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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151-160 订阅

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A Research Roadmap for Model-Driven Design of Embedded Systems for automation Components

A Research Roadmap for Model-Driven Design of Embedded Syste...

引用

7th IEEE international conference on Industrial informatics

作者： Strasser, T. Rooker, M. Hegny, I. Wenger, M. Zoitl, A. Ferrarini, L. Dede, A. Colla, M. Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute Vienna University of Technology Austria Dipartimento di Elettronica e Informazione of Politecnico di Milano Italy Institute of Computer Integrated Manufacturing for Sustainable Innovation University of Applied Sciences of Southern Switzerland Switzerland

ISBN: (纸本)9781424437597

The aim of this paper is to describe a research roadmap for a multi-domain model-driven embedded systems design approach and the corresponding meta-model which is applicable to the domain of complex Industrial automation and control Systems (IACS). The special requirements of the industrial automation sector are taken into account by this novel approach, utilizing existing model-driven techniques. This approach is currently being developed in the Framework Seven (FP7) Embedded Systems Design project MEDEIA funded by the European Commission.

关键词： Embedded systems

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A Framework for Designing Dynamic and Interoperable automation and robotics Systems 15

A Framework for Designing Dynamic and Interoperable Automati...

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15th IEEE international conference on Industrial informatics (INDIN)

作者： Salcic, Zoran Atmojo, Udayanto Dwi Park, Heejong Chen, Andrew Tzer-Yeu Wang, Kevin I-Kai Department of Electrical & Electronic Engineering Bangladesh University of Engineering and Technology Dhaka Bangladesh

ISBN: (纸本)9781538608371

In this paper, we propose using an approach based on the system-level programming language SystemJ extended with service oriented features, called SOSJ, to design dynamic interoperable software systems. The approach abstracts and integrates the worlds of automation and robotics systems by using a simple service interface based on abstract objects within SOSJ. We demonstrate our approach in a real-life automated bottling system scenario that uses multiple FESTO modular stations operating in SOSJ and integrating them with two Baxter robots operating in ROS without the need for any modification of the underlying mechatronics or robotics systems.

关键词： Service-oriented architecture Dynamic software Manufacturing systems Robot control

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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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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 ...

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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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Mathematical model for walking robot with shape memory alloy ankle

Mathematical model for walking robot with shape memory alloy...

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

作者： Petrisor, Anca Bizdoaca, Nicu George Rosca, Daniela Degeratu, Sonia Rosca, Adrian Petrisor, Raducu Univ Craiova Fac Electromech Engn Craiova Romania

ISBN: (纸本)9789728865832

The paper presents a simultaneous force and length variation mode in shape memory alloy (SMA) robotic application. The robotic ankle contains four SMA actuators and a spherical articulation. In order to assure a high efficient robotic architecture, the mechanical and the control structure have to assure a real-time response to the work environment changes. The load variations or the difference between the moment of full contact step and the non contact moment for a waking robot are the standard situations for a SMA robotic ankle. The paper is divided in five sections. First section makes a short introduction in the physical description and conventional applications of shape memory alloy materials. Then, are presented the mathematical model for robotic ankle, the walking robot geometrical structure and the causality ordering of the active pair of legs, in this case with one free joint. In the last section some experimental results are presented. These results were obtained by using MATLAB programs, conceived by authors, for design and simulation of walking robots control algorithms.

关键词： robotics shape memory alloy applications robotic ankle walking robot mathematical mode

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A Task Space Approach for Planar Optimal Robot Tube Following 13

A Task Space Approach for Planar Optimal Robot Tube Followin...

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

作者： Oberherber, Matthias Gattringer, Hubert Mueller, Andreas Schachinger, Michael Johannes Kepler Univ Linz Inst Robot Altenberger Str 69 Linz Austria

ISBN: (纸本)9789897581984

The classical optimal path following problem considers the problem of moving optimally along a predefined geometric path under technological restrictions. In contrast to optimal path following, optimal tube following allows deviations from the initial path within a predefined tube to reduce cost even more. The present paper proposes a modern approach that treats this non-convex problem in task space. This novel method also provides a simple way to derive optimal trajectories within a tube described in terms of polygonal lines. Numerical examples are presented that allow to compare the proposed method to existing joint space approaches.

关键词： robotics Optimal Path Planning Optimal Tube Following Dynamic Modeling Polygonal Paths

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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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Neuroevolution with CMA-ES for Real-time Gain Tuning of a Car-like Robot controller 16

Neuroevolution with CMA-ES for Real-time Gain Tuning of a Ca...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Irstea UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897583803

This paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this, the covariance matrix of a state observer is used to indicate the precision of the perception. CMA-ES, an evolutionary algorithm is used to train a neural network that is capable of adapting the robot's behaviour in real-time. Using a car-like vehicle model in simulation. Promising results show significant trajectory following performances improvements thanks to control gains fluctuations by using this new method. Simulations demonstrate the capability of the system to control the robot in complex environments, in which classical static controllers could not guarantee a stable behaviour.

关键词： Neuroevolution Machine Learning Neural Network Evolution Strategies Gradient-free Optimization robotics Mobile Robot control Theory Gain Tuning Adaptive control

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A Bio-inspired Auto-velocity Detection Algorithm for Autonomous Robots 14

A Bio-inspired Auto-velocity Detection Algorithm for Autonom...

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

作者： Gwerder, Erhard Doran, Hans Dermot Zurich Univ Appl Sci Inst Embedded Syst Technikumstr 9 CH-8401 Winterthur Switzerland

ISBN: (纸本)9789897583049

As examples of computationally cheap and robust sensors the eyes of a fly are well known in literature. Attempts to replicate the function of the eye in electronic technology has resulted in several algorithms and implementations based on those algorithms. These implementations are either impractical for industrial use or use costly Application Specific Integrated Circuits. In an attempt to use a low-cost Commercial off the Shelf camera as a sensor in a real-world robot navigation use-case we investigate two commonly used algorithms and find them unsuitable. We develop a new algorithm - the Distance of Travel algorithm - show its suitability and investigate its properties in both simulation and practical experiments.

关键词： robotics Photoreceptors Visualization Robot Vision Biological System Modeling Optical Sensors Autonomous Robots Speed Sensor

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