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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271-280 订阅

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Ultra violet imaging transducer control of a thermal spraying robot

Ultra violet imaging transducer control of a thermal sprayin...

引用

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

作者： Breen, D. Coyle, E. Kennedy, D. M. Dublin Inst Technol Fac Engn Dublin Ireland

ISBN: (纸本)9789728865832

The thermal spraying industry has a global market of $1.3 billion. This industry relies heavily on manual operation of the thermal spraying equipment or in some cases, robotic systems that require costly set up of material for surface coating and time consuming trajectory planning. The main objective of this research was to investigate novel ideas for automating the thermal spraying process. This requires transducers that can provide information about arbitrarily shaped and orientated material for spraying and generating the trajectory plan for the robot manipulator during the thermal spraying process in real time. The most significant difficulty for any transducer, particularly low cost vision systems is the thermal spraying process which in our research is molten material such as aluminium in an Oxy-Acetylene flame with temperatures exceeding 3100 degrees C. This paper outlines the concept and based on the experimental results presented demonstrates combined optical and image processing techniques for obtaining information about objects behind a butane flame.

关键词： thermal spraying robot control ultraviolet lighting image processing

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Robust control of Uncertain Linear Plants in Conditions of Signal Quantization and Time-delay 13

Robust Control of Uncertain Linear Plants in Conditions of S...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Margun, Alexey Furtat, Igor ITMO Univ Control Syst & Informat Dept 49 Kronveksky Av St Petersburg 197101 Russia Inst Problems Mech Engn Control Complex Syst Lab VO 61 Bolshoy Str St Petersburg 199178 Russia

ISBN: (纸本)9789897581984

The paper is aimed to the robust control of parametric uncertain linear plants in conditions of signal quantization with time delay and bounded external perturbations. State vector of control plant is unmeasured. Output of control plant is measured only via quantizer with transport delay. control algorithm is based on consecutive compensator method. Proposed algorithm provides convergence of tracking error to the reference signal with prespecified accuracy for bounded time delay in quantizer. Limitations on value of delay providing stability of closed-loop system are obtained.

关键词： Robust Cotrol Quantizer Time-delay Parametric Uncertainties

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μAUV² - Development of a Minuscule Autonomous Underwater Vehicle 13

μAUV<SUP>2</SUP> - Development of a Minuscule Autonomous Un...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Hanff, Hendrik Schmid, Korbinian Kloss, Philipp Kroffke, Sven DFKI GmbH Robot Innovat Ctr Bremen Robert Hooke Str 1 D-28359 Bremen Germany RoboCept GmbH Kaflerstr 2 D-81241 Munich Germany

ISBN: (纸本)9789897581984

Small sized robotic systems have operational advantages compared to large systems. They can also operate in fields of application where bigger systems would fail. This paper describes the specifications and the design of the autonomous underwater vehicle mu AUV(2). Technical details of the system regarding sensor setup, motorization and computing power are given. Furthermore, we present details about the system identification process and the implemented controller structure. Possible scopes of the mu AUV(2) are underwater exploration, inspection tasks, development and evaluation of algorithms, education and competitions.

关键词： Underwater robotics System Design Miniature robotics System Parameter Identification control of Underwater Robots Robot Development

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Introspection on control-grounded capabilities: A task allocation study case in robot soccer

Introspection on control-grounded capabilities: A task alloc...

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4th international conference on informatics in control, automation and robotics, icinco 2007

作者： Quintero M., Christian G. Ibarra M., Salvador De la Rosa, Josep Li. Vehi, Josep University of Girona Campus Montilivi 17071 Girona Catalonia Spain

Our proposal is aimed at achieving reliable task allocation in physical multi-agent systems by means of introspection on their dynamics. This new approach is beneficial as it improves the way agents can coordinate with each other to perform the proposed tasks in a real cooperative environment. Introspection aims at including reliable physical knowledge of the controlled systems in the agents' decision-making. To that end, introspection on control-grounded capabilities, inspired by the agent metaphor, are used in the task utility/cost functions. Such control-grounded capabilities guarantee an appropriate agent-oriented representation of the specifications and other relevant details encapsulated in every automatic controller of the controlled systems. In particular, this proposal is demonstrated in the successful performing of tasks by cooperative mobile robots in a simulated robot soccer environment. Experimental results and conclusions are shown, stressing the relevance of this new approach in the sure and trustworthy attainment of allocated tasks for improving multi-agent performance.

关键词： Autonomous agents

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Design of a Self-tuning Predictive PI controller for Delay Systems based on the Augmented Output 16

Design of a Self-tuning Predictive PI Controller for Delay S...

