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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61-70 订阅

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A suboptimal strategy for autonomous marine vehicle navigation in variable sea currents 15

A suboptimal strategy for autonomous marine vehicle navigati...

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

作者： Kim, Kangsoo National Maritime Research Institute National Institute of Maritime Port and Aviation Technology 6-38-1 Shinkawa Mitaka Tokyo181-0004 Japan

ISBN: (纸本)9789897583216

A navigation strategy achieving suboptimality in the transits of autonomous marine vehicles is presented. the objective of optimal navigation is the minimum-time transit of a marine vehicle moving in a flow field of sea currents. Reactive revisions of an ongoing optimal navigation followed by tracking controls are the key features of the proposed suboptimal strategy. In this research, a globally working numerical procedure for obtaining the solution of an optimal heading guidance law is presented. the developed solution procedure derives optimal heading reference that achieves the minimum-time transit of a marine vehicle in any deterministic sea currents whether stationary or time varying. the proposed suboptimal navigation works as a fail-safe strategy for the optimal navigation when there happen significant hostile actions which possibly cause the failure in ongoing optimal navigation. Simplicity and robustness are notable characteristics of our suboptimal strategy compared to others seeking rigorous optimality. Simulation results of autonomous underwater vehicle routing conducted by suboptimal navigation in various sea currents are presented. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Autonomous underwater vehicles

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Adaptive gravitational search algorithm for PI-fuzzy controller tuning

Adaptive gravitational search algorithm for PI-fuzzy control...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： David, Radu-Codrut Precup, Radu-Emil Petriu, Emil M. RǍdac, Mircea-Bogdan Purcaru, Constantin Dragoş, Claudia-Adina Preitl, Stefan Dept. of Automation and Appl. Inf. Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania School of Electrical Eng. and Computer Science University of Ottawa 800 King Edward ON K1N 6N5 Ottawa Canada

ISBN: (纸本)9789898565211

this paper proposes an adaptive Gravitational Search Algorithm (aGSA) focused on tuning of Takagi- Sugeno PI-fuzzy controllers (T-S PI-FCs). the algorithm adapts two depreciation laws of the gravitational constant to the iteration index, a parameter in the weighted sum of all forces exerted from the other agents to the iteration index, and the reset at each stage of agents' worst fitnesses and positions to their best values. Two fuzzy logic blocks carry out the adaptation of the ratios of exploration runs and explanation runs using the ratio between the minimum and maximum Popov sums as an input variable. A tuning method for T-S PI-FCs dedicated to a class of nonlinear servo systems with an integral component and is offered, and T-S PI-FCs with reduced process gain sensitivity are tuned. A case study and digital simulation results illustrate the optimal tuning of a T-S PI-FC for the position control of a laboratory servo system. Copyright © 2012 SciTePress.

关键词： controllers

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Mechanical system modelling of robot dynamics using a mass/pulley model

Mechanical system modelling of robot dynamics using a mass/p...

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

作者： Stocco, L. J. Yedlin, M. J. Univ British Columbia Dept Elect & Comp Engn Vancouver BC V6T 1Z4 Canada

ISBN: (纸本)9789728865849

the well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulate a capacitor in the general case. this new MP model is used to model the off-diagonal elements of a mass matrix so that devices whose effective mass is coupled between more than one actuator can be represented by a mechanical system diagram that is topographically parallel to its equivalent electric circuit model. Specific examples of this technique are presented to demonstrate how a mechanical model can be derived for both a serial and a parallel robot with both two and three degrees of freedom. the technique, however, is extensible to any number of degrees of freedom.

关键词： mass matrix inertia matrix MP model pulley differential transmission mechanical system representation robot dynamics impedance equivalent electric circuit

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CILAp-architecture for simultaneous position- And force-control in constrained manufacturing tasks 15

CILAp-architecture for simultaneous position- And force-cont...

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

作者： Klecker, Sophie Hichri, Bassem Plapper, Peter Faculty of Science Technology and Communication University of Luxembourg 6 rue Richard Coudenhove-Kalergi LuxembourgL-1359 Luxembourg

ISBN: (纸本)9789897583216

this paper presents a parallel control concept for automated constrained manufacturing tasks, i.e. for simultaneous position- and force-control of industrial robotic manipulators. the manipulator’s interaction with its environment results in a constrained non-linear switched system. In combination with internal and external uncertainties and in the presence of friction, the stable system performance is impaired. the aim is to mimic a human worker’s behaviour encoded as lists of successive desired positions and forces obtained from the records of a human performing the considered task operating the lightweight robot arm in gravity compensation mode. the suggested parallel control concept combines a model-free position- and a model-free torque-controller. these separate controllers combine conventional PID- and PI-control with adaptive neuro-inspired algorithms. the latter use concepts of a reward-like incentive, a learning system and an actuator-inhibitor-interplay. the elements Conventional controller, Incentive, Learning system and Actuator-Preventer interaction form the CILAP-concept. the main contribution of this work is a biologically inspired parallel control architecture for simultaneous position- and force-control of continuous in contrast to discrete manufacturing tasks without having recourse to visual inputs. the proposed control-method is validated on a surface finishing process-simulation. It is shown that it outperforms a conventional combination of PID- and PI-controllers. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： controllers

