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4th International Conference of the Italian Association of Design Methods and Tools for Industrial Engineering

作者： Fimiani, Andrea Sofia, Alessandro Fontanelli, Giuseppe Andrea Grazioso, Stanislao Zoppoli, Andrea Reale, Andrea Di Gironimo, Giuseppe Univ Naples Federico II Dept Ind Engn Naples Italy HEROBOTS SRL Corso Nicolangelo Protopisani 70 I-80146 Naples Italy CREATE Consortium Via Claudio 21 I-80125 Naples Italy DTT SCarl Via Fermi 45 I-00044 Frascati Italy ENEA CRE Frascati Via Enrico Fermi 45 I-00044 Frascati Italy Univ Padua Ctr Ateneo Ctr Ric Fus Via Febbraio 2 8 I-35122 Padua Italy

ISBN: (纸本)9783031765964;9783031765971

In this work we describe a preliminary general architecture for control rooms intended for remote handling operations of nuclear fusion reactors. The proposed preliminary control architecture will be implemented and used in the DTT Remote Handling Facility, for the training of operators and the test of remote handling operations. The control architecture is based on a Multi-Server/Multi-Client communication system, with two central servers running the core software modules and exchanging data over five different networks. The architecture foresees the use of a high-fidelity digital twin, virtual reality technologies and force-feedback devices to aid operator during RH tasks.

关键词： Remote Handling control architecture Robotics Digital twin

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Redesign of a Towing Mobile Robot control architecture and Implementation of Outdoor Experiments Using the Transverse Function Approach

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APPLIED SCIENCES-BASEL 2025年第3期15卷 1566-1566页

作者： Krysiak, Bartlomiej Pazderski, Dariusz Majchrzak, Jaroslaw Kotlarek, Marcin Mieszala, Piotr Michalski, Mateusz Maciolek, Krzysztof Nowak, Pawel Poznan Univ Tech Inst Automat Control & Robot Fac Control Robot & Elect Engn PL-60965 Poznan Poland B&R Automatyka Przemyslowa Sp zoo Ul Malachowskiego 10 PL-61129 Poznan Poland pmLogic Sp zoo Ul Lesna 43 PL-62070 Pokrzywnica Poland Poznan Univ Tech Inst Elect Engn & Elect Fac Automat Control Robot & Elect Engn PL-60965 Poznan Poland InterNow Pawel Nowak Liszkowo 21 PL-88180 Zlotniki Kujawskie Poland

This article discusses the redesign of a towing mobile robot to obtain a modern system for implementing mobile robot control research. controller architecture issues are presented, and a selected control algorithm is considered in detail. The reconstruction of the robot is also intended to ensure that the current standards for the electronic architecture controlling the robot are met and that this architecture can be easily developed to include components related to the safety of the robot's operation. The discussion of the control architecture is divided into a description of the high-level controller responsible for the position stabilization algorithm and a description of the low-level controller responsible for the drive motor control and robot safety. The high-level control algorithm is responsible for a trajectory tracking task realized with use of a transverse function approach algorithm. A time elastic band algorithm was also used to generate a reference trajectory, allowing the robot to be guided through waypoints. The low-level controller is comprehensively described with details on the industrial controller architecture used, the communication between the controller modules, and the interaction of these modules with the on-board computer. The redesign of the towing mobile robot was summarized by the implementation of outdoor experiments where the task of driving through reference points was completed.

关键词： control architecture mobile robot control transverse functions

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control architecture for High Power Electronics Converters

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PROCEEDINGS OF THE IEEE 2015年第12期103卷 2312-2319页

作者： Ginn, Herbert L., III Hingorani, Narain Sullivan, Joseph R., III Wachal, Randy Univ S Carolina Columbia SC 29208 USA Elect Power Res Inst Palo Alto CA 94304 USA Naval Surface Warfare Ctr Carderock Div Philadelphia PA 19112 USA Manitoba HVDC Res Ctr Winnipeg MB R3P 1A3 Canada

When the control functions of various types of power electronics systems are examined, a significant degree of common functionality emerges, irrespective of the target application. It is possible to define hierarchical control architectures for these systems using common interface definitions between control system divisions or layers. Such definitions enable the use of common designs for multiple applications and the use of commercially available electronics and communications modules allowing cost reduction in power electronics applications. This paper presents various partitioning strategies of a hierarchical control architecture for use in high power electronics control systems and defines various parameters/functions that need to be handled within each layer, and those that need to be communicated between the layers. Each layer has characteristic processing and communication speed requirements, irrespective of the final applications.

