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international conference on informatics in control, automation and robotics

作者： Zdenek Kasl Martin Saska Libor Preucil Department of Cybernetics Czech Technical University

ISBN: (纸本)9781479979202

Motion planning techniques suited for initialization of Model Predictive control based methodology applied for complex maneuvering and stabilization of formations of Micro Aerial Vehicles are proposed in this paper. Two approaches to initialization of the formation driving method will be described, experimentally verified, evaluated and compared. The first proposed method is based on multiobjective optimization of the trajectory guess obtained by a Rapidly Exploring Random Trees technique. It represents an easy to implement and robust method suited for off-line initialization of the formation driving algorithm. The second proposed method is based on sequential processing of parts of the obtained trajectory. This method is well scalable and thus applicable in large workspaces with complex obstacles. In addition, the second method enables a significant reduction of computational time as is shown by comparison of series of simulations in different environments.

关键词： Trajectory Planning Model Predictive control Micro Aerial Vehicles Rapidly Exploring Random Trees

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The Effective Radius and Resistance to Slippage

The Effective Radius and Resistance to Slippage

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international conference on informatics in control, automation and robotics

作者： Pavel Dzitac Abdul Md Mazid Guy Littlefair Ashwin Polishetty School of Engineering Deakin University School of Engineering and Technology Central Queensland University

ISBN: (纸本)9781479979202

This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.

关键词： Gripper Design Slippage control Manipulation Reliability

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Concept and design of the intellwheels platform for developing intelligent wheelchairs

Concept and design of the intellwheels platform for developi...

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

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo LIACC - Artificial Intelligence Computer Science Lab University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal Informatics Engineering Department FEUP-DEI - Faculty of Engineering University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal

ISBN: (纸本)9783642002700

Many people with severe disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling these electrical devices. Intelligent wheelchairs are 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 a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform, including the hardware and software, multimodal input interface and the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also described showing the autonomous movement capabilities of the prototype. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Wheelchairs

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Identification of discrete event systems: Implementation issues and model completeness

Identification of discrete event systems: Implementation iss...

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作者： Roth, Matthias Litz, Lothar Lesage, Jean-Jacques Institute of Automatic Control University of Kaiserslautern Germany LURPA Ecole Normal Supérieur de Cachan France

ISBN: (纸本)9789898425027

This paper presents some practical issues for the identification of discrete event systems (DES). The considered class of systems consists of a plant and a controller running is a closed-loop. Special emphasis is given to a data collection procedure using industrial controllers and its impact on the external DES-behavior of the considered systems. For models identified on the basis of observed external DES behavior using the algorithm from (Klein, 2005) it is shown that under some conditions, the identified model language simulates the complete original system language even if only a subset of this language is available for identification. This model characteristic is crucial for many model-based techniques like diagnosis or verification. Analyzing the observed data of a laboratory facility it is shown how it can be decided if the conditions for a complete model hold for an existing application.

关键词： Discrete event simulation

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Neural modeling and control of a 13C isotope separation process

Neural modeling and control of a 13C isotope separation proc...

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international conference on informatics in control, automation and robotics (icinco)

作者： Vlad Muresan Mihail Abrudean Honoriu Valean Tiberiu Colosi Mihaela-Ligia Unguresan Valentin Sita Iulia Clitan Daniel Moga Automation Department Technical University of Cluj-Napoca Cluj-Napoca Romania Physics and Chemistry Department Technical University of Cluj-Napoca Cluj-Napoca Romania

The paper presents a solution for the 13 C isotope concentration control inside and at the output of a separation column, solution based on the Internal Model control strategy. The 13 C isotope results from a chemical exchange process carbon dioxide - carbamate, which is a distributed parameter process. In order to model the mentioned process, an original form of the approximating analytical solution which describes the process work in transitory regime is determined. The evolution of the approximating solution depends both on time and on the position from the column height. The reference model of the fixed part of the control structure is implemented using neural networks, representing an original solution due to the fact that a neural model is determined for a distributed parameter process. The controller is, also, implemented using neural networks, its main parameter being adapted in relation to the transducer position change in the separation column. The advantages of using the proposed concentration control strategy consist of: the possibility of controlling the value of the 13 C isotope concentration in any point from the separation column height; the improvement of the system performance regarding the settling time; the possibility to reject the effect of the disturbances.

关键词： Isotopes Neural networks Separation processes Analytical models Steady-state

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A Mixed-Integer Mathematical Programming Model for Integrated Planning of Manufacturing and Remanufacturing Activities

A Mixed-Integer Mathematical Programming Model for Integrate...

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international conference on informatics in control, automation and robotics

作者： Davide Giglio Massimo Paolucci Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova

ISBN: (纸本)9781479979202

This paper considers a hybrid remanufacturing and manufacturing system on a closed-loop supply chain. The system manufactures a set of new products characterized by a multi-level structure through multi-stage assembly operations. The required raw or basic parts can be acquired new from suppliers or provided as new by a de-manufacturing facility which performs a remanufacturing process from acquired old products returned by customers. The quality of returned products has impact on the quantity of recovered basic parts which can be assumed as good as new, and on the duration of the remanufacturing process. The considered problem is to determine the production lots for the system machines as well as the quantity of new basic parts and retuned products to be acquired in order to satisfy a deterministic demand in the time buckets of the planning period. The performance criterion to be minimized includes the acquisition costs for the new and returned items, inventory and production costs, recovering and disposal costs, and tardiness costs. A mixed-integer programming model is proposed and its effectiveness is demonstrated by experiments on a case study.

关键词： Remanufacturing Production Planning Mixed-Integer Programming Modelling

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Visual Odometry using the Global-appearance of Omnidirectional Images

Visual Odometry using the Global-appearance of Omnidirection...

