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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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Atlas - Examining the wider context of assistive robotics 15

Atlas - Examining the wider context of assistive robotics

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

作者： Doran, H.D. Neumann, S. Becker, H.K. Kollmar, A. Misoch, S. Pauli, C. Müller, S. Hannich, F. Institute of Embedded Systems Zürich University of Applied Sciences Winterthur Switzerland Institute of Occupational Therapy Zurich University of Applied Sciences Winterthur Switzerland Interdisciplinary Competence Centre for Ageing IKOA-FHS University of Applied Sciences St. Gallen St. Gallen Switzerland Institute of Marketing Management Zurich University of Applied Sciences Winterthur Switzerland

ISBN: (纸本)9789897583216

We examine the proposition of a stationary assistive robot arm in the kitchen. Based on a preliminary business plan and with the aim of generating engineering requirements, a multi-disciplinary project was established to examine the wider ramifications of such assistive technology in the household, in a Swiss context, in the fields of health and social wellbeing. Additionally the engineering aspects as well as the business aspects were examined. We detail both the individual methodologies used in this study, the results achieved and discuss the results in a wider context. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System 15

Development of the Sensory Network for the Vibration-based F...

引用

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

作者： Bondyra, Adam Gasior, Przemyslaw Gardecki, Stanislaw Kasinski, Andrzej Institute of Control Robotics and Information Engineering Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (纸本)9789897583216

In this paper, a fault detection and isolation (FDI) system for propeller impairments of the multirotor UAV is presented. The algorithm is based on the processing of signal vectors from the set of vibration sensors located close to the propulsion units. Axial and radial vibrations are measured using MEMS accelerometers that provide data for the feature extraction based on the Fast Fourier Transform (FFT). Characteristic fault signatures extracted from vibration signals are used to detect and localize damaged blades using the set of random decision trees. A method was evaluated with data gathered during numerous test flights and validated in relation to signal acquisition time and number of classifiers in the ensemble. Results show over 95% sensitivity in detecting and isolating faulty rotor states. The presented approach is an effective and low-cost solution, very versatile to implement in the arbitrary UAV. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Vibration analysis

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Fast and simple model for free hanging, pre-impregnated carbon fibre material 15

Fast and simple model for free hanging, pre-impregnated carb...

引用

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

作者： Nielsen, Ole W. Schlette, Christian Petersen, Henrik G. Maersk Mc-Kinney Moller Institute University of Southern Denmark Campusvej 55 Odense M5230 Denmark

ISBN: (纸本)9789897583216

Automated one-of-a-kind grasping and draping of pre-impregnated (prepreg) fiber plies onto complex molds is a hitherto unsolved problem. In the project FlexDraper, we have gathered an international consortium with industrial keyplayers for addressing this gap. Our approach is based on model- and simulation-based control of the shaping of the plies during the draping procedure, which requires fast computable models in the draping control loop. In this paper, we present such a fast computable mathematical model for the shape of free hanging prepreg fiber plies with perpendicular fiber directions, where the ply is held (clamped) at a set of locations that are not too far apart. Rather than using expensive physically based models, e.g. FEM simulations, our model is only based on interpolations between the held locations satisfying curve length constraints in fiber directions. The paper also contains experimental tests for the accuracy of the model. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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Approximating viability kernels of non-linear systems 15

Approximating viability kernels of non-linear systems

引用

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

作者： Carvalho, André M. Sequeira, João S. Instituto Superior Técnico / Institute for Systems and Robotics Lisbon Portugal

ISBN: (纸本)9789897583216

A typical concern in robotics is to assess if it is possible to keep a robot inside a set of safe states, e.g., an autonomous car that must stay on the road. That is closely tied with the problem of computing the viability kernel of the system, i.e., the largest set of initial states for which it is guaranteed that the system has controls that keep maintain the trajectories inside the constraint set. The approach in this paper builds on previous work, on linear sampled-data systems. It is based on sampling the boundary of the constraint set, finding the states inside the viability kernel using finite-horizon forward simulation. Our adaptation extends the original algorithm, approximating the viability kernel for some non-linear systems through linearization methods. The non-linear systems here approached are the ones described by first order differential equations with continuous derivatives and convex with respect to the inputs. Existence and uniqueness conditions are also established to ensure adequate results for the whole algorithm. A practical example, with a simple non-linear system, to illustrate the proposed algorithm is also presented. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Nonlinear systems

