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

共 1478 条记录，以下是131-140 订阅

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Air-coupled Ultrasonic Inspection with Adaptive Lamb Wave control 16

Air-coupled Ultrasonic Inspection with Adaptive Lamb Wave Co...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Schoenheits, Manfred Huber, Armin Gaenswuerger, Philipp German Aerosp Ctr DLR Inst Struct & Design Augsburg Germany

ISBN: (纸本)9789897583803

Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. The absence of the need for water leads to easier process handling on the one hand e.g. when manufacturing aircraft components. On the other hand, because the process is single-sided, reachability is a minor problem compared to double-sided testing and end-effectors and fixtures can be designed in a less complex and more compact way. However, the nature of lamb waves requires that the geometrical relation of the transmitter and the receiver varies during the inspection process. In this paper, a prototype of an adaptive end-effector is introduced that was developed to implement this requirement and results of first evaluation tests are presented.

关键词： Non-destructive Testing Ultrasonic Inspection Lamb Wave automation robotics

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Useful computer vision techniques for a robotic head

Useful computer vision techniques for a robotic head

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

作者： Deniz, O. Castrillon, M. Lorenzo, J. Canalis, L. A. Univ Las Palmas Gran Canaria Inst Univ Sistemas Inteligentes & Aplicac Numer I Las Palmas Gran Canaria 35017 Spain

ISBN: (纸本)9789728865832

This paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. The device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. Third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.

关键词： social robotics sociable robot person detection omnidirectional vision

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IntellWheels - A development platform for intelligent wheelchairs for disabled people

IntellWheels - A development platform for intelligent wheelc...

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5th international conference on informatics in control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo Artificial Intelligence and Computer Science Lab-LIACC Faculty of Engineering University of Porto 4200-465 Porto Rua Dr. Roberta Frias s/n Portugal

ISBN: (纸本)9789898111319

Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.

关键词： intelligent wheelchair intelligent robotics human-robots interfaces

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Energy-based control for Soft Manipulators using Cosserat-beam Models 18

Energy-based Control for Soft Manipulators using Cosserat-be...

引用

18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Caasenbrood, Brandon Pogromsky, Alexander Nijmeijer, Henk Eindhoven Univ Technol Dept Mech Engn Eindhoven Netherlands St Petersburg Natl Res Univ Informat Technol Mech Dept Control Syst & Informat St Petersburg Russia

ISBN: (纸本)9789897585227

In this work, we describe an energy-based control method for under-actuated soft manipulators. The continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. Through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.

关键词： Soft robotics Cosserat Beam Theory Dynamic Modeling Energy-based control

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Human arm-like mechanical manipulator - The design and development of a multi-arm mobile robot for nuclear decommissioning

Human arm-like mechanical manipulator - The design and devel...

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3rd international conference on informatics in control, automation and robotics

作者： Bakari, Mohamed J. Seward, Derek W. Univ Lancaster Dept Engn Lancaster LA1 4YR England

ISBN: (纸本)9728865600

This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found in the rapidly expanding field of nuclear decommissioning. The requirements of multi-arm robot architecture for use in decommissioning tasks are discussed. The manipulators are integrated to work cooperatively and perform similar functions to humans in both scale and dexterity. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is examined. The key issues surrounding radioactive materials and safe dose levels are explained. The different stages of a particular system engineering process are outlined together with the essential physical steps. The paper will conclude by identifying the compliance of the system engineering used here with the requirements of designing a multi-arm robot.

关键词： robotics system engineering nuclear decommissioning

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Autonomous Surface Vessel based on a Low Cost Catamaran Design 13

Autonomous Surface Vessel based on a Low Cost Catamaran Desi...

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

作者： Puente, Santiago Candelas, Francisco Torres, Fernando Basalai, Dzmitry Univ Alicante Phys Syst Engn & Signal Theory Dept Carretera De San Vicente S-N Alicante 03690 Spain

ISBN: (纸本)9789897581984

Nowadays, robotics is increasing its importance for the marine environment in our society. It allows to perform surveillance and data sampling tasks reducing the current cost of these tasks. This paper presents the design of a prototype of an Autonomous Surface Vessel (ASV) based on catamaran shape. It uses the screw theory for the propulsion system, which provides high manoeuvrability to the vessel. Furthermore, the parts of the ASV are designed to be printed by a RepRap 3D printer. This gives flexibility to check the performance of the vessel. Also the software control scheme of the vessel is presented.

