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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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A Terminal Sliding Mode control using EMG Signal: Application to an Exoskeleton-Upper Limb System 16

A Terminal Sliding Mode Control using EMG Signal: Applicatio...

引用

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

作者： Bembli, Sana Haddad, Nahla Khraief Belghith, Safya Univ Tunis El Manar Natl Engn Sch Tunis RISC Lab Tunis Tunisia

ISBN: (纸本)9789897583803

This paper presents a robust terminal sliding mode control using the EMG signal. The application deals with an exoskeleton-upper limb system, used for rehabilitation. The considered system is a robot with one degree of freedom controlling the flexion/extension movement of the elbow. The different stages of the EMG signal extraction were presented. Then, a second order terminal sliding mode algorithm has been developed to control the exoskeleton-upper limb system. A Stability study is realized and a robustness analysis is done using Monte Carlo simulation in presence of parametric uncertainties. Simulation results are provided to prove performance and effectiveness of the second order terminal sliding mode algorithm when tracking the EMG signal extracted from the human arm.

关键词： Exoskeleton-Upper Limb System Terminal Sliding Mode EMG Signal Robustness Analysis Monte Carlo Simulation Uncertainties

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Improved Relay Feedback Identification using Shifting Method 16

Improved Relay Feedback Identification using Shifting Method

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

作者： Hofreiter, M. Czech Tech Univ Dept Instrumentat & Control Engn Prague Czech Republic Fac Mech Engn Prague Czech Republic

ISBN: (纸本)9789897583803

This paper presents a new method for estimation of a static gain and remaining parameters of a second order time delayed model by relay feedback identification. For this purpose, it uses a recently published method called shifting method which enables to estimate two points of frequency characteristic from a single relay feedback test. These two frequency response points are determined without any assumptions about a model transfer function and they can be used for fitting parameters of a process transfer function with various structures. For the first time the shifting method is used for a static gain estimation. This unique solution is even applicable under constant load disturbance. A great advantage for practical use is the comprehensibility and computational simplicity of the method. This identification method is primarily proposed for automatic tuning of controllers. The method is demonstrated on a simulated example and a laboratory apparatus "Air Aggregate".

关键词： System Identification Static Gain Relay control Parameter Estimation Frequency Characteristic Feedback Time Delay Auto-tuning

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A Reconfigure Modelling of Double Stator PMSM after Turn-to-Turn Short Circuit 16

A Reconfigure Modelling of Double Stator PMSM after Turn-to-...

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

作者： Li Hao Schaeffer, Emmanuel Tang Tianhao Shanghai Maritime Univ Inst Elect Drives & Control Syst Shanghai 201306 Peoples R China Univ Nantes Polytech Nantes F-44603 St Nasaire France

ISBN: (纸本)9789897583803

This article presents an original modelling of a high speed double stator permanent magnet synchronous machine (DSPMSM). When a turn-to-turn short-circuit fault occurs in the stator windings, the current flowing in the short-circuited turns can be much higher than the phase current. And the unbalance between the phases caused by the fault makes the phase voltage unmeasured. For overcoming this problem, a reconfiguration modelling method is proposed. The reconfiguration is a model which input line voltage rather phase voltage that can be measured correctly even if the machine is unbalanced. This advanced model is familiar with the classical d-q model. Therefore the traditional vector control algorithm is still available, the machine can be controlled by using the same signals (measured phase currents at the inverter level and DC bus voltage). A simulation of a DSPMSM variable speed drive shows the relevance of the model.

关键词： Double Stator PMSM Turn-to-Turn Short-circuit Two-inputs Model Tranditional Vector control

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Survey about the Utilization of Open Source Arduino for control and Measurement Systems in Advanced Scenarios. Application to Smart Micro-Grid and Its Digital Replica 16

Survey about the Utilization of Open Source Arduino for Cont...