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Pitching and catching of an object between a pair of air jet 15

Pitching and catching of an object between a pair of air jet

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

作者： Abe, Nobukado Iwaki, Satoshi Yoshinaga, Kazuki Tsuchihashi, Naoki Ikeda, Tetsushi Kosaku, Toshiharu Takaki, Takeshi Systems Engineering Robotics Laboratory Graduate School of Information Science Hiroshima City University 3-4-1 Ozukahigashi Asaminami-ku Hiroshima Japan Graduate School of Engineering Hiroshima University 3-3-2 Kagamiyama Higashihiroshima Hiroshima Japan

ISBN: (纸本)9789897583216

We have been studying an air jet manipulation technology to non-contactly carry an object over a long distance using multiple 3D air jet manipulation modules consisting of a single air jet nozzle and a pan-tilt actuator. Here we challenge long distant transportation through object pitching-and-catching between a pair of air jet. In this report, we propose a control algorithm to determine each air jet angle and its flow rate, for both pitching side and catching side. First we try to observe human behaviour in a real catch-ball as a hint to create the algorithm. Next, as a preliminary experiment, a pitching experiment and a catching experiment are independently performed to obtain an air jet output function and a control law for each. After that, we propose an integrated transporting algorithm of pitching and catching, and confirm its validity by demonstration experiment. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Behavioral research

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Optimal Tuning of Cascade controllers for Feed Drive Systems using Particle Swarm Optimization

Optimal Tuning of Cascade Controllers for Feed Drive Systems...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： Milica Petrović Alberto Villalonga Zoran Miljković Fernando Castaño Stanisław Strzelczak Rodolfo Haber Department of Production Engineering University of Belgrade Faculty of Mechanical Engineering Belgrade Serbia Centre for Automation and Robotics UPM-CSIC Madrid Spain University of Technology Warsaw Poland

Cascade control configurations are one of the widely used control solutions for improving dynamic response of the feed drive systems in the manufacturing industry. However, optimal tuning of cascade controllers in presence of hard nonlinearities such as backlash and friction is still a complex and time-consuming task. This paper presents a computational procedure for tuning P-PI cascade controller by using particle swarm optimization (PSO) for a feed drive system of machine tools in the presence of friction and backlash. The minimizing of the maximum position error during the reversal of the axes is used as an objective function for optimization. The performance of the PSO method is compared in simulations and real-time experiments with the fine tune (FT) method, which is one of the standard methods applied in industry. Both, simulation and real-time experimental studies carried out on a test platform with 8070 Fagor controller show a remarkable improvement in the performance of the cascade control system using the proposed PSO-based strategy.

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Handover Process Modeling in Autonomous Vehicles—a control Engineering Approach

Handover Process Modeling in Autonomous Vehicles—a Control ...

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international Symposium on Computational Intelligence and informatics

作者： Dániel András Drexler Árpád Takács Tamás Dániel Nagy Tamás Haidegger Óbuda University Antal Bejczy Center for Intelligent Robotics University Research Innovation and Service Center Bécsi út 96/b H-1034 Budapest Hungary

ISBN: (数字)9781728156255

ISBN: (纸本)9781728156262

Automated driving and advanced driver assistance technologies represent an emerging field. The difference in maturity of various commercial and prototype systems causes ambiguities in the use and reliance for the users, who generally are not trained or educated for autonomous system management and efficient handover processes. While numerous models for shared vehicle control and driver behavior have been introduced recently, not much is known about the effect of situation awareness in a closed-loop human driver-vehicle system. This paper proposes a novel driver model based on a control theory approach, taking both situation awareness and vehicle dynamics into consideration.

