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9th International Conference on Modelling, Identification and control, ICMIC 2017

9th International Conference on Modelling, Identification an...

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9th International Conference on Modelling, Identification and control, ICMIC 2017

ISBN: (纸本)9789811072116

The proceedings contain 28 papers. The special focus in this conference is on Modelling, Identification and control. The topics include: Establishment of creep model of non-asbestos sealing composite material by beater-addition process and the creep performance research;Position estimation for planar mechanical systems via McDE-PF based sensor fusion;u-based sliding mode controller design and application for nonlinear systems;Dynamic modeling and modal analysis of RV reducer;adaptive parameter identification and control for servo system with input saturation;decentralized adaptive synchronization of a class of discrete-time coupled hidden leader–follower multi-agent systems;Improved NSGA-ii algorithm for multi-objective scheduling problem in hybrid flow shop;NSQGA-based optimization of traffic signal in isolated intersection with multiple objectives;Multimode processes monitoring using global–local MIC-PCA-SVDD;A PSO-based integer programming solution to impulsive-correction projectile systems;multi-switching master–slave synchronization of non-identical chaotic systems;improving transient performance of modified model reference adaptive control;A simulation study of PEMFC flow channels using a new hybrid method;a dynamic equivalence method considering the spatial effect of wind farms;prescribed performance speed control for permanent magnet synchronous motors;temperature variation and distribution in tobacco casing cylinder based on infrared thermal imaging detection;zero-crossing feature extraction based on threshold optimization for rolling element bearing;A 3-DOF parallel mechanism sensitivity analysis and parameter sensitivity analysis;temperature-predictive control of chromatograph;gas plume tracking of micro-aerial vehicle in tunnel environment;a review of current condition monitoring and fault diagnosis methods for slewing bearings;research on torque optimization allocation strategy about multi-wheel vehicles.

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2017 International Symposium on Multi-Robot and Multi-Agent systems, MRS 2017

2017 International Symposium on Multi-Robot and Multi-Agent ...

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2017 International Symposium on Multi-Robot and Multi-Agent systems, MRS 2017

ISBN: (纸本)9781509063093

The proceedings contain 20 papers. The topics discussed include: cooperative prediction of time-varying boundaries with a team of robots;decentralized control of robotic swarms from high-level temporal logic specifications;cooperative visual-inertial sensor fusion: fundamental equations;multi-robot task allocation with auctions in harsh communication environments;an evaluation of quorum sensing mechanisms in collective value-sensitive site selection;expected constant-factor optimal multi-robot path planning in well-connected environments;and natural interaction based on affective robotics for multi-robot systems.

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Toward robotic sensor webs: Algorithms, systems, and experiments

Toward robotic sensor webs: Algorithms, systems, and experim...

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作者： Chung, Hoam Oh, Songhwai Shim, David Hyunchul Sastry, S. Shankar Department of Mechanical and Aerospace Engineering Monash University Clayton VIC. 3800 Australia Seoul National University Seoul 151-744 Korea Republic of Department of Aerospace Engineering Korea Advanced Institute of Science and Technology Daejon 305-701 Korea Republic of Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA 94720 United States

This paper presents recent advances in multiagent sensing and operation in dynamic environments. Technology trends point towards a fusion of wireless sensor networks with robotic swarms of mobile robots. In this paper, we discuss the coordination and collaboration between networked robotic systems, featuring algorithms for cooperative operations such as unmanned aerial vehicles (UAVs) swarming. We have developed cooperative actions of groups of agents such as probabilistic pursuit-evasion game for search and rescue operations, protection of resources, and security applications. We have demonstrated a hierarchical system architecture which provides wide-range sensing capabilities to unmanned vehicles through spatially deployed wireless sensor networks, highlighting the potential collaboration between wireless sensor networks and unmanned vehicles. This paper also includes a short review of our current research efforts in heterogeneous sensor networks, which is being evolved into mobile sensor networks with swarm mobility. In a very essential way, this represents the fusion of mobility of ensembles with the network embedded systems, the robotic sensor web. © 2011 IEEE.

关键词： Wireless sensor networks

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Information Driven Coordinated Air-Ground Proactive Sensing

Information Driven Coordinated Air-Ground Proactive Sensing

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Grocholsky R. Swaminathan J. Keller V. Kumar G. Pappas GRASP Laboratory University of Pennsylvania Philadelphia PA USA

This paper concerns the problem of actively searching for and localizing ground features by a coordinated team of air and ground robotic sensor platforms. The approach taken builds on well known decentralized Data fusion (DDF) methodology. In particular, it brings together established representations developed for identification and linearized estimation problems to jointly address feature detection and localization. This provides transparent and scalable integration of sensor information from air and ground platforms. As in previous studies, an Information-theoretic utility measure and local control strategy drive the robots to uncertainty reducing team configurations. Complementary characteristics in terms of coverage and accuracy are revealed through analysis of the observation uncertainty for air and ground on-board cameras. Implementation results for a detection and localization example indicate the ability of this approach to scalably and efficiently realize such collaborative potential.