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international conference on informatics in control, automation and robotics

作者： F. Amoros L. Paya D. Valiente A. Gil O. Reinoso System Engineering and Automation Dep. Miguel Hernandez University

ISBN: (纸本)9781479979202

This work presents a purely visual topologic odometry system for robot navigation. Our system is based on a Multi-Scale analysis that allows us to estimate the relative displacement between consecutive omnidirectional images. This analysis uses global appearance techniques to describe the scenes. The visual odometry system also makes use of global appearance descriptors of panoramic images to estimate the phase lag between consecutive images and to detect loop closures. When a previous mapped area is recognized during the navigation, the system re-estimates the pose of the scenes included in the map, reducing the error of the path. The algorithm is validated using our own database captured in an indoor environment under real dynamic conditions. The results demonstrate that our system permits estimating the path followed by the robot with accuracy comparing to the real route.

关键词： Multi-scale Analysis Global-appearance Descriptors Visual Odometry Robot Navigation

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Active stereo vision-based mobile robot navigation for person tracking

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INTEGRATED COMPUTER-AIDED ENGINEERING 2006年第3期13卷 203-222页

作者： Enescu, V. De Cubber, G. Cauwerts, K. Sahli, H. Demeester, E. Vanhooydonck, D. Nuttin, M. Vrije Univ Brussels Dept Elect & Informat ETRO Brussels Belgium Katholieke Univ Leuven Dept Mech Engn PMA B-3000 Louvain Belgium

In this paper, we propose a mobile robot architecture for person tracking, consisting of an active stereo vision module (ASVM) and a navigation module (NM). The first uses a stereo head equipped with a pan-tilt mechanism to track a moving target (selected by an operator) and keep it centered in the visual field. Its output, i.e. the 3D position of the person, is fed to the NM, which drives the robot towards the target while avoiding obstacles. For this, a hybrid navigation algorithm is adopted with a reactive part that efficiently reacts to the most recent sensor data, and a deliberative part that generates a globally optimal path to a target destination, such as the person's location. As a peculiarity of the system, there is no feedback from the NM or the robot motion controller (RMC) to the ASVM. While this imparts flexibility in combining the ASVM with a wide range of robot platforms, it puts considerable strain on the ASVM. Indeed, besides the changes in the target dynamics, it has to cope with the robot motion during obstacle avoidance. These disturbances are accommodated via a suitable stochastic dynamic model for the stereo head-target system. Robust tracking is achieved by combining a color-based particle filter with a method to update the color model of the target under changing illumination conditions. The main contributions of this paper lie in (1) devising a robust color-based 3D target tracking method, (2) proposing a hybrid deliberative/reactive navigation scheme, and (3) integrating them on a wheelchair platform for the final goal of person following. Experimental results are presented for ASVM separately and in combination with a wheelchair platform-based implementation of the NM.

关键词： MOBILE robots AUTOMATIC tracking ROBOTS robotics MOTION control devices

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Cognitive Systems in Intelligent Vehicles A New Frontier for Autonomous Driving

Cognitive Systems in Intelligent Vehicles A New Frontier for...

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international conference on informatics in control, automation and robotics

作者： Elvio Amparore Marco Beccuti Simona Collina Flavia De Simone Susanna Donatelli Fabio Tango Department of Computer Science Universita di Torino Facolta di Scienze della Formazione Universita degli Studi Suor Orsola Benincasa Centro Ricerche FIAT (CRF) Via Principe Amedeo

ISBN: (纸本)9781479979202

This position paper introduces the concept of "artificial co-pilot" (that is, a driver model), with a focus on driver's oriented cognitive cars, in order to illustrate a new approach for future intelligent vehicles, which overcomes the limitations of nowadays models. The core consists in adopting the human cognitive framework for vehicles, following an artificial intelligent approach to take decisions. This paper illustrates in details these concepts, as they are under development in the EU co-funded project HOLIDES.

关键词： Partial Autonomous Driver Assistance Systems (PADAS) and Advanced Driving Assistance Systems (ADAS) Intelligent Vehicles Autonomous Driving Human-automation Interaction Artificial Cognitive Systems Markovian Decision Process (MDP) Petri Nets (PN)

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Identification and control of the waelz process using infrared image processing 13th

Identification and control of the waelz process using infrar...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Matthes, Jörg Waibel, Patrick Keller, Hubert B. Gröll, Lutz Institute for Applied Computer Science Karlsruhe Institute of Technology Hermann-von-Helmholtz-Platz 1 Eggenstein-Leopoldshafen76344 Germany

ISBN: (纸本)9783319550107

Today, the recycling of zinc from zinc-bearing residues is mostly done by the pyro-metallurgical Waelz process in a rotary kiln. The optimum recovery rate is only achieved, if the temperature of the slag within the kiln is controlled at optimal values. These optimal temperatures vary and depend on the material mixture. The slag temperature is measured by pyrometers so far. They yield only pointwise measurements that can be erroneous due to cold slag lumps. The control of the slag temperature takes place manually by experienced operators, who adapt the process air to stabilize the process at the desired temperature setpoint. The paper presents a slag temperature measurement system with an infrared camera and an image processing system. It contains an automatic motion based slag detection. Using the camera based measurements, a process model for the Waelz process is derived and its parameters are estimated by a process identification. Using the process model the controller parameters are optimized by minimizing a cost functional. The sensitivity of the cost functional with respect to the controller parameters is analyzed. The optimized automatic closed-loop control is finally demonstrated at an industrial Waelz kiln. © Springer international Publishing AG 2018.

关键词： Recycling

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