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Optimized eigenstructure assignment

Optimized eigenstructure assignment

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Dao, Ngoc Minh Noll, Dominikus Apkarian, Pierre Institut de Mathématiques Université de Toulouse Toulouse France Department of Mathematics and Informatics Hanoi National University of Education Hanoi Viet Nam ONERA Department of System Dynamics Toulouse France

ISBN: (纸本)9789898565709

This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. This is possible by a combination of linear algebra and nonlinear optimization techniques. The advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.

关键词： Linear algebra

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A Framework for Designing Dynamic and Interoperable automation and robotics Systems 15

A Framework for Designing Dynamic and Interoperable Automati...

引用

15th IEEE international conference on Industrial informatics (INDIN)

作者： Salcic, Zoran Atmojo, Udayanto Dwi Park, Heejong Chen, Andrew Tzer-Yeu Wang, Kevin I-Kai Department of Electrical & Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh

ISBN: (纸本)9781538608371

In this paper, we propose using an approach based on the system-level programming language SystemJ extended with service oriented features, called SOSJ, to design dynamic interoperable software systems. The approach abstracts and integrates the worlds of automation and robotics systems by using a simple service interface based on abstract objects within SOSJ. We demonstrate our approach in a real-life automated bottling system scenario that uses multiple FESTO modular stations operating in SOSJ and integrating them with two Baxter robots operating in ROS without the need for any modification of the underlying mechatronics or robotics systems.

关键词： Service-oriented architecture Dynamic software Manufacturing systems Robot control

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A Research Roadmap for Model-Driven Design of Embedded Systems for automation Components

A Research Roadmap for Model-Driven Design of Embedded Syste...

引用

7th IEEE international conference on Industrial informatics

作者： Strasser, T. Rooker, M. Hegny, I. Wenger, M. Zoitl, A. Ferrarini, L. Dede, A. Colla, M. Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute Vienna University of Technology Austria Dipartimento di Elettronica e Informazione of Politecnico di Milano Italy Institute of Computer Integrated Manufacturing for Sustainable Innovation University of Applied Sciences of Southern Switzerland Switzerland

ISBN: (纸本)9781424437597

The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). The special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. This approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.

关键词： Embedded systems

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An implementation of high availability in networked robotic systems

An implementation of high availability in networked robotic ...

引用

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

作者： Anton, Florin Daniel Borangiu, Theodor Anton, Silvia Univ Politehn Bucuresti Dept Automat & Appl Informat RO-060032 Bucharest Romania

ISBN: (纸本)9789728865832

In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. This is achieved through the elimination of hardware and software single points of failure (SPOF). A high availability solution will ensure that the failure of any component of the solution - either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. The paper discusses the implementing of a high availability solution in a robotized manufacturing line.

关键词： networked robotics high availability fault tolerant systems resource monitoring resource control

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Simultaneous Localization and Mapping Using Adaptive Appearance Based Loop-Closing Detection

Simultaneous Localization and Mapping Using Adaptive Appeara...

引用

IEEE international conference on automation, Quality and Testing, robotics

作者： Majdik, Andras Lupea, Diana Lazea, Gheorghe Vajta, Laszlo Tech Univ Cluj Napoca Robot Res Grp Cluj Napoca Romania Budapest Univ Technol & Econ Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9781467307024

Visual appearance based scene recognition has been widely studied in the past decade. However, such systems still present failures in dynamic, heterogeneous urban environments. This paper presents a methodology in order to integrate an advanced Adaptive Appearance Based Loop-Closing Detection algorithm into a graph optimization based Simultaneous Localization and Mapping algorithm. The system described uses stereo visual data, captured in discrete locations in order to detect loop-closure situations and to build, respectively update the topological map of a large, complex environment.

关键词： robotics SLAM loop-closure visual-appearance

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Mathematical model for walking robot with shape memory alloy ankle

Mathematical model for walking robot with shape memory alloy...

