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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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A Device and Resource Execution Model for IEC 61499 control Devices

A Device and Resource Execution Model for IEC 61499 Control ...

引用

IEEE international conference on Industrial informatics (INDIN)

作者： Alois Zoitl Christoph Sunder Thomas Strasser Marco Colla Automation and Control Institute University of Technology Vienna Vienna Austria Robotics & Adaptive Systems Grpoup Profactor Produktionsforschungs GmbH Austria CIMSI Institute SUPSI-University of Applied Sciences Switzerland

The standard IEC 61499 claims to be a standard for a distributed control environment consisting of a set of heterogeneous control devices from different vendors. Previous research work on the implementation of IEC 61499 pointed out so-called loopholes in the definitions of the standard resulting in different execution behaviour on different control devices. One of the key loopholes that have been identified is the lack of a definition for execution models of the device and the resource. With this work a step towards a more rigid definition of the execution semantics for IEC 61499 through the derivation of execution models for resources and devices.

关键词： IEC standards Job shop scheduling automation Runtime environment Timing Context modeling Distributed control Helium Standards publication

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Context Estimation and Learning control through Latent Variable Extraction: From discrete to continuous contexts

Context Estimation and Learning Control through Latent Varia...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Georgios Petkos Sethu Vijayakumar School of Informatics University of Edinburgh UK

Recent advances in machine learning and adaptive motor control have enabled efficient techniques for online learning of stationary plant dynamics and it's use for robust predictive control. However, in realistic domains, system dynamics often change based on unobserved external contexts such as work load or contact conditions with other objects. Previous multiple model approaches to solving this problem are restricted to finite, discrete contexts without any generalization and have been tested only on linear systems. We present a framework for estimation of context through hidden latent variable extraction - solely from experienced (non-linear) dynamics. This work refines the multiple model formalism to bootstrap context separation from context-unlabeled data and enables simultaneous online context estimation, dynamics learning and control based on a consistent probabilistic formulation. Most importantly, it extends the framework to a continuous latent model representation of context under specific assumptions of load distribution

关键词： Context modeling Machine learning Programmable control Adaptive control Motor drives Robust control Predictive control System testing Linear systems Data mining

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A methods of separating weeds and trunk in different motions by blowing wind and a method of presuming root position

A methods of separating weeds and trunk in different motions...

引用

international conference on control, automation and Systems ( ICCAS)

作者： Fan Zhang Akihiko Matsushita Takayuki Tanaka Shun'ichi Kaneko Hidenori Takauji Division of Systems Science and Informatics Graduate School of Information Science and Technology Hokkaido University Sapporo Japan

Due to the area of the vineyards in Hokkaido is extremely large, it is very difficult and hard to eradicate weeds by human being. In order to solve this problem, we developed a new dynamic image measure technique, which can be applied to the weeding robots in vineyards. The outstanding of this technique is that it can discriminate the weed and the trunk correctly and efficiently. Meanwhile, we also attempt to measure the root of trunk accurately. Due to techniques so far cannot suffice today's applications; a new method to measure the blocked trunk of grape in vineyards has also been developed in this paper.

关键词： Pipelines Robots informatics Information science Humans Image processing Image recognition Large-scale systems robotics and automation Snow

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Active Illumination for Robot Vision

Active Illumination for Robot Vision

引用

IEEE international conference on robotics and automation (ICRA)

作者： S. Y. Chen Jianwei Zhang Houxiang Zhang Wanliang Wang Y.F. Li Department of Informatics University of Hamburg Germany College of Software Engineering Zhejiang University of Technology Hangzhou China Department of Manufacturing Engineering and Engineering Management City University of Hong Kong Hong Kong China

A vision sensor is the robot's eye to perceive its environment, but the perception performance can be significantly affected by illumination conditions. This paper presents strategies of adaptive illumination control for robot vision to achieve the best scene interpretation. It investigates how to obtain the most comfortable illumination conditions for a vision sensor. In a "comfort" condition the image reflects the natural properties of the concerned object. "Discomfort" may occur if some scene information is lost. Strategies are proposed to optimize the pose and optical parameters of the luminaire and the sensor, with emphasis on controlling the intensity and avoiding glare.

