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检索条件"任意字段=ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics"

共 97 条记录，以下是11-20 订阅

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DOUBLE WELL POTENTIAL AS DIFFUSIVE FUNCTION FOR PDE-BASED SCALAR IMAGE RESTORATION MEthOD

DOUBLE WELL POTENTIAL AS DIFFUSIVE FUNCTION FOR PDE-BASED SC...

引用

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

作者： Histace, A. Menard, M. ENSEA UCP ETIS UMR CNRS 8051 6 Ave Ponceau F-95014 Cergy France Univ La Rochelle Pole Sci & Technol L3i F-17000 La Rochelle France

ISBN: (纸本)9789896740009

Anisotropic regularization PDE's (Partial Differential Equation) raised a strong interest in the field of image processing. the benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, we propose a PDE-based method restoration approach integrating a double-well potential as diffusive function. It is shown that this particular potential leads to a particular regularization PDE which makes it possible integration of prior knowledge about the gradients intensity level to restore. As a proof a feasibility, results of restoration are presented both on ad hoc and natural images to show potentialities of the proposed method.

关键词： Image Diffusion Double well potential Directional diffusion Selectivity

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A NOVEL HAPTIC INTERFACE FOR EXTENDED RANGE TELEPRESENCE control and Evaluation

A NOVEL HAPTIC INTERFACE FOR EXTENDED RANGE TELEPRESENCE <i>...

引用

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

作者： Arias, Antonia Perez Hanebeck, Uwe D. Univ Karlsruhe TH Intelligent Sensor Actuator Syst Lab ISAS Inst Anthropomat Karlsruhe Germany

ISBN: (纸本)9789896740009

A novel haptic interface for extended range telepresence is presented that allows the user simultaneous wide area motion and haptic interaction in remote environments. To achieve an extended workspace, the haptic interface consists of a haptic manipulator for precise haptic rendering and a large portal carrier system that enlarges the workspace by prepositioning the end-effector. As the prepositioning unit is grounded and driven by three linear drives, our approach has the advantages of high force capability and an accurate positioning of the haptic interface. the use of this haptic interface with Motion Compression permits to explore large remote environments even from small user environments. As a result, not only has the user visual, acoustic, and haptic feedback, but can also control the teleoperator or avatar by natural walking, which considerably increases the sense of immersion. A prototype system for haptic extended range telepresence was designed, implemented, and tested.

关键词： Extended range telepresence Motion compression Haptic interface Force control

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TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

TELEOPERATION OF A MOBILE ROBOT VIA UMTS LINK

引用

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

作者： Zeiger, Florian Sauer, Markus Stolz, Lothar Schilling, Klaus Zentrum Telemat eV Allesgrundweg 12 Gerbrunn Germany

ISBN: (纸本)9789896740009

Nowadays available broadband wireless communication technologies offer a broad spectrum of applications and the todays availability of UMTS technology has a great potential in the area of networked robotics. this work investigates teleoperation of mobile robots via UMTS communication links. First, several scenarios with artificially generated command traffic between mobile robot and operator are analyzed in order to gain knowledge of the link behavior. In a next step real mobile robot hardware is remote controlled via UMTS. thereby, the robot transmits sensor data and a video stream of its onboard camera while receiving commands from the operator. the focus of this work is set on the measurement and analysis of the round trip time and the packet inter-arrival time of data in different scenarios like the connection of two UMTS nodes, the connection of an Internet PC and an UMTS node, or the behavior of several UMTS nodes generating a large amount of data. the results clearly show how applications for mobile robot teleoperation can efficiently use UMTS communication in order to allow seamless teleoperation between operator and hardware in distant locations.

关键词： Networked robotics Teleoperation UMTS Wireless teleoperation Wireless networks of robots

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ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDBACK-controlLED SERVO SYSTEMS

ITERATIVE FEEDBACK TUNING APPROACH TO A CLASS OF STATE FEEDB...

