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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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Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using Super-Twisting control Algorithm with Linear Correction Terms 16

Robust Finite-time Position and Attitude Tracking of a Quadr...

引用

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

作者： Kali, Yassine Rodas, Jorge Saad, Maarouf Gregor, Raul Alqaisi, Walid Benjelloun, Khalid Ecole Technol Super GREPCI Lab Montreal PQ H3C 1K3 Canada Univ Nacl Asuncion Fac Ingn Lab Power & Control Syst Asuncion Paraguay Mohammed V Univ Ecole Mohammadia Ingn A2I Lab Rabat Morocco

ISBN: (纸本)9789897583803

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms. It ensures robustness against unknown dynamics and perturbations and allows fast finite-time convergence even when the trajectories of the considered system are far from the user-chosen switching surface. In addition, this algorithm is very attractive since it solves the major problems of the first and second order sliding mode, namely, the chattering phenomenon and the required unavailable information for practical implementation. To show the effectiveness of the used modified structure of the super-twisting algorithm, simulation results are presented for the considered quadrotor system.

关键词： Quadrotor Unmanned Aerial Vehicle Position and Attitude Tracking Finite-time Convergence Super-Twisting Algorithm

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A Comparison Study on Coupling Effects in Balance control Methods of Humanoid Robots through an Extended Task Space Formulation 16

A Comparison Study on Coupling Effects in Balance Control Me...

引用

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

作者： Yoo, Seungjae Jo, Joonhee Oh, Yonghwan Korea Inst Sci & Technol 5Hwarang Ro 14 Gil Seoul South Korea Univ Sci & Technol 217 Gajeong Ro Yuseong Gu Daejeon 34113 South Korea

ISBN: (纸本)9789897583803

Even though several control methods on the task space dynamics of humanoids have been proposed, they cannot cover the entire dynamics of the system since there are hidden null space dynamics due to kinematic redundancy. Besides, there are few studies on the coupling effects between task space and null space dynamics. Through an extended task space formulation, the coupling effects between each space are manifested because this form allows representing the entire system dynamics. Moreover, by using an adequate selection of weighting matrices, the coupling effects can be inertially decoupled. Regarding the effectiveness of the decoupling process, two whole-body control approaches and provide their mathematical comparisons is proposed. A kinematically decomposed control approach without the decoupling process is first introduced, and its extension to an inertially decoupled control approach is then developed. Furthermore, conventional operational space-based control is discussed to compare the above control approaches. This paper constructs a mathematical analysis of their relationships. Finally, simulation results are given in this paper to demonstrate the validity of the mathematical analysis.

关键词： Humanoid Whole-body control Balance Extended Task Space Null Space

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Hybrid DDPG Approach for Vehicle Motion Planning 16

Hybrid DDPG Approach for Vehicle Motion Planning

引用

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

作者： Feher, Arpad Aradi, Szilard Hegedus, Ferenc Becsi, Tamas Gaspar, Peter Budapest Univ Technol & Econ Dept Control Transportat & Vehicle Syst Budapest Hungary Hungarian Acad Sci Comp & Automat Res Inst Budapest Hungary

ISBN: (纸本)9789897583803

The paper presents a motion planning solution which combines classic control techniques with machine learning. For this task, a reinforcement learning environment has been created, where the quality of the fulfilment of the designed path by a classic control loop provides the reward function. System dynamics is described by a nonlinear planar single track vehicle model with dynamic wheel mode model. The goodness of the planned trajectory is evaluated by driving the vehicle along the track. The paper shows that this encapsulated problem and environment provides a one-step reinforcement learning task with continuous actions that can be handled with Deep Deterministic Policy Gradient learning agent. The solution of the problem provides a real-time neural network-based motion planner along with a tracking algorithm, and since the trained network provides a preliminary estimate on the expected reward of the current state-action pair, the system acts as a trajectory feasibility estimator as well.

关键词： Reinforcement Learning Motion Planning Autonomous Vehicles Automotive control

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12th international conference on informatics in control, automation and robotics, icinco 2015

12th International Conference on Informatics in Control, Aut...

引用

12th international conference on informatics in control, automation and robotics, icinco 2015

ISBN: (纸本)9783319264516

The proceedings contain 17 papers. The special focus in this conference is on Intelligent control Systems and Optimization. The topics include: Using distance graphs to find meaningful levels of a hierarchical sequence prior to performing a cluster analysis;a safe way to real-time reconfiguration;full self-calibration of a hand-mounted projector using structured light;combinatorial optimization approach for feasible low-power and real-time flexible OS tasks;adaptive tracking approach of flexible cable conduit-actuated notes systems for early gastric cancer treatments;collectives of term weighting methods for natural language call routing;evaluating template uniqueness in ECG biometrics;soil identification and control-parameter estimation for optimal driving of wheeled robots on rough terrain;real-time implementation of pursuit-evasion games between unmanned aerial vehicles;design of a stable controller for the climbing robot CREA;hierarchic interactive path planning in virtual reality;short-term map based detection and tracking of moving objects with 3D laser on a vehicle;on the usage of general-purpose compression techniques for the optimization of inter-robot communication;proxy-based sliding mode control of compliant joint manipulators;contactless torque/speed sensing module with digital signal processing circuit;bio-inspired technical vibrissae for quasi-static profile scanning;design of time-varying sliding mode controller for a trajectory tracking problem of nonlinear systems.

