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检索条件"任意字段=International Conference on Informatics in Control Automation and Robotics, ICINCO 2007"

共 1447 条记录，以下是1171-1180 订阅

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Using robotic systems in a smart house for people with disabilities

Using robotic systems in a smart house for people with disab...

引用

5th international conference on informatics in control, automation and robotics

作者： Stoian, Viorel Pana, Cristina Univ Craiova CCMR Craiova Craiova Romania

ISBN: (纸本)9789898111319

We present in this paper several ideas about the usability of the robotic arms and mobile robots as an assistive technology in a smart house where people with disabilities daily live. First, psychological and social aspects of smart home technology are presented and after that the modularity and standardization processes are discussed. Next we propose a smart house plan, equipped with a mobile robot which has a manipulator arm. This robotic system is used to help vulnerable persons, the handicapped men vehicle seat being equipped with a robotic arm which can manipulate objects by a hyper-redundant gripper. For the control of the processes in the smart house, we propose a hierarchical control system and for the mobile robot we use the artificial potential field method. Also, this paper points out the edutainment concept (EDUcation and enterTAINMENT) by robotics. Finally, some applications are presented.

关键词： the assistive technology smart house robots and mobile robots edutainment robot control artificial potential field method

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Robust control of the C5 parallel robot

Robust control of the C5 parallel robot

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icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Achili, B. Daachi, B. Ali-Cherif, A. Amirat, Y. Laboratoire d'Informatique Avancée de Saint Denis 2 rue de la liberté 93526 Saint Denis Cedex France Laboratoire Images Signaux et Systèmes Intelligents 122-124 rue Paul Armangot 94400 Vitry/Seine France

ISBN: (纸本)9789898111319

This paper deals with the dynamic control of a parallel robot with C5 joints. Computed torque control and robust control have been studied and implemented. For this purpose, we have used the inverse dynamic model whose parameters have been experimentally identified. The closed loop stability has been studied using the Lyapunov principle. The addition of a robustness term based on sliding mode technique ensures good tracking performances. The experimental results show the effectiveness of the robust control.

关键词： Robust control

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Torque control with recurrent neural networks

Torque control with recurrent neural networks

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5th international conference on informatics in control, automation and robotics

作者： Jouffroy, Guillaume Univ Paris 08 Artificial Intelligence Lab F-93526 St Denis 02 France

ISBN: (纸本)9789898111319

In the robotics field, a lot of attention is given to the complexity of the mechanics and particularly to the number of degrees of freedom. Also, the oscillatory recurrent neural network architecture is only considered as a black box, which prevents from carefully studying the interesting features of the network's dynamics. In this paper we describe a generalized teacher forcing algorithm, and we build a default oscillatory recurrent neural network controller for a vehicle of one degree of freedom. We then build a feedback system as a constraint method for the joint. We show that with the default oscillatory controller the vehicle can however behave correctly, even in its transient time from standing to moving, and is robust to the oscillatory controller's own transient period and its initial conditions. We finally discuss how the default oscillator can be modified, thus reducing the local feedback adaptation amplitude.

关键词： joint constraint method oscillatory recurrent neural network generalized teacher forcing feedback adaptive systems

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Near optimum control of a full car active suspension system

Near optimum control of a full car active suspension system

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5th international conference on informatics in control, automation and robotics

作者： Lino, Paolo Maione, Bruno Politecn Bari Dipartimento Elettrotecn & Elettron I-70125 Bari Italy

ISBN: (纸本)9789898111326

In this paper, a near-optimum control strategy applied to a full car model equipped with an active suspension system is presented. The control law is based on a reduced order model obtained by means of a modal aggregation method, achieving a compromise between computational effort in deriving the control law and system performances. To assess the controller performances, a virtual prototype of the suspension system is developed by using AMESim, an advanced fluid-mechanic developing tool. The virtual prototype could be assumed as a reliable model of the real system enabling to perform safer and cheaper tests than using the real system. Simulation results show the effectiveness of the approach.

关键词： active suspension suspension control virtual prototyping near-optimum control AMESim (c)

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Multi-level control of an intelligent wheelchair in a hospital environment using a Cyber-Mouse simulation system

Multi-level control of an intelligent wheelchair in a hospit...

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5th international conference on informatics in control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Oliveira, Eugenio Reis, Luis Paulo Univ Porto Artificial Intelligence & Comp Sci Lab LIACC Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

The development of intelligent wheelchairs is a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes the integration of a robotic simulator with our intelligent wheelchair shared control and planning modules. An adapted version of the free Cyber-Mouse robotic simulator was used to simulate the movement of the intelligent wheelchair in a hospital environment. Adaptations of the subsumption architecture, Strips Planning and A* Algorithms were employed and integrated to allow wheelchair intelligent behavior. The experimental results have demonstrated the success of the integration of these algorithms in our simulator allowing very safe motion of the intelligent wheelchair in the simulated hospital environment. Also, the adapted Cyber-Mouse simulator proved its capability and robustness in simulating the hospital environment and wheelchair physic characteristics.

