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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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RCP-based HIL Simulation and control for 2-DOF Tracking Robot of Maneuvering Target

RCP-based HIL Simulation and Control for 2-DOF Tracking Robo...

引用

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

作者： Zhizhong Tong Hui Zhang Zhengmao Ye Junwei Han School of Mechatronics Engineering Harbin Institute of Technology Harbin China

The research on tracking control system of maneuvering target is a hot issue. 2-DOF robot has kinematic capability of tracking non-maneuvering and maneuvering targets in air, while the servo control of the robot is crucial for the performance of target tracking. Traditional routine, including modeling, simulation and controller design, is a serial process, so the burdensome iterative steps bring about restrictions to the development period and efficiency. RCP as a live design can realize a smooth and fast transition from conceptual design to experimental verifications. Based on this technique a design routine is proposed and used for HIL simulation of 2-DOF tracking robot of maneuvering target. Experimental results show that the new routine is efficient and the requirements are better fulfilled.

关键词： Target tracking Radar tracking robotics and automation Radar detection Automatic control Physics Parallel robots Phase detection Azimuth asia

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A Team CGA Learning Method TCCLA

A Team CGA Learning Method TCCLA

引用

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

作者： Yanbin Zheng Zhansheng Mou College of Computer and Information Technology Henan Normal University Xinxiang Henan China

In distributed virtual environment, through learning, individual CGA(Computer Generated Actor) can adapt environment and other CGA in team, so the team capability of solving problems, the adaptability and robust of CGA team have been increased. When the learning based on random games of team CGA has multiple equilibriums, the equilibrium selection problem of every member in team must be solved. This paper gives a learning method for team CGA called TCCLA. It divides the learning into two levels: managerial member learning and non-managerial member learning. Every member in team selects its optimization actions according to its preference. Non-managerial member learns the optimization equilibrium under the direction of managerial member, so the problem of equilibrium selection has been solved. The IPL algorithm has been improved. The high efficiency of TCCLA has been verified through experiment.

关键词： Learning systems Nash equilibrium robotics and automation Educational institutions Distributed computing Information technology asia informatics Automatic generation control Robot control

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Motion Detection with Entropy in Dynamic Background

Motion Detection with Entropy in Dynamic Background

引用

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

作者： Yu-Kumg Chen Tung-Yi Cheng Shuo-Tsung Chiu Department of Electronic Engineering Huafan University Taipei Taiwan

The traditional automatic smart image surveillance system can usually be used in the environment with still background. That is, the background image must not contain the moving objects. If there is waving ocean, waving tree, floating cloud, or raining in the background image, the traditional methods do not work well. In order to improve this problem, a new motion detection method based on the theory of entropy and combined a multi-periods sigma-delta background estimation algorithm is developed in this paper. Based on the theory of moving average, a moving thresholding method is designed in this paper to obtain a sequence of alarm announcements. Experiments are carried out for some samples with dynamic backgrounds to demonstrate the computational advantage of the proposed method.

关键词： Motion detection Entropy Intelligent systems Video surveillance IEEE news Change detection algorithms asia informatics Automatic control Motion control

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An Improved Self-Adaptive Particle Swarm Optimization Approach for Short-Term Scheduling of Hydro System

An Improved Self-Adaptive Particle Swarm Optimization Approa...

引用

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

作者： Shuangquan Liu Jinwen Wang School of Hydropower & Information Engineering Huazhong University of Science and Technology Wuhan China

An improved particle swarm optimization approach is introduced in this paper, the improvements involves the dasiaworstpsila particlepsilas impact on the particles in addition to that of the dasiabestpsila one. Meanwhile, a self-adaptive inertia weight is adopted to enhance the performance of the approach. With nonlinear constraints handled by a penalty function, the proposed approach is applied to solve the short-term hydro scheduling of an example hydro system, the proposed approach shows a higher performance and obtains promising results compared to the standard particle swarm optimization and other methods of previous researches.

关键词： Particle swarm optimization Integer linear programming Water resources Reservoirs Power system interconnection Dynamic programming robotics and automation Power system economics Power generation economics Fuel economy

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Modeling and Key Technologies Study of Three-Stage Electro-Hydraulic Servo Valve

Modeling and Key Technologies Study of Three-Stage Electro-H...

引用

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

作者： Xiaochu Liu Jingfeng He Zhengmao Ye Dacheng Cong Junwei Han School of Mechatronics Engineering Harbin Institute of Technology Harbin China

The modeling and study of three-stage electro-hydraulic servo valve are presented in this paper. According to its construction and principle, its model is built. The results of simulation and experimental test are consistent, which proves the validity of the model. Based on the study of the model, the performances of three-stage electro-hydraulic servo valve are mainly affected by pilot valve performance, spool and sleeve performance, position transducer performance and servo controller performance, which shows that there are four main key technologies. The study results have a guiding role for developing higher performance three-stage electro-hydraulic servo valve.

