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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281-290 订阅

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Shared admittance control for human-robot co-manipulation based on operator intention estimation 15

Shared admittance control for human-robot co-manipulation ba...

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

作者： Cacace, Jonathan Finzi, Alberto Lippiello, Vincenzo PRISMA Lab Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione Università degli Studi di Napoli Federico II via Claudio 21 Naples80125 Italy

ISBN: (纸本)9789897583216

Collaborative robots are increasingly employed in industrial workplaces, assisting human operators in decreasing the weight and the repetitiveness of their activities. In this paper, we assume the presence of an operator cooperating with a lightweight robotic arm, able to autonomously navigate its workspace, while the human co-worker physically interacts with it leading and influencing the execution of the shared task. In this scenario, we propose a human-robot co-manipulation method in which the autonomy of the robot is regulated according to the operator intentions. Specifically, the operator contact forces are assessed with respect to the autonomous motion of the robot inferring how the human motion commands diverges from the autonomous ones. This information is exploited by the system to adjust its role in the shared task, leading or following the operator and to proactively assist him during the co-manipulation. The proposed approach has been demonstrated in an industrial use case consisting of a human operator that interacts with a Kuka LBR iiwa arm to perform a cooperative manipulation task. The collected results demonstrate the effectiveness of the proposed approach. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Collaborative robots

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Improved discrete RRT for coordinated multi-robot planning 15

Improved discrete RRT for coordinated multi-robot planning

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

作者： Hvězda, Jakub Kulich, Miroslav Přeučil, Libor Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

ISBN: (纸本)9789897583216

This paper addresses the problem of coordination of a fleet of mobile robots – the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during last decades, but a minority of them is practically applicable, i.e. fast, producing near-optimal solutions, and complete. We propose a novel probabilistic approach based on the Rapidly Exploring Random Tree algorithm (RRT) by significantly improving its multi-robot variant for discrete environments. The presented experimental results show that the proposed approach is fast enough to solve problems with tens of robots in seconds. Although the solutions generated by the approach are slightly worse than one of the best state-of-the-art algorithms presented in (ter Mors et al., 2010), it solves problems where ter Mors’s algorithm fails. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Multipurpose robots

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Rule control of teleo-reactive, multi-tasking, communicating robotic agents 15

Rule control of teleo-reactive, multi-tasking, communicating...

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

作者： Clark, Keith Imperial College London United Kingdom

ISBN: (纸本)9789897583216

(joint work with Peter Robinson, University of Queensland) We describe a multi-threaded robotic agent architecture in which multiple compatible tasks, sharing one or more external robotic resources, can be executed concurrently without: starvation, interference or deadlock. Each task progressively achieves sub-goals of the task goal. There is parallel use of disjoint sets of resources whenever possible. The agents are programmed in two rule based languages: TeleoR and QuLog. The roots of TeleoR go back to the conditional action plans of the first cognitive robot, SRI’s Shakey. These lead to Nilsson’s Teleo-Reactive robotic agent language T-R. TeleoR is a major extension of T-R QuLog is a flexibly typed multi-threaded logic function action rule language. Its declarative subset is used for encoding the agent’s dynamic beliefs and static knowledge. Its action rules are used for programming agent threads and inter-agent communication. The guards of TeleoR robotic action rules are QuLog queries to the agent’s dynamic beliefs using its knowledge rules. Because of the structure and distinctive operation semantics of a TeleoR program, the agent will respond to help or hindrance without the need to re-plan a task behaviour. If helped it skips the actions it would normally do to achieve the task sub-goal achieved by the help. If hindered, it attempts to re-achieve the last sub-goal it had reached, or to achieve the task goal by another sub-goal route. This flexible behaviour makes TeleoR well suited to human/robot co-operative tasks. We introduce the use of TeleoR and QuLog, and the multi-threaded agent architecture, with two robot control applications: A multi-tasking agent controlling two independent robotic arms in multiple construction tasks. Colleagues at UNSW Sydney have ported this to a Baxter robot, See https://***/ klc/***4 Single task communicating agents each separately controlling a track following robot navigating through doorways

关键词： Multitasking

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Quality control monitoring by using artificial neural networks for an iberian ham industry 15

Quality control monitoring by using artificial neural networ...