关键词： Lighting Robot vision systems Machine vision Layout Robot sensing systems Optical sensors Intelligent sensors Light sources robotics and automation Cameras

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Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances

Kinematic and stiffness analysis of the Orthoglide, a PKM wi...

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IEEE international conference on robotics and automation (ICRA)

作者： Anatoly Pashkevich Philippe Wenger Damien Chablat Institut de Recherche en Communications et Cybernétique de Nantes UMR CNRS 6597 Nantes France Robotic Laboratory Department of Control Systems Belarusian State University of Informatics and Radioelectronics슠 Minsk Belarus

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances) and parallel kinematic architectures (good dynamic performances and stiffness). This machine has three fixed parallel linear joints that are mounted orthogonally. The geometric parameters of the Orthoglide were defined as function of the size of a prescribed cubic Cartesian workspace that is free of singularities and internal collision. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. In this paper, a new method is proposed to analyze the stiffness of overconstrained Delta-type manipulators, such as the Orthoglide. The Orthoglide is then benchmarked according to geometric, kinematic and stiffness criteria: workspace to footprint ratio, velocity and force transmission factors, sensitivity to geometric errors, torsional stiffness and translational stiffness.

关键词： Kinematics Performance analysis robotics and automation Machining Shape Jacobian matrices Prototypes Parallel robots Laboratories Automatic control

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Off-line Programming and simulation for automatic robot control software generation

Off-line Programming and simulation for automatic robot cont...

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IEEE international conference on Industrial informatics (INDIN)

作者： M. Bruccoleri C. D'Onofrio U. La Commare University of Palermo ITALY

In this paper an off-line programming approach for welding robots is presented. The approach is based on the integration of a software tool for robot simulation and an user-friendly interface for automatic generation of the control program. The user can graphically arrange the components in a robotic work-cell and simulate the movements and operations of robotic arms before converting motions and operating sequences in controller-specific tasks. This methodology guarantees high level of flexibility of the robotic system when high variety of work-pieces needs to be welded. The approach has been implemented and tested in a real welding work-cell.

关键词： Automatic programming Robot programming Robot control robotics and automation Welding Software tools Automatic generation control Arm Automatic control Motion control

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Biorhythm-Based Awakening Timing Modulation

Biorhythm-Based Awakening Timing Modulation

引用

IEEE international conference on robotics and automation (ICRA)

作者： Yuki Wakuda Akiko Noda Kosuke Sekiyama Yasuhisa Hasegawa Toshio Fukuda Department of Mechano-Informatics System Engineering University of Nagoya Nagoya Aichi Japan School of Health Science University of Nagoya Nagoya Japan Department of Inteligent Interaction Technologies University of Tsukuba Tsukuba Ibaraki Japan

The purpose of the present study is to control human biological rhythm and life cycle by optimization of awakening timing. We developed a wearable interface for controlling awakening time named "BRAC (biological rhythm based awakening timing controller)". BRAC could estimate bio-rhythm by pulse wave from finger tip and send awake signal to user. An ordinary alarm clock operates according to set times that have to be set in advance. However, humans have a rhythm in their sleep, which affects one's sleep depth and wake-up timing. We consider the simplest way to control or reset human's bio-rhythm or life style is to optimize the awakening timing and the sleeping hours. We examined the relationship between controlling awakening timing based on autonomous nerve rhythm and equilibrium function. Our findings suggest indicate that the prototype "BRAC" could evaluate user's biological rhythm and awakes user at the time optimized for physical function of equilibrium.

关键词： Timing Rhythm Biological control systems Humans Sleep control systems Biomedical monitoring Medical control systems Automatic control Clocks

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Human-Robot Cooperation using Quasi-symbols Generated by RNNPB Model

Human-Robot Cooperation using Quasi-symbols Generated by RNN...