关键词： intelligent wheelchair intelligent robotics Strips Planning path planning A* algorithm

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Evaluation of neural PDF control strategy applied to a nonlinear model of a pumped-storage hydroelectric power station

Evaluation of neural PDF control strategy applied to a nonli...

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5th international conference on informatics in control, automation and robotics

作者： Munoz-Hernandez, G. A. Gracios-Marin, C. A. Diaz-Sanchez, A. Mansoor, S. P. Jones, D. I. Inst Tecnol Puebla Puebla Mexico Univ Wales Sch Informat Bangor LL57 1UT Gwynedd Wales

ISBN: (纸本)9789898111302

In this paper, a neural Pseudoderivative control (PDF) is applied to a nonlinear mathematical model of the Dinorwig pumped - storage hydroelectric power station. The response of the system with this auto-tuning controller is compared with that of a classic controller, currently implemented on the system. The results show how the application of PDF control to a hydroelectric pumped-storage station improves the dynamic response of the power plant, even when multivariable effects are taken into account.

关键词： model and simulation power systems control applications neural control

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On the sampling period in standard and fuzzy control algorithms for servodrives - A multicriterial design and a timing strategy for constant sampling

On the sampling period in standard and fuzzy control algorit...

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5th international conference on informatics in control, automation and robotics

作者： Mihai, Dan Univ Craiova Craiova Romania

ISBN: (纸本)9789898111326

The paper deals with the best choice for the control sampling period in term of a multicriterial conditioning, with the on-line timing and with a comparison between the conventional (like PI) control algorithms and the fuzzy control. Several useful relations are followed by diagrams obtained in simulation and by different real-time recordings both for the timing and for characteristic variables of the system. Implementations with microcontroller and DSP are used for analyzing the design criterion and the timing strategy. The application field concerns a servodrive, so the real-time constraints are quite strong. The author conceived a general control strategy for the on-line timing based on imbricate interrupts.. each pulse encoder acting on the hardware input interrupt of the control processor.

关键词： sampling period PI algorithm fuzzy control on-line timing servodrives

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Stable states transition approach -: A new strategy for walking robots control in uncertain environments

Stable states transition approach -: A new strategy for walk...

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5th international conference on informatics in control, automation and robotics

作者： Petrisor, Arica Bizdoaca, Nicu George Drighiciu, Adrian Diaconu, Ilie Degeratu, Sonia Canureci, Gabriela Serb, Gabriela Petropol Univ Craiova Fac Electromech Engn Craiova Romania Univ Craiova Fac Automat Comp & Elect Craiova Romania

ISBN: (纸本)9789898111319

A new strategy for walking robots control in uncertain environments, called Stable States Transition Approach (SSTA), is proposed in this paper. All the controls, both the steps succession and the evolution inside each step are established by the evolution environment and by the objective proposed during the evolution. There are no predetermined types of legs movements;they are on-line determined during the robot evolution, irrespective of the ground shape. To apply this strategy it was necessary the robot interpretation as a Variable Causality Dynamic Systems (VCDS). Experimental results are implemented and verified in RoPa, a platform for simulation and design of walking robot control algorithms, to demonstrate the efficacy of the proposed control method.

关键词： walking robot mathematical model control strategy variable causality dynamic system uncertain environment

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MPC for systems with variable time-delay - Robust positive invariant set approximations

MPC for systems with variable time-delay - Robust positive i...

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5th international conference on informatics in control, automation and robotics

作者： Olaru, Sorin Benlaoukli, Hichern Niculescu, Silviu-Iulian Ecole Super Elect Dept Automat Control F-91192 Gif Sur Yvette France LSS SUPELEC F-91192 Gif Sur Yvette France

ISBN: (纸本)9789898111326

This paper deals with the control design for systems subject to constraints and affected by variable time-delay. The starting point is the construction of a predictive control law which guarantees the existence of a nonempty robust positive invariant (RPI) set with respect to the closed loop dynamics. In a second stage, an iterative algorithm is proposed in order to obtain an approximation of the maximal robust positive invariant set. The problem can be treated in the framework of piecewise affine systems due to the explicit formulations of the control law obtained via multiparametric programming.

关键词： predictive control time-delay invariant sets

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GPC and Neural Generalized Predictive control

GPC and Neural Generalized Predictive Control

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5th international conference on informatics in control, automation and robotics

作者： Chidrawar, S. Bidwai, Nikhil Waghmare, L. Patre, B. M. MGMs Coll Engn Nanded 431602 MS India SGGS Inst Engn & Technol Nanded 431606 MS India

ISBN: (纸本)9789898111302

An efficient implementation of Model Predictive control (MPC) using a multilayer feed forward network as the plants linear model is presented. This paper presents a comparison between the Generalized Predictive control and Neural Generalized Predictive control with Newton-Raphson as minimization algorithm. Three different linear models are taken and their performances are tested. Simulation result shows the effect of neural network on Generalized Predictive control for linear systems. The performance comparison of these system configurations has been given in terms of ISE and IAE.

关键词： neural network Model Predictive control GPC NGPC

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