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

作者： García-Esteban, J.A. Curto, Belén Moreno, Vidal Martín, Beatriz Department of Computer Science and Automatics University of Salamanca Faculty of Science Salamanca Spain Technology Meat Station of Castilla y León Guijuelo Spain

ISBN: (纸本)9789897583216

The iberian ham is a high valued product, due to this fact, it is very important to offer to the costumer a high quality food product and to ensure its organoleptic properties. Producers have to evaluate, periodically, its sensorial attributes by a professional tasting panel. Due to high elevated organizational and economics costs, in addition to, the sensory fatigue and the subjectivity of the panel members, only a few product lots are sampled. In this paper is proposed a cloud manufacturing based platform to monitor the quality of Iberian ham. The success of this solution is based on cooperation and data exchange between the main agents involved in the process: quality manager, professional tasters, production manager, inspection authorities, etc. Intelligent algorithms have been embedded into the cloud monitoring platform to predict the ham sensory properties, using the Near InfraRed Spectroscopy data from the product samples as input. The key feature of the solution is that the sensory analysis is performed without gathering routinely a professional tasting panel, but the solution also allows to the quality manager, with advanced visualization techniques, to monitor what is the merit figure related with a specific type of ham or shoulder. Another important aspect of the solution is that, due to the huge amount of data coming from the elaboration process itself are available is possible to fine-tune continuously the machine-learning algorithms to the particular producer and use them intelligently to increase the competitiveness. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Machine learning

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Parameter identification and model-based control of redundantly actuated, non-holonomic, omnidirectional vehicles 13th

Parameter identification and model-based control of redundan...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Stöger, Christoph Müller, Andreas Gattringer, Hubert Institute of Robotics Johannes Kepler University Altenberger Straße 69 Linz4040 Austria

ISBN: (纸本)9783319550107

Vehicles with centered orientable standard wheels are known to be omnidirectional and precise in their motion. The common decentralized strategy to control the driving velocities and wheel orientations leads to unnecessary high torques, an increased energy consumption as well as additional slippage due to the redundant actuation. This paper introduces a novel model-based control concept that overcomes these. It uses a minimal set of control variables within a PD control law to avoid counteractions. An additional inverse dynamics solution complements the control and further reduces slippage. The resulting generalized torque demand is optimal distributed among the drives. The paper additionally shows how the control performance can be further improved by an additional experiment which identify the inertia parameters of the vehicle. The overall approach is at the end validated by some experiments. © Springer international Publishing AG 2018.

关键词： Energy utilization

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Identification and control of the waelz process using infrared image processing 13th

Identification and control of the waelz process using infrar...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Matthes, Jörg Waibel, Patrick Keller, Hubert B. Gröll, Lutz Institute for Applied Computer Science Karlsruhe Institute of Technology Hermann-von-Helmholtz-Platz 1 Eggenstein-Leopoldshafen76344 Germany

ISBN: (纸本)9783319550107

Today, the recycling of zinc from zinc-bearing residues is mostly done by the pyro-metallurgical Waelz process in a rotary kiln. The optimum recovery rate is only achieved, if the temperature of the slag within the kiln is controlled at optimal values. These optimal temperatures vary and depend on the material mixture. The slag temperature is measured by pyrometers so far. They yield only pointwise measurements that can be erroneous due to cold slag lumps. The control of the slag temperature takes place manually by experienced operators, who adapt the process air to stabilize the process at the desired temperature setpoint. The paper presents a slag temperature measurement system with an infrared camera and an image processing system. It contains an automatic motion based slag detection. Using the camera based measurements, a process model for the Waelz process is derived and its parameters are estimated by a process identification. Using the process model the controller parameters are optimized by minimizing a cost functional. The sensitivity of the cost functional with respect to the controller parameters is analyzed. The optimized automatic closed-loop control is finally demonstrated at an industrial Waelz kiln. © Springer international Publishing AG 2018.

关键词： Recycling

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An adaptive terminal sliding mode guidance law for head pursuit interception with impact angle considered 13th

An adaptive terminal sliding mode guidance law for head purs...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Zhang, Cheng Zhang, Ke Wang, Jingyu School of Astronautics Northwestern Polytechnical University Xi’an710072 China National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical University Xi’an710072 China

ISBN: (纸本)9783319550107

Head pursuit interception is useful in modern industries. Because it is difficult to intercept a high-speed target directly, the head pursuit is frequently used to intercept targets such as re-entry flight vehicle. This paper proposes an adaptive terminal sliding mode control method for intercepting a high-speed manoeuver target with impact angle considered. It introduces the mathematical model of relative motion between interceptor and target to design the sliding mode surface so as to meet the critical conditions of head pursuit interception. With the dynamic characteristics of both interceptor and target considered, it designs an adaptive terminal sliding mode guidance law to compensate for modelling errors and to improve the interception accuracy. It uses the Lyapunov method to analyse the theoretical stability. Finally it carried out numerical simulations to validate the robustness and effectiveness of the guidance law, thus obtaining good interception performances. © Springer international Publishing AG 2018.

