control, automation and robotics, icinco 2010

作者： Folgheraiter, Michele Jordan, Mathias Benitez, Luis M. Vaca Grimminger, Felix Schmidt, Steffen Albiez, Jan Kirchner, Frank Robotics Innovation Center Robert-Hooke-Strasse 5 Bremen D-28359 Germany

ISBN: (纸本)9783642195389

this document presents a low-pressure servo-valve specifically designed for haptic interfaces and lightweight robotic applications. the device is able to work with hydraulic and pneumatic fluidic sources, operating within a pressure range of (0-50 •105 Pa). All sensors and electronics were integrated inside the body of the valve, reducing the need for external circuits. Positioning repeatability as well as the capability to fine modulate the hydraulic flow were measured and verified. Furthermore, the static and dynamic behavior of the valve were evaluated for different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Haptic interfaces

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Simultaneous control of Two robotics Arms Sharing Workspace via Visual Predictive control 16th

Simultaneous Control of Two Robotics Arms Sharing Workspace ...

引用

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

作者： Le Flécher, E. Durand-Petiteville, A. Cadenat, V. Sentenac, T. CNRS LAAS 7 Avenue du Colonel Roche Toulouse31400 France Univ de Toulouse UPS Toulouse31400 France Department of Mechanical Engineering Federal University of Pernambuco UFPE Recife Brazil

ISBN: (纸本)9783030631925

this work addresses the problem of simultaneously controlling two robotic arms to automatically pick up fruits in an orchard. When considering such a scenario, the design of the controller has to face several challenges: (i) the arms share the same workspace, (ii) the presence of obstacles such as branches and other fruits, and (iii) the system evolves in a dynamic environment, i.e., the positions of the fruits and branches change over time. In this paper, it is proposed to control the two robotic arms relying on a Visual Predictive control (VPC) scheme. It allows to control the system in a reactive fashion while taking into account a large number of constraints. the global and local models of the VPC scheme as well as constraints dealing with collisions or joint boundaries are presented. Finally, the efficiency of the proposed approach is highlighted with numerous simulation results using the PR2 arms model. © 2021, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Fruits

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A highly integrated low pressure fluid servo-valve for applications in wearable robotic systems

A highly integrated low pressure fluid servo-valve for appli...

引用

作者： Folgheraiter, Michele Jordan, Mathias Vaca Benitez, Luis M. Grimminger, Felix Schmidt, Steffen Albiez, Jan Kirchner, Frank Robotics Innovation Center Robert-Hooke-Strasse 5D 28359 Bremen Germany

ISBN: (纸本)9789898425010

In this paper an innovative low pressure servo-valve is presented. the device was designed with the main aim to be easily integrable into complex hydraulic/pneumatic actuation systems, and to operate at relatively low pressure (5Pa). Characteristics like compactness, lightweight, high bandwidth, and autonomous sensory capability, where considered during the design process in order to achieve a device that fulfills the basic requirements for a wearable robotic system. Preliminary results about the prototype performances are presented here, in particular its dynamic behavior was measured for different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm.

关键词： Wearable technology

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