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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281-290 订阅

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Trajectory tracking of a tri-wheel mobile robot using the castor wheel's twist angle

Trajectory tracking of a tri-wheel mobile robot using the ca...

引用

international conference on Methods and Models in automation and robotics (MMAR)

作者： Ryszard Beniak Tomasz Pyka Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland

This paper presents an advanced control algorithm, which accounts for an additional impact of a castor wheel on a tri-wheel robot's trajectory. It demonstrates how to use the information on the angle of twist in order to limit the errors stemming from odometry. Thanks to applying the proven relationship between the trajectory's curvature and the angle of twist of a castor free wheel, we reduced the driving wheels' rotation errors in the robot's motion along the desired trajectory.

关键词： Wheels Mobile robots Trajectory Mathematical model Global Positioning System Numerical models

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Distributed Hierarchical Fault Diagnosis Based on Sparse Auto-Encoder and Random Forest 4th

Distributed Hierarchical Fault Diagnosis Based on Sparse Aut...

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4th international conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Li, Tong Song, Chunhe Liu, Yang Wang, Zhongfeng Yu, Shimao Su, Shanting Liaoning Electric Power Research Institute State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Nanjing University of Aeronautics and Astronautics Nanjing China

ISBN: (纸本)9783030323875

For the diagnosis of large-scale local devices, the traditional centralized fault diagnosis systems are becoming incompetent to meet the requirement of real-time monitoring. This paper proposes the Distributed hierarchical Fault Diagnosis System (DFDS). Specifically, DFDS implements fault monitoring by an improved Sparse Auto-Encoder (SAE) on the monitor layer, classifies faults and identifies unknown faults by an improved random forest on the classification layer, learns new knowledge and updates the system on the decision layer. We apply DFDS in the laboratory data of Case Western Reserve University to verify the efficiency of the proposed system. The experimental results show that our method can accurately detect the fault and accurately identify the fault type. © 2019, ICST Institute for Computer Sciences, Social informatics and Telecommunications Engineering.

关键词： Fault detection

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Research on controller Redundancy Strategy of Acupuncture Robot

Research on Controller Redundancy Strategy of Acupuncture Ro...

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international conference on Electronic Engineering and informatics (EEI)

作者： XiaoWu Xia HanXu Sun Dong Wu ZhiQiang Wang College of Automation Beijing University of Posts and Telecommunications Beijing China Department of Traditional Chinese Medicine Beijing TongRen Hospital Beijing China

ISBN: (纸本)9781728140773

In order to meet the requirements of high reliability and safety of acupuncture robot control system, this paper studies the redundancy strategy for acupuncture robot. The hardware design strategy, heartbeat strategy, synchronization strategy and arbitration strategy of the redundant system are discussed in detail, and the effectiveness of the proposed redundancy strategy of acupuncture robot controller is verified by OMNeT++ distributed network simulation platform.

关键词： medical robotics redundancy synchronisation redundancy medical robotics Acupuncture redundancy systems Robot

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An application of the induced matrix norm in the minimum-energy design of perfect control algorithm

An application of the induced matrix norm in the minimum-ene...

引用

international conference on Methods and Models in automation and robotics (MMAR)

作者： Dariusz Pączko Wojciech Hunek Institute of Mathematics and Applied Informatics Opole University of Technology Opole Poland Institute of Control Engineering Opole University of Technology Opole Poland

In the previous research study it has been pointed out that employing the approximation of the induced matrix norm can be useful during design of minimum-energy perfect control law for LTI MIMO discrete-time state-space plants. It has also been shown that this scenario was related to the case involving the closed-loop control matrix norm being less than unity, which was preserved by proper selection of applied nonunique inverses. This paper focuses on the systems which have been excluded from our past considerations. The methodology of minimum-energy approach for plants with norm greater than one is postulated here and some peculiarities in this matter additionally are given. This innovative method allows to predefine in a simple way a minimum-energy behavior of this intriguing control procedure.

关键词： Linear matrix inequalities Linear systems MIMO communication Mathematical model Estimation control design Eigenvalues and eigenfunctions

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Data Cleaning Based on Multi-sensor Spatiotemporal Correlation 4th

Data Cleaning Based on Multi-sensor Spatiotemporal Correlati...

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4th international conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Shao, Baozhu Song, Chunhe Wang, Zhongfeng Li, Zhexi Yu, Shimao Zeng, Peng Liaoning Electric Power Research Institute State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Shenyang Power Supply Company State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China

ISBN: (纸本)9783030323875

Sensor-based condition monitoring systems are becoming an important part of modern industry. However, the data collected from sensor nodes are usually unreliable and inaccurate. It is very critical to clean the sensor data before using them to detect actual events occurred in the physical world. Popular data cleaning methods, such as moving average and stacked denoise autoencoder, cannot meet the requirements of accuracy, energy efficiency or computation limitation in many sensor related applications. In this paper, we propose a data cleaning method based on multi-sensor spatiotemporal correlation. Specifically, we find out and repair the abnormal data according to the correlation of sensor data in adjacent time and adjacent space. Real data based simulation shows the effectiveness of our proposed method. © 2019, ICST Institute for Computer Sciences, Social informatics and Telecommunications Engineering.

