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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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Learning to dribble on a real robot by success and failure

Learning to dribble on a real robot by success and failure

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IEEE international conference on robotics and automation (ICRA)

作者： Martin Riedmiller Roland Hafner Sascha Lange Martin Lauer Department of Mathematics and Informatics Institute of Computer Science and Institute of Cognitive Science University of Osnabrück

Learning directly on real world systems such as autonomous robots is a challenging task, especially if the training signal is given only in terms of success or failure (reinforcement learning). However, if successful, the controller has the advantage of being tailored exactly to the system it eventually has to control. Here we describe, how a neural network based RL controller learns the challenging task of ball dribbling directly on our middle-size robot. The learned behaviour was actively used throughout the RoboCup world championship tournament 2007 in Atlanta, where we won the first place. This constitutes another important step within our Brainstormers project. The goal of this project is to develop an intelligent control architecture for a soccer playing robot, that is able to learn more and more complex behaviours from scratch.

关键词： control systems robotics and automation Cognitive robotics Learning Biological neural networks Intelligent robots System testing USA Councils Mathematics informatics

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An optimal admittance reactive force control for cooperative robot grasping tasks

An optimal admittance reactive force control for cooperative...

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作者： Rodriguez-Angeles, A. De J. Portillo-Velez, R. Cruz-Villar, C.A. Center for Research and Advanced Studies CINVESTAV-IPN Av. Instituto Politecnico Nacional No. 2508 Col. San Pedro Zacatenco C.P. 07360 Mexico City D.F. Mexico

ISBN: (纸本)9789898425751

In this article it is proposed an optimal admittance algorithm that controls the position of the end effectors in cooperative robot systems or fingers, in case of robotic hands, reactively according to on-line force sensory data. The method is free of in-depth models or sophisticated external sensors. The sensors used are simple and provide only limited and immediate information, nonetheless they allow to reactively correct the applied force to guarantee object stable grasp. Force sensory information is used to determine modification of the desired movement of the robots at a cooperative system, so that ultimately the applied force to guarantee a stable object grasp is achieved. The proposed optimization algorithm uses force error at each robot as a correction factor when calculating a modified Cartesian desired trajectory, thus it results on real time reactive motion planning. The novelty of the proposed algorithm is that the adaptive admittance controller is obtained as the solution of a dynamic optimization problem which is solved via the standard gradient flow approach. The proposed methodology considers grasps and fixtures whose contacts react according to force displacement laws consistent with friction constraints at the contact points. It is only assumed that each robot end effector is capable of generating its own linear force displacement. Experimental results show that the proposed controller is robust against environmental stiffness uncertainties and its variations, as well as object position uncertainty, as far as an initial contact between the robots and the object is guaranteed.

关键词： End effectors

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Execution Models for the IEC 61499 elements Composite Function Block and Subapplication

Execution Models for the IEC 61499 elements Composite Functi...

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IEEE international conference on Industrial informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James. H. Christensen Marco Colla Thomas Strasser Automation and Control Institute University of Technology Vienna Austria Holobloc Inc. Cleveland USA Rockwell Automation Advanced Technologies Cleveland USA CIMSI Institute SUPSI-University of Applied Sciences Switzerland Robotics & Adaptive Systems Group Profactor Produktionsforschungs GmbH Austria

The semantic loopholes of the standard IEC 61499 have been pointed out in different recent publications with focus on some details. This paper investigates especially on the execution models for composite function blocks and subapplications. Of course this is closely related to the execution of basic function blocks and function block networks. Therefore, this work is based on general assumptions about these parts. The different possibilities concerning composite function blocks are described in detail and explained in a case study of a very simple example function block. For the sake of describing the relation to current runtime environments, three current implementations are used in the case study.

关键词： IEC standards Runtime environment Counting circuits Standards publication Programmable control Automatic control robotics and automation Hardware Concrete Automatic programming

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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 ...

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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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Automatic Domain Extension and Optimization Based on Set-Theory 17th

Automatic Domain Extension and Optimization Based on Set-T...

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17th international conference on informatics in control, automation and robotics, icinco 2020

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian von Wichert, Georg Feiten, Wendelin Zhang, Jianwei Siemens AG Corporate Technology Otto-Hahn-Ring 6 Munich81739 Germany Faculty of Mathematics Informatics and Natural Sciences University of Hamburg Vogt-Kölln-Str. 30 Hamburg22527 Germany

ISBN: (纸本)9783030924416

Autonomous machines promise more flexibility and robustness changes in their environment compared to manually programmed solutions in industrial applications. However, the autonomous planning of actions involves discrete as well as continuous properties, which results in a np-hard planning problem. Especially for multiple machines and long planning horizons the design of domains requires a lot of fine tuning and thus manual effort. Modularization and reuse of existing domain knowledge with formalized models is one solution to this issue. However, the models of different projects tend to be misaligned, in particular when several parties contributed to the project, which deteriorates the performance. In this paper, we present two domain optimization and extension algorithms, which adapt the models to facilitate planning. The first algorithm handles inconsistent units, or even misaligned pieces of sub-information. It automatically generates conversions and allows to call operations with a wider range of input types. The second algorithm aligns models from different sources with varying modeling views. After this reformulation, we can compose models more efficiently to a larger domain. For both optimizations, we rely on the formal set-based models that we also use in our previously presented hierarchical planning algorithm. Our hierarchical approach allows an almost linear scalability with the length of the plan. However, it comes with non-optimality effects due to the imposed intermediate goals that depend on the quality of the model. The optimization algorithms of this paper allow to adapt and extend the model so that valid shortcuts reduce these suboptimalities. We conduct experiments on a task and motion assembly problem, demonstrating scalability for up to 62 parts and plans with over 1000 steps, which either result in discrete state or high-level position changes, with planning times of less than 15 min. Our experiments also include the successful plan execution o

关键词： Scalability

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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...

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

Context Estimation and Learning Control through Latent Varia...

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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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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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Active Illumination for Robot Vision

Active Illumination for Robot Vision

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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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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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