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

作者： Ashida, Yoichiro Wakitani, Shin Yamamoto, Toni Matsue Coll Natl Inst Technol Dept Elect Engn & Comp Sci 14-4 Nishiikumacho Matsue Shimane Japan Hiroshima Univ Grad Sch Engn 1-4-1 Kagamiyama Higashihiroshima Japan

ISBN: (纸本)9789897583803

This paper proposes an online type control parameter tuning method for a predictive PI controller. Predictive PI controller is based on a PI controller with a Smith predictor, and it is effective for a controlled object with large dead-time. control performance of the predictive PI controller strongly depends on control parameters. Recently, some data-driven controller tuning methods have been proposed. The methods directly calculate suitable parameters from one or some sets of operating data. In addition, almost controlled processes are time-variant. In this paper, a data-driven self-tuning predictive PI controller is proposed. The effectiveness of the proposed scheme is evaluated by a simulation example.

关键词： Predictive PI controller Predictive control Delay System Data-driven Self-tuning

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Large Deviations in Discrete-time Systems with control Signal Delay 16

Large Deviations in Discrete-time Systems with Control Signa...

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

作者： Vunder, Nina Dudarenko, Natalia Grigoriev, Valery ITMO Univ Fac Control Syst & Robot 49 Kronverksky Pr St Petersburg Russia

ISBN: (纸本)9789897583803

The paper considers a problem of deviations (peak effect) in the free motion of linear discrete stable systems with a control signal delay. The problem consists in structure of eigenvectors of the state matrix. The control signal delay adds additional order to a discrete-time model and leads to the variation of eigenvectors structure and deviation increasing in the free motion of the system. A tracking discrete-time system is a subject of the research. An approach to the modal control law design taking into account the value of delay and the deviation is suggested in the paper. It is proposed to assess the upper bound of peaking processes in the system with the condition number of an eigenvectors matrix. The results are supported by an example.

关键词： Deviation Peak Effect Linear control Systems Delay Discrete Systems Eigenvectors Modal control Condition Number Norms

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ON MODIFICATION OF THE GENERALISED CONDITIONING TECHNIQUE ANTI-WINDUP COMPENSATOR

ON MODIFICATION OF THE GENERALISED CONDITIONING TECHNIQUE AN...

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

作者： Horla, Dariusz Poznan Tech Univ Inst Control & Informat Engn PL-60965 Poznan Poland

ISBN: (纸本)9789896740016

New anti-windup scheme is presented in application to pole-placement control, with a complete analysis of its behaviour for a class of second-order minimumphase stable plants of oscillatory and aperiodic characteristics with different dead-times. The classical generalised conditioning technique anti-windup compensator performance is compared with its three proposed modifications, arising in a new GCT compensation scheme. A critical discussion of the necessity of compensation is also given.

关键词： Back-calculation Generalised conditioning technique Anti-windup compensator Constraints

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control of Uncertain Robot Manipulators using Integral Backstepping and Time Delay Estimation 13

Control of Uncertain Robot Manipulators using Integral Backs...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Kali, Yassine Saad, Maarouf Benjelloun, Khalid Benbrahim, Mohammed Mohammed V Univ Ecole Mohammadia Ingenieurs Rabat Morocco Univ Quebec Ecole Technol Super Montreal PQ Canada SMBA Univ Fac Sci Fes Morocco

ISBN: (纸本)9789897581984

In this paper, a novel controller is proposed and applied for high accuracy tracking trajectory in the workspace of robot manipulators in presence of uncertainties and external disturbances. Most of nonlinear controllers are based on the mathematical model of robot manipulator, but a lot of robotic systems do not have exact model. This novel approach which consists on designing an Integral Backstepping with Time Delay control (IBTDC) can estimate uncertainties and keep high tracking performance. The proposed controller is able to stabilize the robot system, and also to drive the trajectory tracking errors to converge in finite time. Furthermore, experimental results are given to illustrate the effectiveness of the proposed method applied to the 7-DOF ANAT robot arm.

关键词： Integral Backstepping Time Delay control Trajectory Tracking Robot Manipulators

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Performance evaluation of a controlled flow-shop system with a timed Petri net model

Performance evaluation of a controlled flow-shop system with...

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3rd international conference on informatics in control, automation and robotics

作者： Plassart, Loic Le Parc, Philippe Singhoff, Frank Marce, Lionel Univ Bretagne Occidentale Lab Informat Syst Complexes 20 Ave Le Gorgeu F-29285 Brest France

This paper presents an original performance analysis applied to a flow-shop system driven by a set of local command units and a central controller. The performance evaluation is done with a timed coloured Petri net mo... 详细信息

ISBN: (纸本)9728865600

关键词： assembly lines flow-shop control performance evaluation modelling simulation Petri nets industrial case study

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Distributed control system for crystal growth

Distributed control system for crystal growth

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

作者： Kokh, A.E. Vlezko, V.A. Kokh, K.A. Institute of Geology and Mineralogy SB RAS 3 Koptyuga Ave. 630090 Novosibirsk Russia

ISBN: (纸本)9789898565211

Distributed system for control over the crystal growth process is presented. The main advantages of the system are its low cost, ability to recover after power failure, an application of standard ISaGRAF software environment and available low-power PC-controller. One of the option of the system is an ability to control symmetry and dynamics of the heat filed. This option is the key factor for the progress in growth of nonlinear optical LBO crystal. Copyright © 2012 SciTePress.

关键词： controllers

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