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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31-40 订阅

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the Furtherance of Autonomous Engineering via Reinforcement Learning 18

The Furtherance of Autonomous Engineering via Reinforcement ...

引用

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

作者： Antensteiner, Doris Dietrich, Vincent Fiegert, Michael Siemens Technol Siemens AILab Munich Germany

ISBN: (纸本)9789897585227

Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. these processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.

关键词： Autonomous Engineering Reinforcement Learning Artificial Intelligence Industrial robotics 6D Pose Estimation Computer Vision

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An Efficient Replication Approach based on Trust for Distributed Self-healing Systems 14

An Efficient Replication Approach based on Trust for Distrib...

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

作者： Msadek, Nizar Ungerer, theo Univ Augsburg Inst Comp Sci Univ Str 6a D-86135 Augsburg Germany

ISBN: (纸本)9789897583049

Replication typically occurs in a wide range of open distributed systems, especially in self-healing systems (i.e., mainly for fault-tolerance purposes) and in high-performance computing (i.e., mainly for fast response times). All these systems face a common issue: how can replicas automatically and efficiently be managed in a system despite changing requirements of their environment? One way to overcome this issue is trust. the contribution of this paper is a novel approach based on trust that provides a good management of replicas - especially for those of important services - despite uncertainties in the behavior of nodes. Depending on the importance level of a service possessing the replicas and the assessment of the trustworthiness of a node, we can optimize the trust distribution of replicas at runtime. For evaluation purposes we applied our approach to an evaluator based on the TEM middleware. In this testbed, the usage of trust reduced the replication overhead by about 14% while providing a much better placement of important replicas than without trust.

关键词： Autonomous Systems Open Distributed System Trust Replication High-performance Computing

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Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression control of a String 13

Development of Discrete Mechanics for Distributed Parameter ...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Kai, Tatsuya Yamaki, Kouhei Koike, Shunpei Tokyo Univ Sci Katsushika ku 6-3-1 Niijuku Tokyo 12585859 Japan Simplex Inc Minato Ku 1-23-1 Toranomon Tokyo 1056319 Japan

ISBN: (纸本)9789897581984

In this study, a new stabilization method by blending discrete mechanics and nonlinear optimization for 1-dimensional distributed parameter mechanical systems is developed. Discrete mechanics is a kind of numerical solutions for distributed parameter mechanical systems and it is known that it has some advantages in terms of numerical errors and preserving property of the original systems. First, for discrete Euler-Lagrange equations with control inputs, we formulate a nonlinear optimal control problem with constraints by setting an objective function, and initial and boundary conditions. then, it is shown that the problem is represented as a finite-dimensional nonlinear optimal problem with constraints and it can be solved by the sequential quadratic programming method. After that, a vibration suppression control problem for a string is dealt with as a physical example. As a result, it can be confirmed that vibration of the string is suppressed and the whole of the system is stabilized by the proposed new method.

关键词： Discrete Mechanics Distributed Parameter Mechanical Systems Nonlinear Optimization Vibration Suppression control String

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Object Detection and 6D Pose Estimation for Precise Robotic Manipulation in Unstructured Environments 14th

Object Detection and 6D Pose Estimation for Precise Robotic ...

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

作者： di Castro, Mario Camarero Vera, Jorge Ferre, Manuel Masi, Alessandro CERN European Org Nucl Res Meyrin Switzerland UPM CSIC Ctr Automat & Robot Madrid Spain

ISBN: (纸本)9783030112929;9783030112912

In this paper we present an algorithm for the robust 6D pose estimation with an RGB-D camera in harsh and unstructured environments using object detection. While the pose estimation uses clustering and segmentation to find a robust point in multiple frames to track changes in the position of the camera, its functionality is enhanced with Faster-RCNN for classification and detection, providing the operator with information about the object of interest. this work further facilitates the goal of increasing the robot's autonomy and helping operators to recover 3D reconstructions of the objects to be manipulated with the robot.

关键词： Mobile robots and intelligent autonomous systems Deep learning Faster-RCNN Perception and awareness

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A pursuit-evasion game between unmanned aerial vehicles 11

A pursuit-evasion game between unmanned aerial vehicles

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

作者： Alexopoulos, Alexander Schmidt, Tobias Badreddin, Essameddin Automation Laboratory Institute for Computer Engineering Heidelberg University B6 Mannheim Germany

ISBN: (纸本)9789897580406

In this paper the problem of two-player pursuit-evasion games with unmanned aerial vehicles (UAVs) in a three-dimensional environment is solved. A game theoretic framework is presented, which enables the solution of dynamic games in discrete time based on dynamic programming. the UAV agents taking part in the pursuitevasion game are two identical quad-rotors with the same non-linear state space model, while the evaders' absolute velocity is smaller than the pursuers'. the convergence of the pursuit-evasion game is shown in numerical simulations. Finally, the approach is simulated on an embedded computer and tested for real-time applicability. Hence, the implementation and real-time execution on a physical UAV system is feasible.

关键词： Dynamic programming

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A Hierarchical Planner based on Set-theoretic Models: Towards Automating the automation for Autonomous Systems 16

A Hierarchical Planner based on Set-theoretic Models: Toward...

