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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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Fuzzy control Solution for a Class of Tricycle Mobile Robots

Fuzzy Control Solution for a Class of Tricycle Mobile Robots

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international conference on Mechatronics (ICM)

作者： Radu-emil Precup Stefan Preitl Zsuzsa Preitl Department of Automation and Applied Informatics “Politehnica” University of Timisoara Timisoara RO Romania Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary

The paper proposes an original fuzzy control solution to solve the tracking problem in case of a class of tricycle mobile robots with two degrees of freedom and steered front wheel. The control system structure contains two control loops to control the forward velocity and the angle between the heading direction and the x-axis. The reference trajectory is obtained on the basis of an obstacle avoidance strategy employing the artificial potential field method. The development in the linear case is done in terms of the extended symmetrical optimum method and of the iterative feedback tuning method resulting in two linear PI controllers. A new development method is proposed based on the transfer of results from the linear case to the fuzzy one employing Mamdani PI-fuzzy controllers. Simulation results validate the proposed fuzzy control solution

关键词： Fuzzy control Mobile robots control systems Velocity control Automatic control Sliding mode control robotics and automation informatics Wheels Iterative methods

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Force-Torque control for an Experimental Robot controller

Force-Torque Control for an Experimental Robot Controller

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international conference on Mechatronics (ICM)

作者： Istvan Olah Gabor Tevesz Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

At the Department of automation and Applied informatics an experimental robot control system has been developed. The full plant consists of an IBM-PC based multiprocessor system connected to the power electronics, the manipulator being a NOKIA-PUMA 560 robot arm. Some parts of the central computer and the whole power electronics are developed at the department. The control system is based on the QNX operating system, and the development is made using the corresponding QNX Momentics development suite. One aim of the research is to integrate a six-component force-torque sensor into the robot control system and to extend the basic position control with force-torque control capabilities. This paper introduces the hardware extensions including the PCI bus interface card and presents the recent features implemented into the advanced robot programming system providing the possibility of executing force-torque control tasks

关键词： Force control Robot control robotics and automation control systems Automatic control Power electronics informatics Multiprocessing systems Manipulators Operating systems

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The Study of Positioning with High-precision by Single Camera based on P3P Algorithm

The Study of Positioning with High-precision by Single Camer...

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IEEE international conference on Industrial informatics (INDIN)

作者： Jia. Qingxuan Zheng. Ping Sun. Hanxu Automation School Beijing University of Posts and Telecommunications Beijing China

Binocular method is always used in the object location of robot, but the matching problem of the control points in the images is not settled perfectly. This paper introduces a method of Real-time positioning with high-precision by single camera based on P3P algorithm. When the camera and the control points were set on specific spatial location, we could get the position of the object. The experiment results show that the technique is fit for the robot operation.

关键词： Cameras Robot vision systems Robot kinematics robotics and automation Optical control Sun Automatic control Telecommunication control Optical sensors Robot sensing systems

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Time and Supervisory control of Manufacturing Systems: a Flexible Manufacturing Cell experience

Time and Supervisory Control of Manufacturing Systems: a Fle...

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IEEE international conference on Industrial informatics (INDIN)

作者： Diego Ruben Rodriguez Institute of Production Engineering Tampere University of Technology Tampere Finland

The objective of the present work is, firstly, to model, then control the operation times and finally to obtain performance measures for the flexible manufacturing cell under study. This cell is located in the robotics and automation laboratory in the Computer Science and Systems Engineering Department of the University of Zaragoza. The first part of this work presents the formal modelling of the flexible manufacturing cell. Using the Petri net paradigm (D. Rodriguez, 2004), the behaviour of the system is modelled, starting from the PLC programs in charge of controlling the manufacturing system. This modelling part take into account some production policies implemented in an intermediate storage station. A second task considers the possible failure and blocking situations what helps improving the raw model of the FMC. This work shows also an implementation of all these elements in commercial SCADA software and also some timing results help concluding some arguments for the inclusion of a certain production policy under certain production configurations.

关键词： Supervisory control Manufacturing systems Flexible manufacturing systems Production Virtual manufacturing Automatic control robotics and automation Laboratories Computer science Systems engineering and theory

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Active Learning with Support Vector Machines in the Relevance Feedback Document Retrieval

Active Learning with Support Vector Machines in the Relevanc...

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

作者： Takashi Onoda Hiroshi Murata Seiji Yamada System Engineering Laboratory Central Research Institute of Electric Power Industry Tokyo Japan National Institute of Informatics (NII) Tokyo Japan

This paper describes an application of SVM (support vector machines) to interactive document retrieval using active document showing. Some works have been done to apply classification learning like SVM to relevance feedback and obtained successful results. However they did not fully utilize characteristic of example distribution in document retrieval. We propose heuristics to bias document showing according to distribution of examples in document retrieval. This heuristic is executed by selecting examples to show a user in neighbors of positive support vectors, and it improves learning efficiency. We implemented a SVM-based interactive document retrieval system using our proposed heuristic, and compare it with conventional systems like Rocchio-based system and a SVM-based system without the heuristic. We conducted systematic experiments using large data sets including over 500,000 paper articles and confirmed our system outperformed other ones

关键词： Machine learning Support vector machines Feedback Information retrieval Support vector machine classification Power engineering and energy Systems engineering and theory informatics Internet Databases

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Knowledge-Based Autonomous Behavior control of Robots in a Symbiotic Human-Robot System

Knowledge-Based Autonomous Behavior Control of Robots in a S...

