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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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Using the OAG to build a model dedicated to mode handling of FMS

Using the OAG to build a model dedicated to mode handling of...

引用

5th international conference on informatics in control, automation and robotics

作者： Hamani, Nadia Dangoumau, Nathalie Craye, Etienne Univ Paris 10 Dept Informat 200 Ave Republ F-92001 Nanterre France Ecole Cent Lille LAGIS Villeneuve Dascq France

ISBN: (纸本)9789898111319

This paper deals with a modeling approach for mode handling of Flexible Manufacturing Systems (FMS). We show that using the plant model enables to establish aggregate operations. These are generic entities which depend only on the plant and do not depend on production goals. Aggregate operations are then used to build the model dedicated to mode handling. This study is illustrated through an example of a flexible manufacturing cell.

关键词： Flexible Manufacturing Systems control system supervision mode handling functional modeling

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Intelligent hierarchical control system for complex processes: Three levels control system

Intelligent hierarchical control system for complex processe...

引用

icinco 2009 - 6th international conference on informatics in control, automation and robotics

作者： Mitrishkin, Yuri V. Guerra, Rodolfo Haber Bauman Moscow State Technical University Second Baumanskaya St. 5 Moscow Russia Instituto de Automática Industrial CSIC Madrid Spain

ISBN: (纸本)9789898111999

The paper presents a concept of intelligent hierarchical control for complex dynamical processes and suggests architecture of control system consisting of robust, adaptive, and self-organizing levels. Intelligent features of the proposed system are mostly concentrated at self-organizing level incorporated into self-learning, self-configuring, self-optimizing, and decision making algorithms. State-of-the-art at each level is described. Case studies have been chosen from the area of plasma control in tokamak-reactors.

关键词： Decision making

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Improving the Convergence of the Periodic QZ Algorithm 16

Improving the Convergence of the Periodic QZ Algorithm

引用

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

作者： Sima, Vasile Gahinet, Pascal Natl Inst Res & Dev Informat Optimizat Dept Modelling Simulat Bd Maresal Averescu 8-10 Bucharest Romania MathWorks 3 Apple Hill Dr Natick MA USA

ISBN: (纸本)9789897583803

The periodic QZ algorithm involved in the structure-preserving skew-Hamiltonian/Hamiltonian algorithm is investigated. These are key algorithms for many applications in diverse theoretical and practical domains such as periodic systems, (robust) optimal control, and characterization of dynamical systems. Although in use for several years, few examples of skew-Hamiltonian/Hamiltonian eigenproblems have been discovered for which the periodic QZ algorithm either did not converge or required too many iterations to reach the solution. This paper investigates this rare bad convergence behavior and proposes some modifications of the periodic QZ and skew-Hamiltonian/Hamiltonian solvers to avoid nonconvergence failures and improve the convergence speed. The results obtained on a generated set of one million skew-Hamiltonian/Hamiltonian eigenproblems of order 80 show no failures and a significant reduction (sometimes of over 240 times) of the number of iterations.

关键词： Eigenvalue Problem Hamiltonian Matrix Numerical Methods Optimal control

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A New Neural Network Feature Importance Method: Application to Mobile Robots controllers Gain Tuning 17

A New Neural Network Feature Importance Method: Application ...

引用

17th 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 Inrae UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897584428

This paper proposes a new approach for feature importance of neural networks and subsequently a methodology using the novel feature importance to determine useful sensor information in high performance controllers, using a trained neural network that predicts the quasi-optimal gain in real time. The neural network is trained using the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) algorithm, in order to lower a given objective function. The important sensor information for robotic control are determined using the described methodology. Then a proposed improvement to the tested control law is given, and compared with the neural network's gain prediction method for real time gain tuning. As a results, crucial information about the importance of a given sensory information for robotic control is determined, and shown to improve the performance of existing controllers.

关键词： Machine Learning Neural Network robotics Mobile Robot control Theory Gain Tuning Adaptive control Explainable Artificial Intelligence

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The New Automated Fire control System for Artillery Units based on Interoperability and Standards 14

The New Automated Fire Control System for Artillery Units ba...

引用

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

作者： Silinger, Karel Blaha, Martin Univ Def Dept Fire Support Brno Czech Republic

ISBN: (纸本)9789897583049

This paper is focused on the new automated fire control system for artillery units - PVNPG-14M, especially on interoperability and standards. Artillery units of the Army of the Czech Republic, reflecting the current global security neighbourhood, can be used outside the Czech Republic. The paper presents principles, evolution and functionality in the framework for the project through the establishment of strategic and conceptual context and the examination of Network Enabled Capability (NEC) activities and Interoperability Standards, makes proposals for engagement with NATO and coalition agencies, programs and projects, and offers starting point for project and moreover set up the new artillery full-automated system for fire control. The Czech Artillery units need to have intuitive system for mathematical computations what assures prediction capabilities for adequate fire support provision - PVNPG-14M should be the best choice in current conditions.

关键词： Fire control System Decision Making System Decision Support System Software Development Application Interoperability Standardization

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Initial development of HABLA (Hardware Abstraction Layer) -: A middleware software tool

Initial development of HABLA (Hardware Abstraction Layer) -:...

