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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

共 1479 条记录，以下是431-440 订阅

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CAR 2010 - 2010 2nd international asia conference on informatics in control, automation and robotics

CAR 2010 - 2010 2nd International Asia Conference on Informa...

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2010 2nd international asia conference on informatics in control, automation and robotics, CAR 2010

ISBN: (纸本)9781424451937

The proceedings contain 362 papers. The topics discussed include: synchronization for a class of chaotic systems with external disturbance;synchronization of discrete chaotic system by using variable structure control;analysis and design of the stability for an asynchronous networked control systems;image quality assessment based on the contourlet transform;automatic removal of eye-blink artifacts based on ICA and peak detection algorithm;novel method of trajectory tracking and posture stabilization for mobile robot;a novel fault diagnosis model research for electronic circuit;a new network intrusion detection identification model research;a new optimization identification method for fault diagnosis;the optimization of sensing-throughput in cognitive UWB networks;nondestructive detection experimental research on prestressed concrete beam;and optimization of tactical aircraft weapon delivery using tactics templates.

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Augmented Postprocessing of the FTLS Vectorization Algorithm Approaching to the Globally Optimal Vectorization of the Sorted Point Clouds 13

Augmented Postprocessing of the FTLS Vectorization Algorithm...

引用

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

作者： Jelinek, Ales Zalud, Ludek Brno Univ Technol Dept Control & Instrumentat Tech 12 Brno Czech Republic

ISBN: (纸本)9789897581984

Vectorization is a widely used technique in many areas, mainly in robotics and image processing. Applications in these domains frequently require both speed (for real-time operation) and accuracy (for maximal information gain). This paper proposes an optimization for the high speed vectorization methods, which leads to nearly optimal results. The FTLS algorithm uses the total least squares method for fitting the lines into the point cloud and the presented augmentation for the refinement of the results, is based on a modified Nelder-Mead method. As shown on several experiments, this approach leads to better utilization of the information contained in the point cloud. As a result, the quality of approximation grows steadily with the number of points being vectorized, which was not achieved before. Performance costs are still comparable to the original algorithm, so the real-time operation is not endangered.

关键词： Vectorization Point Cloud Linear Regression Least Squares Fitting Mobile robotics

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A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft robotics Systems: Application to CENTAURO Robot 13

A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effecti...

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

作者： Kamedula, Malgorzata Kashiri, Navvab Caldwell, Darwin G. Tsagarakis, Nikos G. Ist Italiano Technol Dept Adv Robot Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9789897581984

Despite the important role of simulation in the development and control of robotics systems, the majority of open source simulation tools has however paid no attention to the progress and paradigm change on the robot design in the past 15 years with the consideration of soft actuation technologies as a mean to power new robotic systems. More specifically, the integration of series elastic actuators (SEAs) into robots modifies significantly the dynamics characteristics of the system while the incorporation of the passive compliance into the actuators is not applied in conventional simulators. This paper introduces a scheme for the implementation of the SEA dynamics on a Gazebo-ROS framework exploited for the simulation of a new centaur-like robot. This approach is based on designing a custom control plugin embodying the passive compliance dynamics so that the controller associated with each joint receives both collocated and non-collocated feedback. A simulation comparison with Matlab validating the performance of the designed control plugin is demonstrated. In the end, a whole-body simulation of the centaur robot driven/controlled by the proposed plugin is presented.

关键词： Gazebo-ROS Simulators Legged Robots Flexible Joint Robots Series Elastic Actuators Quadrupeds Humanoids Simulation

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Redundancy Resolution in Minimum-time Path Tracking of Robotic Manipulators 13

Redundancy Resolution in Minimum-time Path Tracking of Robot...

