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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171-180 订阅

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Tracking control of wheeled mobile robots with a single steering input control using reference time-scaling

Tracking control of wheeled mobile robots with a single stee...

引用

4th international conference on informatics in control, automation and robotics, icinco 2007

作者： Kiss, Balint Szadeczky-Kardoss, Emese Department of Control Engineering and Information Technology Budapest University of Technology and Economics Magyar Tuddsok krt. 2 Budapest Hungary

This paper presents a time-scaling based control strategy of the kinematic model of wheeled mobile robots with one input which is the steering angle. The longitudinal velocity of the mobile robot cannot be influenced by the controller but can be measured. Using an on-line time-scaling, driven by the longitudinal velocity of the robot and its time derivatives, one can achieve exponential tracking of any sufficiently smooth reference trajectory with non-vanishing velocity. The price to pay is the modification of the traveling time along the reference trajectory according to the time-scaling. The measurement of the time derivatives of the velocity is no longer necessary if the tracking controller is designed to the linearized tracking error dynamics.

关键词： Mobile robots

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Impedance control of a Redundant Parallel Manipulator 14

Impedance Control of a Redundant Parallel Manipulator

引用

14th international conference on informatics in control, automation and robotics (icinco)

作者： Mendez, Juan de Dios Flores Schioler, Henrik Madsen, Ole Bai, Shaoping Aalborg Univ Dept Elect Syst Frederik Bajers Vej 7C DK-9220 Aalborg Denmark Aalborg Univ Dept Mech & Mfg Engn Fibigerstr 16 DK-9220 Aalborg Denmark

ISBN: (纸本)9789897583049

This paper presents the design of Impedance control to a redundantly actuated Parallel Kinematic Manipulator. The proposed control is based on treating each limb as a single system and their connection through the internal interaction forces. The controller introduces a stiffness and damping matrices that decouples the dynamic behaviour of the robot. control allocation of torques is applied through an optimization that promotes even distribution of torques over actuators. Simulations showed a good compliance behaviour in low frequencies.

关键词： robotics Redundant Parallel Manipulators control Optimization Compliant Motion Impedance control

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Multi-layer Method for Data Center Cooling control and System Integration 14

Multi-layer Method for Data Center Cooling Control and Syste...

引用

14th international conference on informatics in control, automation and robotics (icinco)

作者： Garcia-Gabin, Winston Zhang, Xiaojing ABB Corp Res SE-72178 Vasteras Sweden

ISBN: (纸本)9789897583049

This paper describes an integral management hierarchical structure for data center server room ventilation and IT equipment cooling based on multi-layer approach. The approach contains two hierarchical layers, the lower layer is responsible to assure the right cooling power of each server-rack avoiding overcooling and waste of energy. The upper layer is responsible to perform the tasks of optimization, supervision and coordination of all subsystems in the lower layer for holistic control. The approach aim is to make data centers more energy efficient, here we focus on proposing a general approach to improve the efficiency of their thermal cooling systems.

关键词： Data Center Energy Efficiency Cooling control System Integration

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Adaptive control by neuro-fuzzy system of an omni-directional wheelchair using a touch panel as human-friendly interface

Adaptive control by neuro-fuzzy system of an omni-directiona...

引用

4th international conference on informatics in control, automation and robotics

作者： Terashima, Kazuhiko Noda, Yoshiyuki Urbano, Juan Kitamura, Sou Miyoshi, Takanori Kitagawa, Hideo Toyohashi Univ Technol Dept Prod Syst Engn Hibarigaoka 1-1 Toyohashi Aichi 4418580 Japan Gifu Natl Coll Technol Dept Elect Control Engn Gifu 5010495 Japan

ISBN: (纸本)9789728865832

For improving the operability of an omni-directional wheelchair provided with a power assist system, the system must be able to adapt to the individual characteristics of the many different attendants that will use it. For achieving this purpose, an innovative human-interface using a touch panel that provides easy input and feedback information in real time of the operation of a power-assisted wheelchair was developed. The system was tested experimentally with many different attendants and the results show that in addition to providing a human friendly interface by using the touch panel system with monitor it can adapt successfully to the particular habits of the attendants.

关键词： omni-directional wheelchair power assistant operability human-machine interface

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Parametric Synthesis of a Robust controller on a Base of Interval Characteristic Polynomial Coefficients 14

Parametric Synthesis of a Robust Controller on a Base of Int...

引用

14th international conference on informatics in control, automation and robotics (icinco)

作者： Gayvoronskiy, Sergey An Ezangina, Tatiana Khozhaev, Ivan Natl Res Tomsk Polytech Univ Dept Automat & Comp Syst Lenin Ave 30 Tomsk Russia

ISBN: (纸本)9789897583049

The paper is dedicated to deriving sufficient conditions, connecting root quality indexes of the control system with interval coefficients of its characteristic polynomial, on the base of interval expansion of the coefficient method. With the help of these conditions, a method of synthesizing a controller, providing an aperiodic transient process and acceptable stability degree, was developed. The method is applied to a problem of synthesizing a controller of an autonomous underwater vehicle submerging control system with interval parameters.

