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

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Design of an analog-digital PI controller with gain scheduling for laser tracker systems

Design of an analog-digital PI controller with gain scheduli...

引用

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

作者： Wachten, Christian Friedrich, Lars Müller, Claas Reinecke, Holger Ament, Christoph Department of Microsystems Technology University of Freiburg Georges-Koehler-Allee 103 79110 Freiburg Germany Institue for Automation and Systems Engineering TU Ilmenau 98693 Ilmenau Germany

ISBN: (纸本)9789898111326

Laser trackers are important devices in position metrology. A moving reflector is tracked by a laser beam to determine its position in space. To ensure a proper function of the device the feedback control loop is an essential part. An analog PI controller with online parameter adaptation and absolute distance measurement ability is used to guarantee an optimal dynamic system. The feedback controller is connected to a quadrant detector which serves as the sensor element in the control loop. The position of an incoming laser beam is measured by the quadrant detector and the controller provides the input signals for a subsequent actuator. The control variable is the deviation of the laser beam from the centre of the diode which should ideally be zero. The actuator consists of two axes and each one is equipped with a rotatable mirror. The task of the controller is to rotate the mirrors in such a way so that the laser beam follows the movements of the reflector. To design an optimal controller linear, time-invariant models of the actuator and the position sensor are developed to optimize its parameters. The gain of the plant correlates with the distance between the reflector and the laser tracker. To achieve the optimal dynamic performance the controller is automatically adapted to the distance during operation. A method based on oscillation injection to measure the absolute distance is developed. Due to higher dynamic demands a standard analog PI controller is implemented with the controller gain tuned by digital potentiometers. A microcontroller is used to adjust the parameters and to estimate the distance. During the power up sequence and in case of a beam loss the system is completely controlled by the digital part.

关键词： Laser beams

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Video transmission with adaptive quality based on network feedback for mobile robot teleoperation in wireless multi-hop networks

Video transmission with adaptive quality based on network fe...

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

作者： Zeiger, Florian Sauer, Markus Schilling, Klaus Univ Wurzburg Dept Robot & Telemat Am Hubland Wuerzburg Germany

ISBN: (纸本)9789898111319

A video stream is still one of the most important data sources for the user while remote-operating a mobile robot. Human operators have comprehensive capabilities to interpret the displayed image information, but therefore, some constraints must be fulfilled. Constant frame rates and delays below a certain threshold are a minimum requirement to use video for teleoperation. Modern multi-hop networks often use WLAN to set up ad-hoc networks of mobile nodes with each node acting as traffic source, sink, or router. Considering these networks, routes between sources and destinations might be established via several relay nodes. Thus, the utilization of intermediate nodes which are part of a route influences the overall route performance, whereas sender and receiver have no direct feedback of the overall route status. In case video is transmitted via wireless ad-hoc networks in a teleoperation scenario, the displayed video-stream for the operator might have variable frame rates, very high packet loss, and packet inter-arrival times which are not appropriate for mobile robot teleoperation. This work presents an approach using a feedback generated by the network to adapt the image quality to present communication constraints. Thus, according to the current network status, the best possible video image is provided to the operator while keeping constant frame rates and low packet loss.

关键词： networked robots mobile robot teleoperation mobile robot ad-hoc networks wireless network ad-hoc network wireless teleoperation wireless remote control

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Fair and efficient resource allocation - Bicriteria models for equitable optimization

Fair and efficient resource allocation - Bicriteria models f...

引用

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

作者： Ogryczak, Wlodzimierz Warsaw Univ Technol Inst Control & Computat Engn Warsaw Poland

ISBN: (纸本)9789898111302

Resource allocation problems are concerned with the allocation of limited resources among competing activities so as to achieve the best performances. In systems which serve many usersthere is a need to respect some fairness rules while looking for the overall efficiency. The so-called Max-Min Fairness is widely used to meet these goals. However, allocating the resource to optimize the worst performance may cause a dramatic worsening of the overall system efficiency. Therefore, several other fair allocation schemes are searched and analyzed. In this paper we focus on mean-equity approaches which quantify the problem in a lucid form of two criteria: the mean outcome representing the overall efficiency and a scalar measure of inequality of outcomes to represent the equity (fairness) aspects. The mean-equity model is appealing to decision makers and allows a simple trade-off analysis. On the other hand, for typical dispersion indices used as inequality measures, the mean-equity approach may lead to inferior conclusions with respect to the outcomes maximization (system efficiency). Some inequality measures, however, can be combined with the mean itself into optimization criteria that remain in harmony with both inequality minimization and maximization of outcomes. In this paper we introduce general conditions for inequality measures sufficient to provide such an equitable consistency. We verify the conditions For the basic inequality measures thus showing how they can be used not leading to inferior distributions of system outcomes.