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IEEE international conference on robotics and Biomimetics

作者： Tao Zhang Haruki Ueno Department of Automation Tsinghua University Beijing China Principles of Informatics Research Division National Institute of Information Tokyo Japan

In order to implement autonomous behavior control of robots according to human requests in a complex symbiotic human-robot system, this paper proposes a novel knowledge-based intelligent control method. In this method, a knowledge model is first defined by means of frame-based knowledge representation. It contains various frames for describing different users, features of multiple robots as well as robot behaviors for human-robot communication and performing various tasks. According to this knowledge model, autonomous behavior control of robots in a symbiotic human- robot system can be implemented by means of a software platform, called Software Platform for Agents and Knowledge Management (SPAK). In this paper, the effectiveness of the proposed method is demonstrated by experiment using actual robots.

关键词： Robot control control systems Symbiosis Robot kinematics Humans Intelligent robots robotics and automation Communication system control Knowledge representation Knowledge management

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Balanced micro/macro contact model for forward dynamics of rigid multibody

Balanced micro/macro contact model for forward dynamics of r...

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IEEE international conference on robotics and automation (ICRA)

作者： T. Sugihara Y. Nakamura Department of Mechano-informatics Graduate school of University of Tokyo Bunkyo Tokyo Japan

This paper proposes a computational method of contact forces working between multibody system and environment in forward dynamics based on both the microbody-deformation model and macro contact model. The combination of them simultaneously prevents the simulation from excess penetration in micro contact model and chattering in macro contact model. The difficulty lies on how to absorb the difference of duration between them. This problem is solved through the introduction of a timestep-dependent variable damper for a micro contact model and of error-norm minimization for a macro contact model

关键词： Friction Computational modeling Force control Motion control Nonlinear equations Educational institutions Shock absorbers Damping Legged locomotion Robot motion

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE international conference on Industrial informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards automation Software tools control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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Design and Realization of a Novel Reconfigurable Robot with Serial and Parallel Mechanisms

Design and Realization of a Novel Reconfigurable Robot with ...

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IEEE international conference on robotics and Biomimetics

作者： Wei Wang Houxiang Zhang Guanghua Zong Jianwei Zhang Robotics Institute Beihang University Beijing China TAMS Department of Informatics University of Hamburg Hamburg Germany

Civil rescue and military reconnaissance are domains that involve a great amount of manpower; and it is quite dangerous and laborious in a hostile environment. This paper presents a novel field robot JL-I based on reconfiguration for these applications. The robotic system consists of 3 uniform modules; each module is an entire robotic system that can perform distributed activities. In order to meet the requirements of highly adaptive locomotion capabilities, the applied mechanical structure of the robot is employed to drive the serial and parallel mechanisms to form an active joint for changing shape in three dimensions. After summarizing the basic functions provided by this system, the mechanical structure, the control system and the locomotion capabilities of JL-I are introduced in detail. Finally the successful on-site tests confirm the principles described above and the robot's ability.

关键词： Parallel robots Mobile robots Service robots robotics and automation Reconnaissance Inspection Orbital robotics Shape Wheels Surveillance

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Conformable and scalable tactile sensor skin for curved surfaces

Conformable and scalable tactile sensor skin for curved surf...

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IEEE international conference on robotics and automation (ICRA)

作者： Y. Ohmura Y. Kuniyoshi A. Nagakubo Department of Mechano-Informatics University of Tokyo Tokyo Japan Intelligent System Research Institute National Institute for Advanced Industrial Science and Technology Ibaraki Japan

We present the design and realization of a conformable tactile sensor skin (patent pending). The skin is organized as a network of self-contained modules consisting of tiny pressure-sensitive elements which communicate through a serial bus. By adding or removing modules it is possible to adjust the area covered by the skin as well as the number (and density) of tactile elements. The skin is therefore highly modular and thus intrinsically scalable. Moreover, because the substrate on which the modules are mounted is sufficiently pliable to be folded and stiff enough to be cut, it is possible to freely distribute the individual tactile elements. A tactile skin composed of multiple modules can also be installed on curved surfaces. Due to their easy configurability we call our sensors "cut-and-paste tactile sensors." We describe a prototype implementation of the skin on a humanoid robot

关键词： Tactile sensors Skin Humanoid robots Intelligent sensors Sensor systems Motion control Motion detection Fabrics Wiring Robot sensing systems

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