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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411-420 订阅

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A Novel Strut-type Modular Robotic Structure using Rigid Node 13

A Novel Strut-type Modular Robotic Structure using Rigid Nod...

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

作者： Li, Weibing Richardson, Robert C. Kim, Jongrae Univ Leeds Sch Mech Engn Leeds LS2 9JT W Yorkshire England

ISBN: (纸本)9789897581984

This paper proposes a novel way of constructing strut-type modular robotic structures to avoid some difficulties of designing and implementing ideal compliant nodes. Rigid nodes are employed to replace the ideal compliant nodes and to reduce the structural complexity while the feasibility of hardware implementation is dramatically improved. To release some kinematic constraints caused by the rigid nodes, we introduce robotic struts that consist of two prismatic actuators linked by a passive revolute joint. Physics-based robot models are constructed using a robot simulator. A scalable distributed control method is implemented using coupled central pattern generators. And, for comparison, the same control method is applied to conventional and the proposed strut-type modular robotic structures. Simulation results show that the proposed strut-type structures have several advantages over the conventional ones including less number of passive joints and shape-maintenance property.

关键词： Modular Robots Rigid Nodes Central Pattern Generators Distributed control Physics-based Simulation

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Camera based Identification and control of the Waelz Process 13

Camera based Identification and Control of the Waelz Process

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

作者： Matthes, Joerg Waibel, Patrick Keller, Hubert B. Groell, Lutz Karlsruhe Inst Technol Inst Appl Comp Sci Hermann Von Helmholtz Pl 1 D-76344 Eggenstein Leopoldshafen Germany

ISBN: (纸本)9789897581984

TheWaelz process is the most common technique for the pyro-metallurgical treatment of zinc-bearing residues using a rotary kiln. However, this process will only result in a good zinc recovery, if the temperature of the material (slag) within the kiln is controlled at specific optimal setpoints depending on the material mixture. Until now, slag temperature measurement is carried out by pyrometers which give only pointwise information that can be disturbed by cold slag lumps. Additionally, the temperature control is performed only manually by operators, who have to adapt the amount of process air frequently to keep the process stable at the desired setpoints. In this paper an infrared-camera based measurement of the slag temperature using image processing techniques is presented. Based on that temperature measurement a process model is conducted. Its parameters are estimated by a model-output-error based process identification. The process model is used for the tuning of parameters of an automatic closed loop control. Finally, results from an industrial application of the new camera based slag temperature control are given.

关键词： Model Identification Process control Infrared Camera Image Processing Rotary Kiln Waelz Process

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Design, Implementation and Experiments of a Robust Passivity-based controller for a Rolling-balancing System 13

Design, Implementation and Experiments of a Robust Passivity...

引用

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

作者： Crespo, Martin Donaire, Alejandro Ruggiero, Fabio Lippiello, Vincenzo Siciliano, Bruno Univ Nacl Rosario FCEIA Dept Control Riobamba 245 BisS2000EKE Rosario Santa Fe Argentina Consejo Nacl Invest Cient & Tecn Riobamba 245 BisS2000EKE Rosario Santa Fe Argentina Univ Napoli Federico II Dipartimento Ingn Elettr & Tecnol Informaz PRISMA Lab Via Claudio 21 I-80125 Naples Italy Univ Newcastle Sch Engn Univ Dr Newcastle NSW 2308 Australia

ISBN: (纸本)9789897581984

In this paper, we present the design of a robust interconnection and damping assignment controller for a rolling-balancing system known as the disk-on-disk. The underactuation feature of this system hampers the control design, and since we consider matched disturbances, the problem becomes even more challenging. To overcome this difficulty, we propose to design first a controller to stabilize the desired equilibrium of the case where the disturbance is not present, and then we robustify this controller by adding a nonlinear PID outer loop that compensates the disturbance. Finally, we evaluate the practical applicability of the control design by implementing the controllers on a real hardware for the disk-on-disk system.

关键词： Rolling-ballancing System Nonlinear control Lyapunov Methods Passivity

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A Novel Implementation Approach for Resource Holons in Reconfigurable Product Manufacturing Cell 13

A Novel Implementation Approach for Resource Holons in Recon...

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

作者： Sadik, Ahmed R. Urban, Bodo Univ Rostock Univ Pl 1 D-18055 Rostock Germany Fraunhofer Inst Comp Graph Res IGD Joachim Jungius Str 11 D-18059 Rostock Germany

ISBN: (纸本)9789897581984

Holonic control Architecture is a successful solution model for reconfigurable manufacturing problems. Two well-known different technologies have been used separately to implement the holonic control model. The first technology is IEC 61499 standard, and the second is autonomous reactive agent. Both of the previous mentioned technologies have its own pros and cons. Therefore this research is merging the two technologies together in one solution body, to magnifying their pros and reduce their cons. Ultimately;it provides a novel implementation model for the manufacturing holons, to be followed in similar reconfigurable manufacturing problems. A human worker in cooperation with a safe industrial robot, has been selected as a case study of a reconfigurable manufacturing problem. The proposed holonic control solution has been applied to the case study, to evaluate the ability of the solution to satisfy the requirements of the case study. The results show the ability of the proposed control solution to provide a flexible physical and logical interaction framework, which can be scaled over more workers in cooperation with more industrial robots.