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

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian Feiten, G. Wendelin Zhang, Jianwei Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany Univ Hamburg Fac Math Informat & Nat Sci Vogt Kolln Str 30 D-22527 Hamburg Germany

ISBN: (纸本)9789897583803

the complexity of today's autonomous systems renders the manual engineering of control strategies or behaviors for all possible system states infeasible. therefore, planning algorithms are required that match the capabilities of the system to the tasks at hand. Solutions to typical problems with robotic systems combine aspects of symbolic action planning with sub-symbolic motion planning and control. the problem complexity of this combination currently prohibits online planning without task specific, manually defined heuristics. To counter that we use a set-theoretic approach to model declarative and procedural knowledge which allows for flexible hierarchies of planning tasks. the coordination of the planning tasks on different levels, the classification of information and various views on data are the core functions of hierarchical planning. We propose suitable graph structures to capture all relevant information and discuss the elements of our hierarchical planning algorithm in this paper. Furthermore, we present two use-cases of an autonomous manufacturing system to highlight the capabilities of our system.

关键词： Hierarchy Planning Autonomy

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Clock synchronization in industrial automation networks - Comparison of different syntonization methods

Clock synchronization in industrial automation networks - Co...

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

作者： Obradovic, Dragan Scheiterer, Ruxandra Lupas Na, Chorigning Steindl, Guenter Goetz, Franz-Josef Siemens AG Corp Technol Informat & Commun Otto Hahn Ring 6 D-8000 Munich Germany Siemens AG Automat & Dr Ind Automat Amberg Germany Siemens AG Automat & Dr Adv Technol & Stand Nurnberg Germany

ISBN: (纸本)9789898111319

Synchronization of distributed clocks is a critical task in many real time applications over Ethernet. the Ethernet protocol, due to its non-deterministic nature, is not suitable for real-time applications with very strict synchronicity requirements. However, the limit is continuously being pushed outwards by current research. the Precision Time Protocol (PTP), delivered by the IEEE 1588 standard, provides high synchronization accuracy and has been adopted in many real time applications in the areas of industrial automation, measurement & control, communications etc. this paper will discuss several issues aimed at improving the synchronization performance.

关键词： IEEE 1588 PTP synchronization syntonization industrial automation network

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Domain Optimization for Hierarchical Planning based on Set-theory 17

Domain Optimization for Hierarchical Planning based on Set-T...

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17th international conference on informatics in control, automation and robotics (icinco)

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian Feiten, Wendelin Zhang, Jianwei Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany Univ Hamburg Fac Math Informat & Nat Sci Vogt Kolln Str 30 D-22527 Hamburg Germany

ISBN: (纸本)9789897584428

the design of planning domains for autonomous systems is a hard task, especially when different parties are involved. We present a domain optimization algorithm for hierarchical planners that uses a set-based formulation. Due to an automatic alignment we can compose models from different sources to a larger domain for efficient planning. the combination of domain optimization and hierarchical planning can handle large scale domains very efficiently. Our algorithm reduces the effects of the non-optimality that comes with the hierarchical approach. We demonstrate the scalability with a task and motion planning problem. In the scenario of a robotic assembly with up to 62 parts and plan lengths of over 1000 steps the planning times are kept within 15 minutes. We show the execution of our plans on a real-world dual-robot setup.

关键词： Hierarchy Planning Autonomy Robotic Assembly

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Unscented Kalman Filter for Vision based Target Localisation with a Quadrotor 14

Unscented Kalman Filter for Vision based Target Localisation...

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

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

ISBN: (纸本)9789897583049

Unmanned aerial vehicles (UAV) equipped with a navigation system and an embedded camera can be used to estimate the position of a desired target. the relative position of the UAV along with knowledge of camera orientation and imagery data can be used to produce bearing measurements that allow estimation of target position. the filter methods applied are prone to biases due to noisy measurements. Further noise may be encountered depending on the UAV trajectory for target localisation. this work presents the implementation of an Unscented Kalman Filter (UKF) to estimate the position of a target on the 3D cartesian plane within a small indoor scenario. A small UAV with a single board computer, equipped with a frontal camera and moving in an oval trajectory at a fixed height was employed. Such a trajectory enabled an experimental comparison of UAV simulation data with UAV real-time flight data for indoor conditions. Optitrack Motion system and the Robot Operative System (ROS) were used to retrieve the drone position and exchange information at high rates.

关键词： UAV Unscented Kalman Filter Optitrack ROS

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Autonomous trail following using a pre-trained deep neural network 15

Autonomous trail following using a pre-trained deep neural n...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Hoveidar-Sefid, Masoud Jenkin, Michael Electrical Engineering and Computer Science Department York Centre for Field Robotics Lassonde School of Engineering York University Toronto Canada

ISBN: (纸本)9789897583216

Trails are unstructured and typically lack standard markers that characterize roadways;nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail following by identifying the deviation of the robot from the heading angle of the trail through the refinement of a pretrained Inception-V3 (Szegedy et al., 2016a) Convolutional Neural Network (CNN) trained on the ImageNet dataset (Deng et al., 2009). A differential system is developed that uses a pair of cameras each providing input to its own CNN directed to the left and the right that estimate the deviation of the robot with respect to the trail direction. the resulting networks have been successfully tested on over 1 km of different trail types (asphalt, concrete, dirt and gravel). Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Deep neural networks

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