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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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Hardware-in-the-Loop approach to the development and validation of precision induction motor servo drive using xPC Target

Hardware-in-the-Loop approach to the development and validat...

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international Joint conference on Computer Science and Software Engineering (JCSSE)

作者： Nguyen-Vu Truong Duc-Lung Vu Intelligent Robotics and Automation Laboratory (IRAL) Institute of applied mechanics and informatics Vietnam academy of science and technology Ho Chi Minh Vietnam Vietnam National University Ho Chi Minh Vietnam

The development of a Hardware-in-the-Loop (HiL) simulation platform for precision induction motor (IM) servo drive development, evaluation and testing of various control architectures is described in this paper. The platform uses industrial graded hardware components, i.e. Mitsubishi IGBT inverter, 3-phase induction motor and incremental optical encoder as well as various measurement sensors. Its main computational core is implemented using an xPC Target platform which enables rapid validation, prototyping and deployment of various control algorithms via Matlab & Simulink.

关键词： Induction motors Torque Torque control Real time systems Mathematical model Stators Current measurement

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Designing Actively Secure, Highly Available Industrial automation Applications

Designing Actively Secure, Highly Available Industrial Autom...

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IEEE international conference on Industrial informatics (INDIN)

作者： Awais Tanveer Roopak Sinha Stephen G. MacDonell Paulo Leitao Valeriy Vyatkin IT & Software Engineering Auckland University of Technology Auckland New Zealand Research Centre in Digitalisation and Intelligent Robotics (CeDRI) Instituto Politecnico de Braganca Braganca Portugal Aalto University Helsinki Finland

Programmable Logic controllers (PLCs) execute critical control software that drives Industrial automation and control Systems (IACS). PLCs can become easy targets for cyber-adversaries as they are resource-constrained and are usually built using legacy, less-capable security measures. Security attacks can significantly affect system availability, which is an essential requirement for IACS. We propose a method to make PLC applications more security-aware. Based on the well-known IEC 61499 function blocks standard for developing IACS software, our method allows designers to annotate critical parts of an application during design time. On deployment, these parts of the application are automatically secured using appropriate security mechanisms to detect and prevent attacks. We present a summary of availability attacks on distributed IACS applications that can be mitigated by our proposed method. Security mechanisms are achieved using IEC 61499 Service-Interface Function Blocks (SIFBs) embedding Intrusion Detection and Prevention System (IDPS), added to the application at compile time. This method is more amenable to providing active security protection from attacks on previously unknown (zero-day) vulnerabilities. We test our solution on an IEC 61499 application executing on Wago PFC200 PLCs. Experiments show that we can successfully log and prevent attacks at the application level as well as help the application to gracefully degrade into safe mode, subsequently improving availability.

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Strategic Path control to Balance Risks Between Competing Teams in Graph Network

Strategic Path Control to Balance Risks Between Competing Te...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Matteo Aicardi Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

This paper focuses on a network framework where a team of elements endeavors to traverse from an origin to a destination, aiming to minimize the maximum risk along their path. Within this network, each link is characterized by a specific exposure to risk, with the potential for risk amplification when encountering another team of diverse elements seeking to inflict damage on the same link. The study employs the method of successive averages to optimize the path choice, emphasizing risk mitigation and control strategies. Results are demonstrated on an exemplificative network, showcasing the convergence of the chosen path through the iterative application of the method of successive averages. This approach provides valuable insights into navigating complex networks while considering dynamic risk factors, offering practical implications for system-of-systems engineering and risk-aware decision-making.

关键词： Navigation Heuristic algorithms Decision making Writing Real-time systems Feedback control Iterative methods Testing Risk mitigation Convergence

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Learning Pregrasp Manipulation of Objects from Ungraspable Poses

Learning Pregrasp Manipulation of Objects from Ungraspable P...

