The proceedings contain 150 papers. The topics discussed include: an interpolation approach for constrained output feedback;target-aware anomaly detection and diagnosis;optimization learning method for discrete proces...
ISBN:
(纸本)9789898425751
The proceedings contain 150 papers. The topics discussed include: an interpolation approach for constrained output feedback;target-aware anomaly detection and diagnosis;optimization learning method for discrete process control;inner and outer capture basin approximation with support vector machines;a study for manufacturing cell formation approach considering setup;cost-optimal strong planning in non-deterministic domains;interactive sketch design recognition system using evolutionary techniques;generation of process variants;intelligent fault detection, identification and control of satellite formation flying;computational experience with structure-preserving Hamiltonian solvers in optimal control;personal advanced traveler assistant;building visual maps with a single omnidirectional camera;visual servoing of a multi-robotic system for manipulation tasks;and performance verification of the head/eye integrated tracker.
The proceedings contain 24 papers. The topics discussed include: ICT application on the management of intelligent transportation systems;abstractions of hybrid systems for verification;meeting the world challenges wit...
ISBN:
(纸本)9783642197291
The proceedings contain 24 papers. The topics discussed include: ICT application on the management of intelligent transportation systems;abstractions of hybrid systems for verification;meeting the world challenges with advanced system organizations;an improved mean-shift tracking algorithm based on adaptive multiple feature fusion;modelling and performance enhancement of a linear actuation mechanism using conducting polymers;dynamic walking on uneven terrains with passivity-based bipedal robots;task partitioning in swarms of robots: reducing performance losses due to interference at shared resources;exploiting hierarchical probabilistic motion planning for robot reachable workspace estimation;defocus-based three-dimensional tracking in SEM images;studies on the convergence of information theory and control theory;and interdisciplinary modeling of autonomous systems deployed in uncertain dynamic environments.
This article presents a system of intuitive control the upper extremity exoskeleton and other mechatronic devices with EMG and EEG for people with different degrees of musculoskeletal system damage. The technology let...
详细信息
This article presents a system of intuitive control the upper extremity exoskeleton and other mechatronic devices with EMG and EEG for people with different degrees of musculoskeletal system damage. The technology let control an apparatus by thinking about it. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given below. Algorithms were tested on real objects and simulator.
The proceedings contain 23 papers. The topics discussed include: dynamic modeling of robots using Newton-Euler formulation;design and experimental validation of a combined PI and Bi-positional laws controller for dela...
ISBN:
(纸本)9783642195389
The proceedings contain 23 papers. The topics discussed include: dynamic modeling of robots using Newton-Euler formulation;design and experimental validation of a combined PI and Bi-positional laws controller for delaying the transition from laminar flow to turbulent flow over a morphing wing;timed specification patterns for system validation: a railway case study;a passivity-based approach to group coordination in multi-agent networks;orientation of doubly nonholonomic mobile manipulator in the path tracking problem;extracting the frequency of robotic tasks with an adaptive Fourier series: application to yo-yo;development of a low-pressure fluidic servo-valve for wearable haptic interfaces and lightweight robotic systems;active method for mobile object detection from an embedded camera, based on a Contrario clustering;and adaptive and robust linearizing control strategies for fed-batch cultures of microorganisms exhibiting overflow metabolism.
The object of this work is to highlight, on a physical coupled tanks system, the performances of a digital design of a continuous-time passivity based controller. The design considers the sampled-data model of the pla...
详细信息
The object of this work is to highlight, on a physical coupled tanks system, the performances of a digital design of a continuous-time passivity based controller. The design considers the sampled-data model of the plant and provides better results compared to the emulations of given continuous-time controllers. A two-state continuous-time non-linear model is used to design the digital controller. A feedback passivating controller is developed in continuous-time from a suitable choice of the storage function V. The results show good performances of the controller when increasing the sampling period or the controllers gain.
