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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1341-1350 订阅

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A neural-control system for a humanoid artificial Arm

A neural-control system for a humanoid artificial Arm

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4th international conference on informatics in control, automation and robotics

作者： Folgheraiter, Michele Gini, Giuseppina Cavallari, Massimo Politecn Milan Dept Elect & Informat I-20133 Milan Italy

ISBN: (纸本)9789728865825

In this paper we illustrate the architecture and the main features of a bio-inspired control system employed to govern an anthropomorphic artificial Arm. The manipulation system we developed was designed starting from a deeply study of the human limb from the anatomical, physiological and neurological point of view. In accordance with the general view of the Biorobotics field we try to replicate the structure and the functionalities of the natural limb. Thanks to this biomimetic approach we obtained a system that can perform movements similar to those of the natural limb. The control system is organized in a hierarchical way. The low level controller emulates the neural circuits located in the human spinal cord and is charged to reproduce the reflexes behaviors and to control the arm stiffness. The high level control system generates the arm trajectory performing the inverse kinematics and furnishing the instantaneous muscles reference position. In particular we implemented the Inverse kinematic using a gradient based algorithm;at each step the actuators movements are arranged in order to decrease the distance between the wrist and the target position. Simulation and experimental results shows the ability of the control system in governing the arm to follow a predefined trajectory and to perform human like reflexes behaviors.

关键词： Biorobotics artificial Arm neural controller humanoids robotics

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Pattern-driven reuse of embedded control design - Behavioral and architectural specifications in embedded control system designs

Pattern-driven reuse of embedded control design - Behavioral...

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4th international conference on informatics in control, automation and robotics

作者： Sveda, Miroslav Rysavy, Ondrej Vrba, Radimir Brno Univ Technol Fac Informat Technol Bozetechova 2 Brno 61266 Czech Republic Brno Univ Technol Fac Elect Engn & Commun Brno Czech Republic

ISBN: (纸本)9789728865825

This paper deals with reuse of architectural and behavioral specifications of embedded systems employing finite-state and timed automata. The contribution proposes not only how to represent a system's formal specification as an application pattern structure of specification fragments, but also how to measure similarity of formal specifications for retrieval with case-based reasoning support. The paper provides also an insight into case-based reasoning support as applied to formal specification reuse by application patterns built on finite-state and timed automata. Those application patterns create a base for a pattern language supporting reuse-oriented design process for a class of real-time embedded systems.

关键词： embedded systems formal specification finite automata timed automata case-based reasoning

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Web-based interactive positioning control of an electric flatcar via wireless network

Web-based interactive positioning control of an electric fla...

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4th international conference on informatics in control, automation and robotics

作者： Ishii, Ken Abe, Koki Takao, Yoshimi Res Inst Nat Fisheries Engn Fisheries Res Agcy Ibaraki 3140408 Japan

ISBN: (纸本)9789728865832

A large tank has been used for target strength pattern measurements of fish. It is equipped with an electric flatcar. Further an elevation-rotating unit runs on the rails above it. The probe on the top of its elevation unit is equipped with an attachment for an ultrasonic transducer. The manipulator probe is movable in the four directions of the x, y, z and theta axes. Installation of a remote control switch has been required for the purpose of efficient operation of an electric flatcar. A remote control system using a notebook personal computer has been developed with good cost performance. The PC is equipped with a wireless network interface card. A model of WEB direct-access monitoring has been designed newly on the basis of the concept that an operator can control a mechanical device using a WEB Browser via LAN. Furthermore it performs double exclusive control for access from multi PCs, and has made possible a controller and multiple-monitor system. The mission was performed for the purpose of evaluation of WEB operation. The result has made clear the specifications for motion, and an external interface of the electric flatcar is applicable to the new protocol developed for WEB Browser control.

关键词： electric flatcar manipulator probe model of WEB direct-access monitoring double exclusive control controller and multiple-monitor system

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A closed-form model predictive control framework for nonlinear noise-corrupted systems

A closed-form model predictive control framework for nonline...