关键词： Holonic control Architecture Reconfigurable Manufacturing System Human-Robot Cooperation Planning Autonoumos Multi-Agent System IEC 61499 Model

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GPU-accelerated Multi-sensor 3D Mapping for Remote control of Mobile Robots using Virtual Reality 13

GPU-accelerated Multi-sensor 3D Mapping for Remote Control o...

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

作者： Kleinschmidt, Sebastian P. Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897581984

In this paper, a new virtual reality (VR) control concept for operating robots in search and rescue (SAR) scenarios is introduced. The presented approach intuitively provides different sensor signals as RGB, thermal and active infrared images by projecting them onto 3D structures generated by a Time of Flight (ToF)-based depth camera. The multichannel 3D data are displayed using an Oculus Rift head-up-display providing additional head tracking information. The usage of 3D structures can improve the perception of scale and depth by providing stereoscopic images which cannot be generated for stand-alone 2D images. Besides the described operating concept, the main contributions of this paper are the introduction of an hybrid calibration pattern for multi-sensor calibration and a high performance 2D-to-3D mapping procedure. To ensure low latencies, all steps of the algorithm are performed parallelly on a graphics processing unit (GPU) which reduces the traditional processing time on a central processing unit (CPU) by 80.03%. Furthermore, different input images are merged according to their importance for the operator to create a multi-sensor point cloud.

关键词： Virtual Environments Augumented Reality Sensorfusion GPU-acceleration

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A Multi Finger Haptic Hand with Force Feedback 13

A Multi Finger Haptic Hand with Force Feedback

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

作者： Ramzy, Mina R. Mohamed, Emam F. Ibrahim, H. E. A. Hossamel-deen, Yehia H. Higher Technol Inst Mechatron Dept Tenth Ramadon Egypt Arab Acad Sci Technol & Maritime Transport Elect & Control Engn Dept Cairo Egypt Future Univ Egypt Mechatron Dept Cairo Egypt

ISBN: (纸本)9789897581984

This paper presents a proposal for a twelve degrees of freedom robotic hand system controlled via haptic technology with force control and force feedback. This robotic hand can be used in hazardous environment, deserted places, or aerospace. To achieve this goal, an experimental set up in addition to a computer simulation of this robotic hand system have been carefully designed and built. The experimental set up consists of three main modules which are: the control Glove, the robotic hand, and a microcontroller. An integral controller algorithm is applied to make the robotic hand track and follow the position and movement of the haptic glove with force feedback. Three modes for force limitation are considered according to the application, which are suitable for grasping of: brittle, elastic, and hard components. For computer simulation of the system, a mathematical model has been derived considering a 3 DOF for each finger. To be compatible with robot hand used in the experimental work, only four fingers are considered i.e. total 12 DOF. The experimental work shows good gripping abilities following the glove movement and acceptable force feedback to the user hand, while the simulation results give a qualitative agreement with the experimental ones.

关键词： Robotic Hand Glove control Haptic Force Feedback

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The Design of Finite-time Convergence Guidance Law for Head Pursuit based on Adaptive Sliding Mode control 13

The Design of Finite-time Convergence Guidance Law for Head ...

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

作者： Zhang, Cheng Zhang, Ke Wang, Jingyu Northwestern Polytech Univ Sch Astron Xian 710072 Peoples R China Northwestern Polytech Univ Nat Key Lab Aerosp Flight Dynam Xian 710072 Peoples R China

ISBN: (纸本)9789897581984

The high-speed target interception plays a vital role in the modern industry with many application scenarios. Due to the difficulties of direct interception in high speed, the head pursuit intercept is frequently considered for the target of re-entering flight vehicle. In this paper, a novel terminal sliding mode control method is proposed for the interception of high-speed maneuvering target, in which the finite convergence guidance law is initially designed under the constraint of intercept angle. By introducing the mathematical model of correlative motion between interceptor and target, the sliding surface is researched and designed to meet the critical conditions of head pursuit intercepting. Meanwhile, considering the dynamic characteristics of both interceptor and target, an adaptive guidance law is therefore proposed to compensate the modelling errors, which goal is to improve the accuracy of interception. The stability analysis is theoretically proved in terms of the Lyapunov method. Numerical simulations are presented to validate the robustness and effectiveness of the proposed guidance law, by which good intercepting performance can be supported.