关键词： control and protection control architecture power electronics power electronics building block (PEBB)

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control architecture for Stable Gait of a Six-legged Subsea Robot CR200

Control Architecture for Stable Gait of a Six-legged Subsea ...

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MTS/IEEE Oceans Conference

作者： Kim, Banghyun Shim, Hyungwon Yoo, Seong-yeol Lee, Gyeong-mok Jun, Bong-Huan Lee, Pan-Mook KIOST MOERI Ocean Syst Engn Res Div Taejon South Korea

ISBN: (纸本)9780933957404

This paper presents a control architecture for 200m-class subsea walking robot, named CR200, which can work in strong tidal current and high turbidity environment by crawling sea floor to survey shipwreck and scientific research. The control architecture consists of deliberative layer, execution layer, and hardware abstract layer. Deliberative layer is in charge of the high level control of the CR200. Deliberative layer only gets needed information from execution layer, and puts processing result to execution layer. Deliberative layer does not consider detail process because execution layer includes most essential process for robot control. Hardware abstract layer allows other layers to perform device-independent, and it includes communication module, sensor interface module, and motor interface module. The control architecture has been implemented to a program of operating software. The program runs on Linux operating system, and it supports soft real-time characteristic without real-time operating system. The control frequency of the CR200 is 100 Hz, and standard deviation of software timer occurrence error was 10.375 us. We conducted first sea trial of the CR200 at KIOST's South Sea Research Institute in July 2013, and the CR200 performed well during its first die.

关键词： control architecture subsea robot walking robot CR200 Crabster

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control architecture and walking strategy for a pneumatic biped robot

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8th International Conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Spampinato, G. Muscato, G. Univ Catania DIEES Viale A Doria 6 I-95125 Catania Italy

ISBN: (纸本)3540264132

The paper aims to describe the design methodologies and the control architecture of a ten degrees of freedom biped robot. The prototype realized is pneumatically actuated, and the legs size and dimensions are anthropometric with the human beings. The control strategy has been specifically designed in order to ensure a proper stability during the motion. In particular, a three level feedback loop controller generates the walking trajectories in a different way for the stance and the swing leg. In particular the stance leg is actuated through a simple but efficient force control approach based on a different interpretation of the Virtual Model control strategy, while the swing leg is controlled through a set of parabolic trajectories generated during the gait. In other words the parabolic trajectories are generated directly in the operative space in order to take into account the basic walking parameters, like the step length or the lateral balancing. A set of preliminary experimental results are also reported.

关键词： biped locomotion posture stability pneumatic control trajectory generation control architecture

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control architecture for a Supervised Industrial Robotic Workcell Integration

Control Architecture for a Supervised Industrial Robotic Wor...

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16th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Ferreira, Paulo Reyes, Victoria Mestre, Joao Polytech Inst Setubal Campus Inst Politecn Setubal Setubal Portugal Halla Climate Ctrl Daejeon South Korea

ISBN: (纸本)9781457700187

An integration procedure is essential for the development of modern industry allowing the improvement of manufacturing process. This paper describes the implementation of a workcell integration procedure for a recovered robot manipulator with the development of multiple tasks programming. The adopted methodology is based on the definition of a control architecture incorporating a supervision system. The interoperability between this system and the controller devices is guaranteed by using wireless communication network. This methodology was applied to the manufactured of automotive compressors and has lead to improved manufacturing parameters.