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

作者： Reiter, Alexander Gattringer, Hubert Mueller, Andreas Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

Minimum-time trajectories for applications where a geometric path is followed by a kinematically redundant robot's end-effector may yield economical improvements in many cases compared to conventional manipulators. While for non-redundant robots the problem of finding such trajectories has been solved, the redundant case has not been treated exhaustively. In this contribution, the problem is split into two interlaced parts: inverse kinematics and trajectory optimization. In a direct optimization approach, the inverse kinematics problem is solved numerically at each time point. Therein, the manupulator's kinematic redundancy is exploited by introducing scaled nullspace basis vectors of the Jacobian of differential velocities. The scaling factors for each time point are decision variables, thus the inverse kinematics is solved optimally w.r.t. the trajectory optimization goal, i.e. minimizing end time. The effectiveness of the presented method is shown by means of the example of a planar 4R manipulator with two redundant degrees of freedom.

关键词： robotics Optimal control Trajectory Planning Redundant Robots Inverse Kinematics

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informatics in control, automation and robotics: 12th international conference, ICINCO 2015 Colmar, Alsace, France, 21-23 July, 2015 revised selected papers 12th

Informatics in control, automation and robotics: 12th intern...

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12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Filipe, Joaquim Gusikhin, Oleg Madani, Kurosh Sasiadek, Jurek INSTICC Polytechnic Institute of Setúbal Setúbal Portugal Ford Research and Advanced Engineering DearbornMI United States Créteil France Mechanical and Aerospace Engineering Carleton University OttawaON Canada

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Temperature Correction and Reflection Removal in Thermal Images using 3D Temperature Mapping 13

Temperature Correction and Reflection Removal in Thermal Ima...

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

作者： Zeise, Bjoern Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897581984

Many mobile robots nowadays use thermal imaging cameras (TICs) in order to enhance the environment model that is created during exploration tasks. In conventional thermography, thermal images always have to be carefully revised by human operators, which is not practicable in autonomous applications. Unknown surface emissivities are the main source of misinterpretations in thermal images. In this work, we present two methods dealing with these misinterpretations by exploiting the TIC's changing point of view. While the first approach classifies the regarded material in order to estimate improved surface temperature values, the second one is capable of detecting and removing thermal reflections. The spatial relationship between the thermal images and the regarded surface is made by using a rigidly mounted sensor stack consisting of a TIC and a 3D laser range finder, whose extrinsic calibration is described. During evaluation, we demonstrate the functionality of both approaches.

关键词： Infrared Thermography 3D Temperature Mapping Emissivity Estimation Temperature Correction Thermal Reflection Removal Mobile Service robotics

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Dynamic Coupling Map: Acceleration Space Analysis for Underactuated Robots 13

Dynamic Coupling Map: Acceleration Space Analysis for Undera...

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

作者： Zamzami, Ziad Ben Amar, Faiz UPMC Paris VI Sorbonne Univ Inst Syst Intelligents & Robot ISIR CNRS UMR 7222 Boite Courrier 1734 Pl JUSSIEU F-75252 Paris France

ISBN: (纸本)9789897581984

Swing-up and throwing tasks for underactuated manipulators are examples of dynamic motions that exhibit highly nonlinear coupling dynamics. One of the key ingredients for such complex behaviors is motion coordination to exploit their passive dynamics. Despite the existence of powerful tools such as nonlinear trajectory optimization, they are usually treated as blackboxes that provide local optimal trajectories. We introduce the Dynamical Coupling Map (DCM), a novel graphical technique, to help gain insight into the output trajectory of the optimization and analyze the capability of underactuated robots. The DCM analysis is demonstrated on the swing up motion of a simplified model of a gymnast on high bar. The DCM shows in a graphical and intuitive way the pivotal role of exploiting the nonlinear inertial forces to reach the unstable equilibrium configuration while taking into account the torque bounds constraints. In this paper, we present the DCM as a posteriori analysis of a local optimal trajectory, found by employing the direct collocation trajectory optimization framework.

