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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221-230 订阅

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Low cost sensing for autonomous car driving in highways

Low cost sensing for autonomous car driving in highways

引用

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

作者： Goncalves, Andre Godinho, Andre Sequeira, Joao Univ Tecn Lisboa Inst Super Tecn Inst Syst & Robot Lisbon Portugal

ISBN: (纸本)9789728865832

This paper presents a viability study on autonomous car driving in highways using low cost sensors for environment perception. The solution is based on a simple behaviour-based architecture implementing the standard perception-to-action scheme. The perception of the surrounding environment is obtained through the construction of an occupancy grid based on the processing of data from a single video camera and a small number of ultrasound sensors. A finite automaton integrates a set of primitive behaviours defined after the typical human highway driving behaviors. The system was successfully tested in both simulations and in a laboratory environment using a mobile robot to emulate the car-like vehicle. The robot was able to navigate in an autonomous and safe manner, performing trajectories similar to the ones carried out by human drivers. The paper includes results on the perception obtained in a real highway that support the claim that low cost sensing can be effective in this problem.

关键词： autonomous car driving car-like robot behavior-based robot control occupancy grid

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Robustness to Inertial Parameter Errors for Legged Robots Balancing on Level Ground 14

Robustness to Inertial Parameter Errors for Legged Robots Ba...

引用

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

作者： Giftsun, Nirmal Del Prete, Andrea Lamiraux, Florent Lab Anal & Architecture Syst 7 Ave Colonel Roche F-31400 Toulouse France

ISBN: (纸本)9789897583049

Model-based control has become more and more popular in the legged robots community in the last ten years. The key idea is to exploit a model of the system to compute precise motor commands that result in the desired motion. This allows to improve the quality of the motion tracking, while using lower gains, leading so to higher compliance. However, the main flaw of this approach is typically its lack of robustness to modeling errors. In this paper we focus on the robustness of inverse-dynamics control to errors in the inertial parameters of the robot. We assume these parameters to be known, but only with a certain accuracy. We then propose a computationally-efficient optimization-based controller that ensures the balance of the robot despite these uncertainties. We used the proposed controller in simulation to perform different reaching tasks with the HRP-2 humanoid robot, in the presence of various modeling errors. Comparisons against a standard inverse-dynamics controller through hundreds of simulations show the superiority of the proposed controller in ensuring the robot balance.

关键词： Humanoid Robots Robust control Inverse-Dynamics control Optimization and Optimal control

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Microgrid Modeling Approaches for Information and Energy Fluxes Management based on PSO 16

Microgrid Modeling Approaches for Information and Energy Flu...

引用

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

作者： Li Qiao Vincent, Remy Ait-Ahmed, Mourad Tang Tianhao Shanghai Maritime Univ Inst Elect Drives & Control Syst Shanghai 201306 Peoples R China Univ Nantes IREENA F-44603 St Nazaire France

ISBN: (纸本)9789897583803

In order to improve the reliability, stability and economy of power supply of a microgrid, some fundamental work on microgrid energy management method is carried out. Firstly, models of microgrid components under steady state are established in MATLAB/SIMULINK. Secondly, an operation cost function of microgrid is proposed, together with the constraint conditions. Then, in order to solve the energy management problem, Particle Swarm Optimization (PSO) is declared by using m-files programming. The algorithm will be explained in chart flow and pseudo code. Finally, a simulation scenario is designed to show the good performance of this control method.

关键词： Microgrid Energy Management PSO MATLAB/SIMULINK

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Bell shaped impedance control to minimize jerk while capturing delicate moving objects

Bell shaped impedance control to minimize jerk while capturi...

引用

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

作者： Nagendran, Arjun Richardson, Robert C. Crowther, William J. Univ Manchester Sch Comp Sci Manchester Lancs England Univ Manchester Sch Mech Aerosp & Civil Engn Manchester Lancs England

ISBN: (纸本)9789728865832

Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces applied and position of the object being captured. The application of force to a mass results in a change in acceleration. The rate of change of acceleration is called jerk. Jerk causes wear on the manipulator over time and can also damage the object being captured. This paper uses a curve that asymptotes to zero gradient at +/- infinity to develop an impedance controller, to decelerate an object to a halt after it has been coupled with the end effector. It is found that this impedance control method minimizes the jerk that occurs during capture, and eliminates the jerk spikes that are existent when using spring dampers, springs or constant force to decelerate an object.

关键词： catching impedance control minimum jerk bell shaped acceleration

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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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A local learning approach to real-time parameter estimation - Application to an aircraft

A local learning approach to real-time parameter estimation ...

