Aircraft are non-minimum phase, MIMO and highly nonlinear systems which undergo significant disturbances and variation in system parameters during operation. In spite of the prosperous literature in adaptive control, ...
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ISBN:
(纸本)9781479951994
Aircraft are non-minimum phase, MIMO and highly nonlinear systems which undergo significant disturbances and variation in system parameters during operation. In spite of the prosperous literature in adaptive control, application of the promising control strategy on aircraft control has been restricted by the lack of assurance in closed-loop stability. This paper proposes a robust adaptive control scheme for aircraft. The scheme is composed of an inner-level adaptive fuzzy PD control law and an outer-level supervisory control law. Importantly, the outer-level controller of the two-level scheme is designed based on a fuzzy model which takes non-minimum phase phenomena and modeling error explicitly into account. Numerical studies of the tracking control of a five degree of freedom aircraft system demonstrate the effectiveness of the proposed control strategy in the face of bursting disturbances.
From the RoboCup goal of having a fully autonomous humanoid soccer team, it is possible to see many applications of the research in the Humanoid Soccer, such as the development of mechanical legs and arms and exoskele...
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ISBN:
(纸本)9789898111319
From the RoboCup goal of having a fully autonomous humanoid soccer team, it is possible to see many applications of the research in the Humanoid Soccer, such as the development of mechanical legs and arms and exoskeletons. The onboard vision algorithms for multi target tracking and the cooperative decision making of some Soccer Leagues can be used in squadrons of autonomous vehicles in a variety of missions. The algorithms for image processing of the Small Size League can be used in aerial or satellite images to track vehicles. The Simulation League allows the development of many intelligent agents applications. The formations and team play positioning of the Simulation League can be used to optimize the positioning of a squadron of autonomous vehicles. The research of Robotic Soccer fosters and strengthens the research in robotics, allowing and contributing to the development of many powerful applications which can great benefit the mankind.
This article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple me...
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ISBN:
(纸本)9789896740009
This article studies the use of task partitioning as a way to reduce interference in a spatially constrained harvesting task. Interference is one of the key problems in large cooperating groups. We present a simple method to allocate individuals of a robotic swarm to a partitioned task, and show that task partitioning can increase system performance by reducing sources of interference. The method is experimentally studied, both in an environment with a narrow area and an environment without this constraint. The results are analyzed and compared to the case in which task partitioning is not employed.
This paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. These efforts are characterized by the need of blending R&A subjects into a traditional Comp...
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ISBN:
(纸本)0780377362
This paper describes our efforts and plans to develop a Virtual Laboratory for the education in robotics and automation. These efforts are characterized by the need of blending R&A subjects into a traditional Computer Science curriculum, thus forcing a specific selection of development topics. In this context, the robotics Laboratory must provide basic as well as advanced experiments, to address the needs of students at different education levels. In this paper, we present the development of three main applications, to support control Systems and robotics classes, as well as thesis and dissertation research. Of particular interest is the effort in the area of teleoperation, preliminary to the opening, next year, of a new curriculum on Medical informatics, in which Computer Assisted Surgery will play an important role.
The visual alignment robot system for display and semiconductor fabrication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass pr...
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ISBN:
(纸本)9789728865832
The visual alignment robot system for display and semiconductor fabrication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass production line is how to reduce the overall tact time by making a progress in the alignment technology between the mask and panel. In this paper, we suggest the kinematics of the 4PPR parallel alignment mechanism with four limbs unlike usual three limb cases and an effective pattern recognition algorithm for alignment mark recognition. The inverse kinematic solution determines the moving distances of joint actuators for an identified mask-panel misalignment. Also, the proposed alignment mark detection method enables considerable reduction in computation time compared with well-known pattern matching algorithms.
This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by model...
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ISBN:
(纸本)9789897583803
This paper presents the control of an aerial manipulation system with a quadrotor and a 2-DOF robotic arm by using the computed torque control method. The kinematic and dynamic model of the system is obtained by modeling the quadrotor and the robotic arm as a unified system. Then, the equation of motion of the unified system is got in the form of a standard robot dynamics equation. For the trajectory control of the system, computed torque control is used. Gains of the controller are optimized by using nonlinear least squares method. The performance and stability of the control structure are tested with a simulation case study.
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential...
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ISBN:
(纸本)9789728865832
In certain robot applications, path planning has to be viewed, not only from a motion perspective, but also from a process perspective. In 3-dimensional Friction Stir Welding (FSW) a properly planned path is essential for the outcome of the process, even though different control loops compensate for various deviations. One such example is how sharp path intersection is handled, which is the emphasis in this paper. We propose a strategy based on Hermite and Bezier curves, by which G(1) continuity is obtained. The blending operation includes an optimization strategy in order to avoid high second order derivatives of the blending polynomials, yet still to cover as much as possible of the original path.
Session 1 includes 109 papers selected from 2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China. This session will act as...
ISBN:
(纸本)9783662521236
Session 1 includes 109 papers selected from 2011 3rd international asia conference on informatics in control, automation and robotics (CAR 2011), held on December 24-25, 2011, Shenzhen, China. This session will act as an international forum for researchers and practitioners interested in the advances in and applications of Intelligent control Systems. It is an opportunity to present and observe the latest research, results, and ideas in these areas. Intelligent control is a rapidly developing, complex, and challenging field of increasing practical importance and still greater potential. Its applications have a solid core in robotics and mechatronics but branch out into areas as diverse as process control, automotive industry, medical equipment, renewable energy and air conditioning. So, this session will aim to strengthen relationships between industry, research laboratories and universities. All papers published in session 1 will be peer evaluated by at least two conference reviewers. Acceptance will be based primarily on originality and contribution.
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes a...
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ISBN:
(纸本)9789898111319
In the near future, service robots will support people with different handicaps to improve the quality of their life. One of the required key technologies is to setup the grasping ability of the robot. This includes an autonomous object detection and grasp motion planning to fulfil the task of providing objects from any position on a table to the user. This paper presents a complete system, which consists of a fixed working station equipped with a laser-range scanner, a seven degrees of freedom arm manipulator and an arm prothesis as gripper. The contribution of this work is to use only one sensor system based on a laser-range scanning head to solve this challenge. The goal is that the user can select any defined object on the table and the robot arm delivers it to a target position or to the disabled person.
A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance,...
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ISBN:
(纸本)9789897581984
A key capability of any indoor service robot is to explore arbitrary, unknown environments in order to record a complete and correct map in minimal time. Such a map is a prerequisite of common tasks like surveillance, transportation as well as search and rescue. In recent years a series of solutions has been proposed by the authors: a dynamic enhancement of the frontier-based approach, ground plan-based exploration and a hybrid combination of both. This paper evaluates the performance of each of these strategies within an everyday office scenario in simulation and reality and discusses their pros and cons.
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