关键词： handover process takeover time autonomous vehicle car safety Road safety Autonomous Vehicles control engineering System management Driver Behavior Vehicle control Vehicle dynamics Reliance resin cement Drivers

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Style transfer-based image synthesis as an efficient regularization technique in deep learning

Style transfer-based image synthesis as an efficient regular...

引用

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

作者： Agnieszka Mikołajczyk Michał Grochowski Department of Electrical Engineering Control Systems and Informatics Gdańsk University of Technology Poland

These days deep learning is the fastest-growing area in the field of Machine Learning. Convolutional Neural Networks are currently the main tool used for the image analysis and classification purposes. Although great achievements and perspectives, deep neural networks and accompanying learning algorithms have some relevant challenges to tackle. In this paper, we have focused on the most frequently mentioned problem in the field of machine learning, that is relatively poor generalization abilities. Partial remedies for this are regularization techniques e.g. dropout, batch normalization, weight decay, transfer learning, early stopping and data augmentation. In this paper we have focused on data augmentation. We propose to use a method based on a neural style transfer, which allows to generate new unlabeled images of high perceptual quality that combine the content of a base image with the appearance of another one. In a proposed approach, the newly created images are described with pseudo-labels, and then used as a training dataset. Real, labeled images are divided into the validation and test set. We validated proposed method on a challenging skin lesion classification case study. Four representative neural architectures are examined. Obtained results show the strong potential of the proposed approach.

关键词： Lesions Skin Training Neural networks Deep learning Image synthesis Task analysis

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Robust Fuzzy control using the Type2 Distending Function

Robust Fuzzy Control using the Type2 Distending Function

引用

international Symposium on Computational Intelligence and informatics

作者： József Dombi Abrar Hussain Institute of Informatics University of Szeged Szeged Hungary

ISBN: (数字)9781728156255

ISBN: (纸本)9781728156262

Here, we develop a novel robust type2 fuzzy controller (FC). It is based on a new type-2 membership function called the type2 Distending Function (T2DF). It can model the uncertainties associated with the measurement noise. The design process does not include the implication and the type reduction steps, hence it is computationally efficient. Also, aggregation is carried out using fuzzy arithmetic operations and T2DF is closed under linear combination. Because of these unique features, the proposed type2 FC performs better even in the presence of large measurement noise. The efficiency of the proposed FC is demonstrated using the altitude control of a quadcopter with a noisy feedback signal.

关键词： Type2 fuzzy sets type2 distending function measurement noise robust control Noise measurement Fuzzy control Robust control height control Membership functions Linear Combination design process

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control Algorithms for a Mobile Robot Application in a Fog Computing Environment 2019

Control Algorithms for a Mobile Robot Application in a Fog C...

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3rd international conference on automation, control and Robots (ICACR)

作者： Bhausaheb, Bhalekar Vaibhav Saikrishna, P. S. Indian Inst Technol Tirupati Dept Elect Engn Indian Tirupati Andhra Pradesh India

ISBN: (纸本)9781450372886

The growing demand of industrial, automotive and service robots presents a challenge to the centralized Cloud robotics model in terms of privacy, security, latency, bandwidth, and reliability. Especially, mobile robots have limited on-board computational power which restricts their mission planning in autonomous applications. With the evolution of Fog computing, computations may be offloaded to Fog devices and/or smart gateway devices which together form a distributed computing platform in close proximity to the mobile robot. In this work, we demonstrate the application of Fog computing for mobile robots with a specific case study of color-based object detection, tracking and mapping in a confined area. The computations required for image processing are offloaded to the Fog devices via Fog nodes and the results are acquired back in real-time. The control algorithms for tracking predefined paths and mapping a pre- defined area are validated using a controlled mobile robot with an on-board camera and processing unit. Also, the effects of improvement in latency due to fog environment as compared to on-board computation on the mobile robot is demonstrated.

关键词： Fog robotics Algorithms for control Edge Computing Cloud

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