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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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Interactive control using Bluetooth for Dual Axis Sun Tracker with Three Light Sensors 1

Interactive Control using Bluetooth for Dual Axis Sun Tracke...

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1st international conference on Education, Science and Technology, ICON-EST 2018

作者： Away, Yuwaldi Yanti, Yeni Rizal, M.Syamsu Novandri, Andri Department of Electrical and Computer Engineering Syiah Kuala University Banda Aceh Indonesia Department of Informatics Engineering Serambi Mekkah University Banda Aceh Indonesia

The use of renewable energy from solar panel systems is increasingly being applied, but until now the utilization has not been maximized. The movement of the sun caused by the rotation of the earth should be taken into account to maximize electrical energy in the solar panel (PV). In this study, a concept was proposed to control the movement of the two-axis sun tracker with smartphones using bluetooth communication. controlled by rotating two DC motors, two axes are joined together into linear actuators that can extend and shorten, so that the solar panel can move towards the sun. This system uses a light sensor (Light Dependent Resistor) and a gyroscope sensor as input and two DC motors that are placed on each axis as output. The motor driver used is the Monster Moto Shield. Sun tracker that is used based on tetrahedron geometry and uses three light sensors. The light sensor functions to determine the position of the sun while the gyroscope sensor is used to determine the tilt angle of the solar panel. The gyroscope module used is MPU-6050. This system also uses the GY-273 compass sensor which functions to determine the direction of the wind direction. Components of input and output are connected to the ATmega328P microcontroller and wireless communication using bluetooth. The Bluetooth module used is the HC-05 module. The solar panel movement and the power obtained are then monitored and recorded for analysis. © Published under licence by IOP Publishing Ltd.

关键词： Solar panels

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Implementation, identification and control of an efficient electric actuator for humanoid robots 15

Implementation, identification and control of an efficient e...

引用

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

作者： Forget, Florent Giraud-Esclasse, Kevin Gelin, Rodolphe Mansard, Nicolas Stasse, Olivier CNRS - LAAS Toulouse France SoftBank Robotics Europe Paris France

ISBN: (纸本)9789897583216

Autonomous robots such as legged robots and mobile manipulators imply new challenges in the design and the control of their actuators. In particular, it is desirable that the actuators are back-drivable, efficient (low friction) and compact. In this paper, we report the complete implementation of an advanced actuator based on screw, nut and cable. This actuator has been chosen for the humanoid robot Romeo. A similar model of the actuator has been used to control the humanoid robot Valkyrie. We expose the design of this actuator and present its Lagrangian model. The actuator being flexible, we propose a two-layer optimal control solver based on Differential Dynamical Programming. The actuator design, model identification and control is validated on a full actuator mounted in a work bench. The results show that this type of actuation is very suitable for legged robots and is a good candidate to replace strain wave gears. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Actuators

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Cubature kalman filter-based performance enhancement of wireless indoor localization using ultra-wideband 15

Cubature kalman filter-based performance enhancement of wire...

引用

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

作者： Cho, Seong Yun School of Robotics Engineering Kyungil University 50 Gamasilgil Hayangup Kyungsan Korea Republic of

ISBN: (纸本)9789897583216

Ultra-wideband has been widely used for accurate wireless indoor localization systems due to accurate ranging measurement capability. There are several methods for ranging-based localization systems: iterative methods, linear closed-form solutions, model-based filters, etc. These methods have their advantages and disadvantages. In this paper, the characteristics of these methods are analysed and a cubature Kalman filter-based localization method is presented to improve the localization performance in various indoor environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Indoor positioning systems

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Numerical investigation of Newton’s method for solving discrete-time algebraic riccati equations 15

Numerical investigation of Newton’s method for solving disc...

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

作者： Sima, Vasile Benner, Peter Modelling Simulation Optimization Department National Institute for Research and Development in Informatics Bd. Mareşal Averescu Nr. 8–10 Bucharest Romania Max Planck Institute for Dynamics of Complex Technical Systems Sandtorstraße 1 Magdeburg Germany

ISBN: (纸本)9789897583216

A Newton-like algorithm and some line search strategies for solving discrete-time algebraic Riccati equations are discussed. Algorithmic and implementation details incorporated in the developed solver are described. Some numerical results of an extensive performance investigation on a large collection of examples are summarized. These results often show significantly improved accuracy, measured in terms of normalized and relative residuals, in comparison with the state-of-the-art MATLAB function. The new solver is strongly recommended for improving the solutions computed by other solvers. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Numerical methods

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Generic architecture for modular real-time systems in robotics 15

Generic architecture for modular real-time systems in roboti...

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

作者： Schöpping, Thomas Korthals, Timo Hesse, Marc Rückert, Ulrich Cluster of Excellence Cognitive Interaction Technology ‘CITEC’ Bielefeld University Inspiration 1 Bielefeld33619 Germany

ISBN: (纸本)9789897583216

With the continuous progress in robotics and application of such systems in evermore scenarios, safety and flexibility become increasingly important aspects and new designs should thus emphasize real-time capability and modularity. This work points out all related topics for such an endeavor and proclaims to move from conventional bottom-up design to more holistic approaches. Based on experience gained with the modular mini robot platforms BeBot and AMiRo, a novel generic modular architecture is proposed that offers high flexibility and system wide real-time capability. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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A training simulator for teleoperated robots deployed at CERN 15

A training simulator for teleoperated robots deployed at CER...

