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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1421-1430 订阅

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A morphing wing used shape memory alloy actuators new control technique with Bi-positional and PI laws optimum combination - Part 2: Experimental validation

A morphing wing used shape memory alloy actuators new contro...

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作者： Grigorie, Teodor Lucian Popov, Andrei Vladimir Botez, Ruxandra Mihaela Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada National Research Council Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

The paper represents the second part of a study related to the development of an actuators control system for a morphing wing application, and describes the experimental validation of the control designed in the first part. After a short presentation of the finally adopted control architecture, the physical implementation of the control is done. To implement the controller on the physical model two Programmable Switching Power Supplies AMREL SPS 100-33 and a Quanser Q8 data acquisition card, were used. The inputs of the data acquisition were two signals from Linear Variable Differential Transformer potentiometers, indicating the positions of the actuators, and six signals from thermocouples installed on the SMA wires. The acquisition board outputs channels were used to control power supplies in order to obtain the desired skin deflections. The control validation was made in two experimental ways: bench test and wind tunnel test. All 35 optimized airfoil cases, used in the design phase, were converted into actuators vertical displacements which were used as inputs reference for the controller. In the wind tunnel tests a comparative study was realized around of the transition point position for the reference airfoil and for each optimized airfoil.

关键词： controllers

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5th IEEE international conference on Industrial informatics

5th IEEE International Conference on Industrial Informatics

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IEEE international conference on Industrial informatics (INDIN)

The following topics are dealt with: industrial informatics; security; factory automation; robotics; autonomous systems; e-applications; cognitive science; service-oriented architecture; dependable embedded systems; networked control; collaborative manufacturing; cognitive automation; agent theory; agent practice; downtimeless reconfiguration; IEC 61499 function block applications.

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Combinatorial optimization approach for feasible low-power and real-time flexible OS tasks 12th

Combinatorial optimization approach for feasible low-power a...

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

作者： Chniter, Hamza Khalgui, Mohamed Jarray, Fethi LISI Lab INSAT Carthage University Tunis Tunisia University of El-Manar Tunis Tunisia ISI Institute University of Gabes Gabes Tunisia Systems Control Lab Xidian University Xi’an China CEDRIC Laboratory CNAM 292 rue St-Martin Paris Cedex 0375141 France ISI Institute Medenine Tunisia

ISBN: (纸本)9783319264516

The chapter presents a combinatorial optimization method for the low-power adaptive scheduling problem on variable speed processors and reconfigurable architectures. It deals with synchronous and flexible real-time OS tasks. A reconfiguration scenario is assumed to be a run-time software intervention which act on the system state to allow the addition-removal-update of OS tasks and consequently adapt the system to its environment under functional and extra-functional requirements. A reconfiguration can change the system behavior where temporal properties are violated or the energy consumption overcomes its limit and pushes the system to a non feasible state. A configuration scenario can be a result of the addition-removal-update of tasks in the system. The difficulty is how to recover the violated temporal parameters of the system’s tasks after any reconfiguration. We use a DVS processor which is with a variable speed to support run-time solutions to re-obtain the system’s feasibility. The challenge is to choose the suitable scaling factors for the processor speed to ensure the best compromise between the execution time and the energy consumption where all constraints are respected. We reformulate the problem and propose a combinatorial optimization method based on integer programming and heuristics to solve the problem. We compensate each approachby a mechanism which is based on the deadline adjustment of the tasks to satisfy the feasibility conditions when the available speeds of the processor do not filfull the needs. This mechanism make the system more reliable and flexible to respond appropriately to its environment. © Springer international Publishing Switzerland 2016.

关键词： Integer programming

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Short-term map based detection and tracking of moving objects with 3D laser on a vehicle 12th

Short-term map based detection and tracking of moving object...

