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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1371-1380 订阅

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A complete sensor-based system to navigate through a cluttered environment

A complete sensor-based system to navigate through a clutter...

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

作者： A. Durand-Petiteville V. Cadenat N. Ouadah Department of Biological and Agricultural Engineering University of California Davis Davis CA U.S.A. CNRS. LAAS Toulouse France UPS LAAS Univ. de Toulouse Toulouse France Centre de Developpement des Technologies Avancees Algiers Algeria

This article deals with the autonomous navigation problem of a mobile robot in a cluttered environment. We propose to have a different perspective than the traditional way of splitting the problem into two categories: the map-based ones and the mapless ones. Here we divide navigation systems into six processes: perception, modeling, localization, planning, action and decision. Then we present how those processes are organized into an architecture to perform a navigation. It is shown that this framework embraces any navigation system proposed in the literature and how it allows to create new combination of processes. We then detail our solution to the problem which mainly consists in coupling sensor-based controllers with a topological map. Moreover we present the used tools that we have developed over the last years as well as the ones from the literature. Finally we present experimentation results of a long-range navigation based on the proposed approach where a robot drives through an environement despite of occlusions and possible collisions due to obstacles.

关键词： Navigation Robot sensing systems Visualization Planning Collision avoidance Process control

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L1 adaptive output feedback controller with operating constraints for solid oxide fuel cells

L1 adaptive output feedback controller with operating constr...

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

作者： Lei Pan Chengyu Cao Jiong Shen School of Energy and Environment Southeast University Nanjing China Department of Mechanical Engineering University of Connecticut Storrs U.S.A

control on solid oxide fuel cells (SOFC) is challenging due to its nonlinearity, time-varying uncertainties, tight operating constraints and modeling difficulties. The L 1 adaptive output feedback controller for systems of unknown relative degree is introduced for the SOFC output voltage control in this paper. It allows for fast and robust adaptation, and provides improved transient performance. Its advantages of not enforcing a strictly positive real condition along with the low-pass filtered control signal bring it the potential to be applied in wide industrial processes. In the study of the SOFC control, a dynamic SOFC model is first built; then a L 1 adaptive output feedback controller is designed only using the nominal working conditions of the SOFC model. Through setting the operating constraints at proper locations, the closed-loop stability is maintained in the presence of hard constraints by the symmetric structure of the L 1 adaptive control loop. A simulation comparison is made in the SOFC constant voltage control process between the L 1 adaptive controller and a linear disturbance model predictive controller (DMPC) for their almost equal complexity in designs. The result shows the advantage of the L 1 adaptive controller in disturbance rejections for its faster transient response.

关键词： Hydrogen Adaptation models Fuels Output feedback Predictive models Voltage control Adaptive systems

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Adaptive control of position compensation for Cable-Conduit Mechanisms used in flexible surgical robots

Adaptive control of position compensation for Cable-Conduit ...

引用

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

作者： T. N. Do T. Tjahjowidodo M. W. S. Lau S. J. Phee Robotic Research Centre Nanyang Technological University Singapore Newcastle University International Singapore (NUIS) Singapore

Natural Orifice Transluminal Endoscopic Surgery (NOTES) is a method that allows for performing complex operations via natural orifices without skin incisions. Its main tool is a flexible endoscope. Cable-Conduit Mechanisms (CCMs) are often used in NOTES because of its simplicity, safety in design, and easy transmission. Backlash hysteresis nonlinearities between the cable and the conduit pose difficulties in the motion control of the NOTES system. It is challenging to achieve the precise position of robotic arms when the slave manipulator inside the humans body. This paper presents new approaches to model and control for pairs of CCMs. It is known that the change of cable-conduit configuration will affect the backlash hysteresis non-linearities. To deal with such change, a new nonlinear and adaptive control scheme will be introduced. The backlash hysteresis parameters are online estimated under the assumption of availability of output feedback and unknown bound of nonlinear parameters. To validate the proposed approach, a prototype of single-DOF-Master-Slave system, which consists of a master console, a telesurgical workstation, and a slave manipulator, is also presented. The proposed compensation scheme is experimentally validated using the designed system. The results show that the proposed control scheme efficiently improves the tracking performances of the system regardless of the change of endoscope configuration.