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

作者： Gonzalez Perez, Isaias Calderon Godoy, A. Jose Calderon Godoy, Manuel Gonzalez Gonzalez, J. Felix Univ Extremadura Ind Engn Sch Ave Elvas Badajoz Spain

ISBN: (纸本)9789897583803

The advantages of open source technology have led to their ever-growing utilization in advanced scenarios like the Industry 4.0, the Industrial Cyber-Physical Systems (ICPSs) and Smart Grids, among others. Concerning open source hardware, the platform Arduino receives great attention from academicians, hobbyists and even industrial practitioners. This paper aims at providing a panoramic overview of recent scientific literature reporting the use of Arduino in such challenging scenarios, proving its validity for control and measurement purposes. In addition, the application of such device as part of the equipment to monitor the operation and development of a Smart Micro-Grid and its digital replica is expounded.

关键词： Open Source Arduino Smart Micro-Grid Industry 4.0 ICPS control and Measurement System

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FPGA-based Embedded System Designed for the Deployment in the Compliant Robotic Leg CARL 16

FPGA-based Embedded System Designed for the Deployment in th...

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

作者： Schutz, Steffen Nejadfard, Atabak Reichardt, Max Berns, Karsten TU Kaiserslautern Robot Res Lab Dept Comp Sci Kaiserslautern Germany

ISBN: (纸本)9789897583803

The embedded system that is distributed within a bipedal robot is a key component of such a highly interwoven mechatronic system. Generally, it has to handle two competing main tasks - executing the embedded closed-loop control of the actuators and handling the communication with the higher-level control system. As the restrictions on physical size and energy consumption limit its computational resources, the design of the embedded nodes poses a potential bottleneck for the performance of the overall system. Hence, the following presents an approach to mitigate the conflicting requirements by deploying FPGA-based embedded nodes. It is illustrated how the additional flexibility at the logic level is used to implement the closed-loop force and impedance control of a series elastic actuator. Furthermore, it is shown how the consequent hardware/software co-design enables the deployment of a full featured robotic framework. To validate the concept, the properties of the implementation are characterized.

关键词： Embedded Systems Distributed control Compliant Actuation Series Elastic Actuator Bipedal Walking

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Design and Implementation of Smart Micro-Grid and Its Digital Replica: First Steps 16

Design and Implementation of Smart Micro-Grid and Its Digita...

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

作者： Calderon Godoy, A. Jose Gonzalez Perez, Isaias Univ Extremadura Ind Engn Sch Ave Elvas Badajoz Spain

ISBN: (纸本)9789897583803

It is evident the digital transformation that is spreading in more and more areas of science and technology in recent times, as demonstrated by scenarios such as Smart Grids, the Internet of Things, Cyber-Physical Systems or the Industry 4.0. This article outlines the first steps followed to develop a research project which aim is to bring this digitalization to the field of renewable energies and intelligent energy generation and distribution grids, the so-called Smart Grids (SG). The objective of this project is twofold. On the one hand, all the steps necessary to develop digital replicas of the devices that make up a Smart Micro-Grid will be covered. On the other hand, an automation and energy management system will be implemented over the micro-grid to optimize the operation of each of the systems that compose it, while guaranteeing the energy demand and maximizing the use of solar energy. Additionally, hydrogen is used as mid/long-term energy storage system (backup).

关键词： Smart Micro-Grid Digital Replica Modelling Renewable Energy Hydrogen automation Supervision

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A Hierarchical Planner based on Set-theoretic Models: Towards Automating the automation for Autonomous Systems 16

A Hierarchical Planner based on Set-theoretic Models: Toward...

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

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian Feiten, G. Wendelin Zhang, Jianwei Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany Univ Hamburg Fac Math Informat & Nat Sci Vogt Kolln Str 30 D-22527 Hamburg Germany

ISBN: (纸本)9789897583803

The complexity of today's autonomous systems renders the manual engineering of control strategies or behaviors for all possible system states infeasible. Therefore, planning algorithms are required that match the capabilities of the system to the tasks at hand. Solutions to typical problems with robotic systems combine aspects of symbolic action planning with sub-symbolic motion planning and control. The problem complexity of this combination currently prohibits online planning without task specific, manually defined heuristics. To counter that we use a set-theoretic approach to model declarative and procedural knowledge which allows for flexible hierarchies of planning tasks. The coordination of the planning tasks on different levels, the classification of information and various views on data are the core functions of hierarchical planning. We propose suitable graph structures to capture all relevant information and discuss the elements of our hierarchical planning algorithm in this paper. Furthermore, we present two use-cases of an autonomous manufacturing system to highlight the capabilities of our system.