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4th international conference on informatics in control, automation and robotics

作者： Weissel, Florian Huber, Marco F. Hanebeck, Uwe D. Univ Karlsruhe Intelligent Sensor Actuator Syst Lab Karlsruhe Germany

ISBN: (纸本)9789728865849

In this paper, a framework for Nonlinear Model Predictive control (NMPC) that explicitly incorporates the noise influence on systems with continuous state spaces is introduced. By the incorporation of noise, which results from uncertainties during model identification and the measurement process, the quality of control can be significantly increased. Since NMPC requires the prediction of system states over a certain horizon, an efficient state prediction technique for nonlinear noise-affected systems is required. This is achieved by using transition densities approximated by axis-aligned Gaussian mixtures together with methods to reduce the computational burden. A versatile cost function representation also employing Gaussian mixtures provides an increased freedom of modeling. Combining the prediction technique with this value function representation allows closed-form calculation of the necessary optimization problems arising from NMPC. The capabilities of the framework and especially the benefits that can be gained by considering the noise in the controller are illustrated by the example of a mobile robot following a given path.

关键词： nonlinear model predictive control stochastic systems nonlinear estimation

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Holonic production process: A model of complex, precise, and global systems

Holonic production process: A model of complex, precise, and...

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4th international conference on informatics in control, automation and robotics

作者： Chacon, Edgar Besembel, Isabel Rivero, Dulce Cardillo, Juan Univ Los Andes Fac Ingn Escuela Sistemas Dept Computac Merida 5101 Venezuela Univ Los Andes Fac Ingn Escuela Sistemas Dept Sist Control Merida 5101 Venezuela

ISBN: (纸本)9789728865825

Nowadays, it is necessary to have a complete description of the production process in order to plan, program, control, and supervise the production process. It is hard to obtain this description due to the existence of two contradictory points of views. First, the precision implicated in the construction of total and complete models, and on the other hand, the need of having a global vision associated with the different views of the process. These views normally show three important aspects: the structural organization of the model, the dynamism between the main components, and the distinct temporal scales and levels, where are taken the main decisions. The holonic approach (Erikson,2004) has been used to manage this complexity, in order to have an abstraction that permit the integration of the mentioned points of views. In this paper we propose, a structure for continuous production process based on holonic approach in order to obtain a global vision and global model less complex of the production process.

关键词： holon Holonic Production Units Complex Systems Modelling discrete event dynamic systems continuous production process value chain

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Change-point detection with supervised learning and feature selection

Change-point detection with supervised learning and feature ...

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4th international conference on informatics in control, automation and robotics

作者： Eruhimov, Victor Martyanov, Vladimir Tuv, Eugene Runger, George C. Intel Corp Anal & Control Technol Chandler AZ 85226 USA Arizona State Univ Dept Ind Engn Tempe AZ 85281 USA

ISBN: (纸本)9789728865825

Data streams with high dimensions are more and more common as data sets become wider. Time segments of stable system performance are often interrupted with change events. The change-point problem is to detect such changes and identify attributes that contribute to the change. Existing methods focus on detecting a single (or few) change-point in a univariate (or low-dimensional) process. We consider the important high-dimensional multivariate case with multiple change-points and without an assumed distribution. The problem is transformed to a supervised learning problem with time as the output response and the process variables as inputs. This opens the problem to a wide set of supervised learning tools. Feature selection methods are used to identify the subset of variables that change. An illustrative example illustrates the method in an important type of application.

关键词： data streams ensembles variable importance multivariate control

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4th international conference on informatics in control, automation and robotics

作者： Gebus, Sebastien Leiviskae, Kauko Univ Oulu Dept Proc & Environm Engn Control Engn Lab FIN-90014 Oulu Finland

ISBN: (纸本)9789728865825

Real-time process control and production optimization are extremely challenging areas. Traditional approaches often lack in robustness or reliability when dealing with incomplete, inaccurate, or simply irrelevant data. This is a major problem when building decision support systems especially in electronics manufacturing, where blind feature extraction and data mining methods on large databases are common. Performance of these methods can be drastically increased when combined with knowledge or expertise of the process. This paper describes how defect-related knowledge on an electronic assembly line can be integrated in the decision making process at an operational and organizational level. It focuses in particular on the acquisition of shallow knowledge concerning everyday human interventions on the production lines, as well as on the conceptualization and factory wide sharing of the resulting defect information. Software with dedicated interfaces has been developed for that purpose. Semi-automatic knowledge acquisition from the production floor and generation of comprehensive reports for the quality department resulted in an improvement of the usability, usage, and usefulness of the decision support system.