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

作者： Radac, Mircea-Bogdan Precup, Radu-Emil Petriu, Emil M. Preitl, Stefan Dragos, Claudia-Adina Politehn Univ Timisoara Dept Automat & Appl Inf Bd V Parvan 2 Timisoara 300223 Romania Univ Ottawa Sch Informat Technol & Engn Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898111999

An original control structure dedicated to a class of second-order state feedback control systems is presented in the paper. the controlled processes are accepted to be characterized by second-order servo systems with integral component. Optimal state feedback control systems are designed for those processes making use of the Iterative Feedback Tuning (IFT) approach. the state feedback control system structure is extended with an integral component to ensure the rejection of constant disturbances. A case study concerning the position control of a DC servo system with backlash is included. Real-time experimental results validate the theoretical part of the IFT approach.

关键词： Iterative Feedback Tuning Servo systems State feedback control systems

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STRAIN FIELD INTERPOLATION OVER thE SCIARA DEL FUOCO (STROMBOLI VOLCANO) FROM GEODETIC MEASUREMENTS ACQUIRED BY thE AUTOMATIC thEODOROS SYSTEM

STRAIN FIELD INTERPOLATION OVER THE SCIARA DEL FUOCO (STROMB...

引用

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

作者： Nunnari, Giuseppe Spata, Alessandro Puglisi, Giuseppe Bonforte, Alessandro Guglielmino, Francesco Univ Catania Dipartimento Ingn Elettr Elettron & Sistemi Viale A Doria 6 I-95125 Catania Italy

ISBN: (纸本)9789896740016

In this paper we treat two important aspects concerning the automatic monitoring of the ground deformation at the Sciara del Fuoco (SdF), the Stromboli volcano (Italy) steep flank subjects to dangerous landslide events: the developments of suitable software procedures to process observations and the evaluation of both 3D motion maps and 3D strain tensor over the whole investigated area. Ground deformation measured by the monitoring system known as thEODOROS (thEOdolite and Distancemeter Robot Observatory of Stromboli) is often affected by offsets and spikes, due to both malfunctioning and periodical maintenances of the system, and other noise sources making very difficult the interpretation of the ground deformation dynamics. To this purpose a suitable software tool able to reduce these drawbacks was developed. Furthermore, both 3D motion maps and 3D strain tensor are computed in order to provide new useful information aimed to better understanding the complex dynamic of the SdF.

关键词： Automatic monitoring system Data-processing Strain interpolation Stromboli volcano

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IFT-BASED PI-FUZZY controlLERS Signal Processing and Implementation

IFT-BASED PI-FUZZY CONTROLLERS <i>Signal Processing and Impl...

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

作者： Precup, Radu-Emil Radac, Mircea-Bogdan Preitl, Stefan Tomescu, Marius-Lucian Petriu, Emil M. Paul, Adrian Sebastian Politehn Univ Timisoara Dept Automat & Appl Inf Bd V Parvan 2 Timisoara 300223 Romania Aurel Vlaicu Univ Arad Fac Comp Sci Arad 310330 Romania Univ Ottawa Sch Informat Technol & Engn Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898111999

New Takagi-Sugeno PI-fuzzy controllers (PI-FCs) are suggested in this paper. the PI-FC design is based on the optimization of PI controllers in terms of the Iterative Feedback Tuning (IFT) approach. Next the parameters of the PI controllers are mapped onto the parameters of the Takagi-Sugeno PI-FCs in terms of the modal equivalence principle. An attractive design method is derived to support the implementation of low-cost PI-FCs. the design is enabled by a stability analysis theorem based on Lyapunov's theorem for time-varying systems. the theoretical approaches are validated by a case study corresponding to the position control of a servo system. Real-time experimental results are included.

关键词： Iterative Feedback Tuning PI-fuzzy controllers Stability analysis

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HIERARCHICAL PERFORMANCE-ORIENTED control OF FLEXIBLE MANUFACTURING CELLS

HIERARCHICAL PERFORMANCE-ORIENTED CONTROL OF FLEXIBLE MANUFA...