关键词： Finite-time Convergence Head Pursuit Terminal Sliding Mode Sliding Mode control

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Towards a User-wheelchair Shared control Paradigm for Individuals with Severe Motor Impairments 13

Towards a User-wheelchair Shared Control Paradigm for Indivi...

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

作者： Plascencia, Alfredo Chavez Rozman, Jaroslav Brno Univ Technol IT4Innovat Ctr Excellence Fac Informat Technol Bozetechova 1-2 Brno 61266 Czech Republic

ISBN: (纸本)9789897581984

This paper presents a work in progress study of a novel user-wheelchair shared control paradigm for individuals with severe motor impairments, which consists of an optimal distribution between several modes, from full user control up to autonomous driving one. To this end, a C400 Permobil wheelchair has been equipped with a control command communication interface and with a scanning laser and a RGB-D sensors to carry out the automation algorithms that are part of the robot operating system (ROS) framework. Moreover, sensor data fusion for map making based on the Bayesian method is applied to the Xtion Pro Live RGB-D camera and the Hokuyo laser sensor data readings. These latter are interpreted by a probabilistic heuristic model that abstracts the beam into a ray casting to an occupied grid cell. Preliminary pilot tests were performed in two different room shapes. The first one in a two room laboratory with a narrow doorway, and the second one in a corridor. The former experiment was dropped due to failure to success, whereas, the latter was a successful one. This has been tested with three different modalities;hand-joystick, tongue-joystick and autonomous modes respectively. The successful results of the second pilot-test have proven the feasibility of using a combination of autonomous and manual control of a powered wheelchair in order to continue development towards a shared-control paradigm.

关键词： Assistive Technology Sensor Fusion Autonomous Wheelchair

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Tracking of High-speed, Non-smooth and Microscale-amplitude Wave Trajectories 13

Tracking of High-speed, Non-smooth and Microscale-amplitude ...

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

作者： Kongthon, Jiradech Assumption Univ Dept Mech Engn Suvarnabhumi Campus Samuthprakarn Thailand

ISBN: (纸本)9789897581984

In this article, an inversion-based control approach is proposed and presented for tracking desired trajectories with high-speed (100Hz), non-smooth (triangle and sawtooth waves), and microscale-amplitude (10 micron) wave forms. The interesting challenge is that the tracking involves the trajectories that possess a high frequency, a microscale amplitude, sharp turnarounds at the corners. Two different types of wave trajectories, which are triangle and sawtooth waves, are investigated. The model, or the transfer function of a piezoactuator is obtained experimentally from the frequency response by using a dynamic signal analyzer. Under the inversion-based control scheme and the model obtained, the tracking is simulated in MATLAB. The main contributions of this work are to show that (1) the model and the controller achieve a good tracking performance measured by the root mean square error (RMSE) and the maximum error (E-max), (2) the maximum error occurs at the sharp corner of the trajectories, (3) tracking the sawtooth wave yields larger RMSE and E-max values, compared to tracking the triangle wave, and (4) in terms of robustness to modeling error or unmodeled dynamics, E-max is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 5% for the triangle trajectory and E-max is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 3.2 % for the sawtooth trajectory.

关键词： High-speed Tracking Inversion-based control Microscale Positioning Reduced-order Inverse Tracking

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Towards Preventive control for Open MAS An Aspect-based Approach 13

Towards Preventive Control for Open MAS <i>An Aspect-based A...

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

作者： Chebout, Mohamed Sedik Mokhati, Farid Badri, Mourad Babahenini, Mohamed Chaouki Univ Ouargla Dept Math & Comp Sci Ouargla Algeria Univ Oum El Bouaghi Dept Math & Comp Sci RELA CS Lab 2 Oum El Bouaghi Algeria Univ Quebec Trois Rivieres Dept Math & Comp Sci Software Engn Res Lab Trois Rivieres PQ Canada Univ Biskra Dept Math & Comp Sci LESIA Lab Biskra Algeria

ISBN: (纸本)9789897581984

In Open MAS (Open Multi Agent Systems), agents can freely join and leave systems at any time. The inherent specificities of such systems like dynamicity, non-determinism and emergency make their target states difficult to achieve. Agents, in Open MAS, are often heterogeneous, self-interested with conflicting individual goals and limited trust. Consequently, newly entered (external) agents are often considered as a potential disturbance of systems. In this paper, we present a novel preventive control approach based on Aspect-Oriented Programming (AOP) paradigm for mastering Open MAS' behaviour. The proposed control process is mainly accomplished in two steps: (1) Observing agents movements by intercepting all external requests of agents wanting accessing to the system. A request analysis process will be held in terms of compliance capabilities presented by this agent, and (2) Deciding, based on AspectJ constructors, either to allow agents if the capabilities they have enable a possible progress in actual system state to the target state, or prevent it otherwise. The proposed approach is illustrated using a MaDKit-based application.

关键词： Open MAS Preventive control Aspect Paradigm Profiling

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