关键词： decision support system knowledge acquisition quality optimization traceability feedback

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Nonlinear programming in approximate dynamic programming - Bang-bang solutions, stock-management and unsmooth penalties

Nonlinear programming in approximate dynamic programming - B...

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4th international conference on informatics in control, automation and robotics

作者： Teytaud, Olivier Gelly, Sylvain Univ Paris Sud CNRS UMR 8623 TAO Inria Paris France

ISBN: (纸本)9789728865825

Many stochastic dynamic programming tasks in continuous action-spaces are tackled through discretization. We here avoid discretization;then, approximate dynamic programming (ADP) involves (i) many learning tasks, performed here by Support Vector Machines, for Bellman-function-regression (ii) many non-linear-optimization tasks for action-selection, for which we compare many algorithms. We include discretizations of the domain as particular non-linear-programming-tools in our experiments, so that by the way we compare optimization approaches and discretization methods. We conclude that robustness is strongly required in the non-linear-optimizations in ADP, and experimental results show that (i) discretization is sometimes inefficient, but some specific discretization is very efficient for "bang-bang" problems (ii) simple evolutionary tools outperform quasi-random in a stable manner (iii) gradient-based techniques are much less stable (iv) for most high-dimensional "less unsmooth" problems Covariance-Matrix-Adaptation is first ranked.

关键词： evolutionary computation and control optimization algorithms

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Discrete dynamic sliding surface control for robust speed control of induction machine drive

Discrete dynamic sliding surface control for robust speed co...

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4th international conference on informatics in control, automation and robotics

作者： Faqir, Abdel Pinchon, Daniel Rarnanou, Rafiou Mahieddine, Sofiane ECTEI Paris France Inst Univ Technol Lasin GEII F-02880 Cuffies France

ISBN: (纸本)9789728865825

This paper proposes the discrete dynamic sliding surface control to guarantee the existence of discrete sliding mode and reduce the chattering phenomena for speed control of induction machine drive. In discrete systems, the controller does not control the system during the sampling interval. The great chattering and large control signal are caused by the high switching gain. In this paper, the dynamic sliding surface is introduced to overcome the drawback. By setting the initial value of the dynamic sliding surface, the system can lock to the sliding surface quickly without high switching gain. The control signal can be reduced and the chattering can be eliminated. Furthermore, the induction machine speed control system is used to show this controller's robustness to against the parameter variation and external load. The speed of the induction machine is regulated using the indirect field oriented control (IFOC). Thus, after the application of the IFOC technique by determining the decoupled model of the machine, a discrete sliding surface controller has been applied. Simulation study is used to show the performances of the proposed method and then validated by an experimental prototype.

关键词： induction machine indirect field oriented control sliding mode control

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Sensor-assisted adaptive motor control under continuously varying context

Sensor-assisted adaptive motor control under continuously va...

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4th international conference on informatics in control, automation and robotics

作者： Hoffmann, Heiko Petkos, Georgios Bitzer, Sebastian Vijayakumar, Sethu Univ Edinburgh Inst Percept Act & Behav Sch Informat Edinburgh Midlothian Scotland

ISBN: (纸本)9789728865825

Adaptive motor control under continuously varying context, like the inertia parameters of a manipulated object, is an active research area that lacks a satisfactory solution. Here, we present and compare three novel strategies for learning control under varying context and show how adding tactile sensors may ease this task. The first strategy uses only dynamics information to infer the unknown inertia parameters. It is based on a probabilistic generative model of the control torques, which are linear in the inertia parameters. We demonstrate this inference in the special case of a single continuous context variable - the mass of the manipulated object. In the second strategy, instead of torques, we use tactile forces to infer the mass in a similar way. Finally, the third strategy omits this inference - which may be infeasible if the latent space is multi-dimensional - and directly maps the state, state transitions, and tactile forces onto the control torques. The additional tactile input implicitly contains all control-torque relevant properties of the manipulated object. In simulation, we demonstrate that this direct mapping can provide accurate control torques under multiple varying context variables.

关键词： adaptive control context switching Kalman filter force sensor robot simulation

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