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IEEE international conference on robotics and automation (ICRA)

作者： Zhaole Sun Kai Yuan Wenbin Hu Chuanyu Yang Zhibin Li Department of Automation Tsinghua University China School of Informatics University of Edinburgh UK

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In robotic grasping, objects are often occluded in ungraspable configurations such that no feasible grasp pose can be found, e.g. large flat boxes on the table that can only be grasped once lifted. Inspired by human bimanual manipulation, e.g. one hand to lift up things and the other to grasp, we address this type of problems by introducing pregrasp manipulation - push and lift actions. We propose a model-free Deep Reinforcement Learning framework to train feedback control policies that utilize visual information and proprioceptive states of the robot to autonomously discover robust pregrasp manipulation. The robot arm learns to push the object first towards a support surface and then lift up one side of the object, creating an object-table clearance for possible grasping solutions. Furthermore, we show the robustness of the proposed learning framework in training pregrasp policies that can be directly transferred to a real robot. Lastly, we evaluate the effectiveness and generalization ability of the learned policy in real-world experiments, and demonstrate pregrasp manipulation of objects with various sizes, shapes, weights, and surface friction.

关键词： Grasping Robustness Training Grippers Sensors End effectors

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Design and Implementation of Driving control System for Autonomous Vehicle

Design and Implementation of Driving Control System for Auto...

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17th international IEEE conference on Intelligent Transportation Systems & The asia-Pacific Council on Systems Engineering conference 2014

作者： Linhai Xu Yingzhou Wang Hongbin Sun Jingmin Xin Nanning Zheng Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University

The control system design that is responsible for the path tracking and driving safety,is one of the most important technologies for autonomous *** paper describes the design of driving control system,including both longitudinal and lateral controls,for the Kuafu-II autonomous *** with most of previous works that inevitably require a large amount of parameters,the presented control system design integrates several typical and yet efficient controllers to significantly reduce the system sensitivity to these parameters,and hence is able to achieve the system robustness under diversified *** effectiveness of presented control system design has been extensively evaluated under simulation and vehicle test on road.

关键词： Design and Implementation of Driving control System for Autonomous Vehicle

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Cyclic scheduling of multimodal processes in mesh-like environment

Cyclic scheduling of multimodal processes in mesh-like envir...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： Grzegorz Bocewicz Wojciech Muszyński Zbigniew Banaszak Department of Computer Science and Management Koszalin University of Technology Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

A processes composed of sequences of local cyclic The theoretical prediction of the behavioral properties of periodic structures is less difficult than in the case of nonperiodic ones. That is because all the information needed to describe the entire structure is given by the elementary substructure itself and by the manner it repeats in the whole periodic structure. So, only a small portion of the structure (which includes the repeating substructure) needs to be considered to obtain the properties of the whole periodic structure. In that context, the contribution provides the discussion of some system periodicity issues, and is aimed at modeling and evaluation of relationships linking the system structure features with required system's functioning.

关键词： Periodic structures Gears Wheels Transportation Cities and towns Dispatching Job shop scheduling

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Q-RAN: A Constructive Reinforcement Learning Approach for Robot Behavior Learning

Q-RAN: A Constructive Reinforcement Learning Approach for Ro...

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2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Li Jun Achim Lilienthal Tomas Martinez-Marin Tom Duckett AASS Department of Technology Orebro University Orebro Sweden Department of Physics System Engineering and Signal Theory University of Alicante Alicante Spain Department of Computing and Informatics University of Lincoln Lincoln UK

This paper presents a learning system that uses Q-learning with a resource allocating network (RAN) for behavior learning in mobile robotics. The RAN is used as a function approximator, and Q-learning is used to learn the control policy in 'off-policy' fashion that enables learning to be bootstrapped by a prior knowledge controller, thus speeding up the reinforcement learning. Our approach is verified on a PeopleBot robot executing a visual servoing based docking behavior in which the robot is required to reach a goal pose. Further experiments show that the RAN network can also be used for supervised learning prior to reinforcement learning in a layered architecture, thus further improving the performance of the docking behavior

关键词： Learning systems Radio access networks Intelligent robots State-space methods Backpropagation Neurons robotics and automation Mobile robots Resource management Visual servoing

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Valid joint workspace and self-aligning docking conditions of a reconfigurable mobile multi-robots system

Valid joint workspace and self-aligning docking conditions o...

