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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

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Resolving the Problem of Non-integrability of Nullspace Velocities for Compliance control of Redundant Manipulators by using Semi-definite Lyapunov functions

Resolving the Problem of Non-integrability of Nullspace Velo...

引用

2008 IEEE international conference on robotics and automation (ICRA 2008), vol.5

作者： Christian Ott Andreas Kugi Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Japan Automation and Control Institute University of Technology Vienna Austria

In this paper a compliance control law for kinematically redundant manipulators is proposed. The controller contains a Cartesian compliance part and a nullspace compliance part which are complemented by a power-conserving decoupling term. The approach deliberately avoids inertia shaping in order to obtain a control law which does not require the measurement of external forces and becomes less sensitive with respect to model uncertainties. While the controller formulation explicitly uses nullspace velocity coordinates, no integration of these velocities is required. Except for the kinematic singularities of the manipulator's Jacobian matrix, no further algorithmic singularities are introduced. Asymptotic stability of the closed-loop system is shown by utilizing semi-definite Lyapunov functions. Finally, a short planar simulation study is presented which validates the effectiveness of the approach.

关键词： Velocity control Lyapunov method Jacobian matrices Automatic control Force measurement Robot kinematics Shape control Motion control Transmission line matrix methods robotics and automation

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Model-driven embedded systems design environment for the industrial automation sector

Model-driven embedded systems design environment for the ind...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： Thomas Strasser Christoph Sunder Antonio Valentini Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria 03NEIDA Europe ASBL Rue de L'Eglise 42 Belgium

The aim of this paper is to describe a model-driven embedded systems design approach which is applied to Industrial automation and control Systems (IACS). Therefore, an overview on existing model-driven approaches is given and their applicability for IACS is discussed. The special requirements of the industrial automation sector are taken into account by a novel architecture, utilizing existing model-driven techniques. This approach is the basis for the FP7 research project MEDEIA.

关键词： Unified modeling language automation Computer architecture Software Object oriented modeling Embedded systems Real-time systems

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Employing wave variables for coordinated control of robots with distributed control architecture

Employing wave variables for coordinated control of robots w...

引用

2008 IEEE international conference on robotics and automation (ICRA 2008), vol.2

作者： Christian Ott Yoshihiko Nakamura Department of Mechano-Informatics University of Tokyo Japan

By controlling complex robotic systems one often has to cope with the situation that different sub-systems are interfaced and controlled by different computers. In this paper the problem of coordinated control of such a system with distributed control structure is addressed. In particular one must handle the transmission delays in the communication between the different computers, which can be considered small but not negligible, since also small delays in the transmission of power variables violate the passivity and therefore may lead to instability. In this paper the wave variables concept is applied to handle the delays and is used in combination with a virtual inertia for designing a Cartesian compliance controller. Therefore, in particular the steady state properties of the wave variable based communication is of interest and leads for the case of small delays to the analogy with a flexible joint robot. In a second step the virtual inertia is eliminated in order to approximate the desired closed loop behavior better. Finally, some simple planar simulations are presented which validate the proposed approach.

关键词： Robot control Robot kinematics Distributed control control systems Communication system control Computer interfaces Delay effects Mobile robots robotics and automation Mobile computing

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Experimental Aspects at Switching with Power MOSFET's

Experimental Aspects at Switching with Power MOSFET's

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： A. Tulbure M. Abrudean Department of Informatics University E2809C1 Decembrie 1918E2809D of Alba-Iulia Romania Faculty of Automation and Computer Science Technical University of Cluj Napoca Romania

The achieved technological developments are creating nowadays new possibilities for electronic designers in the areas of efficiency, power density, reliability and cost. In order to achieve these demands, designers are adopting new circuit topologies like: matrix converters, synchronous rectifiers, active power factor corrections and higher switching frequencies.

关键词： Switches MOSFET circuits Logic gates Power MOSFET Voltage measurement Voltage control Capacitors

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Analysis and Experimental Evaluation of the Intrinsically Passive controller (IPC) for Multifingered Hands

Analysis and Experimental Evaluation of the Intrinsically Pa...

引用

2008 IEEE international conference on robotics and automation (ICRA 2008), vol.1

作者： Thomas Wimbock Christian Ott Gerd Hirzinger Institute of Robotics and Mechatronics German Aerospace Center Germany Department of Mechano-Informatics University of Tokyo Japan

The object level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. In a different approach Stramigioli introduces a virtual object - called "Intrinsically Passive controller (IPC)". This controller distributes the generalized object forces using coupling springs whose weighting have an intuitive physical meaning. Even though this controller has been known for several years we will present the first experimental results for a four-fingered hand. Furthermore, the term virtual grasp map is introduced and a method to parameterize the stiffness parameters in order to obtain an effective object level stiffness and a damping design is proposed. An implementation of the IPC is tested on the DLR Hand II and its performance is analyzed by manipulating soft and stiff objects.

