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

共 1479 条记录，以下是461-470 订阅

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The complex innovation elaboration at the Avionics engineering center

The complex innovation elaboration at the Avionics engineeri...

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international conference on robotics and automation Engineering (ICRAE)

作者： Andrey V. Proletarsky Nadezhda A. Rachkovskaya Konstantin A. Neusypin Kai Shen Department of Informatics and Control Systems Bauman Moscow State Technical University Moscow Russian Federation Department of General and Pedagogic Psychology Moscow Region State University Moscow Russian Federation

ISBN: (纸本)9781509040735

Research directions for carrying out scientific works are presented within the Avionics Engineering Center. The structure of Avionics Engineering Center is illustrated and prospective areas of working are highlighted. Methods on implementation of perspective scientific research and educational programs are developed for innovative development of innovation process in engineering complex "Avionics". Symbiosis of new development and programs allows training and getting a set of better quality specialists and innovative technologies in the defense and aerospace industry.

关键词： Atmospheric modeling Aircraft Mathematical model Aerospace electronics Aircraft manufacture Computational modeling Training

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PV module behavior model for different external factors conditions

PV module behavior model for different external factors cond...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Mihai Andrei Ionescu Sergiu Stelian Iliescu Nicoleta Arghira Ioana Fagarasan Department of Automatic Control and Industrial Informatics University “Politehnica” of Bucharest Bucharest Romania

A renewable technology that is gaining more and more credit and registered a fast market development during the last couple of decades is represented by photovoltaic (PV) devices. Being characterized by low energy efficiencies and high investment costs, the main interest is to exploit these equipments as productive as possible. A major problem is the fact that catalog data for photovoltaic devices is valid only for Standard Test Conditions, while the main external factors manifest a significant influence on these devices' characteristics of operation. This paper provides an accurate study regarding the behavior and performance in variable temperature and solar irradiance conditions for 128 PV modules. A new method for equivalent scheme parameters' computing, designed for the complete single exponential model, in variable external factors conditions is provided.

关键词： Resistance Mathematical model Temperature distribution Photovoltaic systems Curve fitting

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An architecture for a cached policy-based decision making systems

An architecture for a cached policy-based decision making sy...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Mariusz Pelc Tomasz Stach Dominika Swierczynska Faculty of Electrical Engineering University of Greenwich Opole Poland Faculty of Electrical Engineering Automatic Control and Informatics Opole Poland

Nowadays, majority of systems that involve some kind of decision-making process use policy-based computing where decisions are being made as a result of a policy evaluation. Policies are usually formed by system experts who describe in a specified Policy Definition Language how the system should respond to a change of its context information. However, depending on the policy complexity needed to make a decision may become an issue, especially when embedded or real-time control systems are concerned. In such systems certain level of policy complexity may result in ability of the control system to return a valid decision before a deadline. Hence any architectural solution that would resolve or at least minimise the issue would be more than welcome. In this paper we propose an architecture for a policy-based decision making system in application to an embedded control systems. In our solution add to a typical policy-based system an intermediate component - a cache memory which ultimately leads to increasing of the whole system performance. A number of scenario-based performance tests show potential performance gains.

关键词： control systems Decision making Complexity theory Cache memory Process control Computer architecture Context

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On testing stability and flow-invariance of arbitrary switching positive systems via linear copositive Lyapunov functions

On testing stability and flow-invariance of arbitrary switch...

引用

IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Octavian Pastravanu Mihaela-Hanako Matcovschi Department of Automatic Control and Applied Informatics Technical University “Gheorghe Asachi” of Iasi Iasi Romania

The paper proposes an algebraic setting for the concrete construction of linear copositive Lyapunov functions associated with arbitrary switching positive systems; this approach complements a series of already reported results that are limited to the existence problem. Our development encompasses both discrete- and continuous-time dynamics, in a unifying manner, based on sets of quasi-linear inequalities and their solvability. The construction procedure can provide the linear copositive Lyapunov function exhibiting the optimal or ε-suboptimal decreasing rate. The procedure exploits the Perron-Frobenius eigenstructure of the representative matrix (built for columns), which possesses the greatest eigenvalue; the role of (ir)reducibility of this matrix is analyzed for some of mostly encountered practical cases. To illustrate the applicability of our developments, a numerical example from literature is considered.