关键词： Sliding mode control

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Modeling and calibrating triangulation lidars for indoor applications 13th

Modeling and calibrating triangulation lidars for indoor app...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Alhashimi, Anas Pierobon, Giovanni Varagnolo, Damiano Gustafsson, Thomas Control Engineering Group Department of Computer Science Electrical and Space Engineering Luleå University of Technology Luleå Sweden Department of Computer Engineering University of Baghdad Baghdad Iraq Department of Information Engineering University of Padova Padova Italy

ISBN: (纸本)9783319550107

We present an improved statistical model of the measurement process of triangulation Light Detection and Rangings (Lidars) that takes into account bias and variance effects coming from two different sources of uncertainty: (i)mechanical imperfections on the geometry and properties of their pinhole lens - CCD camera systems, and (ii) inaccuracies in the measurement of the angular displacement of the sensor due to non ideal measurements from the internal encoder of the sensor. This model extends thus the one presented in [2] by adding this second source of errors. Besides proposing the statistical model, this chapter considers: (i) specialized and dedicated model calibration algorithms that exploit Maximum Likelihood (ML)/Akaike Information Criterion (AIC) concepts and that use training datasets collected in a controlled setup, and (ii) tailored statistical strategies that use the calibration results to statistically process the raw sensor measurements in non controlled but structured environments where there is a high chance for the sensor to be detecting objects with flat surfaces (e.g., walls). These newly proposed algorithms are thus specially designed and optimized for inferring precisely the angular orientation of the Lidar sensor with respect to the detected object, a feature that is beneficial especially for indoor navigation purposes. © Springer international Publishing AG 2018.

关键词： Optical radar

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Passivity-based control design and experiments for a rolling-balancing system 13th

Passivity-based control design and experiments for a rolling...

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13th international conference on informatics in control, automation and robotics, icinco 2016

作者： Donaire, Alejandro Crespo, Martin Ruggiero, Fabio Lippiello, Vincenzo Siciliano, Bruno PRISMA Lab Dipartimento di Ingegneria Elettrica e Tecnologie dell’Informazione Università di Napoli Federico II Via Claudio 21 Napoli80125 Italy Departamento de Control FCEIA Universidad Nacional de Rosario and CONICET Riobamba 245 bis RosarioS2000EKE Argentina

ISBN: (纸本)9783319550107

In this chapter we present the design and implementation of a robust passivity-based controller for a rolling-balancing system known as the disk-on-disk. The control design aims to asymptotically stabilize the desired equilibrium of the disk-on-disk by shaping the energy function of the system and injecting damping. This first design is further augmented by the addition of a nonlinear PID controller to compensate for disturbances. We incorporate in the nonlinear PID the possibility of stabilizing either a set-point of angular positions of the disks or their angular velocities while keeping the balance of the system. Although the underactuation feature of the system and the disturbances hamper the control design, we show that the passivity-based framework offers the necessary tools to prove the desired stability properties of the close loop. Finally, we evaluate the practical applicability of the control design by implementing the controller on a real hardware for the disk-on-disk system and asses the performance of the control system. © Springer international Publishing AG 2018.

关键词： Three term control systems

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Adaptive Predictive controller for a Servo Drive - Actuator/Sensor Failure Study Experiments 14

Adaptive Predictive Controller for a Servo Drive - Actuator/...

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

作者： Horla, Dariusz Poznan Univ Tech Fac Elect Engn Inst Control & Informat Engn Ul Piotrowo 3a PL-60965 Poznan Poland

ISBN: (纸本)9789897583049

The paper considers the problem of predictive control with actuator or sensor failures. The problem is to show in what configuration (i.e. for what prediction horizons) the adaptive generalized predictive control can tolerate these failures, assuring similar performance in comparison with the case without failures. The results are shown on the basis of experiments conducted on the laboratory stand with a servo drive coupled with a mechanical backlash module to mimic actuator/sensor failures, and with a magnetic brake, to show the performance in the case of occurrence of an unexpected load.

关键词： Predictive control Actuator Failure Sensor Failure Robust System

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