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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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A Mixed-Integer Mathematical Programming Model for Integrated Planning of Manufacturing and Remanufacturing Activities

A Mixed-Integer Mathematical Programming Model for Integrate...

引用

international conference on informatics in control, automation and robotics

作者： Davide Giglio Massimo Paolucci Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova

ISBN: (纸本)9781479979202

This paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. The system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. The required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. The quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. The considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. The performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.

关键词： Remanufacturing Production Planning Mixed-Integer Programming Modelling

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Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters

Robot Dynamic Model Identification Through Excitation Trajec...

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international conference on informatics in control, automation and robotics

作者： Enrico Villagrossi Giovanni Legnani Nicola Pedrocchi Federico Vicentini Lorenzo Molinari Tosatti Fabio Abba Aldo Bottero Institute of Industrial Technologies and Automation National Research Council Italy University of Brescia Dep. of Mechanical and Industrial Engineering COMAU Robotics

ISBN: (纸本)9781479979202

Robot dynamics is commonly modeled as a linear function of the robot kinematic state from a set of dynamic parameters into motor torques. Base parameters (i.e. the set of theoretically demonstrated linearly-independent parameters) can be reduced to a subset of "essential" parameters by eliminating those that are negligible with respect to their contribution in motor torques. However, generic trajectories, if not properly defined, couple the contribution of such essential parameters into the motor torques, actually reducing the estimation accuracy of the dynamics parameters. The work presented here introduces an index for evaluating correlation influence among essential parameters along an executed trajectory. Such index is then exploited for an optimal search of excitatory patterns consistent with the kinematical coupling constraints. The method is experimentally compared with the results achievable by one of the most popular IRs dynamic calibration method.

关键词： Industrial Robot Dynamics Identification Optimal Excitation Trajectories Dynamics Decoupling

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Off-road robotics - perception and navigation

Off-road robotics - perception and navigation

引用

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

作者： Karsten Berns university of Kaiserslautern Germany

The research in off-road robotics is focusing on autonomous or semi-autonomous vehicles able to navigate in rough terrain without a predefined trail. Typical examples are agriculture and forestry machines or planetary rovers. Detailed environmental perception and navigation strategies under various soil conditions have to be examined for developing an adequate control concept for such vehicles. Due to noisy, erroneous sensor measurements and rough ground conditions, it is essential, that the control architectures are characterized by a high robustness. The often used sense, plan, act strategies have the drawback that in case of unexpected states, re-planning of control sequences has to be determined. For the realization of a behavior-based control architecture for off-road vehicles, as those developed in the RRLab, it is essential to have a well-defined design strategy. In our case a bottom-up strategy is applied, which derives percepts starting from the senor system and basic control behaviors related to the active DOF of the vehicle. Typical basic control behaviors, which are mainly reactive, are safety (stop in front of obstacles), collision avoidance (drive around obstacles) or targeting (reaching a specific pose in the operational environment of the vehicle). For deliberative control the behavior, input is replaced by specific maps or scene descriptions. The often generated sequence of actions can be mapped to a specific design pattern of the iB2C network or can be used to stimulate several related behaviors in parallel.

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Multi-agent control approach for autonomous mobile manipulators: Determination of the best footsteps combination

Multi-agent control approach for autonomous mobile manipulat...

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

作者： Messous Mohamed Ayoub Hentout Abdelfetah Bouzouia Brahim Division of Computer-Integrated Manufacturing and Robotics (DPR) Centre for Development of Advanced Technologies (CDTA) Algiers Algeria

This paper presents our ongoing efforts toward the development of a distributed multi-agent framework for autonomous control of mobile manipulators. The proposed scheme assigns a reactive agent (Joint agent) to control each articulation of the manipulator, a hybrid agent (Mobile base agent) for the control of the mobile base, and a Supervisory agent to coordinate and synchronize the work of all the precedent agents. Each control agent implements a Simulation-verification technique, in order to optimize, locally and independently from the other agents, the value of a predefined Objective function (f Obj ). The paper illustrates, also, the methodology we have followed to determine the best combination among possible footsteps for the control agents of the system. This combination will be the input, among others, of the procedure seeking the optimal solution bringing the position of the end-effector of the mobile manipulator as close as possible to the imposed Target position. For this aim, different simulation scenarios are described and carried out, with and without considering breakdowns of some articulations of the manipulator or the mobile base. For the evaluation of the obtained solutions and the selection of the best footsteps combination, we have considered two criteria (i) f Obj values and (ii) the number of iterations.

关键词： Mobile communication Manipulators Robot kinematics Joints Linear programming Proposals

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A Petri net model for constraint satisfaction application in holonic systems

A Petri net model for constraint satisfaction application in...

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

作者： Carlos Pascal Doru Panescu Department of Automatic Control and Applied Informatics “Gheorghe Asachi” Technical University of Iasi Romania

This paper introduces a Colored Petri net model for a distributed constraint satisfaction algorithm to be applied in holonic schemes. The developed model allows analyzing various scenarios, highlighting the qualities ... 详细信息

关键词： Collision avoidance Assembly Robot kinematics Synthetic aperture sonar Petri nets

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Symmetry cooperative object transportation by multiple humanoid robots

Symmetry cooperative object transportation by multiple human...

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IEEE international conference on robotics and automation (ICRA)

作者： Meng-Hung Wu Atsushi Konno Shuhei Ogawa Shunsuke Komizunai Division of System Science and Informatics Hokkaido University Kita-ku Sapporo Hokkaido Japan

This research aims to create a framework of transporting an object by multiple humanoid robots. In this work, a symmetric hybrid position/force control is adapted to two humanoid robots. The reference object position and attitude are given by an operator online, and the two humanoid robots generate its whole body motion to follow the reference object position properly. The result of proposed method is verified with a dynamics simulation.