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

作者： Fahmy, Sherif Balakrishnan, Subramaniam ElMekkawy, Tarek Univ Manitoba Dept Mech & Mfg Engn Winnipeg MB R3T 5V6 Canada

ISBN: (纸本)9789898111999

In a job shop, each product may have a different processing route through the system. Automated Flexible Manufacturing Cells (FMC) that adopt this flow pattern are highly prone to deadlocks. A supervisor is a controller that uses available data via feedback loops to characterize the current behavior of the cell, and modify the equipment controllers to achieve the desired operational specifications in a deadlock-free manner. this paper proposes a hierarchical control system divided into an upper level scheduler and a lower level supervisor to control FMCs. the scheduler is responsible for determining a deadlock-free allocation of the resources that optimizes some performance measure, based on the current production requirements, and the supervisor guarantees that the flow plan (behavior) determined by the scheduler is realized on the shop floor. For that purpose, a formal method that can transform a production schedule into a supervisor, in real time, is also proposed. the supervisor is an augmented Marked Graph (MG) that captures all the events that can take place in the cell. the proposed approach is validated by generating and simulating the supervisors for two benchmark problems.

关键词： Deadlock-free scheduling Flexible manufacturing cells Hierarchical control Job shops Marked graphs Petri nets

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informatics in control automation and robotics - Revised and Selected Papers from the international conference on informatics in control automation and robotics 2009

引用

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

ISBN: (纸本)9783642197291

the proceedings contain 24 papers. the topics discussed include: ICT application on the management of intelligent transportation systems;abstractions of hybrid systems for verification;meeting the world challenges with advanced system organizations;an improved mean-shift tracking algorithm based on adaptive multiple feature fusion;modelling and performance enhancement of a linear actuation mechanism using conducting polymers;dynamic walking on uneven terrains with passivity-based bipedal robots;task partitioning in swarms of robots: reducing performance losses due to interference at shared resources;exploiting hierarchical probabilistic motion planning for robot reachable workspace estimation;defocus-based three-dimensional tracking in SEM images;studies on the convergence of information theory and control theory;and interdisciplinary modeling of autonomous systems deployed in uncertain dynamic environments.

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Drive Chain Friction Characterization of a 6DOF Parallel Kinematics Robot 16

Drive Chain Friction Characterization of a 6DOF Parallel Kin...

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

作者： Giberti, Hermes La Mura, Francesco Raineri, Ivan Tarabini, Marco Univ Pavia Dipartimento Ingn Ind & Informaz Via A Ferrata 5 I-27100 Pavia Italy Politecn Milan Dept Mech Engn Campus Bovisa SudVia La Masa 1 I-20156 Milan Italy

ISBN: (纸本)9789897583803

this paper describes a time-efficient method for friction characterization on a Robot drive chain, namely a Ball-screw transmission. the Method promotes practical application by being independent from external sensors and giving very precise and usable output model. A complete extimation procedure is described togheter with the results obtained on the real Machine.

关键词： Ball-screw Friction PKM Robot Stribeck Axis Practical Approach Stick Slip

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Real-Time Setup with PD and Backstepping control for a Pelican Quadrotor 14

Real-Time Setup with PD and Backstepping Control for a Pelic...

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

作者： Ruiz, Jose Alejandro Dena Aouf, Nabil Cranfield Univ Ctr Elect Warfare Def Acad United Kingdom Shrivenham SN6 8LA England

ISBN: (纸本)9789897583049

In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented using a Pelican quadrotor from Ascending Technologies (AscTec). An onboard Inertial Measurement Unit (IMU) was used for orientation control and Optitrack Vision Tracking System for linear positioning control. A linear Kalman filter was implemented for linear velocity estimation. the software and hardware integration was achieved with the help of the Robot Operating System (ROS). Simulations and experiments with this drone platform are achieved in order to implement different controller algorithms and analyse them in order to achieve better aircraft performance.

关键词： PD control Backstepping control Kalman Filter Optitrack ROS

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