关键词： optimization multiple criteria efficiency fairness equity resource allocation

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Hybrid wavelet-Kalman filter multi-scale sequential fusion method

Hybrid wavelet-Kalman filter multi-scale sequential fusion m...

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

作者： Funa, Zhou Tianhao, Tang Department of Electrical and Control Engineering Shanghai Marintime University Shanghai China Computer and Information Engineering School Henan University Kaifeng Henan China

ISBN: (纸本)9789898111326

With the development of automation, multi-scale data fusion has become a hot research topic, however, limited by the constraint that signal to implement wavelet transform must have the length of 2q, multi-scale data fusion problem involved with non-2n sampled, observation data still hasn't been efficiently solved. In this paper, we develop a hybrid wavelet-Kalman filter multiscale sequential fusion method. First, we develop the hybrid wavelet-Kalman filter multiscale estimation method which combines the advantage of wavelet and Kalman filter to obtain the real time, recursive, multiscale estimation of the dynamic system. Then, a multiscale sequential fusion method is presented. Under the hybrid wavelet-Kalman filter multiscale estimation frame, we can easily fuse information from multiple sensors sequentially without designing other complex fusion algorithm. The multiscale sequential fusion method can fuse non-2n sampled data just by analyzing the possible observation structure to design the observation model of the stacked dynamic system. Simulation result of three sensors with sampling interval 1, 2 and 3 shows the efficiency of this method.

关键词： Kalman filters

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Learning to dribble on a real robot by success and failure

Learning to dribble on a real robot by success and failure

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IEEE international conference on robotics and automation (ICRA)

作者： Martin Riedmiller Roland Hafner Sascha Lange Martin Lauer Department of Mathematics and Informatics Institute of Computer Science and Institute of Cognitive Science University of Osnabrück

Learning directly on real world systems such as autonomous robots is a challenging task, especially if the training signal is given only in terms of success or failure (reinforcement learning). However, if successful, the controller has the advantage of being tailored exactly to the system it eventually has to control. Here we describe, how a neural network based RL controller learns the challenging task of ball dribbling directly on our middle-size robot. The learned behaviour was actively used throughout the RoboCup world championship tournament 2007 in Atlanta, where we won the first place. This constitutes another important step within our Brainstormers project. The goal of this project is to develop an intelligent control architecture for a soccer playing robot, that is able to learn more and more complex behaviours from scratch.

关键词： control systems robotics and automation Cognitive robotics Learning Biological neural networks Intelligent robots System testing USA Councils Mathematics informatics

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icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on informatics in control, automation and robotics, icinco 2006

ISBN: (纸本)9728865600

The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.

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icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on informatics in control, automation and robotics, icinco 2006

ISBN: (纸本)9728865597

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icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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3rd international conference on informatics in control, automation and robotics, icinco 2006

ISBN: (纸本)9728865619

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Foreword: icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

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icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings 2006年 RA卷 xiii-xiv页

作者： Cetto, Juan Andrade Ferrier, Jean-Louis Pereira, José Dias Filipe, Joaquim Universitat Autònoma de Barcelona Spain Université d'Angers France Escola Superior de Tecnologia de Setúbal Portugal Polytechnic Institute of Setúbal INSTICC Portugal

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icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings: Foreword

ICINCO 2006 - 3rd International Conference on Informatics in...

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icinco 2006 - 3rd international conference on informatics in control, automation and robotics, Proceedings 2006年 SPSMC卷 XIII-XV页

作者： Cetto, Juan Andrade Ferrier, Jean-Louis Jose Dias Pereira Filipe, Joaquim Universitat Autònoma de Barcelona Spain Université d'Angers France Escola Superior de Tecnologia de Setúbal Portugal Polytechnic Institute of Setúbal INSTICC Portugal

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