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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341-350 订阅

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A Hybrid Hierarchical Rally Driver Model for Autonomous Vehicle Agile Maneuvering on Loose Surfaces 14

A Hybrid Hierarchical Rally Driver Model for Autonomous Vehi...

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

作者： Acosta, Manuel Kanarachos, Stratis Fitzpatrick, Michael E. Coventry Univ Sch Mech Aerosp & Automot Engn Coventry W Midlands England

ISBN: (纸本)9789897583049

This paper presents a novel Hybrid Hierarchical Autonomous system for improving vehicle safety based on agile maneuvering and drift control on loose surfaces. Standard Electronic Stability control Systems provide stability by limiting the vehicle body slip, thus reducing the capability of the vehicle to generate lateral acceleration and follow road segments and paths with high curvature on loose surfaces. The proposed system overcomes this shortcoming. Furthermore, it is the first time where a solution for arbitrary road geometries is proposed. The system described in this work consists of three layers. The first layer selects the driver model. The second layer selects the path to be followed and the maneuver type using a Proportional controller and motion planning strategies. The third layer coordinates the steering and driving functions of the vehicle to perform the maneuver, where a Gain-Scheduled Linear Quadratic Regulator is employed to achieve drift control. The hybrid system is implemented in Matlab/Simulink (R) and tested in two scenarios: First, a Rally-like stage formed by a combination of clothoid and arc segments is used to study the drift-path-following capabilities of the system, and lastly, a lateral collision case is proposed to evaluate the suitability of the system as an ADAS Co-Pilot system for lateral collision avoidance.

关键词： Agile Maneuvering Linear Quadratic Regulator Drift control Motion Planning ADAS

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An RGB-D based Augmented Reality 3D Reconstruction System for Robotic Environmental Inspection of Radioactive Areas 14

An RGB-D based Augmented Reality 3D Reconstruction System fo...

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

作者： Lunghi, Giacomo Prades, Raul Marin Di Castro, Mario Ferre, Manuel Masi, Alessandro CERN Geneva Switzerland Univ Jaume 1 Castellon De La Plana Spain Ctr Automat & Robot UPM CSIC Madrid Spain

ISBN: (纸本)9789897583049

Preparing human intervention in hazardous, unknown and unstructured environments is a difficult task. The intervention should focus on the optimization of the operations in order to reduce the personnel exposure to hazards. Optimizing these operations is not always possible, due to a lack of information about the intervention environment: such information can be collected through a robotic inspection before the preparation of the intervention. The data collected during this inspection, such as radiation, temperature and oxygen level, must be accurate and precisely positioned in the environment in order to optimize the humans approaching path and their stay in the intervention area. In this paper we present a robotic system for collecting physical quantities, precisely positioned in the environment, which is easy to use by the robot operator and it is seamlessly integrated in the robot control. The operator is helped by the system in finding the most dangerous zones, which collects all the sensor readings while building a 3D model of the environment. Preliminary results are presented using CERN's accelerators facilities as testing area.

关键词： Robotic Systems 3D Reconstruction Sensors Fusion Environmental Monitoring and control Guidance Navigation and control 3D Reconstruction and Augmented Reality

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Parallel Robot Structure Optimizations for a Friction Stir Welding Application 14

Parallel Robot Structure Optimizations for a Friction Stir W...

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

作者： Dardouri, F. Abba, G. Seemann, W. Arts & Metiers ParisTech Design Mfg & Control Lab LCFC F-57078 Metz France Karlsruhe Inst Technol KIT Inst Tech Mech ITM D-76131 Karlsruhe Germany

ISBN: (纸本)9789897583049

Today industrial robots are used in many manufacturing applications because of their versatility and easy applicability. Notwithstanding their performance these robots are not suitable for some manufacturing processes where uniform and high forces together with suitable precision of position are required. The present research is focused on one of the high thrust operations, the friction stir welding (FSW). This method for connecting two parts works while the connected materials are in the solid phase. For this reason a very high thrust force is needed to soften the material during the welding process. Due to these high forces the position of the tool of a serial robot deviates from the desired trajectory. In this paper the possibility of using a parallel structure device is investigated to improve the load capacity and stiffness of a heavy manipulator robot. Such a system may exert forces directly on the process tool. In this way the movement of the tool is mainly generated by the industrial serial robot, while the parallel structure ensures the generation of very high thrust forces.

关键词： Industrial Robot Friction Force Deviation errors Hybrid Systems Actuators Optimization

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Re-optimisation control of a Fed-batch Fermentation Process using Bootstrap Aggregated Extreme Learning Machine 14

Re-optimisation Control of a Fed-batch Fermentation Process ...

