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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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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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A SYSTEM-ARCHITECTURE FOR ROBOTIC MOVEMENTS OF GOODS Approaches Towards a Cognitive Material Flow System

A SYSTEM-ARCHITECTURE FOR ROBOTIC MOVEMENTS OF GOODS <i>Appr...

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6th international conference on informatics in control, automation and robotics

作者： Ommen, Dennis Beth, Carsten Kamenik, Jens Hahn, Axel OFFIS Inst Informat Technol Escherweg 2 Oldenburg Germany

ISBN: (纸本)9789896740009

Flexibility, throughput, maintainability, scalability, reliability and low cost: That are the main optimization criteria of material flow systems (MFS). The most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. This approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.

关键词： Network robotics Mobile Robots and Autonomous Systems Robot Design Development and control Intelligent transportation technologies and systems

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Neuroevolution with CMA-ES for Real-time Gain Tuning of a Car-like Robot controller 16

Neuroevolution with CMA-ES for Real-time Gain Tuning of a Ca...

引用

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

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Irstea UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897583803

This paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this, the covariance matrix of a state observer is used to indicate the precision of the perception. CMA-ES, an evolutionary algorithm is used to train a neural network that is capable of adapting the robot's behaviour in real-time. Using a car-like vehicle model in simulation. Promising results show significant trajectory following performances improvements thanks to control gains fluctuations by using this new method. Simulations demonstrate the capability of the system to control the robot in complex environments, in which classical static controllers could not guarantee a stable behaviour.

关键词： Neuroevolution Machine Learning Neural Network Evolution Strategies Gradient-free Optimization robotics Mobile Robot control Theory Gain Tuning Adaptive control

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Predictive control of unmanned formations

Predictive control of unmanned formations

引用

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

作者： Saska, Martin Přeučil, Libor Department of Cybernetics Czech Technical University in Prague Technickà 2 Prague Czech Republic

ISBN: (纸本)9789898565211

A receding horizon control based approach for guiding of autonomous formations of nonholonomic robots in a leader-follower constellation is proposed in this paper. The presented method ensures dynamic obstacle avoidance, formation coordination as well as failure tolerance. The robustness of the algorithm is verified by numerical multi-robot experiments. Besides, effects of system's parameters on the algorithm performance are investigated.

关键词： Formation control Mobile robots Obstacle avoidance Receding horizon control

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Optimized eigenstructure assignment

Optimized eigenstructure assignment

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Dao, Ngoc Minh Noll, Dominikus Apkarian, Pierre Institut de Mathématiques Université de Toulouse Toulouse France Department of Mathematics and Informatics Hanoi National University of Education Hanoi Viet Nam ONERA Department of System Dynamics Toulouse France

ISBN: (纸本)9789898565709

This paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. This is possible by a combination of linear algebra and nonlinear optimization techniques. The advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.

关键词： Linear algebra

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control of Uncertain Time Delay System with Astatism and Parametric and Periodic Uncertainties using SSV and Factorization for Two-Degree-of-Freedom-controller 16

Control of Uncertain Time Delay System with Astatism and Par...

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

作者： Dlapa, Marek Tomas Bata Univ Zlin Fac Appl Informat Stranemi 4511 Zlin 76005 Czech Republic

ISBN: (纸本)9789897583803

Application of the Robust control Toolbox for Time Delay Systems with Parametric and Periodic Uncertainties Using SSV (Structured Singular Value) for the Matlab system to uncertain time delay system with astatism is performed. The D-K iteration and the algebraic approach implemented in the toolbox are applied to 2nd order system with astatism and uncertain time delay and two other parameters in the numerator and denominator of the plant transfer function. Multiplicative uncertainty is used for treating uncertain time delay, the parametric uncertainty is modelled using general interconnection for the systems with parametric uncertainty in numerator and denominator.

关键词： Parametric Uncertainty Structured Singular Value Matlab Toolbox Global Optimization Direct Search Methods Factorization

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Modeling with current dynamics and vibration control of two phase hybrid stepping motor in intermittent drive

Modeling with current dynamics and vibration control of two ...