引用

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

作者： Ronceray, Lilian Jeanneau, Matthieu Alazard, Daniel Mouyon, Philippe Tebbani, Sihem Airbus France Stabil & Control Dept Toulouse France Supaero Toulouse France Off Natl Etud & Rech Aerosp Dept Commande Syst & Dynam Vol Toulouse France Ecole Super Elect Dept Automat Gif Sur Yvette France

ISBN: (纸本)9789728865849

This paper proposes an approach based upon local learning techniques and real-time parameter estimation, to tune an aircraft sideslip estimator using radial-basis neural networks, during a flight test. After a presentation of the context, we recall the local model approach to radial-basis networks. The application to the estimation of the sideslip angle of an aircraft, is then described and the various results and analyses are detailled at the end before suggesting some improvement directions.

关键词： local learning radial-basis neural networks real-time parameter estimation

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A Blended Sliding Mode control with Linear Quadratic Integral control based on Reduced Order Model for a VTOL System 14

A Blended Sliding Mode Control with Linear Quadratic Integra...

引用

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

作者： Herrera, Marco Leica, Paulo Chavez, Danilo Camacho, Oscar Escuela Politec Nacl Dept Automatizac & Control Ind Ladron de Guevara E11-253 Quito Ecuador Univ los Andes Fac Ingn Merida Venezuela

ISBN: (纸本)9789897583049

In this paper, a Sliding Mode control with chattering reduction based on reduced order model using Linear Quadratic Integral control as sliding surface, is implemented to One Degree of Freedom Vertical Take-Off Landing System (VTOL). The controller performance is measured using Integral of the Square Error index by simulation and real tests. Finally, the Sliding Mode control with a Linear Quadratic Integral control as sliding surface performance for reference tracking and, robustness against VTOL system physical parameter uncertainties and external disturbances are verified by experimental results.

关键词： Sliding Mode control LQI Reduced Order Model ISE Index VTOL System

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Constrained predictive control of MIMO system application to a two link manipulator

Constrained predictive control of MIMO system application to...

引用

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

作者： Zietkiewicz, Joanna Institute of Control and Information Engineering Poznan University of Technology Poznan Poland

ISBN: (纸本)9789898565211

In the paper application of constrained predictive control to multi input, multi output system is presented. The method is based on feedback linearization and LQ control. Constraints of the system are implemented by interpolation of reference trajectory. Finding solution is a compromise between the unconstrained LQ control and a constrained feasible control and is executed by minimization of one variable. The application of the method to a two link manipulator is used to present advantages and limitations of the algorithm. Copyright © 2012 SciTePress.

关键词： MIMO systems

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Modeling on molten metal's pressure in an innovative press casting process using greensand molding and switching control of press velocity

Modeling on molten metal's pressure in an innovative press c...

引用

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

作者： Tasaki, Ryosuke Noda, Yoshiyuki Terashima, Kazuhiko Hashimoto, Kunihiro Suzuki, Yuji Toyohashi Univ Technol Dept Prod Syst Engn Tempaku Ku Hibarigaoka 1-1 Toyohashi Aichi 4418580 Japan Sintokogio Ltd Toyokawa 4428505 Japan Aisin Takaoka Co Ltd Toyota 4738501 Japan

ISBN: (纸本)9789728865832

This paper presents modeling and control of fluid pressure inside a mold in a press casting process using greensand molding as an innovative casting method. The defect-free manufactures of casting product in the press process are very important problem. Then, it is made clear that the press velocity control achieves to reduce the rapid increase of fluid pressure. A mathematical model of the molten metal's pressure in a casting mold is built by using a simplified mold and investigated the availability by comparison with the CFD model. A pattern of the press velocity from the high speed to the lower speed is derived by using the mathematical model. Finally, the effectiveness of the proposed switching velocity control has been demonstrated through CFD computer simulations.

关键词： press casting pressure control computational fluid dynamics modeling casting detect

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A comparison of human and market-based robot task planners

A comparison of human and market-based robot task planners

引用

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

作者： Zarrella, Guido Gaimari, Robert Goodman, Bradley MITRE Corp Burlington MA 01803 USA

ISBN: (纸本)9789728865825

Urban search and rescue, reconnaissance, manufacturing, and team sports are all problem domains requiring multiple agents that are able to collaborate intelligently to achieve a team goal. In these domains task planning and assignment can be challenging to robots and humans alike. In this paper we introduce a market-based distributed task planning algorithm that has been adapted for heterogeneous, tightly coordinated robots in domains with time deadlines. We also report the results of our experiments comparing the robots' decisions with the decisions produced by ten teams of humans performing an identical search and rescue task. The outcome provides insight into the types of problems for which information technology can add value by providing decision support for human problem solvers.

关键词： market-based multi-robot planning intelligent control systems distributed control planning and scheduling tight coordination task deadlines decision support

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