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ANFIS based IMC PID controller for Permanent Magnet DC Motor 16

ANFIS based IMC PID Controller for Permanent Magnet DC Motor

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

作者： Alasvandi, M. Moussavi, S. Z. Morad, E. Rasouli, E. Islamic Azad Univ Dept Elect Engn Cent Tehran Branch Tehran Iran Shahid Rajaee Teacher Training Univ Elect & Comp Engn Fac Tehran Iran Islamic Azad Univ Dept Elect Engn Sci & Res Branch Tehran Iran Amirkabir Univ Technol Dept Elect Engn Tehran Iran

ISBN: (纸本)9789897583803

Permanent Magnet Direct Current (PMDC) motors are widely used in industrial application and PID controllers are usually applied to improve performance characteristics of PMDC motor. There are different methods for setting up PID parameters that one of them has been called Internal Model control (IMC) which is used. parameter to modify performance characteristics of system. Sometimes setting up IMC PID parameters are hard so in this paper, ANFIS is used to add proper values with IMC PID coefficients. The proposed controller used ANFIS based coefficient modifier because it can train easily and help system to achieve desired performance characteristics. The proposed system used the fuzzy system that is extracted from training ANFIS system with desired data to improve PMDC motor performance. In this paper IMC based controller is compared with proposed strategy and simulation results shows that proposed control system have acceptable characteristic in different situation such as no-load, applied-load, changing reference speed and it is effective methods to control system in noisy condition.

关键词： Speed control ANFIS IMC PID PMDC Motor

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PARADA: control Support System for Parades 16

PARADA: Control Support System for Parades

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

作者： Lima, Jose Evaristo Faria, Pedro Miguel Moreira, Pedro Miguel Inst Politecn Viana Do Castelo ARC4DigiT Appl Res Ctr Digital Transformat Viana Do Castelo Portugal

ISBN: (纸本)9789897583803

The parade of "Festas in honor of Nossa Senhora D'Agonia", which is celebrated every year in the city of Viana do Castelo, it is one of the highlights of the traditional festival, that gathers hundreds of people in one giant parade throughout the city streets, this event attracts thousands of spectators. Due to its big dimension, it presents some difficulties regarding its organization. The lack of cohesion of the parade during its course is one of the issues observed that originates several and large empty spaces, which end up to discredit the parade. This paper presents the study the issue related with the Parade's organization/planning, by proposing a solution based on low-cost technologies. In this work we intend to study the problem of empty spaces, proposing a solution based on low cost technologies and evaluating the performance of this solution with its potential users. In this way, a process of collect information was initiated through the observation of the Parade, an interview with the organization and an inquiry of the collaborators and another one for the drivers. Based on the collected information, it is proposed a solution that uses smartphones to interconnect through a mobile application and also a web management application, in order to monitor the Parade and help in suppressing empty spaces. The proposal was evaluated to its potential users through a functional prototype. Usability and User Experience tests were performed and the results were promising. It is intended to validate the proposed solution in the field and extend the proposal to other Parade.

关键词： Courtship Parade Distributed Coordination control Support System GPS Mobile Application

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Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M 16

Development and Implementation of Grasp Algorithm for Humano...

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

作者： Khusnutdinov, Kamil Sagitov, Artur Yakupov, Ayrat Meshcheryakov, Roman Hsia, Kuo-Hsien Martinez-Garcia, Edgar A. Magid, Evgeni Kazan Fed Univ Higher Inst Informat Technol & Intelligent Syst Dept Intelligent Robot 35 Kremlyovskaya St Kazan Russia Russian Acad Sci VA Trapeznikov Inst Control Sci 65 Profsoyuznaya St Moscow 117997 Russia Far East Univ Dept Elect Engn Zhonghua Rd 49 Tainan Taiwan Univ Autonoma Ciudad Juarez Cd Juarez Chihuahua 32310 Mexico

ISBN: (纸本)9789897583803

In robot manipulator control, grasping different types of objects is an important task, but despite being a subject of many studies, there is still no universal approach. A humanoid robot arm end-effector has a significantly more complicated structure than the one of an industrial manipulator. It complicates a process of object grasping, but could possibly make it more robust and stable. A success of grasping strongly depends on a method of determining an object shape and a manipulator grasping procedure. Combining these factors turns object grasping by a humanoid into an interesting and versatile control problem. This paper presents a grasping algorithm for AR-601M humanoid arm with mimic joints in the hand that utilizes the simplicity of an antipodal grasp and satisfies force closure condition. The algorithm was tested in Gazebo simulation with sample objects that were modeled after selected household items.

