In the previous edition of icinco, authors have presented a theoretical comparison between centralized and distributed control reconfiguration of Discrete Event Systems (DES). In this paper, we propose to enlarge the ...
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ISBN:
(纸本)9789897584428
In the previous edition of icinco, authors have presented a theoretical comparison between centralized and distributed control reconfiguration of Discrete Event Systems (DES). In this paper, we propose to enlarge the proposition until the implementation step into a Programmable Logic controller. The control is based on a distributed architecture including time-delayed events and supervisory control theory. Moreover, in a context of Industry 4.0, the verification and simulation phases are performed on a digital twin before implementation on the real system.
The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters. The originality of this work r...
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ISBN:
(纸本)9789728865832
The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters. The originality of this work relies on the nature of the disturbances acting on the helicopter and the way to compensate them. Here, a nonlinear simple model with 3-DOF of a helicopter with unknown disturbances is used. TWo approaches of robust control are compared via simulations: a nonlinear feedback and an active disturbance rejection control based on a nonlinear extended state observer(ADRC).
Calibrated 3D visual servoing has not fully matured as a industrial technology yet, and in order to widen its use in industrial applications its technological capability must be precisely known. Accuracy and repeatabi...
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ISBN:
(纸本)9789728865832
Calibrated 3D visual servoing has not fully matured as a industrial technology yet, and in order to widen its use in industrial applications its technological capability must be precisely known. Accuracy and repeatability are two of the crucial parameters in planning of any robotic task. In this paper we describe a procedure to evaluate the 2D and 3D accuracy of a robot stereo vision system consisting of two identical 1 Megapixel cameras, and present the results of the evaluation.
This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with "Speed Limit Module" (SL...
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ISBN:
(纸本)9789728865832
This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with "Speed Limit Module" (SLM) and "Delay Approximator" (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experimental results show the effectiveness and applicability of this direct internet control architecture in the real intemet environment.
This paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuat...
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ISBN:
(纸本)9789728865832
This paper focuses on the motion control problem of an onmidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.
This paper presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and ...
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ISBN:
(纸本)9789728865832
This paper presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and followed by the mobile robot on the trajectory (P1, P2, P3, and P4) are shown. The directions of the movements corresponding to every cycle, for every reached proximity level are presented. The sequence of the programs depending on the reached proximity levels is indicated. The motion control algorithm is presented by a flowchart showing the evolution of the functional cycles (programs). The fuzzy rules for evolution (transition) of the programs and for the motion on X-axis and Y-axis respectively are described. Finally, some simulations are presented.
Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researche...
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Environmental research is an area where robotics platforms can be applied as solutions for different problems to help or automate certain tasks, with the purpose of being more efficient or also safer for the researchers involved. This paper presents the Kamanbare platform. Kamanbar6 is a bioinspired robotic platform, whose main goal is to climb trees for environmental research applications, applied in tasks such as gathering botanical specimen, insects, climatic and arboreal fauna studies, among others. Kamanbare is a platform that provides flexibility both in hardware and software, so that new applications may be developed and integrated without the need of extensive knowledge in robotics.
This article explains a SCADA System called SCADA Web developed by CARTIF Foundation. This SCADA System makes possible remote monitoring and control from the process controlled by PLC using Web Technology. SCADA Web h...
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ISBN:
(纸本)9789728865832
This article explains a SCADA System called SCADA Web developed by CARTIF Foundation. This SCADA System makes possible remote monitoring and control from the process controlled by PLC using Web Technology. SCADA Web has been developed on platform Java EE and provides visualization and control signals, trend charts, alarms, historical data and alarm reports.
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the...
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ISBN:
(纸本)9789728865832
Recently, robotics has found a new field of research in surgery in which it is used as an assistant of the surgeon in order to promote less traumatic surgery and minimal incision of soft tissue. In accordance with the requirements of dental surgeons, we offer a robotic system dedicated to dental implants. A dental implant is a mechanical device fixed into the patient's jaw. It is used to replace a single tooth or a set of missing teeth. Fitting the implant is a difficult operation that requires great accuracy. This work concerns the prototype of a medical robot. Forward and inverse kinematics as dynamics are considered in order to drive a control algorithm which is as accurate and safe as possible.
We investigate a reachability control problem for a soft manipulator inspired to an octopus arm. Cases modelling mechanical breakdowns of the actuators are treated in detail: we explicitly characterize the equilibria,...
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ISBN:
(纸本)9789897583803
We investigate a reachability control problem for a soft manipulator inspired to an octopus arm. Cases modelling mechanical breakdowns of the actuators are treated in detail: we explicitly characterize the equilibria, and we provide numerical simulations of optimal control strategies.
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