关键词： Hierarchy Planning Autonomy

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Development of Flow Rate Feedback control in Tilting-ladle-type Pouring Robot with Direct Manipulation of Pouring Flow Rate 16

Development of Flow Rate Feedback Control in Tilting-ladle-t...

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

作者： Sueki, Yuta Noda, Yoshiyuki Univ Yamanashi Dept Mech Engn 4-3-11 Takeda Kofu Yamanashi 4008511 Japan

ISBN: (纸本)9789897583803

This paper describes the advanced control technology for the tilting-ladle-type pouring robots in the casting industry. In the pouring process in which the molten metal is poured into the pouring basin of the mold by tilting the ladle, it is difficult to pour the molten metal as desired pouring flow rate by the operator. Because the pouring flow rate is manipulated indirectly by manipulating the ladle's angle. In order to solve this problem, in previous studies, we developed the direct manipulation system of the pouring flow rate in the pouring robots. However, the error between the desired and the actual pouring flow rate can be caused by the disturbances in the pouring condition. Therefore, in this study, we develop the pouring flow rate feedback control for improving the tracking performance. In this approach, the pouring flow rate can be estimated by using the extended Kalman filter, and the feedback controller can be constructed by the gain-scheduled PID control based on the estimated flow rate. The developed system is applied to the laboratory-type pouring robot. According to the experiments, the operator can manipulate the pouring flow rate as desired, even in the pouring condition with the disturbance.

关键词： Pouring Robot Flow Rate control Extended Kalman Filter Gain-scheduled PID control

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Smith Predictor for control of the Temperature Process with Long Dead Time 16

Smith Predictor for Control of the Temperature Process with ...

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

作者： Bogdanovs, Nikolajs Belinskis, Romualds Krumins, Andris Petersons, Ernests Ipatovs, Aleksandrs Lafivents LTD Bldg Automat Dept Bauskas St 58 St Riga Latvia Riga Tech Univ Dept Transport Elect & Telemat Riga Latvia Riga Tech Univ Fac Civil Engn Inst Heat Gas & Water Technol Riga Latvia

ISBN: (纸本)9789897583803

The analysis of a problem of development of control systems for objects with big time delay is carried out in this work. For such objects it is difficult to provide high-quality control, because the control is carried on the last status of object's output. The main setup methods of PID regulators have been examined. Based on this analysis the technique of complete synthesis of the regulator of higher level is given in order to regulate building's heating system. This work offers a new method of object's control with distributed delay. As the test bed for the offered structure of control the valve of hot water supply in a heat-node is used. Using the test bed the stability of the system with time delay have been studied, which is controlled by the PID regulator assisted by Smith Predictor used to compensate the dead time.

关键词： PID Regulator Smith Predictor Transfer Function PLC controller

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Autonomous Overtaking Maneuver Design based on Follow the Gap Method 16

Autonomous Overtaking Maneuver Design based on Follow the Ga...

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

作者： Demir, Munire Damla Sezer, Volkan AVL Res & Engn Istanbul Turkey Istanbul Tech Univ Control & Automat Engn Dept Istanbul Turkey

ISBN: (纸本)9789897583803

This paper proposes a solution for one of the most important components of autonomous driving: "overtaking maneuver". Follow the Gap method (FGM) is oneof the most popular obstacle avoidance algorithms and directly obtains steering angle from position of the obstacles around. This paper is the first study using FGM to solve the overtaking problem. Different from previous studies where a trajectory is planned and then a controller is designed to track it;we use FGM for motion planning and control together. This paper focuses on overtaking maneuver in a challenging environment like highway traffic where the safety and fast response are the key factors. After we adapt the FGM to overtaking problem, we compare it with an existing overtaking method X-sin functions from literature. Since X-sin functions method requires a path tracker (controller), Stanley method is combined with X-sin functions. At the end of this work, we show several advantages of FGM comparing to the X-sin functions based overtaking approach.

关键词： Collision Avoidance Motion Planning Safety Overtaking Merging Autonomous Drive Highway Driving Motion control Path Tracking Stanley controller X-sin Function

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