关键词： Algorithm Grasp Planning Hand Pose Detection Humanoid Robot

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The Modeling, Construction and Test Process of a 3D Printable Smart Robot Rider 16

The Modeling, Construction and Test Process of a 3D Printabl...

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

作者： Gorte Jr, Joao Martin Jr Rodriques Souza, Witenberg Santiago Coelho, Artur Benevenutto Lopez, Li Exequiel E. Higher Educ Inst Brasilia Dept Elect Engn L2 Sul Brasilia DF Brazil Univ Brasilia Postgrad Program Mechatron Syst Brasilia DF Brazil Higher Educ Inst Brasilia Dept Comp Engn Brasilia DF Brazil

ISBN: (纸本)9789897583803

This work aims to present a modeling procedure, manufacturing process, electronic design, programming and communication system of a cyclist robot. The robot rider has the ability to ride a bicycle independently by making decisions on shifts in balance that may occur during its motion by correcting its direction, balance adjust, and stop. Robot decision-making processes were embedded in a shared control system of interactions with the external environment by commands sent through wired serial link or radio frequency(RF), allowing arm and leg- movements. This was achieved using a dual board synchronization powered by Atmel micro-controllers (Arduino) and fed by information from an electronic gyroscope sensor, an accelerometer, and remote radio frequency (RF) receptor. The final prototype was able to pedal from inertia accelerating gradually to its full speed, stop the movement, and move its arms to recover balance.

关键词： Robot Design Humanoid Robot 3D Printing control Development automation

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Towards Total Coverage in Autonomous Exploration for UGV in 2.5D Dense Clutter Environment 16

Towards Total Coverage in Autonomous Exploration for UGV in ...

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

作者： Denisov, Evgeni Sagitov, Artur Yakovlev, Konstantin Su, Kuo-Lan Svinin, Mikhail Magid, Evgeni Kazan Fed Univ Higher Inst Informat Technol & Intelligent Syst Dept Intelligent Robot 35 Kremlyovskaya St Kazan Russia Russian Acad Sci Fed Res Ctr Comp Sci & Control Moscow Russia Natl Yunlin Univ Sci & Technol Dept Elect Engn Tainan Taiwan Ritsumeikan Univ Coll Informat Sci & Engn Robot Dynam & Control Lab Noji Higashi 1-1-1 Kusatsu 5258577 Japan

ISBN: (纸本)9789897583803

Recent developments in 3D reconstruction systems enable to capture an environment in great detail. Several studies have provided algorithms that deal with a path-planning problem of total coverage of observable space in time-efficient manner. However, not much work was done in the area of globally optimal solutions in dense clutter environments. This paper presents a novel solution for autonomous exploration of a cluttered 2.5D environment using an unmanned ground mobile vehicle, where robot locomotion is limited to a 2D plane, while obstacles have a 3D shape. Our exploration algorithm increases coverage of 3D environment mapping comparatively to other currently available algorithms. The algorithm was implemented and tested in randomly generated dense clutter environments in MATLAB.

关键词： Mobile Robot Path Planning Autonomous Exploration and Coverage Algorithm Next-best-view Dense Clutter Environment Environment Reconstruction

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A Generic control Framework for Mobile Robots Edge Following 16

A Generic Control Framework for Mobile Robots Edge Following

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

作者： Deremetz, Mathieu Couvent, Adrian Lenain, Roland Thuilot, Benoit Cariou, Christophe Univ Clermont Auvergne Irstea UR TSCF Ctr Clermont Ferrand 9 Ave Blaise Pascal CS 20085 F-63178 Aubiere France Univ Clermont Auvergne CNRS SIGMA Clermont Inst Pascal F-63000 Clermont Ferrand France

ISBN: (纸本)9789897583803

In this paper, the problem associated with accurate control for mobile robots following an edge is addressed thanks to a backstepping control. In particular, the control of the angular speed (control input) is investigated through the derivation of a new backstepping control by gathering derivatives regarding to time and to the curvilinear abscissa in a single framework. This new reference then allows both time and distance convergence of the robot states towards a trajectory computed with points given by a Lidar only. This permits to address the control of different kinds of robots (skid-steering, car like, four-wheel-steering) in a common framework and to consider independently the speed regulation, the lateral and the longitudinal controls. The control proposed here allows an accurate and reactive path tracking even if the environment is complex and narrow. The efficiency of the approach is investigated through full scale experiments in various conditions.

关键词： Wheeled Robots Field and Agriculture Robots Edge Tracking

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