关键词： Acceptable Stability Degree Synthesizing a controller Root Quality Indexes Aperiodic Transient Process Interval Characteristic Polynomial Interval control System Autonomous Underwater Vehicle

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Nonlinear Second Cumulant/H-infinity control with Multiple Decision Makers 13

Nonlinear Second Cumulant/H-infinity Control with Multiple D...

引用

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

作者： Aduba, Chukwuemeka Arris Grp Inc Horsham PA 19044 USA

ISBN: (纸本)9789897581984

This paper studies a second cumulant/h-infinity control problem with multiple players for a nonlinear stochastic system on a finite-horizon. The second cumulant/h-infinity control problem, which is a generalization of the higher-order multi-objective control problem, involves a control method with multiple performance indices. The necessary condition for the existence of Nash equilibrium strategies for the second cumulant/h-infinity control problem is given by the coupled Hamilton-Jacobi-Bellman (HJB) equations. In addition, a three-player Nash strategy is derived for the second cumulant/h-infinity control problem. A simulation example is given to illustrate the application of the proposed theoretical formulations.

关键词： Cumulant Game control Nash Equilibrium Nonlinear System Optimization Statistical Game control

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On the balancing control of humanoid robot

On the balancing control of humanoid robot

引用

4th international conference on informatics in control, automation and robotics

作者： Choi, Youngjin Kim, Doik Hanyang Univ Sch Elect Engn & Comp Sci Ansan 426791 South Korea KIST Intelligent Robot Res Ctr Seoul 136791 South Korea

ISBN: (纸本)9789728865832

This paper proposes the kinematic resolution method of CoM(center of mass) Jacobian with embedded motions and the design method of posture/walking controller for humanoid robots. The kinematic resolution of CoM Jacobian with embedded motions makes a humanoid robot balanced automatically during movement of all other limbs. Actually, it offers an ability of WBC(whole body coordination) to humanoid robot. Also, we prove that the proposed posture/walking controller brings the ISS(disturbance input-to-state stability) for the simplified bipedal walking robot model.

关键词： WBC (whole body coordination) humanoid robot posture control CoM (center of mass) Jacobian

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An Integrated Object Detection and Tracking Framework for Mobile Robots 17

An Integrated Object Detection and Tracking Framework for Mo...

引用

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

作者： Juel, William Kristian Haarslev, Frederik Kruger, Norbert Bodenhagen, Leon Univ Southern Denmark SDU Robot Campusvej 55 Odense C Denmark

ISBN: (纸本)9789897584428

In this paper, we propose an end-to-end-solution to the problem of multi-object tracking on a mobile robot. The tracking system consists of a process where we project 2D multi-object detections to the robots base frame, using RGB-D sensor data. These detections are then transformed to the map frame using a localization algorithm. This system predicts trajectories of humans and objects in the environment of the robot and can be adapted to work with any detector and track from multiple cameras. The system can then be used to build a temporally consistent costmap to improve navigation strategies.

关键词： Detection Visual Tracking Mobile Robots Perception System and automation

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Irreversibility modeling applied to the control of complex robotic drive chains

Irreversibility modeling applied to the control of complex r...

引用

4th international conference on informatics in control, automation and robotics

作者： Al Assad, Omar Godoy, Emmanuel Croulard, Vincent Ecole Super Elect F-91192 Gif Sur Yvette France Gen Elect Healthcare F-78530 Buc France

ISBN: (纸本)9789728865832

The phenomena of static and dry friction may lead to difficult problems during low speed motion (e.g. stick slip phenomenon). However, they can be used to obtain irreversible mechanical transmissions. The latter tend to be very hard to model theoretically. In this paper, we propose a pragmatic approach to model irreversibility in robotic drive chains. The proposed methodology consists of using a state machine to describe the functional state of the transmission. After that, for each state we define the efficiency coefficient of the drive chain. This technique gives conclusive results during experimental validation and allows reproducing a reliable robot simulator. This simulator is set up for the purpose of position control of a medical positioning robot.

关键词： robotic modeling drive chain mechanical irreversibility efficiency gearbox

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Fractional controller for Thin Plate Surface Temperature control 16

Fractional Controller for Thin Plate Surface Temperature Con...

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

作者： Necsulescu, Dan S. Jarrah, Bilal A. Sasiadek, Jurek Z. Ottawa Univ Dept Mech Engn 161 Louis Pasteur Ottawa ON Canada Carleton Univ Dept Mech & Aerosp Engn Ottawa ON Canada

ISBN: (纸本)9789897583803

Surface temperature control of a thin aluminium plate were investigated using closed loop control approach implemented using inverse problem. The one-dimensional model with periodic boundary condition was solved using the Laplace transform and both direct problem and inverse problem transfer functions were obtained. The resulting transfer functions were expanded using Zero-Pole expansion to obtain a finite order polynomial transfer function. Simulation results for closed loop control using fractional controllers (FOPI lambda, FOPD mu, and FOPID mu) were evaluated.

关键词： Direct Problem Inverse Problem Zero-Pole Expansion Laplace Transform Fractional Order controllers

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