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

12th International Conference on Informatics in Control, Aut...

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

ISBN: (纸本)9783319264516

The proceedings contain 17 papers. The special focus in this conference is on Intelligent control Systems and Optimization. The topics include: Using distance graphs to find meaningful levels of a hierarchical sequence prior to performing a cluster analysis;a safe way to real-time reconfiguration;full self-calibration of a hand-mounted projector using structured light;combinatorial optimization approach for feasible low-power and real-time flexible OS tasks;adaptive tracking approach of flexible cable conduit-actuated notes systems for early gastric cancer treatments;collectives of term weighting methods for natural language call routing;evaluating template uniqueness in ECG biometrics;soil identification and control-parameter estimation for optimal driving of wheeled robots on rough terrain;real-time implementation of pursuit-evasion games between unmanned aerial vehicles;design of a stable controller for the climbing robot CREA;hierarchic interactive path planning in virtual reality;short-term map based detection and tracking of moving objects with 3D laser on a vehicle;on the usage of general-purpose compression techniques for the optimization of inter-robot communication;proxy-based sliding mode control of compliant joint manipulators;contactless torque/speed sensing module with digital signal processing circuit;bio-inspired technical vibrissae for quasi-static profile scanning;design of time-varying sliding mode controller for a trajectory tracking problem of nonlinear systems.

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Identification and management of an electrical storage system for application in photovoltaic installations 13

Identification and management of an electrical storage syste...

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13th IEEE international conference on control and automation, ICCA 2017

作者： Delfino, F. Ferro, G. Minciardi, R. Robba, M. Rossi, M. Department of Electrical Electronic and Telecommunication Engineering University of Genova Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

ISBN: (纸本)9781538626795

The aim of this paper is to propose a MPC (Model Predictive control)-based hierarchical architecture for microgrids characterized by photovoltaics and storage systems. The first part of the work is focused on the storage model's identification during the charge and discharge phases with the aim of defining appropriate constraints to be inserted in the decision model. In the higher level, an optimization problem is developed and solved under a MPC scheme. The lower level, implemented on a PLC, receives references from the higher level and applies simple heuristics rules for real time control, on the basis of weather forecasts and data measured in real time. The developed algorithms have been applied to a real case study: a portion of the Savona Campus (University of Genoa) polygeneration microgrid that includes a photovoltaic field, an electric storage system, a load, and a connection with the electric grid. © 2017 IEEE.

关键词： Model predictive control

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A study of nonlinear forward models for dynamic walking

A study of nonlinear forward models for dynamic walking

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2017 IEEE international conference on robotics and automation, ICRA 2017

作者： You, Yangwei Zhou, Chengxu Li, Zhibin Tsagarakis, Nikos Department of Advanced Robotics Istituto Italiano di Tecnologia via Morego 30 Genova16163 Italy School of Informatics University of Edinburgh 10 Crichton St EdinburghEH8 9AB United Kingdom

ISBN: (纸本)9781509046331

This paper offers a novel insight of using nonlinear models for the control to produce more robust and natural walking gaits for humanoid robots. The sagittal and lateral gait control needs to be treated differently, hence, we proposed two types of suitable nonlinear models, which allow forward simulations to look ahead, and thus, predict accurately the future trajectory/state at the end of the current step. Subsequently, by performing multiple forward simulations in a similar manner for the next step and using the gradient descent method, an appropriate foot placement can be found to achieve precise walking speed. By doing this two-step lookahead, all trajectories of the support and the swing leg can be generated. Our proposed controller can plan trajectories at the beginning of each step or actively re-plan according to task state errors. It is validated effectively in simulations performed in both ADAMS and Open Dynamic Engine. The robot can successfully traverse up/down a stair and recover from pushes with more natural looking gaits compared to the conventional bent-knee style. The reasonable computational time also indicates the feasibility of real-time implementation on real robots. © 2017 IEEE.

关键词： Trajectories

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Application of the PBL Methodology at the ***. in Industrial Electronics and automation Engineering

Application of the PBL Methodology at the ***. in Industrial...

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Int Joint Conf on Int conference on Soft Comp Models in Ind and Environm Applicat / Int Conf on Computat Intelligence in Secur Informat Syst / Int Conf on European Transnat Educ

作者： Calvo, Isidro Quesada, Jeronimo Cabanes, Itziar Barambones, Oscar Univ Basque Country Univ Coll Engn Vitoria Gasteiz Dept Syst Engn & Automat Control Vitoria Spain Univ Basque Country Univ Coll Engn Vitoria Gasteiz Dept Elect Technol Vitoria Spain Univ Basque Country Fac Engn Bilbao Dept Syst Engn & Automat Control Bilbao Spain