引用

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

作者： Faina, Andres Bellas, Francisco Duro, Richard J. Univ A Coruna Integrated Grp Engn Res Ferrol Spain

ISBN: (纸本)9789728865832

In this work we present the initial implementation of a middleware software tool called the Hardware Abstraction Layer (HABLA). This tool isolates the control architecture of an autonomous computational system, like a robot, from its particular hardware implementation. It is provided with a set of general sensors and typical sensorial processing mechanisms of this kind of autonomous systems allowing for its application to different commercial platforms. This way, the HABLA permits the control designer to focus its work on higher-level tasks minimizing the time spent on the adaptation of the control architecture to different hardware configurations. Another important feature of the HABLA is that both hardware-HABLA and HABLA-control communications take place through standard TCP sockets, permitting the distribution of the computational cost over different computers. In addition, it has been developed in JAVA, so it is platform independent. After presenting the general HABLA diagram and operation structure, we consider a real application using the same deliberative control architecture on two different autonomous robots: an Aibo legged robot and a Pioneer 2Dx wheeled robot.

关键词： middleware software tool control system abstraction autonomous robotics

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control of Sewer Flow using a Buffer Tank 17

Control of Sewer Flow using a Buffer Tank

引用

17th international conference on informatics in control, automation and robotics (icinco)

作者： Nielsen, K. M. Pedersen, T. S. Kallesoe, C. Andersen, P. Mestre, L. S. Murigesan, P. K. Aalborg Univ Dept Elect Syst Automat & Control Aalborg Denmark Aalborg Univ Control & Automat Aalborg Denmark

ISBN: (纸本)9789897584428

Flow variations of the inlet to a wastewater treatment plant (WWTP) are problematic due to the biological purification process. A way to reduce variations from industrial areas is to insert a buffer tank. Traditionally the only on-line measurement is the inlet flow to the wastewater treatment plant and reliable measurements in the system are difficult to establish. A control scheme using only one on-line measured variable is shown to be able to give considerable reduction in the flow variations. To implement the control scheme two models are introduced. A linear model (delay model) from the buffer tank to the wastewater treatment plant and an autonomous model describing the daily variations in the household sewer flow. A Model Predictive controller has been designed and tested in a laboratory set-up with good results.

关键词： Sewer Flow Modelling Model Predictive control

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Automated Draping of Wide Textiles on Double Curved Surfaces 16

Automated Draping of Wide Textiles on Double Curved Surfaces

引用

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

作者： Kaumfann, Patrick Braun, Georg Buchheim, Andreas Malecha, Marcin Ctr Lightweight Prod Technol ZLP German Aerosp Ctr Inst Struct & Design D-86159 Augsburg Germany

ISBN: (纸本)9789897583803

In many different industries like aviation, shipbuilding or the production of wind turbines, the draping of textiles is a common issue. Especially large components in long- and medium-haul aircraft have a high potential of weight reduction by using composites. In many cases increasing material and manufacturing costs are caused compared to metal design. Therefore automation is one approach to achieve profitability. A robot end effector for the automated deposition of 50 inch wide fibre fabrics was tested. The experiments were performed in full scale, with plies of an aircraft pressure bulkhead. When depositing these fabrics on curved surfaces, defects such as waves or wrinkles appear. In order to solve this issue, the end effector was extended by adding an adaptable material buffer. The development regarding mechanical design, calculation for determining the axis movement as well as the axes control is presented. Compared to previous attempts without an adaptable material buffer, an improved deposition quality was achieved. The results of the experimental investigation are shown.

关键词： automation Layup Draping Textile Double Curved Surface Automated Preforming

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On Dynamic Output Feedback H∞ control for Positive Discrete-time Delay Systems 16

On Dynamic Output Feedback H∞ Control for Positive Discrete...

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

作者： Du, Baozhu Nanjing Univ Sci & Technol Sch Automat Nanjing 210094 Peoples R China

ISBN: (纸本)9789897583803

This paper is devoted to the H-infinity control design of positive discrete-time systems with multiple delays. Novel bounded real lemma is presented first via linear matrix inequality technique, which reveals that H-infinity norms of a discrete-time positive system with time delays both in dynamic and output equations are identical to that of the corresponding delay-free system. Necessary and sufficient conditions for positivity preserving H-infinity stabilization via a dynamic output feedback control are established in the forms of matrix equalities, that guaranteeing the closed-loop system not only to be asymptotically stable and positive, but also to have a desired H-infinity performance. The proposed results are extended to interval uncertain positive systems with time delay. Finally, an example is given to illustrate the effectiveness of the obtained design scheme.

关键词： Bounded Real Lemma Dynamic Output Feedback Positive Systems Time Delay

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Multiple DOF Platform with Multiple Air Jets 16

Multiple DOF Platform with Multiple Air Jets

引用

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

作者： Kotani, Shinya Abe, Nobukado Iwaki, Satoshi Ikeda, Tetsushi Takaki, Takeshi Hiroshima City Univ Syst Engn Robot Lab Grad Sch Informat Sci & Technol Asaminami Ku Hiroshima Hiroshima Japan Hiroshima Univ Grad Sch Engn Hiroshima Japan

ISBN: (纸本)9789897583803

We have been studying noncontact object manipulation technology in which a single ball-shaped object is floated and controlled for its 3D position with multiple air jets driven by a pan-tilt actuator. In this paper, we try to control position and orientation of an arbitrary shaped object. Here an arbitrary object is connected with a triangle platform which is composed of three spheres linked with thin wires. Each sphere is spatially controlled by an air jet unit which consists of an air jet on a pan-tilt actuator. Kinematics of the air jet platform as a parallel link mechanism is calculated and a control method for the air jet platform is proposed.

关键词： Air Jet Manipulation 3D Space Multiple DOF Platform control

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