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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191-200 订阅

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Real-Time Setup with PD and Backstepping control for a Pelican Quadrotor 14

Real-Time Setup with PD and Backstepping Control for a Pelic...

引用

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

作者： Ruiz, Jose Alejandro Dena Aouf, Nabil Cranfield Univ Ctr Elect Warfare Def Acad United Kingdom Shrivenham SN6 8LA England

ISBN: (纸本)9789897583049

In this paper, a real-time setup and an implementation of a Proportional Derivative (PD) controller for orientation and comparison between PD and BackStepping (BS) controllers for linear positioning are presented using a Pelican quadrotor from Ascending Technologies (AscTec). An onboard Inertial Measurement Unit (IMU) was used for orientation control and Optitrack Vision Tracking System for linear positioning control. A linear Kalman filter was implemented for linear velocity estimation. The software and hardware integration was achieved with the help of the Robot Operating System (ROS). Simulations and experiments with this drone platform are achieved in order to implement different controller algorithms and analyse them in order to achieve better aircraft performance.

关键词： PD control Backstepping control Kalman Filter Optitrack ROS

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A Novel Aerial Manipulation Design, Modelling and control for Geometric CoM Compensation 16

A Novel Aerial Manipulation Design, Modelling and Control fo...

引用

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

作者： Bouzgou, Kamel Benchikh, Laredj Nouveliere, Lydie Bestaoui, Yasmina Ahmed-Foitih, Zoubir Univ Paris Saclay IBISC Univ Evry F-91025 Evry France USTO MB Dept Elect LEPESA Lab Fac Elect Engn Oran 31000 Algeria

ISBN: (纸本)9789897583803

This paper presents the design and modelling of a new Aerial manipulating system, that resolve a displacement of centre of gravity of the whole system with a mechanical device. A prismatic joint between the multirotor and a robotic arm is introduced to make a centre of mass as close as to the geometric centre of the whole system. This paper details also the geometric and dynamic modelling of a coupled system with a Lagrange formalism and control law with a Closed Loop Inverse Kinematic Algorithm (CLIKA). This dynamic inverse control is validated in a Simulink environment showing the efficiency of our approach.

关键词： UAVs Aerial Robot Flying Manipulation CLIKA CoM Compensation Dynamic Inverse control

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Altitude control of small helicopters using a prototype test bed

Altitude control of small helicopters using a prototype test...

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5th international conference on informatics in control, automation and robotics

作者： Vitzilalos, Nikos I. Tsourveloudis, Nikos C. Tech Univ Crete Intelligent Syst & Robot Lab Khania Greece

ISBN: (纸本)9789898111319

In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. The test bed consists of a small unmanned helicopter, mounted on a flying stand that permits all possible movements but prevents the helicopter from damaging or crashing. A fuzzy controller is developed in MATLAB and tested in the helicopter using the test bed. The controller is able to perform hovering and altitude control. Experimental results are presented for various test cases.

关键词： unmanned helicopters experimental test bed altitude control fuzzy control aerial robotics

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An autonomous biped: Concept and design

An autonomous biped: Concept and design

引用

9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Jakubik, Peter Department of Automation and Systems Technology Aalto University Otaniementie 17 02150 Espoo Finland

ISBN: (纸本)9789898565211

This paper argues for a new approach in the mechanical design principle for the humanoid walkers. Applying linear electric direct drive motors the biped mechanism is able to behave as dynamically highly reactive walker admissible to exploiting its own natural dynamics. Based on this, a whole new concept of an anthropomorphic walker prototype is described including the interaction of the design and algorithmic aspects of the motion control.

关键词： Biped Biped design Dynamic walking Engineering design

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Realistic Estimation of Model Parameters 14

Realistic Estimation of Model Parameters

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

作者： Ettler, Pavel COMPUREG Plzen Sro Plzen 30634 Czech Republic

ISBN: (纸本)9789897583049

Most often, the normal distribution N plays the key role in the process modelling and parameter estimation. The paper deals with realistic estimation of model parameters which takes into account limitations on parameters which arise in industrial applications of the model-based adaptive control. Here the limitation of a normally distributed random variable is being modelled by specific distribution - the probabilistic mixture D. It is shown that relationship between distributions N and D coincides with properties of the generalized normal distribution G and that relations between their first and second statistical moments can be adequately approximated by G's cumulative distribution function and probability density function, respectively. The derived method is then applied to estimation of bounded parameters. In combination with the idea of parallel identification of the full and reduced models of the process, a working algorithm is derived. Performance of the algorithm is illustrated by examples on both simulated and real data.

