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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331-340 订阅

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Balancing control of a Self-driving Bicycle 16

Balancing Control of a Self-driving Bicycle

引用

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

作者： Yeh, T. J. Lu, Hao-Tien Tseng, Po-Hsuan Natl Tsing Hua Univ Dept Power Mech Engn Hsinchu 30013 Taiwan

ISBN: (纸本)9789897583803

In this research, a self-driving bicycle is constructed and the balancing control using the handlebar is studied. The controller is designed based on a model which characterizes the bicycle's lateral dynamics under speed variations. As the model can be decomposed into a convex combination of four linear subsystems with time-varying coefficients, the proposed controller also consists of a convex combination of four linear, full-state feedback controllers. It is proved that if the full-state feedback controllers satisfy a set of linear matrix inequalities, the bicycle can maintain its lateral stability regardless of speed changes. Both simulations and experiments verify that the proposed controller can achieve robust balancing performance under various operating conditions.

关键词： Balancing control Bicycle Convex Combination Linear Matrix Inequality

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Hybrid 6D Object Pose Estimation from the RGB Image 16

Hybrid 6D Object Pose Estimation from the RGB Image

引用

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

作者： Staszak, Rafal Belter, Dominik Poznan Univ Tech Inst Control Robot & Informat Engn Poznan Poland

ISBN: (纸本)9789897583803

In this research, we focus on the 6D pose estimation of known objects from the RGB image. In contrast to state of the art methods, which are based on the end-to-end neural network training, we proposed a hybrid approach. We use separate deep neural networks to: detect the object on the image, estimate the center of the object, and estimate the translation and "in-place" rotation of the object. Then, we use geometrical relations on the image and the camera model to recover the full 6D object pose. As a result, we avoid the direct estimation of the object orientation defined in SO3 using a neural network. We propose the 4D-NET neural network to estimate translation and "in-place" rotation of the object. Finally, we show results on the images generated from the Pascal VOC and ShapeNet datasets.

关键词： Object Pose Estimation Convolutional Neural Networks Deep Learning in robotics

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Feature Extraction from sEMG of Forearm Muscles, Performance Analysis of Neural Networks and Support Vector Machines for Movement Classification 14

Feature Extraction from sEMG of Forearm Muscles, Performance...

引用

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

作者： Morales, Luis Cepeda, Jaime Escuela Politecn Nacl Ladron de Guevara Dept Automatizac & Control Ind Quito 11253 Ecuador

ISBN: (纸本)9789897583049

The propose of this work is to extract different features from surface EMG signals of forearm muscles such as MAV, RMS, NZC, VAR, STD, PSD, and EOF's. Signals are acquired through 8 channels from "Myo Armband" sensor that is placed in the forearm of the human being. Then, identification and classification of 5 types of movements are done, including open hand, closed hand, hand flexed inwards, out and relax position. Classification of the movement is performed through machine learning and data mining techniques, using two methods such as Feedforward Neural Networks and Support Vector Machines. Finally, an analysis is done to identify which features extracted from the sEMG signals and which classification method present the best results.

关键词： Support Vector Machines Feedforward Neural Networks Pattern Recognition EMG Signals Feature Extraction

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SCHEME FOR EVALUATION AND REDUCTION OF MOTION ARTIFACTS IN MOBILE VISION SYSTEMS

SCHEME FOR EVALUATION AND REDUCTION OF MOTION ARTIFACTS IN M...

引用

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

作者： Walter, Christoph Penzlin, Felix Elkmann, Norbert Fraunhofer Inst Factory Operat & Automat Sandtorstr 22 D-39106 Magdeburg Germany

ISBN: (纸本)9789896740009

Artifacts like motion blur are a common problem for vision systems on mobile robots, especially when operating under low light conditions or when using high-resolution sensors. In this contribution we present a scheme for estimating the degree of motion artifacts, especially motion blur, present in a stream of individual camera images. A single quality estimate is derived per frame using data from an inertial measurement unit. Considering limited image processing capacity of resource-constrained mobile robots, we show a number of data processing strategies that are based upon the idea of congestion control by adaptive image rejection.

关键词： Vision Motion Blur Mobile Robot Congestion control

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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...

引用

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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Robot goes back home despite all the people

Robot goes back home despite all the people

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

作者： de la Puente, Paloma Rodriguez-Losada, Diego Pedraza, Luis Matia, Fernando Univ Politecn Madrid DISAM Madrid Spain

ISBN: (纸本)9789898111319

We have developed a navigation system for a mobile robot that enables it to autonomously return to a start point after completing a route. It works efficiently even in complex, low structured and populated indoor environments. A point-based map of the environment is built as the robot explores new areas;it is employed for localization and obstacle avoidance. Points corresponding to dynamical objects are removed from the map so that they do not affect navigation in a wrong way. The algorithms and results we deem more relevant are explained in the paper.

关键词： mobile robots navigation localization and mapping reactive control dynamic points

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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...

引用

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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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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An investigation of extended kalman filtering in the errors-in-variables framework - A joint state and parameter estimation approach

An investigation of extended kalman filtering in the errors-...

引用

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

作者： Linden, Jens G. Vinsonneau, Benoit Burnham, Keith J. Coventry Univ Control Theory & Applicat Ctr Coventry W Midlands England

ISBN: (纸本)9789728865849

The paper addresses the problem of errors-in-variables filtering, i.e. the optimal estimation of inputs and outputs from noisy observations. While the optimal solution is known for linear time-varying systems of known parameterisation, this paper considers a suboptimal approach where only an approximated set of parameters is available. The proposed filter is derived by the means of joint state and parameter estimation using the extended Kalman filter approach which, in turn, leads to a coupled state-parameter estimation procedure. However, the resulting parameter estimates appear to be biased in the presence of input noise. The novel filter is compared with a previously proposed suboptimal filter.

关键词： errors-in-variables filtering Kalman filtering parameter estimation

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A Terminal Sliding Mode control using EMG Signal: Application to an Exoskeleton-Upper Limb System 16

A Terminal Sliding Mode Control using EMG Signal: Applicatio...

引用

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

作者： Bembli, Sana Haddad, Nahla Khraief Belghith, Safya Univ Tunis El Manar Natl Engn Sch Tunis RISC Lab Tunis Tunisia

ISBN: (纸本)9789897583803

This paper presents a robust terminal sliding mode control using the EMG signal. The application deals with an exoskeleton-upper limb system, used for rehabilitation. The considered system is a robot with one degree of freedom controlling the flexion/extension movement of the elbow. The different stages of the EMG signal extraction were presented. Then, a second order terminal sliding mode algorithm has been developed to control the exoskeleton-upper limb system. A Stability study is realized and a robustness analysis is done using Monte Carlo simulation in presence of parametric uncertainties. Simulation results are provided to prove performance and effectiveness of the second order terminal sliding mode algorithm when tracking the EMG signal extracted from the human arm.

关键词： Exoskeleton-Upper Limb System Terminal Sliding Mode EMG Signal Robustness Analysis Monte Carlo Simulation Uncertainties

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