This paper attempts to propose an efficient algorithm for global optimized path planning for autonomous robotics system, particularly land-based mobile robot. The presented approach relies on a modified visibility-gra...
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The proceedings contain 196 papers. The topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a prop...
ISBN:
(纸本)9789898565211
The proceedings contain 196 papers. The topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a proposal of multiobjective fuzzy regulator design for state space nonlinear systems;rotor speed sensor fault detection in induction motors;visual anomaly detection in production plants;global optimal solution to SLAM problem with unknown initial estimates;spacecrafts' control systems effective variants choice with self-configuring genetic algorithm;robust arbitrary reference command tracking with application to hydraulic actuators;an application of goal programming technique for reconfiguration of transfer lines;a control strategy for reducing fuel consumption in a hybrid electric vehicle;and towards manufacturing execution systems for the food and beverage packaging industry.
The proceedings contain 196 papers. The topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a prop...
ISBN:
(纸本)9789898565211
The proceedings contain 196 papers. The topics discussed include: data-based tuning of pi controllers for vertical three-tank systems;differential evolution in parameter identification - fuel cell as an example;a proposal of multiobjective fuzzy regulator design for state space nonlinear systems;rotor speed sensor fault detection in induction motors;visual anomaly detection in production plants;global optimal solution to SLAM problem with unknown initial estimates;spacecrafts' control systems effective variants choice with self-configuring genetic algorithm;robust arbitrary reference command tracking with application to hydraulic actuators;an application of goal programming technique for reconfiguration of transfer lines;a control strategy for reducing fuel consumption in a hybrid electric vehicle;and towards manufacturing execution systems for the food and beverage packaging industry.
Water is a vital resource for mankind used in activities such as agriculture, industry and domestic activity. Irrigation is one of the most consuming water resources in human activity. Irrigation canals are characteri...
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This paper describes designed control system for group of quadcopters with connection to the brain-computer interface. Quadcopter can be controlled mentally. Electroencephalogram signals are used as control commands. ...
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This paper describes designed control system for group of quadcopters with connection to the brain-computer interface. Quadcopter can be controlled mentally. Electroencephalogram signals are used as control commands. The system is able to keep formation during the movement on the optimal trajectory for the fastest exploration of locality. The application provides both manual and full-automatic control with streaming video capturing. Realized system may be used by disabled people for drug delivery and observation of neighborhood or by the operators in industry as well as in exploration of locality in case of technogenic accident and catastrophe, elemental calamity.
This paper deals with the control of a 6-DOF cable-suspended parallel robot (CSPR) able to perform tasks such as pick-and-place trajectories over a large workspace. In order to maximize the ratio between the robot wor...
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ISBN:
(纸本)9781467356404
This paper deals with the control of a 6-DOF cable-suspended parallel robot (CSPR) able to perform tasks such as pick-and-place trajectories over a large workspace. In order to maximize the ratio between the robot workspace and its overall dimensions, actuation redundancy can be used. The control of such a redundantly actuated CSPR turns to be challenging as a realtime embeddable algorithm for distributing the cable tensions should be used, together with a suitable control scheme. This paper proposes a computationally efficient tension distribution algorithm implemented within a dual-space feedforward scheme in order to properly control the moving platform. Experimentations are performed on a large 6-DOF CSPR prototype equipped with 8 actuators.
In order to be able to replace a human operator, a robotic manipulation system needs to deal with a variety of possible actions. These actions may be more or less constrained in their motion profile and in the accurac...
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ISBN:
(纸本)9781467356404
In order to be able to replace a human operator, a robotic manipulation system needs to deal with a variety of possible actions. These actions may be more or less constrained in their motion profile and in the accuracy of the transport goals. The robotic system can make use of some of this variation to simplify the control to improve the efficiency of the generated motion. Nevertheless, the human's intention behind the manipulation may not change. We introduce the Elastic Power Path to optimize paths with respect to efficient control in the context of abstractly represented tasks. Our experiments show, that the proposed Elastic Power Path is an efficient method to achieve this aim. The magnitude and the number of turnarounds of the accelerations along the path are significantly reduced.
The conditions of synthesis of interval observers for linear systems with unknown time-varying parameters were analyzed. The possible cases for compliance with the properties of the cooperative system were considered....
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The conditions of synthesis of interval observers for linear systems with unknown time-varying parameters were analyzed. The possible cases for compliance with the properties of the cooperative system were considered. The analysis of the conditions under which, for a given combination of properties of the system, it's possible to construct an interval observer, was held. Such observer allows to get estimates of the state variables of the system which is guaranteed to contain the actual value of the state at a given time.
Soft robots possess several potential advantages over traditional articulated ones and have attracted significant interest in recent years. However, to control this new type of robots using conventional model-based ro...
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ISBN:
(纸本)9781467356404
Soft robots possess several potential advantages over traditional articulated ones and have attracted significant interest in recent years. However, to control this new type of robots using conventional model-based robotic control approaches is generally ineffective. In this paper, we investigate the challenge to embed and switch among multiple behaviors for an octopus-inspired soft robotic arm. An online learning method for reservoir computing is exploited for this task. This online learning method does not require a separate teaching data collection phase; thus, it has the potential to achieve autonomy in soft robots. Our result shows the feasibility of this approach.
This paper presents an Image Based Visual Servo control design for Fixed Wing Unmanned Aerial Vehicles tracking locally linear infrastructure in the presence of wind using a body fixed imaging sensor. Visual servoing ...
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ISBN:
(纸本)9781467356404
This paper presents an Image Based Visual Servo control design for Fixed Wing Unmanned Aerial Vehicles tracking locally linear infrastructure in the presence of wind using a body fixed imaging sensor. Visual servoing offers improved data collection by posing the tracking task as one of controlling a feature as viewed by the inspection sensor, although is complicated by the introduction of wind as aircraft heading and course angle no longer align. In this work it is shown that the effects of wind alter the desired line angle required for continuous tracking to equal the wind correction angle as would be calculated to set a desired course. A control solution is then sort by linearizing the interaction matrix about the new feature pose such that kinematics of the feature can be augmented with the lateral dynamics of the aircraft, from which a state feedback control design is developed. Simulation results are presented comparing no compensation, integral control and the proposed controller using the wind correction angle, followed by an assessment of response to atmospheric disturbances in the form of turbulence and wind gusts.
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