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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21-30 订阅

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theoretical and Experimental Modal Analysis of a 6 PUS PKM 16

Theoretical and Experimental Modal Analysis of a 6 PUS PKM

引用

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

作者： La Mura, Francesco Giberti, Hermes Pirovano, Linda Tarabini, Marco Univ Pavia Dipartimento Ingn Ind & Informaz Via A Ferrata 5 I-27100 Pavia Italy Politecn Milan Dept Mech Engn I-20156 Milan Italy

ISBN: (纸本)9789897583803

In this article the modal analysis of a manipulator is presented and discussed from a theoretical and experimental perspective. the work focuses on both the simulation and the experimental stages of the modal analysis on six DOF parallel kinematics machine. In particular, the behavioural vibrational trend of the kinematics structure under analysis is presented within the entire workspace. Critical aspects of each test phase are highlighted as well as data post processing methods used. Finally, a map capable of summarizing the modal analysis results is shown.

关键词： Modal Analysis Parallel Kinematics Machines Multibody Natural Frequencies

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Automatic Offset Detection in GPS Time Series by Change Point Approach 16

Automatic Offset Detection in GPS Time Series by Change Poin...

引用

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

作者： Nunnari, Giuseppe Cannavo, Flavio Univ Catania Dipartimento Ingn Elettr Elettron & Informat Viale A Doria 6 I-95125 Catania Italy Ist Nazl Geofis & Vulcanol Sez Catania Piazza Roma 2 Catania Italy

ISBN: (纸本)9789897583803

this paper deals with the problem of automatic detection of offsets in GPS time series, which is of interest both in active volcanic and tectonic areas, where they often signal either the opening of eruptive fissures or seismic and aseismic dislocations. the problem is tackled by using the Change Point Detection (CPD) approach. Results show that CPD algorithms are suitable both in off-line and on-line frameworks. In particular, we show that CPD algorithms could contribute to the implementation of a warning system of volcanic intrusive activity.

关键词： Change Point Detection Offsets GPS Time Series De-trending Warning Systems Volcano Monitoring

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Hybrid 6D Object Pose Estimation from the RGB Image 16

Hybrid 6D Object Pose Estimation from the RGB Image

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

作者： Staszak, Rafal Belter, Dominik Poznan Univ Tech Inst Control Robot & Informat Engn Poznan Poland

ISBN: (纸本)9789897583803

In this research, we focus on the 6D pose estimation of known objects from the RGB image. In contrast to state of the art methods, which are based on the end-to-end neural network training, we proposed a hybrid approach. We use separate deep neural networks to: detect the object on the image, estimate the center of the object, and estimate the translation and "in-place" rotation of the object. then, we use geometrical relations on the image and the camera model to recover the full 6D object pose. As a result, we avoid the direct estimation of the object orientation defined in SO3 using a neural network. We propose the 4D-NET neural network to estimate translation and "in-place" rotation of the object. Finally, we show results on the images generated from the Pascal VOC and ShapeNet datasets.

关键词： Object Pose Estimation Convolutional Neural Networks Deep Learning in robotics

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A Distributed PID-like Consensus control for Discrete-time Multi-agent Systems 14

A Distributed PID-like Consensus Control for Discrete-time M...

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

作者： Gionfra, Nicolo Sandou, Guillaume Siguerdidjane, Houria Faille, Damien Univ Paris Saclay Lab Signaux & Syst L2S Cent Supelec 3 Rue Joliot Curie F-91192 Gif Sur Yvette France EDF R&D Dept STEP 6 Quai Watier F-78401 Chatou France

ISBN: (纸本)9789897583049

the problem of discrete-time multi-agent systems governed by general MIMO dynamics is addressed. By employing a PID-like distributed protocol, we aim to solve two relevant consensus problems, namely the leaderless consensus under disturbances and leader-follower under time-varying reference state ones. Sufficient conditions for stability as well as two LMI approaches to tune the controller gains are provided. the latter are either based on a H-infinity formulation of the problem or on fast response to a reference exogenous signal. Numerical simulations give some insight of which tuning should be considered according to the problem addressed.

关键词： Multi-agent Systems Consensus control Discrete-time LTI Systems

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Dynamic modeling of a 6-DOF parallel structure destinated to helicopter flight simulation

Dynamic modeling of a 6-DOF parallel structure destinated to...

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

作者： Plitea, Nicolae Pisla, Adrian Pisla, Doina Prodan, Bogdan Tech Univ Cluj Napoca RO-400020 Cluj Napoca Romania

ISBN: (纸本)9789898111319

the dynamic analysis is the basic element of the mechanical design and control of parallel mechanisms. the parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper a solution for solving the dynamical model of a 6-DOF parallel structure destined to helicopter flight simulation is presented. the obtained dynamical algorithms, based on the kinematical ones, offer the possibility of a complex study for this type of parallel structure in order to evaluate the dynamic capabilities and to generate the control algorithms.