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

作者： Ćesić, Josip Marković, Ivan Jurić-Kavelj, Srećko Petrović, Ivan Department of Control and Computer Engineering University of Zagreb Unska 3 Zagreb10000 Croatia

ISBN: (纸本)9783319264516

Detection and tracking of moving objects is an essential problem in situational awareness context and hence crucial for many robotic applications. Here we propose amethod for the detection ofmoving objectswith a 3Dlaser range sensor and a variation of the method for tracking multiple detected objects. The detection procedure startswith the ground extraction using random sample consensus approach formodel parameter estimation. The resulting point cloud is then downsampled using voxel grid approach and filtered using a radius outlier rejection method. Within the approach, we have utilized a procedure for building short-term maps of the environment by using the octree data structure. This data structure enables an efficient comparison of the current scan and the short-term local map, thus detecting dynamic parts of scene. The ego-motion of the mobile platform is compensated using the available odometry information, which is rather imperfect, and hence is refined using the iterative closest point registration technique. Furthermore, due to sensor characteristics, the iterative closest point is carried out in 2D between the short-term map and the current, where the non-ground filtered scans are projected onto 2D. The tracking task is based on the joint probabilistic data association filter and Kalman filtering with variable process and measurement noise which take into account velocity and position of the tracked objects. Since this data association approach assumes a constant and known number of objects, we have utilized a specific entropy based track management. The experiments performed using Velodyne HDL-32E laser sensor mounted on top of a mobile platform demonstrate the suitability and efficiency of the proposed method. © Springer international Publishing Switzerland 2016.

关键词： Kalman filters

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Conformance testing of soft-core can controllers: A low-cost and practical approach 1

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6th international conference on informatics in control automation and robotics, icinco 2009

作者： Sheikh, Imran Short, Michael Embedded Systems Laboratory University of Leicester University Road LE1 7RH United Kingdom Electroincs and Control Group Teesside University Borough Road Middlesbrough United Kingdom

ISBN: (数字)9783642197307

ISBN: (纸本)9783642197291

Since its introduction in the early 1980's, CAN has become the de-facto communications protocol employed in vehicle and industrial control applications. Before any new device can claim to support CAN-connectivity, extensive conformance testing is normally required to demonstrate compliance with the protocol at the physical and data link layers. To help standardize the nature of the specific test plans and documentation required for this testing, the ISO has published a set of draft standards specifically for CAN conformance testing. To date, most commercial CAN controllers and transceivers have been implemented at the silicon level, either in the form of dedicated IC's or as on-chip peripherals of embedded devices. The practical implementation of CAN conformance testers has been realised using dedicated hardware and specially written analysis software;this is a practical approach when testing and verifying conformance prior to high-volume IC manufacture. However, recent years have seen an increased interest in the employment of programmable logic devices such as FPGA's for the implementation of CAN controllers and CAN-enabled devices. Such 'soft core' implementations are often realised in small-volume (or sometimes even one-off) batches;in such circumstances, cost and availability reasons may dictate that developers simply cannot employ traditional CAN-conformance testing equipment. To help alleviate this problem, this paper proposes a low-cost and easily implemented method which will allow developers to fully test a CAN soft core implementation. The method allows developers to verify a CAN core against the relevant ISO standards using only (low-cost) off-the-shelf development boards, coupled with a simple analysis tool such as Chipscope. Finally, the paper extensively describes the use of the test bed in the verification of an open-source CAN soft core implementation. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： controllers

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Simulating the Primal Emotions of the Mammalian Brain: The Affective Feelings of Mental Life and Implications for Al-robotics

Simulating the Primal Emotions of the Mammalian Brain: The A...

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IEEE international conference on Industrial informatics (INDIN)

作者： Jaak Panksepp AGH University of Science and Technology Krakow Poland

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Beam trajectory control of the future compact linear collider

Beam trajectory control of the future compact linear collide...

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作者： Balik, G. Badel, A. Bolzon, B. Brunetti, L. Caron, B. Deleglise, G. Jeremie, A. Le Breton, R. Lottin, J. Pacquet, L. LAPP Université de Savoie CNRS/IN2P3 Annecy-le-Vieux France CERN-European Organization for Nuclear Research Geneva Switzerland SYMME-Polytech Annecy Chambéry Université de Savoie Annecy-le-Vieux France

ISBN: (纸本)9789898425744

The future Compact Linear Collider (CLIC) currently under design at CERN (European Organization for Nuclear Research) would create high-energy particle collisions between electrons and positrons, and provide a tool for scientists to address many of the most compelling questions about the fundamental nature of matter, energy, space and time. In accelerating structure, it is well-established that vibrations generated by the ground motion constitute the main limiting factors for reaching the luminosity of 1034 cm -2s-1. Several methods have been proposed to counteract this phenomena and active vibration controls based on the integration of mechatronic systems into the machine structure is probably one of the most promising. This paper studies the strategy of the vibration suppression. Active vibration control methods, such as optimized parameter of a numerical compensator, adaptive algorithm with real time control are investigated and implemented in the simulation layout. The requirement couldn't be achieved without the study of active-passive isolation able to damp high frequency ground motion. Thus, a pattern of a potential active/passive isolation has been proposed opening up prospects on the design of a future mechanical isolation.