关键词： Parameter Estimation Process Model Probabilistic Distribution Adaptive control

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Quality-Based Behavior-Based control for Autonomous Robots in Rough Environments 14

Quality-Based Behavior-Based Control for Autonomous Robots i...

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

作者： Ropertz, Thorsten Wolf, Patrick Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9789897583049

Autonomous navigation in unstructured environments is a challenging task for which behavior-based control systems proved to be suitable due to their inherent robustness against unforeseen situations. But especially the robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality-based data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture. To demonstrate its capabilities, a perception network for robot localization is derived and its outcomes are compared to an state of the art localization filter in simulation and in a real world scenario as well.

关键词： Behavior-based control Quality-based Perception Localization Off-road robotics

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Cognitive approach to problem solving of social and economic object development

Cognitive approach to problem solving of social and economic...

引用

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

作者： Avdeeva, Z. Kovriga, S. Makarenko, D. Russian Acad Sci Inst Control Sci Moscow 117997 Russia

ISBN: (纸本)9789728865825

The basic technique of problem-solving is structurization of knowledge about object and its environment and construction of a cognitive model. The technique includes monitoring of dynamics of factors of the model (their tendencies), analysis of the model structure with the use of SWOT-approach, and modeling that permits to determine and solve semi-structured problems. The technique allows supporting of a vital control task that consists in goal setting of socio-economic object development, as far as solution of discovered problems turns into the system development control task. The application of technique is useful when designing a strategy of development of social and economic objects.

关键词： strategic management social-economic object problem-solving decision support semi-structured problems cognitive map cognitive modeling

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RBF Neural Network based Trajectory control and Impedance control of a Upper Limb Tele-rehabilitation Process 17

RBF Neural Network based Trajectory Control and Impedance Co...

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

作者： Wang, Ting Pu, Yanfeng Southeast Univ Sch Instrument Sci & Engn 2 Sipailou Nanjing 210096 Peoples R China Nanjing Customs Dist PR China 360 Longpanzhong Rd Nanjing Peoples R China

ISBN: (纸本)9789897584428

In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time during the training exercises, an adaptive impedance control is proposed for the slave side. At the same time, the trajectory control based on the Hamilton-Jacobi-Inequality theory and the RBF Neural network is performed for the master manipulator operated by therapists. The stability is analyzed and numerical simulations show the efficiencies and high performances of the proposed method.

关键词： Impedance control Upper Limb Tele-rehabilitation

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Real-time Implementation and Evaluation of Magnetometerless Tracking System for Human and Humanoid Posture control Benchmarking based on Inertial Sensors 17

Real-time Implementation and Evaluation of Magnetometerless ...

引用

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

作者： Lippi, Vittorio Brands, Kai Gunter Seel, Thomas Tech Univ Berlin Control Syst Berlin Germany

ISBN: (纸本)9789897584428

This work describes a tracking system designed for humanoid robots, exoskeletons and humans oriented to posture control and balance experiments. The system aims to provide a tool that allows for repeatability of balance experiments across different robotics platforms and control algorithms with the ultimate aim of providing a standardized framework for performance benchmarking. To make the system suitable for different geometries and materials, it relies just on inertial sensors. The system is evaluated with a marker-based optical tracking, performing a trial of a typical posture control and balance experiment. In particular the frequency response function of the body segments respect to the support surface tilt is evaluated.

关键词： Tracking System Magnetometerless Humanoid Posture control Benchmarking

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Vaccination and Time Limited Immunization for SARS-CoV-2 Infection 18

Vaccination and Time Limited Immunization for SARS-CoV-2 Inf...

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

作者： Di Giamberardino, Paolo Iacoviello, Daniela Sapienza Univ Rome Dept Comp Control & Management Engn Antonio Ruber Via Ariosto 25 I-00185 Rome Italy

ISBN: (纸本)9789897585227

The paper aims at a discussion of the effects of the containment measures against COVID-19 through the analysis of the reproduction number. Starting from a mathematical model in which several controls are considered, including the vaccination, and introducing also an hypotised limited duration of the immunity acquired both from vaccine and from healing from the illness, the steady state behaviour, both in the uncontrolled and in the controled cases is studied. The expressions for the basic reproduction number and the actual reproduction number under control actions are computed by means of the next generation matrix approach. This function is numerically investigated, showing some graphs which illustrate, qualitatively and quantitatively, in an intuitive way the positive effects of the controls and the negative contribution of the absence of a lifetime immunization from virus.

关键词： COVID-19 Epidemic Model Vaccination Reinfection

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