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

作者： Mori, Ryota Noda, Yoshiyuki Miyoshi, Takanori Terashima, Kazuhiko Nishida, Masayuki Suganuma, Naohiko Toyohashi Univ Technol Dept Prod Syst Engn Hibarigaoka 1-1 Toyohashi Aichi 4418580 Japan Tokyo Weld Co Ltd Shizuoka 4100001 Japan

ISBN: (纸本)9789728865825

This paper presents modeling of stepping motor and control design of input pulse timing for the suppression control of vibration. The stepping motor has the transient response of electric current for the pulse input. Therefore, the motor model considering the transient response of the current is built. The validity of the proposed model is verified by comparing the model considering the transient response of the current with the one without its consideration. Design of the pulse input timing in the method of the four pulse drive is realized to achieve the desired angle without vibration and overshoot using an optimization method. Finally, the effectiveness of the proposed method is demonstrated by comparing simulation results with experiments.

关键词： stepping motor phase plane analysis vibration control

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control System Design via Constraint Satisfaction using Convolutional Neural Networks and Black Hole Optimization 18

Control System Design via Constraint Satisfaction using Conv...

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

作者： Yaghoobi, Saber Fadali, M. Sami Univ Nevada Dept Elect & Biomed Engn Reno NV 89557 USA

ISBN: (纸本)9789897585227

This paper proposes a new approach to control system design through solving a Constraint Satisfaction Problem (CSP) using artificial intelligence, first using a genetic algorithm then using a Convolutional Neural Network (CNN). The genetic algorithm determines the feasible controller parameters by minimizing a cost function subject to inequality design constraints. The CNN-finds the parameters by designing a deep neural network. It is shown that the evolutionary optimization algorithm converges almost surely to the optimal solution. To demonstrate the methodologies, they are applied to the design of PID controllers for linear and nonlinear systems. Two examples are presented, an armature-controlled DC motor and Bouc-Wen nonlinear hysteresis model. Simulations results show that the proposed methods yield solutions that satisfy design specifications.

关键词： Bouc-Wen Hysteresis Model Constraint Satisfaction Problem control System Design MBH Optimization Algorithm Deep Learning PID controller

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Modeling, Analysis and control of COVID-19 in Italy: Study of Scenarios 18

Modeling, Analysis and Control of COVID-19 in Italy: Study o...

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

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

ISBN: (纸本)9789897585227

Since the beginning of 2020 in few weeks all the world has been interested by the pandemic due to SARS-CoV 2, causing more than 3 millions of dead people and more than 146 millions of infected patients. The virus moves with people and the most effective containment measure appears to be the severe lockdown;on the other hand, for obvious social and economic reasons, it can not be applied for long periods. Moreover, the increasing knwoledge on the virus and on its trasmission modes suggested various strategies, such as the use of masks, social distancing, disinfection and the fast identification of infected patients, up to the recent vaccination campaign. In this paper, the COVID-19 spread is studied referring to the Italian situation;the control actions introduced during 2020-2021 are identified in terms of their actual effects, allowing to study possible intervention scenarios.

关键词： COVID-19 Epidemic Model Containment Measures Identification Analysis of Scenarios

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Modified model reference adaptive control for plants with unmodelled high frequency dynamics

Modified model reference adaptive control for plants with un...

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

作者： Yana, L. Neild, S. A. Wagg, D. J. Univ Bristol Dept Mech Engn Bristol BS8 1TR Avon England

ISBN: (纸本)9789728865849

in this paper we develop a modified MRAC strategy for use on plants with unmodelled high frequency dynamics. The MRAC strategy is made up of two parts, an adaptive control part and a fixed gain control part. The adaptive algorithm uses a combination of low and high pass filters such that the frequency range for the adaptive part of the strategy is limited. This reduces adaptation to unexpected high frequency dynamics and removes low frequency gain wind-up. In this paper we consider two examples of plants with unmodelled high frequency dynamics, both of which exhibit unstable behaviour when controlled using the standard MRAC strategy. By using the modified strategy we demonstrate that robustness is significantly improved.

关键词： model reference adaptive control robustness unmodelled dynamics frequency response technique

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