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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241-250 订阅

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Energy efficient path planning of Hybrid Fly-Drive Robot (HyFDR) using a algorithm 15

Energy efficient path planning of Hybrid Fly-Drive Robot (Hy...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Sharif, Amir Lahiru, H.M. Herath, S. Roth, Hubert Department of Control Engineering University of Siegen Germany

ISBN: (纸本)9789897583216

Hovering flight is agile and energy expansive, but driving on ground is slow and energy efficient method of locomotion. To get the benefits of these two methods of locomotion, we combined them in a single platform named as HyFDR. It is a Quadcopter with powered wheels, it can fly in air and drive on ground. Autonomous navigation of HyFDR creates new challenges in the field of path planning. The goal is to simulate the navigation of HyFDR with minimum energy consumption using A* algorithm. Depending upon the terrain, obstacles, energy constraints, and desired flight time, HyFDR can autonomously switch between flight mode, drive mode and hybrid mode. We showed that in some cases HyFDR is energy efficient than Quadcopter. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Antennas

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Integrated guidance, navigation, and control system for a UAV in a GPS denied environment 15

Integrated guidance, navigation, and control system for a UA...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Hong, Ju-Hyeon Ryoo, Chang-Kyung Shin, Hyo-Sang Tsourdos, Antonios School of Aerospace Transportation and Manufacturing Cranfield University College Road CranfieldMK43 0AL United Kingdom Aerospace Engineering Inha University 100 Inharo Namgu Incheon22212 Korea Republic of

ISBN: (纸本)9789897583216

This paper proposes an integrated guidance, navigation, and control system for operations of a UAV in GPS denied environments. The proposed system uses a sensor combination, which consists of an image sensor and a range sensor. The main idea of the system developed is that it replaces the conventional navigation information with the measurement from the image processing. For example, it is possible to substitute the look angle and look angle rate from the image sensor for the conventional navigation information like the relative target position and the body angular rate. As the preliminary study, the integrated guidance and control system is designed with a nonlinear back-stepping approach to investigate the possibility of the proposed system. And the proposed integrated guidance and control system is verified by the numerical simulation. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Global positioning system

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Approximate recursive Bayesian estimation of state space model with uniform noise 15

Approximate recursive Bayesian estimation of state space mod...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Pavelková, Lenka Jirsa, Ladislav Institute of Information Theory and Automation Czech Academy of Sciences Pod Vodárenskou věží 4 Prague Czech Republic

ISBN: (纸本)9789897583216

This paper proposes a recursive algorithm for the state estimation of a linear stochastic state space model. A model with discrete-time inputs, outputs and states is considered. The model matrices are supposed to be known. A noise of the involved model is described by a uniform distribution. The states are estimated using Bayesian approach. Without using an approximation, the complexity of the posterior probability density function (pdf) increases with time. The paper proposes an approximation of this complex pdf so that a feasible support of the posterior pdf is kept during the estimation. The state estimation consists of two stages, namely the time and data update including the mentioned approximation. The behaviour of the proposed algorithm is illustrated by simulations and compared with other methods. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Linear systems

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Speed estimation for control of an unmanned ground vehicle using extremely low resolution sensors 15

Speed estimation for control of an unmanned ground vehicle u...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Del Pino, Iván Muñoz-Bañón, Miguel Á. Contreras, Miguel Á. Cova-Rocamora, Saúl Candelas, Francisco A. Torres, Fernando University of Alicante San Vicente del Raspeig S/N Alicante Spain

ISBN: (纸本)9789897583216

In mobile robotics, the low-level control is a key component that translates the desires of the high-level system into actual voltages and currents to drive the motors. PID controllers have been extensively used for speed control, but their performance depend heavily on the quality of the process variable (PV) estimation. In fact, noise and outliers –if not properly filtered– might lead to system instability. In this work, we present a speed estimation strategy that enables us to develop an inexpensive, accurate and easy-to-install speed control solution. The proposed system relies on a Hall effect sensor and a Single-Dimensional Kalman Filter and its suitability is demonstrated through a number of real experiments controlling the speed of an Unmanned Ground Vehicle. We detail the design, implementation and validation processes and provide a GitHub repository with the developed software and CAD designs. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Kalman filters

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The hand-gesture-based control interface with wearable glove system 15

The hand-gesture-based control interface with wearable glove...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Berezhnoy, Vladislav Popov, Dmitry Afanasyev, Ilya Mavridis, Nikolaos Institute of Robotics Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (纸本)9789897583216

The paper presents an approach to building a gesture-based control interface with a wearable glove system and a real-time gesture recognition algorithm. The glove-based system is a wireless wearable device with hardware components, including Arduino Nano controller, IMU and flex sensors, and software for gesture recognition. Our gesture recognition methodology requires two stages: 1) Building a library of dynamic gesture models with the reference human gesture graphs;2) Gesture capturing and evaluating with fuzzy c-means (FCM) clustering and constructing grammars of gestures by fuzzy membership functions. The system tests were provided with 6 different dynamic gestures to control position and orientation of a quadcopter in V-Rep simulator that has demonstrated encouraging results with a reasonable quality of real-time gesture-based quadcopter control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Gesture recognition