关键词： Vectors Force Foot Humanoid robots Legged locomotion Force control

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An Improvement in the Observation Model for Monte Carlo Localization

An Improvement in the Observation Model for Monte Carlo Loca...

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international conference on informatics in control, automation and robotics

作者： Anas W. Alhashimi Roland Hostettler Thomas Gustafsson Automatic Control Group at Computer Science Electrical and Space Engineering Lulea University of Technology

ISBN: (纸本)9781479979202

Accurate and robust mobile robot localization is very important in many robot applications. Monte Carlo localization (MCL) is one of the robust probabilistic solutions to robot localization problems. The sensor model used in MCL directly influence the accuracy and robustness of the pose estimation process. The classical beam models assumes independent noise in each individual measurement beam at the same scan. In practice, the noise in adjacent beams maybe largely correlated. This will result in peaks in the likelihood measurement function. These peaks leads to incorrect particles distribution in the MCL. In this research, an adaptive sub-sampling of the measurements is proposed to reduce the peaks in the likelihood function. The sampling is based on the complete scan analysis. The specified measurement is accepted or not based on the relative distance to other points in the 2D point cloud. The proposed technique has been implemented in ROS and stage simulator. The result shows that selecting suitable value of distance between accepted scans can improve the localization error and reduce the required computations effectively.

关键词： Localization robotics Particle Filter Monte Carlo Localization Sensor Model Observation Model

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Visual SLAM based on single omnidirectional views 9

Visual SLAM based on single omnidirectional views

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9th international conference on informatics in control automation and robotics, ICINCO 2012

作者： Valiente, David Gil, Arturo Fernández, Lorenzo Reinoso, O. Department of Systems Engineering and Automation Miguel Hernández University Av de la Universidad s/n Elche Alicante03202 Spain

ISBN: (纸本)9783319034997

This chapter focuses on the problem of Simultaneous Localization and Mapping (SLAM) using visual information from the environment. We exploit the versatility of a single omnidirectional camera to carry out this task. Traditionally, visual SLAM approaches concentrate on the estimation of a set of visual 3D points of the environment, denoted as visual landmarks. As the number of visual landmarks increases the computation of the map becomes more complex. In thisworkwe suggest a different representation of the environment which simplifies the computation of the map and provides a more compact representation. Particularly, the map is composed by a reduced set of omnidirectional images, denoted as views, acquired at certain poses of the environment. Each view consists of a position and orientation in the map and a set of 2D interest points extracted from the image reference frame. The information gathered by these views is stored to find corresponding points between the current view captured at the current robot pose and the views stored in the map. Once a set of corresponding points is found, amotion transformation can be computed to retrieve the position of both views. This fact allows us to estimate the current pose of the robot and build the map. Moreover, with the intention of performing a more reliable approach, we propose a new method to find correspondences since it is a troublesome issue in this framework. Its basis relies on the generation of a gaussian distribution to propagate the current error on the map to the the matching process We present a series of experiments with real data to validate the ideas and the SLAM solution proposed in this work. © Springer international Publishing Switzerland 2014.

关键词： robotics

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A Comparison of General-Purpose FOSS Compression Techniques for Efficient Communication in Cooperative Multi-Robot Tasks

A Comparison of General-Purpose FOSS Compression Techniques ...

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international conference on informatics in control, automation and robotics

作者： Goncalo S. Martins David Portugal Rui P. Rocha Institute of Systems and Robotics University of Coimbra

ISBN: (纸本)9781479979202

The efficient sharing of information is a commonly overlooked problem in methods proposed for cooperative multi-robot tasks. However, in multi-robot scenarios, especially when the communication network's quality of service is less than desirable, either in bandwidth or reliability, efficient information exchange is a key aspect for the successful deployment of coordinated robotic teams with proper exchange of information. Compression is a popular, well-studied solution for transmitting data through constrained communications channels, and many general-purpose solutions are available as free and open-source software (FOSS) projects. There are various benchmarking tools capable of comparing the performance of these techniques, but none that differentiate between them in the compression of the typical data exchanged among robots in a cooperative task. Thus, choosing a compression technique to be used in this context is still a challenge. In this paper, the issue of efficiently communicating data among robots is addressed by comparing the performance of various compression techniques in a case study of multi-robot simultaneous localization and mapping (SLAM) scenarios using occupancy grids, a cooperative task usually requiring the exchange of large amounts of data.

关键词： Compression Methods Multi-Robot Systems Efficient Information Sharing

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Enhanced Physical Interaction Performance for Compliant Joint Manipulators using Proxy-based Sliding Mode control

Enhanced Physical Interaction Performance for Compliant Join...

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international conference on informatics in control, automation and robotics

作者： Navvab Kashiri Nikos G. Tsagarakis Michael Van Damme Bram Vanderborght Darwin G. Caldwell Department of Advanced Robotics Istituto Italiano di Tecnologia Department of Mechanical Engineering Vrije Universiteit Brussel

ISBN: (纸本)9781479979202

The use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. This paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. The formulation of Proxy-based Sliding Mode control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. The performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

关键词： Proxy-based Sliding Mode control Physical Human-robot Interaction Flexible Joint Manipulators Torque control Compliant Joints Linear-quadratic Optimal control Position control Underactuated Systems

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