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IEEE international conference on robotics and automation (ICRA)

作者： Tetsuya Ogata Shohei Matsumoto Jun Tani Kazunori Komatani Hiroshi G. Okuno Department of Intelligence Science and Technology Graduate School of Informatics Kyoto University Kyoto Japan RIKEN Brain Science Institute Saitama Japan

We describe a means of human robot interaction based not on natural language but on "quasi symbols," which represent sensory-motor dynamics in the task and/or environment. It thus overcomes a key problem of using natural language for human-robot interaction - the need to understand the dynamic context. The quasi-symbols used are motion primitives corresponding to the attractor dynamics of the sensory-motor flow. These primitives are extracted from the observed data using the recurrent neural network with parametric bias (RNNPB) model. Binary representations based on the model parameters were implemented as quasi symbols in a humanoid robot, Robovie. The experiment task was robot-arm operation on a table. The quasi-symbols acquired by learning enabled the robot to perform novel motions. A person was able to control the arm through speech interaction using these quasi-symbols. These quasi symbols formed a hierarchical structure corresponding to the number of nodes in the model. The meaning of some of the quasi-symbols depended on the context, indicating that they are useful for human-robot interaction.

关键词： Hidden Markov models Natural languages Humanoid robots Robot sensing systems Intelligent robots Human robot interaction Recurrent neural networks Shape Bayesian methods robotics and automation

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Mowgli: A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System

Mowgli: A Bipedal Jumping and Landing Robot with an Artifici...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Ryuma Niiyama Akihiko Nagakubo Yasuo Kuniyoshi Graduate School of Interdisciplinary Information Studies University of Tokyo Tokyo Japan Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology RIKEN Ibaraki Japan Department of Mechano-Informatics University of Tokyo Tokyo Japan

Jumping and landing movements are characterized by large instantaneous forces, short duration, and a high uncertainty concerning take off and landing points. Such characteristics make conventional types of control and robot design inadequate. Here we present an approach to realize motor control of jumping and landing which exploits the synergy between control and mechanical structure. Our experimental system is a pneumatically actuated bipedal robot called "Mowgli". Mowgli's artificial musculoskeletal system consists of six McKibben pneumatic muscle actuators including bi-articular muscle and two legs with hip, knee, and ankle joints. Mowgli can reach jump heights of more than 50% of its body height and can land softly. Our results show a proximo-distal sequence of joint extensions during jumping despite simultaneous motor activity. Extensions in the whole body motion are caused by the compliance and the natural dynamics of the legs. In addition to the experiments with the real robot, we also simulated two types of open loop controllers for vertical jumping with disturbance. We found that the model controlled by open loop motor command through a muscle-tendon mechanism could jump robustly. The simulation results demonstrate the contribution of the artificial musculoskeletal system as a physical feedback loop in explosive movements.

关键词： Musculoskeletal system Muscles Leg Open loop systems Uncertainty Robot control Motor drives Pneumatic actuators Hip Knee

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Self-tuning PD+I fuzzy logic controller with minimum number of rules

Self-tuning PD+I fuzzy logic controller with minimum number ...

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IEEE international conference on Systems, Man and Cybernetics

作者： F. C. Teng A. Lotfi A. C. Tsoi Department of Electrical & Computer Engineering Polytechnic University of Puerto Rico USA School of Computing & Informatics Nottingham Trent University Nottingham UK Monash e-Research Centre Monash University VIC Australia

A novel 9 rules self-tuning PD+I fuzzy logic controller applicable for a class of nonlinear plants is proposed in this paper. The controller comprises of three separate fuzzy logic controllers with each uses minimum number of rules and the output scaling factor is tuned automatically depending on the tracking error dynamic conditions. The controller is applied to a two-link revolute robot for the tracking control. Simulation results show that the robustness and tracking performance of the proposed controller is comparable to standard PD+I fuzzy logic controller at low and medium speed motions. However, the performance of the proposed new design far exceeds the standard design at high speed motions.

关键词： Fuzzy logic Automatic control robotics and automation Three-term control Motion control Nonlinear control systems control systems Manipulators Industrial control Adaptive control

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