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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211-220 订阅

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Business process development for Industrial Cluster

Business process development for Industrial Cluster

引用

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

作者： Kangilaski, Taivo Department of Computer Control Tallinn University of Technology 5 Ehitajate tee Tallinn Estonia

ISBN: (纸本)9789898565211

Small production companies frequently have only limited amount of customers, especially in country sides. To have more orders and to be more competitive, they need to cooperate and form Industrial Clusters. To manage Industrial Cluster, there should be firm Quality Management System. The current article proposes approach about handling that complicity, which is related to the Industrial Cluster Management.

关键词： Enterprise resource management

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PD Sliding Mode controller based Decoupled Aerial Manipulation 17

PD Sliding Mode Controller based Decoupled Aerial Manipulati...

引用

17th 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 Univ Evry IBISC F-91025 Evry France USTO MB Dept Elect LEPESA Lab Fac Elect Engn Oran 31000 Algeria

ISBN: (纸本)9789897584428

This paper presents the design of 3-Dof multi-link robot arm that is mounted on the multirotor. To be considered the dynamic characteristics of the manipulation platform, the decoupled dynamic models of the system are derived. The main advantage of the first joint is introduced for more robustness and stability during hovering. The PID controller will be implemented for position and attitude of multirotor control, whereas, a sliding mode controller will be designed for a manipulator robot, which is then compared with the sliding surface that has been integrated with the proportional-derivative (PD) controller. The performance of the proposed technique is demonstrated through a simulation using Simulink and Matlab environment.

关键词： Aerial Manipulation Decoupled Dynamic System SMC Sliding Mode control PD-SMC

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A Study on Model-based Optimization of Vaccination Strategies against Epidemic Virus Spread 18

A Study on Model-based Optimization of Vaccination Strategie...

引用

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

作者： Liu, Zonglin Omayrat, Muhammed Stursberg, Olaf Univ Kassel Dept Elect Engn & Comp Sci Control & Syst Theory Kassel Germany

ISBN: (纸本)9789897585227

This paper aims at applying optimal control to investigate different vaccination strategies against the epidemic spread of viral diseases. Background of the study is the situation in the first half of 2021, when many countries started their vaccination procedures against the COVID-19 disease, but suffered from shortages of vaccines, such that the efficient distribution of the available amount of vaccine turned out to be crucial to mitigate the pandemic. The paper first suggests an extended version of a known model of virus spread in order include the vaccination process. Based on this model, the formulation and solution of optimization problems is used to determine how available vaccine should be distributed over different age-groups of the population to minimize virus spread. Effectiveness of the obtained strategies compared to standard ones is demonstrated in simulations.

关键词： Epidemic Modeling Markov Process Infection control Optimal control Biomedical Systems

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A Modular Underactuated Gripper with Force control System 16

A Modular Underactuated Gripper with Force Control System

引用

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

作者： Margun, A. Bazylev, D. Zimenko, K. Kremlev, A. ITMO Univ Fac Control Syst & Robot 49 Kronverkskiy Av St Petersburg 197101 Russia

ISBN: (纸本)9789897583803

A design of an underactuated electromechanical gripper with force control algorithm is presented in this paper. The key feature of the gripper is the ability to grasp fragile objects and objects of a complex shape. Such advantages are due to the usage of elastic joints and force sensitive resistors embedded in modules of gripper's fingers. Also low cost and mass of the presented device makes its application rational for a larger number of robotic systems. Proposed force control system is based on PI control and passification approaches that provide tuning simplicity and good performance in the case of unknown environments. Experimental results show the efficiency of proposed solution.

关键词： Underactuated Gripper Force Sensitive System Force control Passive System Modularity

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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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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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Realistic Estimation of Model Parameters 14

Realistic Estimation of Model Parameters

引用

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...

引用

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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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...

引用

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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