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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181-190 订阅

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Robust multi-robot cooperation through dynamic task allocation and precaution routines

Robust multi-robot cooperation through dynamic task allocati...

引用

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

作者： Sariel, Sanem Balch, Tucker Erdogan, Nadia Istanbul Tech Univ Dept Comp Engn TR-80626 Istanbul Turkey Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)9728865600

In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a heterogeneous team of robots and task dependencies, the proposed framework provides a distributed mechanism for assigning tasks to robots in an order that efficiently completes the mission. The approach is robust to unreliable communication and robot failures. It is a distributed auction-based approach, and therefore scalable. In order to obtain optimal allocations, effective bid evaluations are needed. Additionally to maintain optimality in noisy environments, dynamic re-allocations of tasks are needed as implemented in dynamic task selection and coalition maintenance scheme that we propose. Real-time contingencies are handled by recovery routines, called Plan B precautions in our framework. Here, in this paper, we present performance results of our framework for robustness in simulations that include variable message loss rates and robot failures. Experiments illustrate robustness of our approach against several contingencies.

关键词： distributed AI robotics multi-agent systems

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Optimization for Solving Workcell Layouts using Gaussian Penalties for Escaping Local Minima 14

Optimization for Solving Workcell Layouts using Gaussian Pen...

引用

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

作者： Iversen, Thomas Fridolin Ellekilde, Lars-Peter Univ Southern Denmark Maersk McKinney Moller Inst Campusvej 55 DK-5230 Odense M Denmark

ISBN: (纸本)9789897583049

The main contribution of this paper is a method for optimizing the layout of workcells taking into consideration both the reachability of the robot as well as the expected cycle time. To analyse the reachability for systems using sensors to pose estimate objects, the method uses a combination of discrete samples over the space in which objects are located and a manipulability measure based on the determinant of the manipulator Jacobian. To compute the expected cycle time for the robot, the method includes a simulated controller, which is optimized to estimate the performance of the physical robot. For the optimization of the workcell layout the proposed method based on applying Gaussian penalties in local minima is compared to three existing methods for global optimization. For the optimization of the simulated controller three different local methods are compared along with one global.

关键词： Robot Workcell Optimization Optimization Algorithms Industrial robotics

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Singular and non-singular path following control of a wheeled mobile robot of (2,0) type

Singular and non-singular path following control of a wheele...

引用

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

作者： Plaskonka, Joanna Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11/17 Wroclaw Poland

ISBN: (纸本)9789898565716

This paper relates to the problem of a path following task for a wheeled mobile platform of (2,0) type. Two kinematic control algorithms, Micaelli-Samson algorithm and Soetanto-Lapierre-Pascoal algorithm, which are based on either the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a nonorthogonal projection of a robot on the desired path, were presented. The additional condition that should be imposed on the function δ, which is a parameter depending on a linear velocity of the robot and on a distance error, was described. The influence of the function δ on the convergence of the non-singular algorithm has been shown using computer simulations.

关键词： Mobile robots

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Investigation of Non-circular Scanning Trajectories in Robot-based Industrial X-ray Computed Tomography of Multi-material Objects 16

Investigation of Non-circular Scanning Trajectories in Robot...

引用

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

作者： Landstorfer, Peter Herl, Gabriel Hiller, Jochen Fraunhofer Applicat Ctr CTMT Dieter Gorlitz Pl 2 D-94469 Deggendorf Germany Deggendorf Inst Technol Dieter Gorlitz Pl 1 D-94469 Deggendorf Germany

ISBN: (纸本)9789897583803

In this work the application of six-axis robots for robot-based industrial X-ray computed tomography (CT) imaging is investigated. In contrast to classical Cartesian manipulators with a turntable used in industrial cone-beam CT, robots offer increased flexibility regarding scanning trajectories. The increased flexibility with respect to scanning trajectories helps to gather highly informative content from alternative ray paths for a high-quality 3D reconstruction of the object to be scanned. Using numerical simulations we show that this additional informations increase the image quality of a CT scan of a multi-material measuring object, consisting of tantalum spheres and a carbon structure.

关键词： X-ray Computed Tomography X-ray Simulation robotics Robot-based Imaging Scanning Trajectory

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Combining Onthologies and Behavior-based control for Aware Navigation in Challenging Off-road Environments 16

Combining Onthologies and Behavior-based Control for Aware N...

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

作者： Wolf, Patrick Ropertz, Thorsten Feldmann, Philipp Berns, Karsten TD Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583803

Autonomous navigation in off-road environments is a challenging task for mobile robots. Recent success in artificial intelligence research demonstrates the suitability and relevance of neural networks and learning approaches for image classification and off-road robotics. Nonetheless, meaningful decision making processes require semantic knowledge to enable complex scene understanding on a higher abstraction level than pure image data. A promising approach to incooperate semantic knowledge are ontologies. Especially in the off-road domain, scene object correlations heavily influence the navigation outcome and misinterpretations may lead to the loss of the robot, environmental, or even personal damage. In the past, behavior-based control systems have proven to robustly handle such uncertain environments. This paper combines both approaches to achieve a situation-aware navigation in off-road environments. Hereby, the robot's navigation is improved using high-level off-road background knowledge in form of ontologies along with a reactive, and modular behavior network. The feasibility of the approach is demonstrated within different simulation scenarios.