关键词： Sensor nodes

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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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JamesBot - an intelligent agent playing StarCraft II

JamesBot - an intelligent agent playing StarCraft II

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Zdzisław Kowalczuk Jan Cybulski Michał Czubenko Faculty of Electronics Telecommunications and Informatics Gdansk Univesity of Technology Gdansk Poland

The most popular method for optimizing a certain strategy based on a reward is Reinforcement Learning (RL). Lately, a big challenge for this technique are computer games such as StarCraft II which is a real-time strategy game, created by Blizzard. The main idea of this game is to fight between agents and control objects on the battlefield in order to defeat the enemy. This work concerns creating an autonomous bot using reinforced learning, in particular, the Q-Learning algorithm for playing StarCraft. JamesBot consists of three parts. State Manager processes relevant information from the environment. Decision Manager consists of a table implementation of the Q-Learning algorithm, which assigns actions to states, and the epsilon-greedy strategy, which determines the behavior of the bot. In turn, Action Manager is responsible for executing commands. Testing bots involves fighting the default (simple) agent built into the game. Although JamesBot played better than the default (random) agent, it failed to gain the ability to defeat the opponent. The obtained results, however, are quite promising in terms of the possibilities of further development.

关键词： Games Reinforcement learning Buildings Intelligent agents Telecommunications informatics Real-time systems

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Deep neural network architecture search using network morphism

Deep neural network architecture search using network morphi...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Arkadiusz Kwasigroch Michal Grochowski Mateusz Mikolajczyk Department of Electrical Engineering Control Systems and Informatics Gdansk University of Technology Poland

The paper presents the results of the research on neural architecture search (NAS) algorithm. We utilized the hill climbing algorithm to search for well-performing structures of deep convolutional neural network. Moreover, we used the function preserving transformations which enabled the effective operation of the algorithm in a short period of time. The network obtained with the advantage of NAS was validated on skin lesion classification problem. We compared the parameters and performance of the automatically generated neural structure with the architectures selected manually, reported by the authors in previous papers. The obtained structure achieved comparable results to hand-designed networks, but with much fewer parameters then manually crafted architectures.

关键词： Computer architecture Classification algorithms Task analysis Lesions Training Cancer Neural networks

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Investigate Feasibility of Model-Based Design Approach to Develop a Biped Walking Robot

Investigate Feasibility of Model-Based Design Approach to De...

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international conference on Trends in Electronics and informatics (ICEI)

作者： Akshay Dhonthi Ramesh Babu B.B Kotturshettar Arunkumar C. Giriyapur Automation and Robotics department KLE Technological Uinversity Hubli India School of Mechanical Engineering KLE Technological University Hubli India Automation and Robotics KLE Technological University Hubli India

Legged motion has significant advantages over traditional locomotion techniques. Research and development on it have been constantly improving over the last couple of decades. Though there are numerous techniques in developing legged biped motion, none of them is fully satisfactory. The main aspects of legged motion are active balancing, smooth pattern generation and control. These play an important role in legged motion and there are numerous techniques developed to achieve it. The research that is shown in this project is to implement model-based design methodology in developing ZMP stability algorithm. The main area that is been concentrated in the implementation of hardware-in-loop (HIL) simulation using an xPC - target computer. The robot walking gait is generated by developing a Simulink plant model where the joint angles are tested on a virtual simulation platform.

关键词： Legged locomotion Mathematical model Robot sensing systems Trajectory Computational modeling Hip

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Chaos engineering and control in mobile robotics applications 15

Chaos engineering and control in mobile robotics application...

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

作者： Nasr, Salah Abadi, Amine Bouallegue, Kais Mekki, Hassen Networked Objects Control and Communication Systems-Laboratory National Engineering School of Sousse University of Sousse Tunisia Department of Electrical Engineering Higher Institute of Applied Sciences and Technology of Sousse Tunisia

ISBN: (纸本)9789897583216

This article briefly summarizes the theory of chaos and its applications. Firstly, we begin by describing chaos as an aperiodic bounded deterministic motion, which is sensitive to initial states and therefore unpredictable after a certain time. Then, fundamental tools of the chaos theory, used for identifying and quantifying chaotic dynamics, are shared. The paper covers a main numerical approach to identify chaos such as the Lyapunov exponents. Many important applications of chaos in several areas such as chaos in electrical and electronic engineering and chaos applications in robotics have been presented. An analysis of the reviewed publications is presented and a brief survey is reported as well. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Chaos control

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