关键词： Impedance Robots Force control robotics and automation Level control Springs Damping Performance analysis Kinematics USA Councils

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Small speed asymptotic stability study of induction motor sensorless vector control systems with extended Luemberger estimator

Small speed asymptotic stability study of induction motor se...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： T.C. Pana O. Stoicuta Department of Electrical Drives and Robots Technical University of Cluj Napoca Cluj-Napoca Romania Department of Control Applied Informatics and Computers University of Petrosani Petrosani Romania

In this paper we analyze the asymptotic stability of a vector control system for a squirrel-cage induction motor that contains in its loop an extended Luemberger observer. The studied control system is based on the direct rotor flux orientation method (DFOC) and the stability study is based upon the linearization theorem around the equilibrium points of the control system, emphasizing the estimated variation domain of the rotor resistance for which the control system remains asymptotically stable when the prescribed speed of the control system is close to zero. The stability study is made in both the continual and discrete cases. The mathematical model of the vector regulating system is made using a value dlambda e -qlambda e linked to stator current.

关键词： Mathematical model control systems Asymptotic stability Induction motors Machine vector control Rotors Regulators

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Application of a telemedicine system for the needs of prehospital emergency medicine at the area of Thrace-Greece 08

Application of a telemedicine system for the needs of prehos...

引用

1st international conference on Pervasive Technologies Related to Assistive Environments, PETRA 2008

作者： Kessatis, Athanasios Stathi, Chrissoula J. Mavratzotis, Elisseos C. Papanastasiou, Sofia P. National Center of Emergency Medicine Branch of Thrace General Hospital of Komotini Andronicou 12 Komotini Greece Officer of Hellenic Army New Technologies in Informatics and Communications Msc Andronicou 12 Komotini Greece Branch of Thrace National Center of Emergency Medicine General Hospital of Komotini Diomodi 14 Komotini Greece

ISBN: (纸本)9781605580678

The present study presents the development of a complete service of prehospital emergency medicine (PEM). This service aims to introduce a system which will include: Immediate localization of NCEM ambulances and their guidance to patient's point. Patient's follow up during the transportation to the hospital via transmission of biomedical signals to NCEM and to the Emergency Department (ED) of the hospital. The above described system consists of three entities that interact: 1. Vehicles of NCEM (ambulances) 2. The NCEM operating room of Thrace 3. The hospital that accepts the patients. This system also is divided into two subsystems: A) Vehicle control subsystem. This subsystem works using the GIS. GIS requires three basic technological units: Telematic units on the vehicles which are GPS, PDA device, GSM/GPRS systems. An operating center which will use digital maps of the district of Thrace and proper software for the communication with the vehicles. A geographic data base able for continuously updates data transmitted from the vehicles. B) Biomedical signal transmission subsystem. This subsystem requires the following technological support: Telemedicine units on the vehicles (device for monitoring clinical data and a laptop or tablet PC). Copyright 2008 ACM.

关键词： Telematics

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On biometric encryption using fingerprint and it's security evaluation

On biometric encryption using fingerprint and it's security ...

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： Seira Hidano Tetsushi Ohki Naohisa Komatsu Masao Kasahara Faculty of Science and Engineering Waseda University Shinju Tokyo Japan Department of Informatics Osaka Gakuin University Suita Osaka Japan

Biometric person authentication has been attracting considerable attention in recent years. Conventional biometric person authentication systems, however, simply store each user's template as-is on the system. If registered templates are not properly protected, the risk arises of template leakage to a third party and impersonation using biometric data restored from a template. We propose a technique that encrypts and stores the user template and uses a ldquofuzzy vault schemerdquo to generate secret data from the user template and the query biometric data. It incorporates a measure to prevent the secret data and the user template used to obtain the secret data from being recovered from information stored in the system, and it enables the secret data to be generated from the user's biometric data. In this paper, we introduce this technique and evaluate template security with it by simulating a fingerprint authentication system.

关键词： Biometrics Cryptography Fingerprint recognition Authentication Bioinformatics Data security Information security robotics and automation Fuzzy systems Proposals

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State Feedback Design with CWEAS Constraints

State Feedback Design with CWEAS Constraints

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Octavian Pastravanu Mihaela Matcovschi Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Science Technical University E2809CGheorghe AsachiE2809D of Iasi Iasi Romania

The paper presents mathematical developments that support new design techniques for constrained stabilization of linear systems. The constraints can operate on (i) state variables, (ii) state variables and feedback matrix gain, or (iii) state variables and control actions. The state variable constraints in (i) - (iii) exploit the properties of a particular type of stability called componentwise exponential asymptotic stability (CWEAS) that ensures the individual monitoring of each state variable for the entire evolution of the system. The synthesis procedures are formulated as linear programming problems, with robust numerical tractability that ensures a large applicability in practice.

关键词： Linear matrix inequalities State feedback Linear programming Closed loop systems Linear systems Trajectory Eigenvalues and eigenfunctions

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Local model predictive control experiences with differential driven wheeled mobile robots

Local model predictive control experiences with differential...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Lluis Pacheco Ningsu Luo Jordi Ferrer Institute of Informatics and Applications Technical School University of Girona Girona Spain

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields.

关键词： Trajectory Robots Robot kinematics Cost function Distance measurement Mobile robots Robot sensing systems

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