Performing task-space tracking control on redundant robot manipulators is a difficult problem. When the physical model of the robot is too complex or not available, standard methods fail and machine learning algorithm...
详细信息
Performing task-space tracking control on redundant robot manipulators is a difficult problem. When the physical model of the robot is too complex or not available, standard methods fail and machine learning algorithms can have advantages. We propose an adaptive learning algorithm for tracking control of underactuated or non-rigid robots where the physical model of the robot is unavailable. The control method is based on the fact that forward models are relatively straightforward to learn and local inversions can be obtained via local optimization. We use sparse online Gaussian process inference to obtain a flexible probabilistic forward model and second order optimization to find the inverse mapping. Physical experiments indicate that this approach can outperform state-of-the-art tracking control algorithms in this context.
In the typical computer control systems the core control algorithm itself is usually hard coded in a fixed form in a computer program. As such the control algorithm is not easily adjustable for run-time changing contr...
详细信息
In the typical computer control systems the core control algorithm itself is usually hard coded in a fixed form in a computer program. As such the control algorithm is not easily adjustable for run-time changing control goals and usually if any kind of reconfiguration of the algorithm is required, it can only be achieved via some kind of external tuning. In this paper a software architecture of Fuzzy Logic controller algorithm for control of DC generator with separate excitation is presented. As such, the generator is a non-linear system due to the non-linear magnetization characteristic of its excitation circuit. Novelty of the paper lies in using the Open Decision Point component architecture to implement a flexible control algorithm where the core decision making logic is run-time loadable, configurable and replaceable which does not only enable parametric adjustment of control strategy but also changing the control strategy itself.
A well-known reactive motion planning technique, the dynamic window approach (DWA) provides an elegant way to navigate safely in the presence of obstacles, also taking the dynamic properties of the robot into account....
详细信息
A well-known reactive motion planning technique, the dynamic window approach (DWA) provides an elegant way to navigate safely in the presence of obstacles, also taking the dynamic properties of the robot into account. Most of the DWA-based methods have the same limitation, namely they use an objective function consisting of weighted terms. Different situations require different weights, however, there is no algorithm for choosing them. This paper presents a global dynamic window-based navigation scheme using model predictive control and having no weighted objective function. Former DWA-based methods take dynamic limitations of the robot by acceleration constraints into account. In contrast with that, the proposed approach utilizes a dynamic motion model of the robot.
An ongoing effort within the community of verification and program analysis is to raise the level of abstraction in programming by automatic synthesis. In this paper, we demonstrate how our synthesis engine GAVS+ achi...
详细信息
An ongoing effort within the community of verification and program analysis is to raise the level of abstraction in programming by automatic synthesis. In this paper, we demonstrate how our synthesis engine GAVS+ achieves this goal by automatically creating control code for the FESTO Modular Production System. The overall approach is model-driven: we reinterpret planning domain definition language (PDDL) as a design contract to model two-player games played between control and environment, such that users can describe (i) basic abilities of hardware components, including sensors (as environment moves) and actuators (as control moves), (ii) topologies how components are interconnected, and (iii) desired specification under a restricted class of linear temporal logic. The model is processed by our game-based synthesis engine, from which intermediate code is generated. By mapping each behavioral-level action to a sequence of low-level PLC control commands, we transform the intermediate code into an executable program. The efficiency of our engine enables to synthesize every scenario presented in this paper within seconds. When the specification evolves, this implies a huge time-gain compared to manual program modification.
In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a flexible rope with a high-speed robot arm. The manipulation strategy involves manipulating the object at a constant, high s...
详细信息
In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a flexible rope with a high-speed robot arm. The manipulation strategy involves manipulating the object at a constant, high speed. Then, we can assume that the dynamic behavior of the flexible rope can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a model of the flexible rope and suggest a motion planning method using the proposed model. Finally, we show experimental results of rope deformation control based on the proposed method.
暂无评论