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

作者： Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel Department of Systems and Control Engineering University of Malta Msida Malta Engineering Department EN-STI CERN Geneva Switzerland Centre for Automation and Robotics UPM-CSIC Universidad Politecnica de Madrid Madrid Spain

ISBN: (纸本)9789897583216

This paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. The robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. The resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Virtual reality

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Low Cost and Energy Efficient Fuzzy based Kitchen Ventilation control System

Low Cost and Energy Efficient Fuzzy based Kitchen Ventilatio...

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international conference on robotics and Artificial Intelligence (ICRAI)

作者： Salah-ud-din Khokhar Yasir Noor QinKe Peng Umair Khokhar Ali Asif Nabeel Abid Department of Automation Science and Technology (System Engineering Institute) Xi'an Jiaotong University Xi’an China Department of Physics GC University Lahore Lahore Pakistan Department of Electronics and Informatics Xi'an Jiaotong University Xi’an China

ISBN: (纸本)9781728130590

In this paper, a kitchen ventilation control system is modeled using fuzzy system-modeling technique and implemented through a microcontroller. Based on the Mamdani's model, the designed fuzzy kitchen ventilation system accepts four crisp input values from Stove Heating, Cooking Fumes, Humidity, and Temperature sensors; divides the treatise into sections, each with two fuzzy variables; fire rules and assigns singleton values to each output variable. A single defuzzifier is deployed to adjust the speed of actuator: the kitchen exhaust fan. The model is implemented and verified using a microcontroller by utilizing its pulse-width modulation (PWM) capabilities. Comparative analysis of the results confirms the high accuracy of the proposed model which yields a maximum relative error of ~ 1 % between the model designed outputs and corresponding measured duty cycles of output pulses generated by the microcontroller. The rotations per minute (RPM) of 12 V dc fan, however, show a maximum relative error up to ~ 8 % due to its intrinsic non-linear behavior with respect to the duty cycle of input pulses.

关键词： Microcontroller Kitchen ventilation control system Fuzzy modeling Fuzzy implementation Microcontrollers fuzzy modeling relative errors DUTY CYCLE KITCHEN output pulse Fuzzy Temperature Sensor Device Component output variable Ventilation control systems

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The hand-gesture-based control interface with wearable glove system 15

The hand-gesture-based control interface with wearable glove...

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

作者： Berezhnoy, Vladislav Popov, Dmitry Afanasyev, Ilya Mavridis, Nikolaos Institute of Robotics Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (纸本)9789897583216

The paper presents an approach to building a gesture-based control interface with a wearable glove system and a real-time gesture recognition algorithm. The glove-based system is a wireless wearable device with hardware components, including Arduino Nano controller, IMU and flex sensors, and software for gesture recognition. Our gesture recognition methodology requires two stages: 1) Building a library of dynamic gesture models with the reference human gesture graphs;2) Gesture capturing and evaluating with fuzzy c-means (FCM) clustering and constructing grammars of gestures by fuzzy membership functions. The system tests were provided with 6 different dynamic gestures to control position and orientation of a quadcopter in V-Rep simulator that has demonstrated encouraging results with a reasonable quality of real-time gesture-based quadcopter control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Gesture recognition

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Simultaneous design of structural and control systems using set-based design method 15

Simultaneous design of structural and control systems using ...

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

作者： Ishikawa, Haruo Sasaki, Naoko Graduate School of Informatics and Emgineering University of Electro-Communications Chofu Tokyo Japan Center for International Programs and Exchange University of Electro-Communications Chofu Tokyo Japan

ISBN: (纸本)9789897583216

The design method capable of considering the influence factors related to control and structural design systems under conditions that simultaneously satisfy multi-objective performances over both the systems is investigated. The influence factors and performances have some kinds of uncertainty related to structural design and control system design. The uncertainty may be expressed in terms of set interval. Set-based design method is available as a design method that can take account of such uncertainty. In the method, instead of optimization, the concept of satisficing is used. In the present study, the applicability of set-based design method that has been studied in the field of structural design is investigated for the simultaneously satisficing design of control and structural systems. For discussing the applicability, an example problem of inverted pendulum with heteromorphic shape on cart is solved by optimal regulator method in modern control theory. As a result, the set intervals of influence factors which simultaneously satisfy the set intervals of multi-objective performances are obtained. From this result, the usefulness of set-based design method for simultaneous design of control and structural systems can be confirmed. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Structural design

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Autonomous trail following using a pre-trained deep neural network 15

Autonomous trail following using a pre-trained deep neural n...

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

作者： Hoveidar-Sefid, Masoud Jenkin, Michael Electrical Engineering and Computer Science Department York Centre for Field Robotics Lassonde School of Engineering York University Toronto Canada

ISBN: (纸本)9789897583216

Trails are unstructured and typically lack standard markers that characterize roadways;nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail following by identifying the deviation of the robot from the heading angle of the trail through the refinement of a pretrained Inception-V3 (Szegedy et al., 2016a) Convolutional Neural Network (CNN) trained on the ImageNet dataset (Deng et al., 2009). A differential system is developed that uses a pair of cameras each providing input to its own CNN directed to the left and the right that estimate the deviation of the robot with respect to the trail direction. The resulting networks have been successfully tested on over 1 km of different trail types (asphalt, concrete, dirt and gravel). Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Deep neural networks

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