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

共 1478 条记录，以下是141-150 订阅

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IntellWheels - A development platform for intelligent wheelchairs for disabled people

IntellWheels - A development platform for intelligent wheelc...

引用

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

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo Artificial Intelligence and Computer Science Lab-LIACC Faculty of Engineering University of Porto 4200-465 Porto Rua Dr. Roberta Frias s/n Portugal

ISBN: (纸本)9789898111319

Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.

关键词： intelligent wheelchair intelligent robotics human-robots interfaces

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Improved occupancy grid learning - The ConForM approach to occupancy grid mapping

Improved occupancy grid learning - The ConForM approach to o...

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4th international conference on informatics in control, automation and robotics

作者： Collins, Thomas Collins, J. J. Ryan, Conor Univ Limerick Dept Comp Sci & Informat Syst Limerick Ireland

ISBN: (纸本)9789728865832

A central requirement for the development of robotic systems, that are capable of autonomous operation in non-specific environments, is the ability to create maps of their operating locale. The creation of these maps is a non trivial process as the robot has to interpret the findings of its sensors so as to make deductions regarding the state of its environment. Current approaches fall into two broad categories: on-line and offline. An on-line approach is characterised by its ability to construct a map as the robot traverses its operating environment, however this comes at the cost of representational clarity. An offline approach on the other hand requires all sensory data to be gathered before processing begins but is capable of creating more accurate maps. In this paper we present a new means of constructing occupancy grid maps which addresses this problem.

关键词： robotics occupancy grids machine learning artificial intelligence

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Remote robot control and high availability

Remote robot control and high availability

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

作者： Anton, Silvia Anton, Florin Daniel Borangiu, Theodor Univ Politehn Bucuresti Dept Automat & Appl Informat RO-060032 Bucharest Romania

ISBN: (纸本)9789898111319

Nowadays production flows are modular, each module in the enterprise being specialized and used to achieve a particular task. In many cases the modules are connected and materials are sequentially processed in each module resulting a final, unique product or assembly. One typical such production module is a flexible cell/system using multiple robots. In this structure, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. The paper describes a platform which is a software product designed to control and supervise multiple robot-vision controllers using remote connections with a number of Adept Technology V+ controllers configured to use a high availability implementation, either located in a local network or via Internet.

关键词： networked robotics high availability remote control flexible manufacturing systems robot vision

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Autonomous Surface Vessel based on a Low Cost Catamaran Design 13

Autonomous Surface Vessel based on a Low Cost Catamaran Desi...

引用

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

作者： Puente, Santiago Candelas, Francisco Torres, Fernando Basalai, Dzmitry Univ Alicante Phys Syst Engn & Signal Theory Dept Carretera De San Vicente S-N Alicante 03690 Spain

ISBN: (纸本)9789897581984

Nowadays, robotics is increasing its importance for the marine environment in our society. It allows to perform surveillance and data sampling tasks reducing the current cost of these tasks. This paper presents the design of a prototype of an Autonomous Surface Vessel (ASV) based on catamaran shape. It uses the screw theory for the propulsion system, which provides high manoeuvrability to the vessel. Furthermore, the parts of the ASV are designed to be printed by a RepRap 3D printer. This gives flexibility to check the performance of the vessel. Also the software control scheme of the vessel is presented.

关键词： Marine robotics Autonomous Surface Vessel ASV

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Obstacle detection in mobile outdoor robots -: A short-term memory for the mobile outdoor platform RAVON

Obstacle detection in mobile outdoor robots -: A short-term ...

引用

4th international conference on informatics in control, automation and robotics

作者： Schaefer, H. Proetzsch, M. Berns, K. Univ Kaiserslautern Robot Res Lab D-67653 Kaiserslautern Germany

ISBN: (纸本)9789728865832

In this paper a biologically inspired approach for compensating the limited angle of vision in obstacle detection systems of mobile robots is presented. Most of the time it is not feasible to exhaustively monitor the environment of a mobile robot. In order to nonetheless achieve safe navigation obstacle detection mechanisms need to keep in mind certain aspects of the environment. In mammals this task is carried out by the creature's short-term memory. Inspired by this concept an absolute local map storing obstacles in terms of representatives has been introduced in the obstacle detection and avoidance system of the outdoor robot RAVON. That way the gap between the fields of vision of two laser range finders can be monitored which prevents the vehicle from colliding with obstacles seen some time ago.

关键词： obstacle detection obstacle avoidance behaviour-based navigation mobile robotics short-term memory distributed minimal world model algorithms biologically inspired robotics

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Impedance control of a Redundant Parallel Manipulator 14

Impedance Control of a Redundant Parallel Manipulator

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Mendez, Juan de Dios Flores Schioler, Henrik Madsen, Ole Bai, Shaoping Aalborg Univ Dept Elect Syst Frederik Bajers Vej 7C DK-9220 Aalborg Denmark Aalborg Univ Dept Mech & Mfg Engn Fibigerstr 16 DK-9220 Aalborg Denmark

ISBN: (纸本)9789897583049

This paper presents the design of Impedance control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

关键词： robotics Redundant Parallel Manipulators control Optimization Compliant Motion Impedance control

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Multi-level control of an intelligent wheelchair in a hospital environment using a Cyber-Mouse simulation system

Multi-level control of an intelligent wheelchair in a hospit...

引用

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

作者： Braga, Rodrigo A. M. Petry, Marcelo Oliveira, Eugenio Reis, Luis Paulo Univ Porto Artificial Intelligence & Comp Sci Lab LIACC Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

The development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. The experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

关键词： intelligent wheelchair intelligent robotics Strips Planning path planning A* algorithm

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Lessons from the MOnarCH Project 13

Lessons from the MOnarCH Project

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

作者： Sequeira, Joao Silva Ferreira, Isabel Aldinhas Univ Lisbon IST ISR Lisbon Portugal Univ Lisbon Ctr Filosofia Lisbon Portugal

ISBN: (纸本)9789897581984

The paper describes the main conclusions issued from three years of development, of which approximately eighteen months of observations, of an autonomous social robot interacting with children and adults in the Pediatrics ward of an Oncological hospital. After this long period of trials and continuous interaction, the integration of the robot in that particular social environment can be considered highly successful. The results taken from all the long run experiments yield valuable lessons in what relates social acceptance and user experience to be considered in the case of robot deployment at institutions or even at households. These are detailed in the paper.

关键词： Human-Robot Interaction Social robotics

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Game Solving for Industrial automation and control

Game Solving for Industrial Automation and Control

引用

IEEE international conference on robotics and automation (ICRA)

作者： Cheng, Chih-Hong Geisinger, Michael Ruess, Harald Buckl, Christian Knoll, Alois Fortiss GmbH Germany Department of Informatics TU München Germany

ISBN: (纸本)9781467314053

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.

关键词： Specifications

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Quality-Based Behavior-Based control for Autonomous Robots in Rough Environments 14

Quality-Based Behavior-Based Control for Autonomous Robots i...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Ropertz, Thorsten Wolf, Patrick Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583049

Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially the robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality-based data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture. To demonstrate its capabilities, a perception network for robot localization is derived and its outcomes are compared to an state of the art localization filter in simulation and in a real world scenario as well.

关键词： Behavior-based control Quality-based Perception Localization Off-road robotics

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