ISBN: (纸本)9783319473642;9783319473635

This work describes one application of the PBL (Project Based Learning) methodology at the curriculum of the "Industrial informatics" module of the ***. Degree in Industrial Electronics and automation, taught at the University College of Engineering of Vitoria-Gasteiz. The choice of this methodology is based on the project orientation expected for the future engineers. Authors intended to reproduce, at reduced scale, the problematic of working in multidisciplinary teams with strict completion times. This approach forced students to get involved in the learning process while carrying out the tasks. During the process, students detected the learning needs by themselves in order to accomplish the project, and had to learn how to apply, in a proactive and autonomous way, the necessary techniques during the project implementation. Instructors proposed implementing a controller for a SCARA robot, which is a typical configuration found in industrial environments. Students take the "Industrial informatics" module (first semester) previously to the "robotics" module (second semester) of the third year, so the authors proposed a simplified configuration for the SCARA robot with only two degrees of freedom (2DoF). The scale model of the robot was built with the LEGO Mindstorms NXT kit, which provides an interesting flexibility/price compromise. This approach forced students to apply concepts acquired in previous modules, as well as skills and techniques that will be of use in the future.

关键词： Collaborative learning Active methodologies Course design and curriculae Supervising and managing student projects Project based learning (PBL) robotics Lego mindstorms

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Variable Stiffness Link (VSL): Toward inherently safe robotic manipulators

Variable Stiffness Link (VSL): Toward inherently safe roboti...

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2017 IEEE international conference on robotics and automation, ICRA 2017

作者： Stilli, Agostino Grattarola, Luca Feldmann, Hauke Wurdemann, Helge A. Althoefer, Kaspar Department of Informatics King's College London Strand LondonWC2R 2LS United Kingdom Faculty of Technology Hochschule Emden/Leer Constantiapl. 4 Emden26723 Germany Department of Mechanical Engineering University College London Gower St LondonWC1E 6BT United Kingdom School of Electronic Engineering and Computer Science Queen Mary University of London Mile End Rd LondonE1 4NS United Kingdom

ISBN: (纸本)9781509046331

Nowadays, the field of industrial robotics focuses particularly on collaborative robots that are able to work closely together with a human worker in an inherently safe way. To detect and prevent harmful collisions, a number of solutions both from the actuation and sensing sides have been suggested. However, due to the rigid body structures of the majority of systems, the risk of harmful collisions with human operators in a collaborative environment remains. In this paper, we propose a novel concept for a collaborative robot made of Variable Stiffness Links (VSLs). The idea is to use a combination of silicone based structures and fabric materials to create stiffness-controllable links that are pneumatically actuated. According to the application, it is possible to change the stiffness of the links by varying the value of pressure inside their structure. Moreover, the pressure readings from the pressure sensors inside the regulators can be utilised to detect collisions between the manipulator body and a human worker, for instance. A set of experiments are performed with the aim to assess the performance of the VSL when embedded in a robotic manipulator. The effects of different loads and pressures on the workspace of the manipulator are evaluated together with the efficiency of the collision detection control system and hardware. © 2017 IEEE.

关键词： Stiffness

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Accelerated Finite State Machine Test Execution Using GPUs

Accelerated Finite State Machine Test Execution Using GPUs

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asia-Pacific conference on Software Engineering

作者： Vanya Yaneva Arnav Kapoor Ajitha Rajan Christophe Dubach School of Informatics University of Edinburgh Edinburgh UK International Institute of Information Technology Hyderabad India

ISBN: (纸本)9781728119717;9781728119700

Model-based development has emerged as a popular approach aiding automation of the software development process, where software is implemented and tested based on a model of the required system. Finite State Machines (FSMs) are a widely used model representation for a variety of systems, including control systems, signal processing and communications protocols. Ensuring that the model accurately represents the required behaviour involves the generation and execution of a large number of tests that is time consuming and expensive. In this paper, we focus on test execution and propose exploiting Graphics Processing Units (GPUs) for accelerating FSM testing by executing the tests in parallel on GPU threads. Our approach includes methods to encode the FSM efficiently and optimise the layout of tests in GPU memory for fast execution. We compare speedup achieved by our approach against parallel test execution on a multi-core CPU with 16 cores. We also assess the improvement in speedup using the proposed FSM encoding and test layouts. We use large FSMs from the networking domain and a large industry FSM from Keysight, who provide electronic measurement solutions, in our evaluation. We accelerate the execution of test suites providing all-transition pair coverage for each of the FSMs. Speedup achieved is subject to characteristics of the FSM and associated tests, and is greatly improved with efficient FSM encoding and test layout in memory. We find our approach on the GPU achieves a maximum test execution speedup of 12× over a 16-core CPU.

关键词： Graphics processing units Testing Instruction sets Layout Integrated circuit modeling Life estimation Sparse matrices

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Automated seam tracking system based on passive monocular vision for automated linear robotic welding process 15

Automated seam tracking system based on passive monocular vi...