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

作者： Baron, Carolina Maria Cardona Zhang, Jie Newcastle Univ Sch Chem Engn & Adv Mat Newcastle Upon Tyne NE1 7RU Tyne & Wear England

ISBN: (纸本)9789897583049

This paper presents using bootstrap aggregated extreme learning machine for the on-line re-optimisation control of a fed-batch fermentation process. In order to overcome the difficulty in developing mechanistic model, data driven models are developed using extreme learning machine (ELM). ELM has the advantage of fast training in that the hidden layer weights are randomly assigned. A single ELM model can lack of robustness due the randomly assigned hidden layer weights. To overcome this problem, multiple ELM models are developed from bootstrap re-sampling replications of the original training data and are then combined. In addition to enhanced model accuracy, bootstrap aggregated ELM can also give model prediction confidence bounds. A reliable optimal control policy is achieved by means of the inclusion of model prediction confidence bounds within the optimisation objective function to penalise wide model prediction confidence bounds which are associated with uncertain predictions as a consequence of plant model-mismatch. Finally, in order to deal with process disturbances, an on-line re-optimisation strategy is developed and successfully implemented.

关键词： Fed-Batch Processes Fermentation Neural Networks Extreme Learning Machine Re-optimisation

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MPC for Ozone Dosage in Water Treatment Process based on Disturbance Observer 14

MPC for Ozone Dosage in Water Treatment Process based on Dis...

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

作者： Niu, Dan Chen, Xisong Yang, Jun Jiang, Fuchun Zhou, Xingpeng Minist Educ Key Lab Measurement & Control CSE Beijing Peoples R China Southeast Univ Sch Automat 2 Sipailou Nanjing 210096 Peoples R China Suzhou Running Water Co Xiangcheng Water Treatment Plant Suzhou 215002 Peoples R China

ISBN: (纸本)9789897583049

In the drinking water treatment, determining optimal ozone doses is vital for the treated water quality. An effective control scheme is to control the dissolved ozone residual constant. However, it is not easy to be achieved since some external disturbances always exist, such as large changes in water flow rate and raw water quality. Moreover, the ozonation is a nonlinear process with long time delay and large time constant. The conventional control strategies such as PID and traditional MPC reject disturbances merely through feedback regulation, which will cause performance degradation in the presence of strong disturbances. In this paper, a composite control scheme integrating MPC method as feedback controller and disturbance observer (DOB) as feed-forward compensation is proposed to improve disturbance rejection of ozone dosage control system. The test results demonstrate that the proposed method possesses a better disturbance rejection performance than the MPC method in the ozonation process.

关键词： Ozone Dosage Composite control Model Predictive control Disturbance Observer

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Dynamic Stability of Repeated Agent-Environment Interactions During the Hybrid Ball-bouncing Task 14

Dynamic Stability of Repeated Agent-Environment Interactions...

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

作者： Avrin, Guillaume Makarov, Maria Rodriguez-Ayerbe, Pedro Siegler, Isabelle A. Univ Paris Saclay Lab Signaux & Syst L2S CentraleSupelec CNRSUniv Paris Sud 3 Rue Joliot Curie F-91192 Gif Sur Yvette France Univ Paris Saclay Univ Paris Sud CIAMS 15 Rue Georges Clemenceau F-91405 Orsay France Univ Orleans Chateau Source CIAMS Ave Parc Floral F-45067 Orleans France

ISBN: (纸本)9789897583049

This interdisciplinary study aims to understand and model human motor control principles using automatic control methods, with possible applications in robotics for tasks involving a rhythmic interaction with the environment. The paper analyses the properties of a candidate model for the visual servoing of the 1D bouncing ball benchmark task in humans. The contributions are twofold as they i/ enable a computationally efficient way of testing hypotheses in human motor control modeling, and ii/ will allow to export and adapt the lessons learned from this modeling of human behavior for more robust and less model-dependent robotic control methods. Three hypotheses about the sensorimotor couplings involved during the task, i.e. three control structures are analyzed from the point of view of task stability by means of Poincare maps. Obtained results are used to refine the proposed models of sensorimotor couplings. It is shown that the fixed points of the Poincare maps are stable and that the obtained linear approximation. derived on these equilibrium points, can be viewed as a state-feedback. As such, the human-like controller is compared to the Linear Quadratic controller around the equilibrium point.

关键词： Hybrid System Bouncing Ball Stability Impact Map Biologically-inspired control

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Towards Teleoperation and Automatic control Features of an Unmanned Surface Vessel-ROV System: Preliminary Results 14

Towards Teleoperation and Automatic Control Features of an U...

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

作者： Nava-Balanzar, L. Sanchez-Gaytan, J. L. Fonseca-Navarro, F. Salgado-Jimenez, T. Garcia-Valdovinos, L. G. Rubio-Lopez, O. Gomez-Espinosa, A. Ramirez-Martinez, A. Ctr Engn & Ind Dev CIDESI Energy Div Queretaro Mexico Tecnol Monterrey Campus Queretaro Queretaro Mexico

ISBN: (纸本)9789897583049

This paper presents the design, construction and control of an Unmanned Surface Vessel (USV) along with a ROV (Remotely Operated Vehicle) system, called USV-ROV system. These systems are mainly used for underwater inspection of shallow water structures, such as: ports, bridges bases and platforms. The USV-ROV, developed at CIDESI-Mexico, has been designed for academic purposes. This paper describes the Surface control Unit (SCU), the ROV and the USV, including: electronics architecture, data managing, sensors, actuators and mechanical design considerations. USV and ROV control strategies preliminary results are presented. Real time experiments are shown for: USV heading control, and ROV depth and heading control. The goal of this paper is to present preliminary results of a coordinated USV-ROV system, desgined for the development of inspection and surveillance techniques accroding to the marine and submarine application: however, these techniques are not commercially available and have to be developed with an open architecture system like the presented here.