关键词： 6-DOF parallel robot Stewart platform dynamics modeling helicopter flight simulation

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UAV Inspection of Large Components: Indoor Navigation Relative to Structures 18

UAV Inspection of Large Components: Indoor Navigation Relati...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Schoerner, Martin Bettendorf, Michelle Wanninger, Constantin Hoffmann, Alwin Reif, Wolfgang Augsburg Univ Inst Software & Syst Engn Univ Str 6a Augsburg Germany

ISBN: (纸本)9789897585227

the inspection of large structures is increasingly carried out with the help of Unmanned Aerial Vehicles (UAVs). When navigating relative to the structure, multiple data sources can be used to determine the position of the UAV. Examples include track data from an installed camera and sensor data from the orientation sensors of the UAV. this paper deals with the fusion of this data and its use for navigation alongside the structure. For the sensor fusion, a concept is developed using a Kalman filter and evaluated simulatively in a prototype. the calculated position data are also fed into a vector flight control system, which dynamically calculates and flies a trajectory along the component using the potential field method. this is done taking into account obstacles detected by the onboard sensors of the UAV. the established concept is then implemented with the Robot Operating System (ROS) and evaluated simulatively.

关键词： Inspeciton of Large Components UAVs Adaptive Navigation Sensor Fusion

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Kamanbaré: A tree-climbing biomimetic robotic platform for environmental research

Kamanbaré: A tree-climbing biomimetic robotic platform for ...

引用

4th international conference on informatics in control, automation and robotics, icinco 2007

作者： Bernardi, Reinaldo De Da Cruz, José Jaime Genius Institute of Technology Sao Paulo Brazil Department of Telecommunications and Control São Paulo University Sao Paulo Brazil

Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. this paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.

关键词： robotics

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Optimal Waypoint Navigation for Underactuated Cruising AUVs 16

Optimal Waypoint Navigation for Underactuated Cruising AUVs

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

作者： Kim, Kangsoo Natl Inst Maritime Port & Aviat Technol Natl Maritime Res Inst 6-38-1 Shinkawa Mitaka Tokyo 1810004 Japan

ISBN: (纸本)9789897583803

An advanced approach to the waypoint-based navigation for near-bottom survey of a cruising AUV is presented. Pursuing vehicle safety as well as high-definition bottom survey data, we apply GDS-based optimization technique for achieving waypoint-based minimum-altitude flight of an underactuated cruising AUV. While the objective of our optimization is minimizing average altitude of a vehicle throughout its flight interval, depth or altitude references on waypoints are used as control inputs. In our optimization, bottom bathymetry is incorporated as a constraint used for bottom collision avoidance. As another constraint, dynamic model of an AUV is included. By solving the dynamic model in time domain, motion responses of the vehicle following reference waypoints are derived. Our approach of the optimal waypoint navigation is validated by not only simulation but also at-sea deployment of an AUV.

关键词： Navigation Waypoint Optimization Depth Altitude Cruising AUV Bottom Collision

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Formal Verification for Validation of PSEEL's PLC Program 14

Formal Verification for Validation of PSEEL's PLC Program

引用

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

作者： Niang, Mohamed Philippot, Alexandre Gellot, Francois Coupat, Raphael Riera, Bernard Lefebvre, Sebastien Univ Reims Champagne Ardenne Moulin Housse CReSTIC EA3804 BP 1039 F-51687 Reims 2 France Soc Natl Chemins Francais IP TE CES Direct Ingn 6 Ave Francois Mitterrand F-93574 La Plaine St Denis France

ISBN: (纸本)9789897583049

In order to keep its leadership in French rail market and to improve work conditions of its systems engineers during automation projects, the SNCF (French acronym for National Society of French Railways) wants to develop solutions increasing the productivity. One of these improvements focuses on the current methodology used by systems engineers to verify and validate PLC programs of electrical installations. this task remains one of the most important during an automation project because it is supposed to ensure installations safety, but it must be optimized. through an industrial thesis financed by SNCF, the aim of this research project is to improve this method and reduce time validation of programs by providing a tool which will help systems engineers to verify and validate quickly and automatically PLC programs during any automation project, not necessarily during factory tests but directly from their office.

关键词： Model-checking Recipe Book Factory Tests Systems Engineers Railways Safety

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On the asymptotic stability analysis of a certain type of discrete-time 3-D linear systems 11

On the asymptotic stability analysis of a certain type of di...

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

作者： Izuta, Guido Department of Social Information Yonezawa Women's College 6-15-1 Toori Machi Yonezawa Yamagata Japan

ISBN: (纸本)9789897580390

this work is concerned with the analysis of 3-d (3-dimensional) systems. the aim is to establish conditions that guarantee the asymptotic stability of these kinds of systems. To accomplish it, the Lagrange candidate solutions method for partial difference equations is adopted here. We show that the systems are asymptotically stable if the entries of the matrices of their state space descriptions yield a solution in the Lagrange solution sense. Furthermore, the particular cases in which the matrices can be turned into a diagonal matrix by means of the canonical transformation is studied in order to figure out the role of the eigenvalues on the stability conditions.

关键词： Asymptotic stability

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