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15th IEEE international conference on Industrial informatics, INDIN 2017

作者： Weis, Atila A. Mor, Jusoan L. Soares, Luciane B. Steffens, Cristiano R. Drews-Jr, Paulo L. J. De Faria, Matheus F. Evald, Paulo J. D. O. Azzolin, Rodrigo Z. Filho, Nelson D. Botelho, Silvia S. Da C. Intelligent Robotics and Automation Group NAUTEC Science Computer Center - C3 Federal University of Rio Grande Brazil

ISBN: (纸本)9781538608371

Welding is an important process in the industrial scenario, especially in the shipbuilding industry. This process is recognized by the laborious work and the hazardous work environment. The use of robots to automate the welding process can reduce the human interference and improve the productivity. This paper proposes a system for automated seam tracking based on passive monocular vision. The vision provides a data feedback to the automated robotic welding system allowing quality and productivity gains. A trajectory controller is developed to correct the robot's movement over the seam reference. The controller and a visual algorithm to find the seam reference in a real Gas Metal Arc Welding (GMAW) process are presented. The proposed system allows the automated seam tracking, the trajectory control of the welding torch, and a higher automation level in linear robotic welding. The capabilities of the method is evaluated using a commercial linear welding robot showing its viability. © 2017 IEEE.

关键词： Productivity

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Autonomous Rover Navigation Using GPS Based Path Planning

Autonomous Rover Navigation Using GPS Based Path Planning

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asia Modelling Symposium (AMS) / 11th international conference on Mathematical Modelling and Computer Simulation

作者： Al Arabi, Abul Sakib, Hasib Ul Sarkar, Pranabesh Proma, Tanjina Piash Anowar, Jahedul Amin, M. Ashraful Independent Univ Bangladesh Dept Comp Sci & Engn Comp Vis & Cybernet Grp Dhaka Bangladesh

ISBN: (纸本)9781538637524

Nowadays, with the constant evolution of Artificial Intelligence and Machine Learning, robots are getting more perceptive than ever. For this quality they are being used in varying circumstances which humans cannot control. Rovers are special robots, capable of traversing through areas that are too difficult for humans. Even though it is a robust bot, lack of proper intelligence and automation are its basic shortcomings. As the main purpose of a rover is to traverse through areas of extreme difficulties, therefore an intelligent path generation and following system is highly required. Our research work aimed at developing an algorithm for autonomous path generation using GPS (Global Positioning System) based coordinate system and implementation of this algorithm in real life terrain, which in our case is MDRS, Utah, USA. Our prime focus was the development of a robust but easy to implement system. After developing such system, we have been able to successfully traverse our rover through that difficult terrain. It uses GPS coordinates of target points that will be fed into the rover from a control station. The rover capturing its own GPS signal generates a path between the current location and the destination location on its own. It then finds the deviation in its current course of direction and position. And eventually it uses Proportional Integral Derivative control loop feedback mechanism (PID control algorithm) for compensating the error or deviation and thus following that path and reach destination. A low cost on board computer (Raspberry Pi in our case) handles all the calculations during the process and drives the rover fulfilling its task using an microcontroller (Arduino).

关键词： Rover and robotics autonomous traversal autonomous path planning GPS path planning GPS path follower

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Gaussian pedestrian proxemics model with social force for service robot navigation in dynamic environment 17th

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17th international conference on asia Simulation, asiaSim 2017

作者： Chik, Sheng Fei Yeong, Che Fai Su, Eileen Lee Ming Lim, Thol Yong Duan, Feng Tan, Jeffrey Too Chuan Tan, Ping Hua Chin, Patrick Jun Hua Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Johor Bahru Malaysia Malaysia Japan Institute of Technolgy Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Automation College of Computer and Control Engineering Nankai University Tianjin China Institute of Industrial Science The University of Tokyo Tokyo Japan DF Automation and Robotics Sdn. Bhd Skudai Malaysia

ISBN: (纸本)9789811064623

Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social acceptance of a service robot. In this paper, a new proxemics model, Social-Force Gaussian Pedestrian Proxemics Model is presented to model the pedestrian social space and to improve the service robot navigation in dynamic human environment. This model was simulated and validated in a pedestrian simulator with both low and high pedestrian density environments. Results showed that the proposed model (i) improved proxemics representation of pedestrians, (ii) enhanced the robot performance in respecting the social norm and (iii) increased the efficiency in achieving a given task. This paper also presents the methods for parameter selections for the model without the requirement of complex tuning. © Springer Nature Singapore Pte Ltd. 2017.

关键词： Mobile robots

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Learning task constraints in operational space formulation

Learning task constraints in operational space formulation

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IEEE international conference on robotics and automation (ICRA)

作者： Hsiu-Chin Lin Prabhakar Ray Matthew Howard School of Informatics University of Edinburgh UK Dept. of Informatics King's College London UK

Many human skills can be described in terms of performing a set of prioritised tasks. While a number of tools have become available that recover the underlying control policy from constrained movements, few have explicitly considered learning how constraints should be imposed in order to perform the control policy. In this paper, a method for learning the self-imposed constraints present in movement observations is proposed. The problem is formulated into the operational space control framework, where the goal is to estimate the constraint matrix and its null space projection that decompose the task space and any redundant degrees of freedom. The proposed method requires no prior knowledge about either the dimensionality of the constraints nor the underlying control policies. The techniques are evaluated on a simulated three degree-of-freedom arm and on the AR10 humanoid hand.

关键词： Aerospace electronics Null space Pressing Glass Linear programming Redundancy Jacobian matrices

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