关键词： Off-road robotics Ontology Behavior-based control Navigation Simulation

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Deep Learning with Transfer Learning Method for Error Compensation of Cable-driven Robot 17

Deep Learning with Transfer Learning Method for Error Compen...

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

作者： Akhmetzyanov, Aydar Rassabin, Maksim Maloletov, Alexander Fadeev, Mikhail Klimchik, Alexandr Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia

ISBN: (纸本)9789897584428

This paper proposes the application of Deep Learning methods for kinematic error compensation. Particular attention is paid to simulation-based error estimation and the use of the Transfer Learning method for error compensation to reduce physical experiments with a real robot. The obtained results were applied and validated for 4-dof (degrees of freedom) cable-driven parallel robot. The problem of error compensation for the cable-driven parallel robot is highly non-linear. Nevertheless, deep learning-based methods for a considerable training dataset provides better accuracy than simple linear error compensators. To overcome this drawback, we applied the transfer learning method and used the knowledge of robot kinematics simulated in Unity. Unity cable-driven robot simulation was implemented, and the central hypothesis was verified first in the simulated environment. The proposed Transfer Learning method allowed to speed up the process of robotics system integration and recalibration due to the significant sample efficiency improvement.

关键词： Cable-driven Robot Kinematics Compensation Deep Learning Transfer Learning robotics

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A Hybrid Visualization of the Environment using Smart Ultrasound-based Sensor Arrays 13

A Hybrid Visualization of the Environment using Smart Ultras...

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

作者： Sokic, Emir Softic, Kenan Ferizbegovic, Mina Zubaca, Jasmina Ahic-Djokic, Melita Fac Elect Engn Sarajevo Bosnia & Herceg

ISBN: (纸本)9789897581984

This paper presents the work in progress on the design and testing of a distributed ultrasound-based sensory system for hybrid 1D and 2D environment visualisation. Many common sensors used in robotics, such as infrared and ultrasonic sensors, cameras and lasers mainly focus on quantifying distances and shapes, while rarely have the ability to differentiate among different sensed surfaces/materials. We propose an inexpensive prototype sensory system based on popular ultrasonic sensors which uses ultrasonic reflections to determine the acoustic reflection coefficients. This additional feature allows differentiating among sensed objects. Moreover, the developed ultrasonic cells are equipped with a microcontroller for basic signal processing and a communication link for integration into a sensor network. In this paper, we discuss the possibility of fusing obtained sensor array data and laser measurements.

关键词： Sensory System Environment Analysis Distributed System Ultrasound Laser Sensor robotics

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Kamanbaré: A tree-climbing biomimetic robotic platform for environmental research

Kamanbaré: A tree-climbing biomimetic robotic platform for ...

引用

4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Bernardi, Reinaldo De Da Cruz, José Jaime Genius Institute of Technology Sao Paulo Brazil Department of Telecommunications and Control São Paulo University Sao Paulo Brazil

Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. This paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.

关键词： robotics

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Gain-scheduling position control approaches for electromagnetic actuated clutch systems 15

Gain-scheduling position control approaches for electromagne...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Bojan-Dragos, Claudia-Adina Radac, Mircea-Bogdan Precup, Radu-Emil Hedrea, Elena-Lorena Szedlak-Stinean, Alexandra-Iulia Preitl, Stefan Department of Automation and Applied Informatics Politehnica University Timisoara Bd. V. Parvan 2 Timisoara Romania

ISBN: (纸本)9789897583216

The paper proposes three Gain-Scheduling (GS) control design approaches dedicated to the position control of electromagnetic actuated clutch systems. The initial nonlinear mathematical model of the plant is simplified and next linearized at six operating points to use it in the design approaches. Starting with classical Proportional-Integral (PI) controllers, three GS control versions, namely Lagrange, Cauchy and Switching GS, are next designed to ensure zero steady-state control error and the switching between PI controllers. All control solutions are tested and validated on the nonlinear model of the plant and a comparative analysis is included. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Nonlinear systems

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2012 IEEE international conference on automation, Quality and Testing, robotics, AQTR 2012 - Proceedings: Foreword

2012 IEEE International Conference on Automation, Quality an...

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2012 18th IEEE international conference on automation, Quality and Testing, robotics, AQTR 2012

作者： Miclea, Liviu Stoian, Ioan TU Cluj-Napoca Romania IPA Cluj-Napoca Romania

ISBN: (纸本)9781467307024

The conference, in its customary full name 2012 IEEE international conference on automation, Quality and Testing, robotics - THETA 18th edition, follows the tradition of the 17 automation and testing related scientific events, held in Cluj-Napoca since 1982 under the name THETA - Technologies and automation Testing. The previous editions of the AQTR conference have enjoyed great success, demonstrating the importance of automation, quality, testing and robotics domains as part of continuously advancing technologies. A large variety of papers were presented, providing good opportunities for the participants to exchange ideas and share new advancements registered in the specific fields covered by the conference topics. © 2012 IEEE.

关键词： robotics

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