关键词： Underactuated robotics Trajectory Optimization Dynamic Coupling Passive Dynamics Acceleration Space Dynamic Capability Visualization

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3D Path Following with Remote Center of Motion Constraints 13

3D Path Following with Remote Center of Motion Constraints

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

作者： Dahroug, Bassem Tamadazte, Brahim Andreff, Nicolas Univ Bourgogne Franche Comte FEMTO ST Inst CNRS AS2M DeptENSMM 4 Rue Alain Savary F-25000 Besancon France

ISBN: (纸本)9789897581984

The remote center of motion (RCM) is an essential issue during minimal invasive surgery where the surgeon manipulates a medical instrument inside the human body. It is important to assure that the tool should not apply forces on the incision wall in order to prevent patient harm. The paper shows a geometric method computing the intended robot velocity vector for respecting the RCM constraints. In addition, the proposed solution deals with the latter constraints as the highest task priority. A second task function is added, which is projected in the null space on the first task, to follow a 3D path inside the cavity. As result, this method helps the surgeon to execute more sophisticated motion within the patient body with high accuracy;since the results shows standard deviation around 0.004mm and 0.089mm of RCM task error and positioning task error, respectively.

关键词： Bilateral Remote Center of Motion Constraints 3D Path Following Medical robotics

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Application of Trajectory Optimization Method for a Space Manipulator with Four Degrees of Freedom 13

Application of Trajectory Optimization Method for a Space Ma...

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

作者： Rybus, Tomasz Seweryn, Karol Sasiadek, Jurek Z. Space Res Ctr CBK PAN Bartycka 18a Warsaw Poland Carleton Univ Dept Mech & Aerosp Engn Ottawa ON Canada

ISBN: (纸本)9789897581984

Planned active debris removal and on-orbit servicing missions require capabilities for capturing objects on Earth's orbit, e.g., by the use of a manipulator. In this paper we demonstrate the application of a trajectory optimization algorithm for free-floating satellite-manipulator systems in two cases: a planar system with 2 degrees of freedom manipulator and a spatial system with a manipulator having four degrees of freedom. For the case with planar system, results of experiments performed on an air-bearing microgravity simulator are shown. Quadratic norm connected with the power consumption of manipulator motors has been used as a cost functional that is minimized. Optimal trajectories are compared with straight-line trajectories and it is shown that the optimization allows reduction of the power use of manipulator motors (for the planar system 30 trajectories based on randomly selected initial and final end-effector positions were analysed and the cost functional was, on average, reduced by 49.4%). The presented method could be modified by using cost functional that would, e.g., minimize disturbance on the satellite.

关键词： Space robotics Free-floating Space Manipulator Trajectory Optimization On-orbit Servicing

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Radar and LiDAR Sensorfusion in Low Visibility Environments 13

Radar and LiDAR Sensorfusion in Low Visibility Environments

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

作者： Fritsche, Paul Kueppers, Simon Briese, Gunnar Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany Fraunhofer Inst High Frequency Phys & Radar Tech Fraunhoferstr 20 D-53343 Wachtberg Germany

ISBN: (纸本)9789897581984

LiDAR sensors are unable to detect objects that are inside or behind dense smoke, fog or dust. These aerosols lead to problems for environmental modeling with mobile robotic platforms. For example, if a robot equipped with a LiDAR is surrounded by dense smoke, it can neither localize itself nor can it create a map. Radar sensors, on the other hand, are immune to these conditions, but are unable to represent the structure of an environment in the same quality as a LiDAR due to limited range and angular resolution. In this paper, we introduce the mechanically pivoting radar (MPR), which is a 2D high bandwidth radar scanner. We present first results for robotic mapping and a fusion strategy in order to reduce the negative influence of the aforementioned harsh conditions on LiDAR scans. In addition to the metric representation of an environment with low visibility, we introduce the LRR (LiDAR-Radar-Ratio), which correlates with the amount of aerosols around the robot discussing its meaning and possible application.

关键词： Mobile robotics Low Visibility Environments FMCW-Radar LiDAR Sensorfusion Smoke Detection

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