关键词： Manipulators Pulleys Endoscopes Hysteresis Grippers Adaptive control

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3D probrabilistic occupancy grid to robotic mapping

3D probrabilistic occupancy grid to robotic mapping

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作者： Souza, Anderson Gonçalves, Luiz Department of Computing University of the State of the Rio Grande do Norte Natal Brazil Department of Computing and Automation Federal University of the Rio Grande do Norte Natal Brazil

ISBN: (纸本)9789898425751

The use of camera to acquire useful visual information for the navigation of mobile robots is increasingly frequent. The images are rich sources of information about the scenario around a robot. This enables the extraction of maps that are of paramount importance in the process of autonomous navigation. This paper proposes a method of constructing a occupancy grid map through a system of low-cost stereo vision, through which a robot can detect obstacles and free regions, enabling autonomous navigation.

关键词： Stereo vision

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Robot Local Navigation with Learned Social Cost Functions

Robot Local Navigation with Learned Social Cost Functions

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international conference on informatics in control, automation and robotics

作者： Noe Perez-Higueras Rafael Ramon-Vigo Fernando Caballero Luis Merino School of Engineering Pablo de Olavide University Dpt. of System Engineering and Automation University of Seville

ISBN: (纸本)9781479979202

Robot navigation in human environments is an active research area that poses serious challenges. Among them, human-awareness has gain lot of attention in the last years due to its important role in human safety and robot acceptance. The proposed robot navigation system extends state of the navigation schemes with some social skills in order to naturally integrate the robot motion in crowded areas. Learning has been proposed as a more principled way of estimating the insights of human social interactions. To do this, inverse reinforcement learning is used to derive social cost functions by observing persons walking through the streets. Our objective is to incorporate such costs into the robot navigation stack in order to "emulate" these human interactions. In order to alleviate the complexity, the system is focused on learning an adequate cost function to be applied at the local navigation level, thus providing direct low-level controls to the robot. The paper presents an analysis of the results in a robot navigating in challenging real scenarios, analyzing and comparing this approach with other algorithms.

关键词： Robot Navigation Social Robots Inverse Reinforcement Learning Learning from Demonstrations

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Development of Wrist Bending Rehabilitation Robot

Development of Wrist Bending Rehabilitation Robot

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international conference on informatics in control, automation and robotics

作者： Hyeon-Min Kim Tae-Kyung Hong Hyung-Je Cho Gab-Soon Kim Department of Control & Instrumentation Engineering (ERI) Gyeongsang National University YESON Rehabilitation Hospital

ISBN: (纸本)9781479979202

This paper describes the wrist bending rehabilitation robot using a four-axis force/moment sensor. The robot can be used to exercise the wrist bending rehabilitation for severe stroke patients lying in bed wards or at home. The manufactured four-axis force/moment sensor which can detect two directional force Fx, Fy and two directional moment Mx, My, was attached to the developed rehabilitation robot and allows the rehabilitation robot to measure a bending force (Fx) exerted on a wrist, the signal force Fy and moments Mx, My which in turn allows the device to be used safely. The results of a characteristics test for the developed rehabilitation robot showed that it was safely operated while the wrist bending flexibility rehabilitation exercise was performed. Therefore, it is thought that the developed rehabilitation robot can be safely used with severe stroke patients.

关键词： Four-axis Force/Moment Sensor Interference Error Wrist Rehabilitation Robot Rehabilitation Exercise

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Soil identification and control-parameter estimation for optimal driving of wheeled robots on rough terrain 12th

Soil identification and control-parameter estimation for opt...

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12th international conference on informatics in control, automation and robotics, icinco 2015

作者： Kim, Jayoung Lee, Jihong Department of Mechatronics Engineering Chungnam National University Daejeon Gungdong Korea Republic of

ISBN: (纸本)9783319264516

Wheeled robots on rough terrain are needed to effectively change wheel control strategies since optimal slip and maximum traction levels differ depending on soil types such as sandy soil, grassy soil or firm soil. In a view point of wheel control, this paper focuses on a predictionmethod of optimal control parameters such as optimal slip ratio and traction coefficient acting on wheels to maximize traction or minimize energy consumption. In this paper, optimal control parameter (OCP) models based on surface reaction index (SRI) are experimentally derived using characteristic data from wheel-soil interaction through indoor experiments by a testbed for analysis of wheel-soil interaction on three types of soil;grass, gravel and sand. For estimating surface reaction index (SRI), actual traction coefficient, including information of motion resistance, is observed by a state estimator which is constructed from longitudinal wheeled robot dynamics. The actual traction coefficient and slip ratio on wheels are employed to estimate surface reaction index (SRI) by a numerical method on the basis of derived optimal models. The proposed algorithm is verified through outdoor driving experiments of a wheeled robot on various types of soil. © Springer international Publishing Switzerland 2016.