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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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Grasping spatial integrity in distributed unmanned systems 1

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

作者： Sapaty, Peter Simon Institute of Mathematical Machines and Systems National Academy of Sciences Glushkova Ave 42 03187 Kiev Ukraine

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

Due to the increased complexity of tasks delegated to unmanned systems their collective use is becoming of paramount importance for performing any reasonable jobs. An approach is offered where integral group behaviors are achieved automatically rather than set up manually. Missions in a high-level Distributed Scenario Language can be executed jointly by communicating interpreters embedded in key system units. Robotic scenarios like reconnaissance, camp security, convoy, mule and explosive ordnance disposal oriented on different numbers of cooperating units are demonstrated. the approach allows us to effectively manage any teams, from manned to purely unmanned, regardless of the number of components in them. Other researched applications of the technology are outlined as well as its relation to gestalt philosophy, where the whole dominates over parts, defining their sense and even existence. the paradigm discussed may also be considered as a universal globally programmable distributed super-machine operating with both information and physical matter, ruling the world covered by it at runtime. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： robotics

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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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Implementation of Evolving Fuzzy Models of a Nonlinear Process 12

Implementation of Evolving Fuzzy Models of a Nonlinear Proce...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Precup, Radu-Emil Voisan, Emil-Ioan Petriu, Emil M. Radac, Mircea-Bogdan Fedorovici, Lucian-Ovidiu Politehn Univ Timisoara Dept Automat & Appl Informat Bd V Parvan 2 Timisoara 300223 Romania Univ Ottawa Sch Elect Engn & Comp Sci 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789897581496

this paper presents details on the implementation of evolving Takagi-Sugeno-Kang (TSK) fuzzy models of a nonlinear process represented by the pendulum dynamics in the framework of the representative pendulum-crane systems. the pendulum angle is the output variable of the TSK fuzzy models that are obtained by online identification. the rule bases and the parameters of the TSK fuzzy models are continuously evolved by an online identification algorithm (OIA) that adds new rules with more summarization power and modifies the existing rules and parameters. the OIA is associated with an input selection algorithm that guides the modelling in terms of ranking the inputs according to their importance factors. three TSK fuzzy models evolved by the OIA are exemplified. the performance of the new evolving TSK fuzzy models is illustrated by experimental results conducted on pendulum-crane laboratory equipment.

关键词： Evolving Takagi-Sugeno-Kang Fuzzy Models Experimental Results Input Selection Algorithm Pendulum Dynamics

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State Feedback control Solutions for a Mechatronics System with Variable Moment of Inertia 13

State Feedback Control Solutions for a Mechatronics System w...

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

作者： Szedlak-Stinean, Alexandra-Iulia Precup, Radu-Emil Preitl, Stefan Petriu, Emil M. Bojan-Dragos, Claudia-Adina Politeh Univ Timisoara Dept Automat & Appl Informat Bd V Parvan 2 Timisoara 300223 Romania Univ Ottawa Sch Elect Engn & Comp Sci 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789897581984

this paper presents details regarding the design of two state feedback control (SFC) solutions for the position control of a mechatronics application represented by the Model 220 Industrial Plant Emulator. Since SFC is not effective in terms of zero steady-state control error, the SFC structure of both solutions is inserted in a control loop that contains a PID controller with or without low-pass filter. this leads to the two SFC solutions proposed in this paper and dedicated to mechatronics applications with variable moment of inertia. the PID controllers are tuned by the Modulus Optimum method to ensure high control system performance expressed as increased phase margins and improved tracking performance. the performance of the proposed SFC solutions is illustrated by case studies that deal with experimentally identified parameters in two situations, rigid body dynamics and flexible drive dynamics. Simulation and experimental results obtained for the three significant values of the moment of inertia of the load disk are given.

关键词： Experimental Results Flexible Drive Dynamics Mechatronics Application PID controllers Position control Rigid Body Dynamics Variable Moment of Inertia

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Orientation of doubly nonholonomic mobile manipulator in the path tracking problem

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

作者： Mazur, Alicja Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 Wroclaw 50-372 Poland

ISBN: (纸本)9783642195389

In the paper we want to present a problem of path following for nonholonomic mobile manipulators. In our consideration we restrict ourself to doubly nonholonomic mobile manipulators. Nonholonomic constraints appear due to motion of the robotic system without slipping effect between wheels and the surface (for nonholonomic platform) or between special supporting wheels and ball in an onboard manipulator equipped with nonholonomic gears. As a point of departure for mathematical formulation of this problem we will use so-called Frenet parametrization. It establishes some tool to find some control laws solving the formulated problem. A role of orientation in the path tracking will depend on the user-choice and number of control inputs. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Wheels

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