关键词： Astrophysics

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Downtimeless System Evolution: Current State and Future Trends

Downtimeless System Evolution: Current State and Future Tren...

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IEEE international conference on Industrial informatics (INDIN)

作者： Oliver Hummer Christoph Sunder Thomas Strasser Martijn N. Rooker Gerold Kerbleder Automation and Control Institute (ACIN) University of Technology Vienna Vienna Austria Robotics and Adaptive Systems Department Profactor Produktionsforschung Gmbh Steyr Gleink Austria Bachmann Electronics GmbH Feldkirch Austria

Recent studies report a growing demand for downtimeless evolution of distributed automation systems. This paper therefore first analyzes evolution approaches from the industry as well as from academic research pointing out benefits and drawbacks. The standard IEC 61499 is identified as promising basis for dynamic reconfiguration of control applications, but it lacks for an adequate engineering methodology. Finally the epsivCEDAC approach for structured evolution modeling is presented. Therein a distributed evolution control application modeled in terms of IEC 61499 is used for transforming the control application from current to desired state without downtime. Further important issues are correctness of the evolution process and runtime error handling mechanisms.

关键词： IEC standards Automatic control Runtime Hardware Electrical equipment industry Consumer electronics robotics and automation Programmable control Software standards Distributed control

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Value Function Approximation on Non-Linear Manifolds for Robot Motor control

Value Function Approximation on Non-Linear Manifolds for Rob...

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IEEE international conference on robotics and automation (ICRA)

作者： Masashi Sugiyama Hirotaka Hachiya Christopher Towell Sethu Vijayakumar School of Informatics University of Edinburgh Edinburgh UK Department of Computer Science Tokyo Institute of Technology Meguro Tokyo Japan

The least squares approach works efficiently in value function approximation, given appropriate basis functions. Because of its smoothness, the Gaussian kernel is a popular and useful choice as a basis function. However, it does not allow for discontinuity which typically arises in real-world reinforcement learning tasks. In this paper, we propose a new basis function based on geodesic Gaussian kernels, which exploits the non-linear manifold structure induced by the Markov decision processes. The usefulness of the proposed method is successfully demonstrated in a simulated robot arm control and Khepera robot navigation.

关键词： Function approximation Motor drives Kernel State-space methods robotics and automation Least squares approximation Learning Orbital robotics Robot control Navigation

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Design and Development of a Dexterous Teleoperation Setup for Nuclear Waste Remote Manipulation 18th

Design and Development of a Dexterous Teleoperation Setup fo...

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18th international conference on informatics in control, automation and robotics, icinco 2021

作者： Gosselin, Florian Grossard, Mathieu Université Paris-Saclay CEA LIST Palaiseau91120 France

ISBN: (纸本)9783031264733

Teleoperation is entering a new era. Despite still in use today in the nuclear industry, simple purely mechanical or robotic 6 degrees of freedom (DoF) master-slave systems equipped with bi-digital grippers on the slave side and simple handles on the master side are not able to answer the challenge of remote manipulation at scale. These historical remotely controlled robotic solutions, inherited from mechanical master slave systems developed decades ago for research activities performed in gloveboxes and hot cells, allow operators an efficient and safe access to dangerous materials at distance. They are adapted when the variety of the to-be-manipulated objects remains limited, especially when these objects can be adapted for remote manipulation. They are however no more sufficient when one has to handle a much higher quantity of much more diverse objects, as it is typically the case when processing nuclear waste accumulated in huge quantities over time and/or produced at the occasion of nuclear power plants’ dismantling operations. The quantity and diversity of nuclear waste require more efficient and versatile systems. To answer this challenge and increase the operators’ productivity, we developed a complete bimanual teleoperation setup able to perform remote dexterous manipulation tasks. This article describes the hardware and software architecture of this platform, which is notably composed of a novel dexterous master-slave system combining a tri-digital master glove and a remotely controlled three fingers gripper. Both make use of highly backdrivable actuators and transmissions, and the proposed coupling schemes allow intuitive control of various grasp types. As a result, the proposed setup enables dexterous and force-sensitive control, and it is well-suited for high fidelity force-reflection tele-presence. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Remote control

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