关键词： Soils

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Bayesian Transfer Learning Between Uniformly Modelled Bayesian Filters 16th

Bayesian Transfer Learning Between Uniformly Modelled Bayesi...

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16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Jirsa, Ladislav Kuklišová Pavelková, Lenka Quinn, Anthony The Czech Academy of Sciences Institute of Information Theory and Automation Prague Czech Republic Trinity College Dublin the University of Dublin Dublin Ireland

ISBN: (纸本)9783030631925

We investigate sensor network nodes that sequentially infer states with bounded values, and affected by noise that is also bounded. The transfer of knowledge between such nodes is the principal focus of this chapter. A fully Bayesian framework is adopted, in which the source knowledge is represented by a bounded data predictor, the specification of a formal conditioning mechanism between the filtering nodes is avoided, and the optimal knowledge-conditioned target state predictor is designed via optimal Bayesian decision-making (fully probabilistic design). We call this framework Bayesian transfer learning, and derive a sequential algorithm for pairs of interacting, bounded filters. To achieve a tractable, finite-dimensional flow, the outputs of the time step, transfer step and data step are locally projected onto parallelotopic supports. An informal variant of the transfer algorithm demonstrates both strongly positive transfer of high-quality (low variance) source knowledge—improving on a former orthotopically supported variant—as well as rejection of low-quality (high variance) source knowledge, which we call robust transfer. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Decision making

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Optimal design of digital low pass Finite Impulse Response filter using Particle Swarm Optimization and Bat Algorithm

Optimal design of digital low pass Finite Impulse Response f...

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

作者： Alcemy G. V. Severino Leandro L. S. Linhares Fábio M. U. de Araújo Department of Computer Engineering and Automation Federal University of Rio Grande do Norte 59078-900 Natal Brazil

In this paper, the traditional metaheuristic Particle Swarm Optmization (PSO) and the Bat Algorithm (BA) are used to optimal design digital low pass (LP) Finite Impulse Response (FIR) filters. These filters have a wide range of applications because of their characteristics. They are easy to be designed, they have guaranteed bounded input-bounded output (BIBO) stability and can be designed to present linear phase at all frequencies. Traditional optimization methods based on gradient are susceptible to getting trapped on a local optima solution when they are applied to optimize multimodal problems, such as the FIR filter design. Here, to overcome this drawback, the aforementioned metaheuristics are adopted to obtain the coefficients of low pass FIR filters of order 20 and 24. The performance of BA and PSO algorithms are compared with the classical Parks and McClellan (PM) filter design algorithm, which is a deterministic procedure. For this comparison is considered the filters pass band and stop band ripples, transition width and statistical data. The simulation results demonstrate that the proposed filter design approach using BA algorithm outperforms PM and PSO.

关键词： Finite impulse response filters Algorithm design and analysis Optimization Particle swarm optimization Frequency response Simulation Chebyshev approximation

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Modeling and calibrating triangulation lidars for indoor applications 13th

Modeling and calibrating triangulation lidars for indoor app...

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

作者： Alhashimi, Anas Pierobon, Giovanni Varagnolo, Damiano Gustafsson, Thomas Control Engineering Group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Computer Engineering University of Baghdad Baghdad Iraq Department of Information Engineering University of Padova Padova Italy

ISBN: (纸本)9783319550107

We present an improved statistical model of the measurement process of triangulation Light Detection and Rangings (Lidars) that takes into account bias and variance effects coming from two different sources of uncertainty: (i)mechanical imperfections on the geometry and properties of their pinhole lens - CCD camera systems, and (ii) inaccuracies in the measurement of the angular displacement of the sensor due to non ideal measurements from the internal encoder of the sensor. This model extends thus the one presented in [2] by adding this second source of errors. Besides proposing the statistical model, this chapter considers: (i) specialized and dedicated model calibration algorithms that exploit Maximum Likelihood (ML)/Akaike Information Criterion (AIC) concepts and that use training datasets collected in a controlled setup, and (ii) tailored statistical strategies that use the calibration results to statistically process the raw sensor measurements in non controlled but structured environments where there is a high chance for the sensor to be detecting objects with flat surfaces (e.g., walls). These newly proposed algorithms are thus specially designed and optimized for inferring precisely the angular orientation of the Lidar sensor with respect to the detected object, a feature that is beneficial especially for indoor navigation purposes. © Springer international Publishing AG 2018.

关键词： Optical radar

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