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Multi–level identification of Hammerstein–Wiener (N–L–N) system in active experiment 15

Multi–level identification of Hammerstein–Wiener (N–L–N)...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Bieganski, Marcin Department of Control Systems and Mechatronics Faculty of Electronics Wrocaw University of Science and Technology Wybrzeze Wyspianskiego ´ 27 Wroclaw50-370 Poland

ISBN: (纸本)9789897583216

The paper addresses the problem of Hammerstein–Wiener (N–L–N) system identification. The proposed strategy embraces two-experiment approach to the system identification, in which system is excited with random process in passive experiment and with binary process in active experiment. The proposed approach uses both parametric (least squares) and nonparametric (kernel estimates) identification tools. It consists of four consecutive stages, where linear dynamic and nonlinear static parts of the system are identified separately. Output nonlinearity estimation is executed under active experiment. The consistency of the estimate is analyzed and simple simulation example is presented. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Random processes

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A training simulator for teleoperated robots deployed at CERN 15

A training simulator for teleoperated robots deployed at CER...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel Department of Systems and Control Engineering University of Malta Msida Malta Engineering Department EN-STI CERN Geneva Switzerland Centre for Automation and Robotics UPM-CSIC Universidad Politecnica de Madrid Madrid Spain

ISBN: (纸本)9789897583216

This paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. The robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. The resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Virtual reality

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Simultaneous design of structural and control systems using set-based design method 15

Simultaneous design of structural and control systems using ...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Ishikawa, Haruo Sasaki, Naoko Graduate School of Informatics and Emgineering University of Electro-Communications Chofu Tokyo Japan Center for International Programs and Exchange University of Electro-Communications Chofu Tokyo Japan

ISBN: (纸本)9789897583216

The design method capable of considering the influence factors related to control and structural design systems under conditions that simultaneously satisfy multi-objective performances over both the systems is investigated. The influence factors and performances have some kinds of uncertainty related to structural design and control system design. The uncertainty may be expressed in terms of set interval. Set-based design method is available as a design method that can take account of such uncertainty. In the method, instead of optimization, the concept of satisficing is used. In the present study, the applicability of set-based design method that has been studied in the field of structural design is investigated for the simultaneously satisficing design of control and structural systems. For discussing the applicability, an example problem of inverted pendulum with heteromorphic shape on cart is solved by optimal regulator method in modern control theory. As a result, the set intervals of influence factors which simultaneously satisfy the set intervals of multi-objective performances are obtained. From this result, the usefulness of set-based design method for simultaneous design of control and structural systems can be confirmed. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Structural design

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Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System 15

Development of the Sensory Network for the Vibration-based F...

引用

15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Bondyra, Adam Gasior, Przemyslaw Gardecki, Stanislaw Kasinski, Andrzej Institute of Control Robotics and Information Engineering Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (纸本)9789897583216

In this paper, a fault detection and isolation (FDI) system for propeller impairments of the multirotor UAV is presented. The algorithm is based on the processing of signal vectors from the set of vibration sensors located close to the propulsion units. Axial and radial vibrations are measured using MEMS accelerometers that provide data for the feature extraction based on the Fast Fourier Transform (FFT). Characteristic fault signatures extracted from vibration signals are used to detect and localize damaged blades using the set of random decision trees. A method was evaluated with data gathered during numerous test flights and validated in relation to signal acquisition time and number of classifiers in the ensemble. Results show over 95% sensitivity in detecting and isolating faulty rotor states. The presented approach is an effective and low-cost solution, very versatile to implement in the arbitrary UAV. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Vibration analysis

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informatics in control, automation and robotics: 11th international conference, icinco 2014 Vienna, Austria, September 2-4, 2014 Revised Selected Papers

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2015年

作者： Joaquim Filipe Oleg Yu Gusikhin Kurosh Madani Jurek Z Sasiadek

ISBN: (纸本)9783319264516

The present book includes a set of selected extended papers from the 11th international conference on informatics in control, automation and robotics (icinco 2014), held in Vienna, Austria, from 1 to 3 September 2014. The conference brought together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. Four simultaneous tracks will be held, covering Intelligent control Systems, Optimization, robotics, automation, Signal Processing, Sensors, Systems Modelling and control, and Industrial Engineering, Production and Management. informatics applications are pervasive in many areas of control, automation and robotics. icinco 2014 received 301 submissions, from 49 countries, in all continents. After a double blind paper review performed by the Program Committee, 20% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the conference, based also on the assessment of presentation quality and audience interest, so that this book includes the extended and revised versions of the very best papers of icinco 2014. Commitment to high quality standards is a major concern of icinco that will be maintained in the next editions, considering not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, participation level and logistics.

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