关键词： Decision support systems

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Vibration suppression with fractional-order PIλDμ controller

Vibration suppression with fractional-order PIλDμ controll...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Isabela R. Birs Cristina I. Muresan Silviu Folea Ovidiu Prodan Levente Kovacs Department of Automation Technical University of Cluj-Napoca Department of Civil Engineering Technical University of Cluj-Napoca Faculty of Informatics Obuda University Hungary

Cantilever beams have an important role in day to day life in bridges, towers, buildings and aircraft wings, making active vibration suppression a highly researched field. The purpose of this paper is to detail the design of fractional order PID controllers for smart beams. A novel tuning procedure is proposed based on solving a set of nonlinear complex equations that directly aim at reducing the resonant peak. The control parameters are computed through optimization techniques, making sure that the best ones are chosen. The practical stand was realized using magnet-coil approach and not piezoelectric actuators. The experimentally obtained vibration results prove that fractional order PID controllers can be used in practice to significantly reduce the amplitude and settling time of the vibrating system.

关键词： Vibrations Transfer functions Mathematical model Tuning Optimization Magnetomechanical effects Resonant frequency

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Visual Servoing of a Medical Ultrasound Probe for Needle Insertion

Visual Servoing of a Medical Ultrasound Probe for Needle Ins...

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IEEE international conference on robotics and automation

作者： Kim Mathiassen Kyrre Glette Ole Jakob Elle Department of Informatics University of Oslo Gaustadalleen 23 B N-0373 Norway

ISBN: (纸本)9781467380270

Percutaneous needle insertion guided by ultrasound imaging is routinely performed in hospitals today. Automating these procedures could increase placement accuracy and lower time usage of health care personnel to perform these procedures. An important step in the automation is the estimation of the needle orientation and position in the ultrasound image. One approach to estimate the needle orientation and position is to have the needle aligned with the image plane of the ultrasound probe. Aligning the needle with the plane is difficult, even with accurate measurements and calibration of both needle and probe. In this paper we propose a visual servoing method to move the ultrasound probe, using a robot to align the image plane of the probe with the needle. The method segments the needle and updates a set of visual features based on a model of the needle. A state machine is used to keep track of the alignment process, and different visual features are used to control the probe in the different states. Both simulation using simple synthetic images and experiments in a water tank are conducted to validate the proposed method. The simulation shows that the proposed method manages to align the probe plane with the needle. The alignment process is slower in the actual robot experiment, but still aligns the probe plane with the needle. The method is shown to work under simplified conditions, and is a step towards a method that could be applied in a clinical setting.

关键词： Servoing Medical Ultrasound

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Neural network contour error predictor in CNC control systems

Neural network contour error predictor in CNC control system...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Krystian Erwinski Marcin Paprocki Andrzej Wawrzak Lech M. Grzesiak Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Torun Poland Faculty of Electrical Engineering Warsaw University of Technology Warsaw Poland

This article presents a method for predicting contour error using artificial neural networks. Contour error is defined as the minimum distance between actual position and reference toolpath and is commonly used to measure machining precision of Computerized Numerically controlled (CNC) machine tools. Offline trained Nonlinear Autoregressive networks with exogenous inputs (NARX) are used to predict following error in each axis. These values and information about toolpath geometry obtained from the interpolator are then used to compute the contour error. The method used for effective off-line training of the dynamic recurrent NARX neural networks is presented. Tests are performed that verify the contour error prediction accuracy using a biaxial CNC machine in a real-time CNC control system. The presented neural network based contour error predictor was used in a predictive feedrate optimization algorithm with constrained contour error.

