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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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Trajectory tracking control of an excavator arm using guaranteed cost control 12th

引用

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

作者： Gurko, Alexander Sergiyenko, Oleg Hipólito, Juan Ivan Nieto Kirichenko, Igor Tyrsa, Vera Hernandez, Wilmar Kharkov National Automobile and Highway University Kharkov Ukraine Autonomous University of Baja California MexicaliBaja California Mexico Kharkov Petro Vasylenko National Technical University of Agriculture Kharkov Ukraine Universidad Técnica Particular de Loja Loja Ecuador

ISBN: (纸本)9783319318967

Improving excavators control systems allows increasing efficiency and productivity of thesemachines, reduces loads on an operator and improves his safety. One of the stumbling blocks in the way of improving an excavator control system is uncertainty of high dynamic loads during the bucket and soil interaction. Therefore, this paper deals with the problem of robust trajectory tracking control of an excavator bucket during digging. The optimal inverse kinematic solution is used to determine the joint angles, given in the base coordinate system. To control an excavator arm movement, the computed torque control with the guaranteed cost control is designed. Themathematical tool of R-functions for state estimation of an excavator arm is used. Simulation results and functional ability analysis for the proposed control system are given. Some intermediate outcomes concerning the sensing part of the robotic excavator prototype, that is being developed, are presented. © Springer international Publishing Switzerland 2016.

关键词： robotics

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Experience-based torque estimation for an industrial robot

Experience-based torque estimation for an industrial robot

引用

2016 IEEE international conference on robotics and automation, ICRA 2016

作者： Berger, Erik Grehl, Steve Vogt, David Jung, Bernhard Amor, Heni Ben Institute of Computer Science Technical University Bergakademie Freiberg Bernhard-von-Cotta-Str. 2 Freiberg09599 Germany School of Computing Informatics And Decision Systems Engineering Arizona State University 699 S Mill Ave TempeAZ85281 United States

ISBN: (纸本)9781467380263

Robotic manipulation tasks often require the control of forces and torques exerted on external objects. This paper presents a machine learning approach for estimating forces when no force sensors are present on the robot platform. In the training phase, the robot executes the desired manipulation tasks under controlled conditions with systematically varied parameter sets. All internal sensor data, in the presented case from more than 100 sensors, as well as the force exerted by the robot are recorded. Using Transfer Entropy, a statistical model is learned that identifies the subset of sensors relevant for torque estimation in the given task. At runtime, the model is used to accurately estimate the torques exerted during manipulations of the demonstrated kind. The feasibility of the approach is shown in a setting where a robotic manipulator operates a torque wrench to fasten a screw nut. Torque estimates with an accuracy of well below ±1Nm are achieved. A strength of the presented model is that no prior knowledge of the robot's kinematics, mass distribution or sensor instrumentation is required. © 2016 IEEE.

关键词： Torque

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Design of Software as a Service (SaaS) for regional data service: Case study: Statistics Indonesia 3

Design of Software as a Service (SaaS) for regional data ser...

引用

3rd international conference on Information Technology Systems and Innovation, ICITSI 2016

作者： Sunandar, Dadang Albarda School of Electrical Engineering and Informatics Institute of Technology Bandung Bandung Indonesia

ISBN: (纸本)9781509024490

Data has a strategic role in planning, evaluating, making decisions, and formulating policy. Various data supplying that appropriate with the potential of each region was conducted by the Statistics Indonesia (BPS) in each of those region. Service engineering efort needs to be done to improve the quality of data services in every regional BPS. In order to implement the services easily in every regional BPS then the service was delivered in the form of Software as a Service (SaaS). Service engineering and SaaS development, each has its own method. So, this study is to combine service engineering method with SaaS development method. © 2016 IEEE.

关键词： Software as a service (SaaS)

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Forward kinematics of a human-arm system and inverse kinematics using vector calculus

Forward kinematics of a human-arm system and inverse kinemat...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Hoi V. Nguyen Than D. Le Dung D. Huynh Peter Nauth Faculty of Engineering Vietnamese-German University Binh Duong Vietnam Department of Informatics Vietnamese-German University Binh Duong Vietnam Faculty 2- Information Technology Laboratory for Autonomous Systems Frankfurt Germany

ISBN: (纸本)9781509035502

Simple procedure in designing and studying forward and inverse kinematics of a 5-DOF humanoid robotic arm. Firstly, the idea of imitating human's joint behavior using servo-pairs is introduced. Then, using Denavit-Hartenberg parameters, the forward kinematics of the arm is calculated. After that, one solution for the inverse kinematics problem is proposed, in an iterative way such that further models can be solved also.

关键词： Kinematics Mathematical model Servomotors Manipulators Shoulder DH-HEMTs

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Algorithms of constructing models for compensating navigation systems of unmanned aerial vehicles

Algorithms of constructing models for compensating navigatio...

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international conference on robotics and automation Engineering (ICRAE)

作者： Kai Shen Andrey V. Proletarsky Konstantin A. Neusypin Department of Informatics and Control Systems Bauman Moscow State Technical University Moscow Russian Federation

ISBN: (纸本)9781509040735

The problem of compensating autonomous navigation systems with predictive algorithms was studied. For the purpose of high-precision compensation, the method of constructing nonlinear models, i.e. modified self-organization algorithm with redundant trends, was proposed with the help of identification of basic functions. The results of mathematical modeling of inertial navigation system errors with predictive algorithms demonstrated the effectiveness and high-accuracy of proposed algorithms for constructing models.