关键词： Unmanned Surface Vessels (USV) ROV USV-ROV System and Auto Tuned PID

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Architecture for a Combined Mobile Robot and Human Operator Transportation Solution for the Hierarchical Life Science automation 14

Architecture for a Combined Mobile Robot and Human Operator ...

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

作者： Neubert, S. Roddelkopf, T. Gu, X. Goede, B. Junginger, S. Stoll, N. Thurow, K. Univ Rostock Inst Automat Friedrich Barnewitz Str 8 D-18119 Rostock Germany Ctr Life Sci Automat Celisca Friedrich Barnewitz Str 8 D-18119 Rostock Germany

ISBN: (纸本)9789897583049

Modern laboratories for life sciences often include several different integrated automation systems to increase throughput and quality, to reduce efforts for human operators and to reduce the costs of processes. Typically, the planning and monitoring of methods are prepared and executed directly on local computers of the automation systems. Moreover, a manual replenishing of resources and a manual transfer of samples and labware between interacting automation systems are required in order to ensure end-to-end operations in a 24/7 mode. This work describes the architecture and the pilot solution of a hierarchical workflow management system (HWMS), which integrates distributed automation systems by combined use of mobile robots and human operators as transportation units. With a graphical process design tool a material flow-oriented diagram can be created, which describes the correlations of distributed subsystems in a complex workflow. The HWMS schedules the workflows and controls the execution autonomously dependent on the planned process diagrams. Two front-end components located on the process control layer simplify the integration and support the control of the required subsystems. With smart device communications human operators can be integrated in the workflow for transportation and assistance tasks as a necessary alternative to the robots.

关键词： Life Science automation Laboratory Execution System Mobile Robot Integration Dynamical Scheduling Human Machine Interaction

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Identifying the left ventricle optimally in cardiac mr images by comparing state-of-the-art segmentation methods 14

Identifying the left ventricle optimally in cardiac mr image...

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14th international conference on informatics in control, automation and robotics, icinco 2017

作者： Xiong, Jingjing Yang, Yongming Wang, Zhenzhou State Key Labs for Robotics Shenyang Institute of Automation Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang Liaoning Province China

ISBN: (纸本)9789897582646

In medical diagnosis, the movement of the left ventricle (LV) could be used to estimate the volume of the left ventricle and the dyssynchrony of the heart, which can provide the basis for diagnosis of heart diseases. Identification of the LV endocardium, especially the images with poor image quality and images in apical or basal slices, is still a very challenging problem. In this paper, an automatic segmentation method based on threshold is proposed. This method works well in image both with good quality and bad quality. We tested the proposed SDD method with other 15 state-of-the-art segmentation methods by 104 frames of testing Cardiac MR images from Computing and Computer Assisted Intervention (MICCAI) 2009 challenge. Finally, we assessed the deviation between the automatically segmented and benchmark manual contours. The proposed method achieved 0.9172 average Dice metric, 1.9817 mm average perpendicular distance (APD). These results compared with other methods indicate that the proposed SDD method is an effective and viable method to identify the boundary of left ventricle. © 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved.

关键词： Heart

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Adaptive Nonlinear Projective Filtering Application to Filtering of Artifacts in EEG Signals 14

Adaptive Nonlinear Projective Filtering <i>Application to Fi...

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

作者： Binias, Bartosz Niezabitowski, Michal Silesian Tech Univ Fac Automat Control Elect & Comp Sci Akad 16 St PL-44100 Gliwice Poland

ISBN: (纸本)9789897583049

In this work a novel approach to filtering of eyeblink related artifacts from EEG signals is presented. Proposed solution, the Adaptive Nonlinear Projective Filtering (ANPF) algorithm, combines the classic approach to adaptive filtering with algorithms from nonlinear state space projection family. Performance of described method is compared with adaptive filter based on Normalized Least Mean Squares algorithm in terms of median Normalized Mean Squared Error. Data used in conducted research was simulated according to described procedure. Such approach allowed for a reliable comparison and evaluation of algorithm's signal correction properties. Additionally, a real time modification of ANPF algorithm is proposed and tested. The analysis of sensitivity to changes of parameter values was also performed. Achieved results were tested for statistical significance. According to obtained scores ANPF significantly outperforms referential method during offline processing.

关键词： EEG Electroencephalography Adaptive Filtering Artifact Filtering Artifact Correction Signal Reconstruction Nonlinear Projective Filtering Nonlinear State Space Projection Biomedical Signals

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