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ASME/IFToMM international conference on Reconfigurable Mechanisms and Robots, ReMAR

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

JL-1 is a reconfigurable multi-robots system based on parallel mechanisms and cone-shaped docking mechanisms. To reveal how the force cooperation between robots enhances the terrain adaptability of JL-1 and to discover the limits of the current reconfiguration mechanism, this paper analyzes the forces arising between robots during cooperation in docking and docked state. The static analysis of the posture-adjusting mechanism yields the force amplifying feature and the valid workspace of this motorized spherical joint consisting of a parallel and serial mechanism. This paper also deduces the self-aligning conditions of the docking mechanism, which is useful to improve the mechanism and clarify the demands on the docking guidance sensors. At last, a series of onsite experiments confirm the analysis and perform two new types of locomotion according to the results of static analysis.

关键词： Multirobot systems Mobile robots Performance analysis Robotic assembly robotics and automation Parallel robots Force sensors Robot sensing systems Sliding mode control Manipulators

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Box-like Superquadric Recovery in Range Images by Fusing Region and Boundary Information

Box-like Superquadric Recovery in Range Images by Fusing Reg...

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international conference on Pattern Recognition

作者： D. Katsoulas D.I. Kosmopoulos Institute for Informatics and Telecommunications Computational Intelligence Laboratory National Centre for Scientific Research Athens Greece

ISBN: (纸本)0769525210

This work contributes to the robotic bin-picking problem, and more specifically to the problem of localizing piled box-like objects. We employ range imagery, and use box-like superquadrics for modeling the target objects. Our approach for superquadric segmentation is an extension of the widespread recover-and-select framework, which employs only region information and therefore suffers from the region over-growing problem. Our approach equally considers both region and boundary-based information for performing the recovery task. Extensive experimentation with a variety of target object configurations demonstrates that it outperforms the recover-and-select framework in terms of both robustness and computational efficiency. Moreover, if implemented in a parallel hardware environment, our approach can operate in real time

关键词： Service robots Image segmentation robotics and automation Laser modes Shape control Surface emitting lasers informatics Computational intelligence Laboratories Intelligent robots

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Recommender System to Analyse Students' Learning Productivity

Recommender System to Analyse Students' Learning Productivit...

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2011 3rd international asia conference on informatics in control, automation and robotics(CAR 2011)

作者： Arturas Kaklauskas Mark Seniut Edmundas Kazimieras Zavadskas Gintautas Dzemyda Voitech Stankevic Ceslovas Simkevicius Sergejus Ivanikovas Tomas Stankevic Agne Matuliauskaite Lina Zemeckyte Vilnius Gediminas Technical University Sauletekio Ave.11 LT-10223 VilniusLithuania Vilnius University Institute of Mathematics and Informatics Vilnius University Semiconductor Physics Institute Center for Physical Sciences and Technology Vilnius University

A sufficient amount of studies worldwide prove an interrelation linking students’learning productivity,emotional and psychological state to physiological *** states and the interest in learning affect learning productivity,while physiological parameters demonstrate such *** the research by the authors of the present article confirmed these interdependencies,a Recommender System to Analyse Student’s Learning Productivity(Recommender System hereafter)has been *** Recommender System uses the Maslow’s Hierarchy of Needs and the database of the best global practices to come up with recommendations for students how to improve their learning *** research includes various scientists who conducted in-depth studies on the different and very important areas in the *** did not find any systems which would take physiological parameters of students,analyse their learning efficiency and,in turn,provide recommendations.

关键词： Web-based recommender system,physiological techniques,emotional state,learning productivity,knowledge management,multiple criteria analysis methods,historical information,recommendations

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