关键词： Predictive models Prediction algorithms Mathematical model Market research Inertial navigation Estimation

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A comparative analisys of FACTS devices implemented in the Romanian power system

A comparative analisys of FACTS devices implemented in the R...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： D. Guşă G. Iordache Presadă I. M. Dragomir S. St. Iliescu National Dispatch Center Bucharest Romania National Dispatch Center Transelectrica Bucharest Romania Automatic Control and Industrial Informatics Department University Politehnica of Bucharest Bucharest Romania

The paper describes the dynamic behavior of STATCOM device and a SVC device connected in the National Grid and shows simulation results. The operation principle of the two devices will be presented. The simulations were made using specialized software Eurostag. Various operation scenarios were simulated in order to show the impact on the transmission power grid.

关键词： Static VAr compensators Reactive power Automatic voltage control Power system stability Capacitors Power system dynamics

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Output robust control with anti-windup compensation for robotic boat

Output robust control with anti-windup compensation for robo...

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

作者： Oleg I. Borisov Vladislav S. Gromov Anton A. Pyrkin Alexey A. Bobtsov Igor V. Petranevsky Alexey O. Klyunin Department of Control Systems and Informatics ITMO University Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering Petersburg Russia

In this paper a problem of saturated control for a robotic boat with unknown parameters and unmeasurable velocity and acceleration is addressed. The controller design is based on the output robust control approach “consecutive compensator”. It was augmented with an integral loop, which allows to eliminate a static error and implement the anti-windup scheme to reduce overshoot of the output variable. As result, the regulator generating the bounded control signal and avoiding windup for the boat was obtained. The efficiency of the proposed algorithm was illustrated by the experimental approval using the robotic boat setup. The comparison between three types of controllers (regular consecutive compensator, integral modification and one equipped with anti-windup) is presented.

关键词： Boats Robot kinematics Computer vision Windup Lead control systems

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Spatial projection of thermal data for visual inspection

Spatial projection of thermal data for visual inspection

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Dorit Borrmann Florian Leutert Klaus Schilling Andreas Nüchter Informatics VII-Robotics and Telematics Julius Maximilian University Würzburg Germany Center for Telematics Würzburg Germany

ISBN: (纸本)9781509035502

Since the advent of thermal imaging, devices with a high optical resolution that use detector arrays to capture the emitted radiance in the thermal infrared range of an entire scene simultaneously have developed as a standard in monitoring energy related aspects. They have had a huge impact on the building industry and in manufacturing, where they are commonly used to monitor proecces that require stable temperature conditions. As beneficial as contactless measurements are, the subsequent localization of points of interest in the environment is often difficult. To overcome this problem we propose a portable system that combines thermal imaging with Augmented Reality (AR). The idea of the approach is to project the gathered temperature information back into the scene to facilitate visual inspection.

关键词： Cameras Calibration Three-dimensional displays Temperature measurement Inspection Buildings Visualization

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Advanced control techniques to mitigate the stop-and-go waves on a highway traffic with different vehicles

Advanced control techniques to mitigate the stop-and-go wave...

引用

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

作者： Cosmin Copot Constantin F. Caruntu Robin De Keyset Department of Electrical energy Ghent University Ghent-Zwijnaarde Belgium Op3Mech University of Antwerp Antwerp Belgium Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania Universiteit Gent Gent BE

In this paper, the behavior of stop-and-go waves present on highways using different types of mobile robots was investigated. The paper illustrates one possible solution to mitigate the stop-and-go waves by designing an appropriated control architecture. Therefore, different control strategies from simple PI controllers to more advanced model based predictive controllers were implemented, tested and validated using simulation. A comparison between the designed controllers and a driver based controller was considered. The revealed results shows that by using a suitable control strategy, the effect of stop-and-go waves can be diminished.

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Voltage — Reactive power control in renewables power plants: Technical requirements applied in the Romanian power grid

Voltage — Reactive power control in renewables power plants...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Elena-Daniela Dinu Doina Ilişiu Ioana Făgărăşan Sergiu Stelian Iliescu Nicoleta Arghira CNTEE Transelectrica SA-UNO-DEN Bucharest Romania Department of Automatic Control and Industrial Informatics University “Politehnica” of Bucharest Bucharest Romania

The presence of a significant proportion of renewable power plants in the Romanian National Power System has led to the need for renewable generation to contribute more significantly to power system voltage and reactive power control. This paper has theoretical and practical contributions on the operation in a complex, interconnected power system through secondary voltage-reactive power (U-Q) control requirements for renewable power plants. These conditions are gathered in a set of regulations proposed by the National Transport System Operator (TSO) and were implemented successfully on subsystems that include distributed energy resources. Several tests were done on wind power plants connected to the grid. The U-Q control regulations were based on a systemic approach of the substations where wind or photovoltaic are connected to the national power grid.

关键词： Voltage control Reactive power Reactive power control Power system stability Photovoltaic systems

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