关键词： Marine robotics Autonomous Surface Vessel ASV

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Nonlinear Output Feedback for Autonomous U-turn Maneuvers of a Robot in Orchard Headlands 16

Nonlinear Output Feedback for Autonomous U-turn Maneuvers of...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Le Flecher, E. Durand-Petiteville, A. Gouaisbaut, F. Cadenat, V Sentenac, T. Vougioukas, S. CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS F-31400 Toulouse France Univ Calif Davis Dept Biol & Agr Engn Davis CA 95616 USA

ISBN: (纸本)9789897583803

This paper is devoted to the navigation of a robot in orchard headlands using embedded sensors such as lasers, Lidars or cameras. The main idea is to consider a differential robot model directly in polar coordinates and not in Cartesian coordinates which makes it possible to obtain simpler expressions of the outputs. Then two nonlinear output state feedback controllers are proposed to track two shapes based on spirals allowing to go from one row of fruit trees to another. These controllers are based on an input to output linearization and proved to be very efficient on simulations.

关键词： Mobile robotics Sensor-based Navigation control Theory Agricultural robotics Orchards

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Exploiting Physical Contacts for Robustness Improvement of a Dot-painting Mission by a Micro Air Vehicle 16

Exploiting Physical Contacts for Robustness Improvement of a...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Chaffre, Thomas Tudal, Kevin Bertrand, Sylvain Prevost, Lionel ESIEA Learning Data & Robot Lab Paris France ONERA French Aerosp Lab Palaiseau France

ISBN: (纸本)9789897583803

In this paper we address the problem of dot painting on a wall by a quadrotor Micro Air Vehicle (MAV), using on-board low cost sensors (monocular camera and IMU) for localization. A method is proposed to cope with uncertainties on the initial positioning of the MAV with respect to the wall and to deal with walls composed of multiple segments. This method is based on an online estimation algorithm that makes use of information of physical contacts detected by the drone during the flight to improve the positioning accuracy of the painted dots. Simulation results are presented to assess quantitatively the efficiency of the proposed approaches.

关键词： Aerial robotics Contact based Navigation Dot-painting

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Impedance control of a Redundant Parallel Manipulator 14

Impedance Control of a Redundant Parallel Manipulator

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Mendez, Juan de Dios Flores Schioler, Henrik Madsen, Ole Bai, Shaoping Aalborg Univ Dept Elect Syst Frederik Bajers Vej 7C DK-9220 Aalborg Denmark Aalborg Univ Dept Mech & Mfg Engn Fibigerstr 16 DK-9220 Aalborg Denmark

ISBN: (纸本)9789897583049

This paper presents the design of Impedance control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

关键词： robotics Redundant Parallel Manipulators control Optimization Compliant Motion Impedance control

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Adaptive controller for Uncertain Multi-agent System Under Disturbances 16

Adaptive Controller for Uncertain Multi-agent System Under D...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Vlasov, Sergey Margun, Alexey Kirsanova, Aleksandra Vakhvianova, Polina ITMO Univ Fac Control Syst & Robot Kronversky Pr 49 St Petersburg 197101 Russia

ISBN: (纸本)9789897583803

This research is devoted to solving the problem of adaptive control algorithm synthesis for a mobile robots that is part of a multi-agent system. Proposed approach consists of trajectory planner and inner agent controller. The case of the passway intersection by the group of mobile robots is considered. Trajectory planner is based on intersection management approach. Adaptive consecutive compensator used for agent controller synthesis. Proposed approach provides control scheme which doesn't depend on plant parameters. A group of mobile robots is built for experimental evaluation of proposed approach. Obtained results confirm effectiveness of the developed algorithms.

关键词： Adaptive control robotics Robust control Parametric Uncertain

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