关键词： Robot sensing systems Robot kinematics sensor phenomena and characterization Land vehicles control systems Collaboration Surveillance Unmanned aerial vehicles Laboratories Computer vision

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Coordinated perception by teams of aerial and ground robots

Coordinated perception by teams of aerial and ground robots

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Conference on Mobile Robots XVii

作者： Grocholsky, B Swaminathan, R Kumar, V Taylor, C Pappas, G Univ Penn GRASP Lab Philadelphia PA 19104 USA

ISBN: (纸本)0819455628

Air and ground vehicles exhibit complementary capabilities and characteristics as robotic sensor platforms. Fixed wing aircraft offer broad field of view and rapid coverage of search areas. However, minimum operating airspeed and altitude limits, combined with attitude uncertainty, place a lower limit on their ability to detect and localize ground features. Ground vehicles on the other hand offer high resolution sensing over relatively short ranges with the disadvantaue of slow coverage. This paper presents a decentralized architecture and solution methodology for seamlessly realizing the collaborative potential of air and ground robotic sensor platforms. We provide a framework based on an established approach to the underlying sensor fusion problem. This provides transparent integration of information from heterogeneous sources. An information-theoretic utility measure captures the task objective and robot inter-dependencies. A simple distributed solution mechanism is employed to determine team member sensing trajectories subject to the constraints of individual vehicle and sensor sub-systems. The architecture is applied to a mission involving searching for and localizing an unknown number of targets in an user specified search area. Results for a team of two fixed wing UAVs and two all terrain UGVs equipped with vision sensors are presented.

关键词： heterogeneous robot teams active sensing sensor fusion coordinated control

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Model-based control of glass melting furnaces and forehearths: First principles-based model of predictive control system design

Model-based control of glass melting furnaces and forehearth...

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sensor fusion and decentralized control in robotic systems IV

作者： Backx, Ton C. Huisman, Leo Astrid, Patricia Beerkens, Ruud IPCOS Technology Boxtel Netherlands Eindhoven University of Technology Eindhoven Netherlands

An overview is given of new developments in the area of process modeling for model-based control system design. Focus is on the state of the art in model predictive control. Results obtained by applying these techniqu... 详细信息

关键词： Melting furnaces

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Localization of the autonomous mobile robot based on sensor fusion

Localization of the autonomous mobile robot based on sensor ...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Lei Cheng Yongji Wang Center for Nonlinear and Complex System Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

This paper emphasizes on the sensor fusion algorithm on mobile robot's localization, to solve the problem of accumulated error attributed to wheel encoders and redundant readings in multi-sonar system. Based on the error analysis of wheel encoders and sonar, a new integrated intelligent sensor fusion algorithm is introduced, the novel core of such algorithm is error judgement rule. With this technique, the mobile robot can autonomously correct its position in proper time. As demonstration, an experiment on the Pioneer ii mobile robot has been completed. Pioneer ii is an intelligent mobile robotic platform manufactured by ActivMedia Corporation, it is equipped with an internal wheel encoders and a full-span sonar ring. The experiment result shows that such algorithm not only avoids the error accumulation with regard to wheel encoders, but also guarantees the motion speed of robot.

关键词： Mobile robots sensor fusion Wheels Sonar Robot kinematics Intelligent sensors Intelligent robots Signal processing algorithms Robot sensing systems Error analysis

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Unmanned Airship development and Remote Sensing applications

Unmanned Airship development and Remote Sensing applications

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Boschma, JH BOSCH Aerosp Inc Brownsboro AL 35741 USA

ISBN: (纸本)0819442992

This paper discusses the development of unmanned airships for military use during the past decade, and the current status of the Small Airship Surveillance System, Low Intensity Target Exploitation (SASS LITE) platform. Topics covered will also include various missions planned and conducted, and technological advances expected to be implemented on unmanned airships in the near future.

关键词： unmanned robotic Airships blimps dirigibles remote sensing

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Performance of a distributed robotic system using shared communications channels

Performance of a distributed robotic system using shared com...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Rybski, P Stoeter, S Gini, M Hougen, D Papanikolopoulos, N Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA

ISBN: (纸本)0819442992

We have designed and built a set of miniature robots and developed a distributed software system to control them. We present experimental results on a surveillance task in which multiple robots patrol an area and watch for motion. We discuss how the limited communication bandwidth affects robot performance in accomplishing the task and analyze how performance depends on the number of robots that share the bandwidth.

关键词： Robots Video Motion detection Telecommunications Video surveillance Cameras robotic systems Video processing Surveillance sensors

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A decentralized control algorithm for modular manipulators using coupled nonlinear dynamics

A decentralized control algorithm for modular manipulators u...

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sensor fusion and decentralized control in robotic systems IV Conference

作者： Kimura, S Commun Res Labs Koganei Tokyo 1848795 Japan

ISBN: (纸本)0819442992

A basic decentralized control algorithm for modular manipulators was introduced to achieve robustness against partial failures, a reduced calculation load, and flexibility with regard to configuration and obstacle avoidance. The algorithm uses a coupled nonlinear spring as a model for a manipulator and calculates the shape of the manipulator to balance with the coupled spring. Because encoding using coupled nonlinear dynamics can explain various shapes very simply, we can reduce the complexity of obstacle avoidance and adaptation to partial faults.

关键词： modular manipulator space robot remote inspection hyper-redundant decentralized autonomous control nonlinear dynsmics coupled spring system

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