关键词： Training Biological neural networks Computational modeling Heuristic algorithms Prediction algorithms Feeds Splines (mathematics)

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A Geometry Deformation Model for Compound Continuum Manipulators with External Loading

A Geometry Deformation Model for Compound Continuum Manipula...

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IEEE international conference on robotics and automation

作者： S.M. Hadi Sadati Ali Shiva Ahmad Ataka S. Elnaz Naghibi Ian. D. Walker Kaspar Althoefer Thrishantha Nanayakkara Center for Robotics Research (CoRe) Department of Informatics King's College London WC2R 2LS UK

ISBN: (纸本)9781467380270

The complexity of soft continuum manipulators with hybrid and tuneable structures poses a challenging task to achieve an inverse kinematics model which is both precise and computationally efficient for control and optimization purposes. In this paper, a new method based on the principle of virtual work and a geometry deformation approach is presented for the inverse kinematics model of the STIFF-FLOP arm which is a pneumatically actuated continuum manipulator. We propose a novel simplified and computationally efficient yet accurate analytical solution to analyse the static behaviour of a compound soft manipulator in the presence of external and body forces which is verified against experimental data, showing promising agreement with 10% mean error for planar movements. In the process, we present a new modelling approach for braided soft extensor actuators with no braid-surface relative slip constraint. For the first time, our model predicts a simple analytical solution for the cross section deformation which is essential to control soft manipulators with regional tunable stiffness structure.

关键词： Model Compound Continuum

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The Efficacy of Interaction Behavior and Internal Stiffness control for Embodied Information Gain in Haptic Perception

The Efficacy of Interaction Behavior and Internal Stiffness ...

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IEEE international conference on robotics and automation

作者： Nantachai Sornkarn Thrishantha Nanayakkara Department of Informatics Kings College London Strand WC2R 2LS UK

ISBN: (纸本)9781467380270

Haptic perception in biological systems not only depends on the environmental conditions, but also on the behavioral state and the internal impedance of the embodiment because proprioceptive sensors are embedded in the muscle and tendons used for actuation. A simple example of such a phenomenon can be found when people are asked to palpate a soft tissue to identify a stiff-inclusion. People tend to perform a variety of palpation strategies depending on their previous knowledge and the desired information. Does this mean that the probing behavioral variables and internal muscle impedance parameters and their interaction with given environmental conditions play a role in the perception information gain during the estimation of soft tissue's properties? In this paper, we use a two-degree of freedom laboratory-made variable stiffness and indentation probe to investigate how the modulation of probing behavioral and internal stiffness variables can affect the accuracy of the depth estimation of stiff inclusions in artificial silicon phantom tissue using information gain metrics based on prior knowledge in form of memory primitives.

关键词： Efficacy Interaction Behavior

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The formation of motion laws for mechatronics objects along the paths with the desired speed

The formation of motion laws for mechatronics objects along ...

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international conference on Computer, control, informatics and Its Applications (IC3INA)

作者： V. Filaretov A. Gubankov I. Gornostaev Department of Automatization and Control Far Eastern Federal University Vladivostok Russia Robotics Laboratory Institute of Automation and Control Processes FEB RAS Vladivostok Russia

ISBN: (纸本)9781509023240

This report presents the results of the development of method of forming of motion laws for mechatronics objects (MO) along trajectories with the desired speed. Desired trajectories are described by third order parametric splines. Analytical expressions describing the dependence of the rate of change of the parameter from the laws of change of given speed and information about the parametric form of a trajectories are obtained. They allow to move the program point along the trajectory accurately at a given speed. The described approach does not require iterative calculations and allows to perform all necessary calculations in real-time even on low-power onboard robots' computers.

关键词： Trajectory Splines (mathematics) Robot kinematics Mechatronics Acceleration Service robots

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