引用

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

作者： Petrisor, Anca Bizdoaca, Nicu George Rosca, Daniela Degeratu, Sonia Rosca, Adrian Petrisor, Raducu Univ Craiova Fac Electromech Engn Craiova Romania

ISBN: (纸本)9789728865832

The paper presents a simultaneous force and length variation mode in shape memory alloy (SMA) robotic application. The robotic ankle contains four SMA actuators and a spherical articulation. In order to assure a high efficient robotic architecture, the mechanical and the control structure have to assure a real-time response to the work environment changes. The load variations or the difference between the moment of full contact step and the non contact moment for a waking robot are the standard situations for a SMA robotic ankle. The paper is divided in five sections. First section makes a short introduction in the physical description and conventional applications of shape memory alloy materials. Then, are presented the mathematical model for robotic ankle, the walking robot geometrical structure and the causality ordering of the active pair of legs, in this case with one free joint. In the last section some experimental results are presented. These results were obtained by using MATLAB programs, conceived by authors, for design and simulation of walking robots control algorithms.

关键词： robotics shape memory alloy applications robotic ankle walking robot mathematical mode

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μAUV² - Development of a Minuscule Autonomous Underwater Vehicle 13

μAUV<SUP>2</SUP> - Development of a Minuscule Autonomous Un...

引用

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

作者： Hanff, Hendrik Schmid, Korbinian Kloss, Philipp Kroffke, Sven DFKI GmbH Robot Innovat Ctr Bremen Robert Hooke Str 1 D-28359 Bremen Germany RoboCept GmbH Kaflerstr 2 D-81241 Munich Germany

ISBN: (纸本)9789897581984

Small sized robotic systems have operational advantages compared to large systems. They can also operate in fields of application where bigger systems would fail. This paper describes the specifications and the design of the autonomous underwater vehicle mu AUV(2). Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the mu AUV(2) are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.

关键词： Underwater robotics System Design Miniature robotics System Parameter Identification control of Underwater Robots Robot Development

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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...

引用

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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A New Neural Network Feature Importance Method: Application to Mobile Robots controllers Gain Tuning 17

A New Neural Network Feature Importance Method: Application ...

引用

17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Inrae UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897584428

This paper proposes a new approach for feature importance of neural networks and subsequently a methodology using the novel feature importance to determine useful sensor information in high performance controllers, using a trained neural network that predicts the quasi-optimal gain in real time. The neural network is trained using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to lower a given objective function. The important sensor information for robotic control are determined using the described methodology. Then a proposed improvement to the tested control law is given, and compared with the neural network's gain prediction method for real time gain tuning. As a results, crucial information about the importance of a given sensory information for robotic control is determined, and shown to improve the performance of existing controllers.

关键词： Machine Learning Neural Network robotics Mobile Robot control Theory Gain Tuning Adaptive control Explainable Artificial Intelligence

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Combining reinforcement learning and genetic algorithms to learn behaviours in mobile robotics

Combining reinforcement learning and genetic algorithms to l...

引用

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

作者： Iglesias, R. Rodriguez, M. Regueiro, C. V. Correa, J. Barro, S. Univ Santiago de Compostela Santiago De Compostela Spain Univ A Coruna Dept Elect & Syst Coruna Spain

ISBN: (纸本)9728865600

Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important problems associated with this paradigm which make the learning process more unstable and its convergence slower. In our case, to overcome one of the main problems (exploration versus exploitation trade off), we propose a combination of reinforcement learning with genetic algorithms, where both paradigms influence each other in such a way that the drawbacks of each paradigm are balanced with the benefits of the other. The application of our proposal to solve a problem in mobile robotics shows its usefulness and high performance, as it is able to find a stable solution in a short period of time. The usefulness of our approach is highlighted through the application of the system learnt through our proposal to control the real robot.

关键词： robot control mobile robotics autonomous agents reinforcement learning genetic algorithms

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