关键词： Servomechanisms Valves Mathematical model Transducers Testing Sliding mode control Transfer functions Frequency robotics and automation Performance evaluation

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A Composite Model Based on Shape for Fast Image Matching

A Composite Model Based on Shape for Fast Image Matching

引用

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

作者： Gang Xu Wenxian Yang Department of Electrical and Electronic Engineering North China Electric Power University Beijing China

A new improved partial Hausdorff distance is presented as the accurate measurement of the degree of shape similarity between the template and images, according to this distance, a fast strategy is proposed to measure the similarity roughly. A new genetic algorithm based on fuzzy logic, which can adaptively regulate the probabilities of crossover and mutation, is used to search the optimum shape matching quickly. The composite model composed of these algorithms can finish the shape matching from coarse to fine. The experimental results show that the model is capable of the shape matching with better quality and higher speed compared with other similar matching algorithms and can be used in real-time image matching.

关键词： Image matching Shape measurement Genetic algorithms High definition video Shape control Fuzzy logic robotics and automation Power measurement Electric variables measurement Genetic mutations

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Cooperative Multi-Robot Monocular-SLAM Using Salient Landmarks

Cooperative Multi-Robot Monocular-SLAM Using Salient Landmar...

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

作者： Ming Wu Feifei Huang Long Wang Jiyin Sun Second Artillery Engineering College Xi'an China Intelligent Control Laboratory Center of Systems and Control College of Engineering Peking University Beijing China

In this paper we propose an algorithm to multirobot cooperative simultaneous localization and mapping (SLAM) with monocular camera mounted on each robot. The map consists of a sparse set of features, and the feature is prominent in the environment that robots explored, we call it salient landmark. The scene of exploration is typical office environment. Vertical lines and doorplates of environment are considered as visual landmarks to implement single-robot localization and multirobot cooperation. An approach based on duplicate landmarks and rendezvous is also presented to improve the accuracy and reliability of SLAM. Our system was evaluated by an indoor two robot team, the results of this test showed that our approach is valid.

关键词： Simultaneous localization and mapping Robot kinematics Cameras Mobile robots Automatic control control systems robotics and automation Intelligent robots Educational institutions Robot vision systems

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A FOG Online Calibration Research Based on High-Precision Three-axis Turntable

A FOG Online Calibration Research Based on High-Precision Th...

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

作者： Xu Bo Sun Feng Harbin Engineering University Harbin Heilongjiang CN

With the development of fiber-optic gyroscopes, strapdown inertial navigation system has become a trend in the development of inertial navigation system (INS), and strapdown inertial system error calibration technique has become one of the key technologies. This paper combined engineering practice with study an on-line calibration method of INS, which based on the high-precision multi-functional three-axis turntable. First of all, aim at the actual system used in fiber-optic gyroscopes, accelerometers quartz flexible components, set up corresponding system error model respectively. Then, take the high-precision three-axis turntable as platform to design the calibrate path, through the on-line combination calibration .Use Kalman filter algorithm to process data on-line, completed the corresponding experiments, and verified by tests. Experimental results show that the calibration method is feasible in project and effective, and increased level of automation.

关键词： Calibration Gyroscopes robotics and automation Velocity measurement Educational institutions Inertial navigation Angular velocity Error compensation asia informatics

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Solea, Razvan Nunes, Urbano Department of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Coimbra 3030-290 Portugal Department of Automation and Industrial Informatics Dunarea de Jos University of Galati Galati 800-008 Romania

ISBN: (纸本)9783642002700

This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Degrees of freedom (mechanics)

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Method of 5-axis Spline Interpolation and Realization in CNC System

Method of 5-axis Spline Interpolation and Realization in CNC...

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

作者： Liangji Chen Sch. of Mechatron. Eng. Zhengzhou Inst. of Aeronaut. Ind. Manage. Zhengzhou

An interpolation method using non-uniform rational B-spline (NURBS) technology in the CAD field is proposed and realized in a 5-axis computer numerically controlled (CNC) system. In this method, the tool path is represented to two NURBS curves, tool-tip and tool-orientation spline curve, based on the same knot vector. CL data is firstly calculated and then transformed to five motion commands of 5 axes of machine through the real-time post-procession algorithm. The acceleration/deceleration controlling method is also presented to avoid the impact of machine. The proposed 5-axis spline interpolation method is realized in our developing 5-axis machine tool and the result of machining shows that the method is feasible.

关键词： Spline Interpolation Computer numerical control Surface topography Surface reconstruction Machining control systems Automatic control robotics and automation Piecewise linear approximation

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