关键词： Computer architecture Manipulators Pulleys Robot kinematics Robot sensing systems Service robots automobile manufacture automotive components automotive compressors control architecture control engineering computing industrial manipulators interoperabilit

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control architecture for autonomous multi-robot system: Survey and Analysis

Control Architecture for autonomous multi-robot system: Surv...

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2nd International Conference on Intelligent Computation Technology and Automation

作者： Yan Yan Tang Zhenmin North Univ China Sch Elect & Comp Sci & Tech Taiyuan Peoples R China Nanjing Univ Sci & Technol Sch Comp Sci & Technol Nanjing Peoples R China

ISBN: (纸本)9780769538044

The basic consideration of autonomous multi-robot system (MRS) control architecture is dealing with the whole system as a group, in which the individual robots interact with each other, avoid conflict, and cooperate to accomplish the tasks reliably and efficiently in complex environment. This paper systematically surveys and summarizes related studies on control architectures for multi-robot systems from definition and evolutions to theories and technologies corresponded to research Field. Some representational demonstrations and instances are analyzed. Finally the future directions of autonomous MRS architecture are overlooked in the end.

关键词： robotics multi-robot system summarization MRS control architecture

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control architecture of a sensorless robotic platform for Minimally Invasive Surgery

Control Architecture of a sensorless robotic platform for Mi...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Rivas-Blanco, Irene Tortora, Giuseppe Menciassi, Arianna Munoz, Victor F. Univ Malaga E-29071 Malaga Spain Scuola Super Sant Anna BioRobot Inst Pisa Italy

ISBN: (纸本)9781479957361

This paper presents a modular robotic platform for Minimally Invasive Surgery (MIS) composed of several miniaturized robotic units anchored to a magnetic frame. The description of the hardware features of the platform is presented, along with a master/slave control architecture to intuitively handle two robotic units. Kinematic coupling between master and slave devices enhances the intuitiveness of the system, making possible to handle it dexterously with two Phantoms Omni devices. In order to evaluate the feasibility of the control scheme, pick and place experiments have been carried out, and the learning curve of the system was determined by performing experimental sessions with 5 users. As the miniature robotic units are not provided with sensors, an initial autocalibration method based on image analysis has been developed in order to avoid joints position errors. The control architecture showed good performance in terms of control speed.

关键词： Cameras Haptic interfaces Joints Robot vision systems Surgery control architecture robot vision system Haptic interfaces Cameras Joints Joints minimally invasive surgery Surgery Minimally Invasive Surgical Procedures Sensors Platform

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control architecture for a Lower Limbs Rehabilitation Robot System

Control Architecture for a Lower Limbs Rehabilitation Robot ...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Koceska, Natasa Koceski, Saso Zobel, Pierluigi Beomonte Durante, Francesco Univ Aquila Appl Mech Lab DIMEG I-67040 Roio Poggio AQ Italy

ISBN: (纸本)9781424426782

This paper describes the control architecture for lower limbs rehabilitation robot system and its implementation. The system has exoskeleton structure with 10 DOF (Degrees Of Freedom) and is pneumatically actuated. The control strategy has been specifically designed in order to ensure a proper position control guiding patient's legs along a fixed reference gait pattern. For this purposes Fuzzy controller with additional force compensator was developed. A numerical solution of the inverse kinematics problem based on video image analysis has been used. The controller was successively implemented and tested on embedded real-time PC104 system. Laboratory experiments without patient are carried out and the results are reported and discussed.

关键词： Rehabilitation robotic pneumatic actuators fuzzy logic control architecture

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control architecture for Device Integration (CADI)

Control Architecture for Device Integration (CADI)

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IEEE International Conference on Industrial Technology (ICIT)

作者： Tavares, Dalton Matsuo de Paula Caurin, Glauco Augusto Univ Sao Paulo Sch Engn Sao Carlos BR-13566590 Sao Paulo Brazil

ISBN: (纸本)9781424490660

The focus of this paper is to present an architecture for the seamless integration of devices in Small and Medium Enterprises (SMEs). Our proposal intends to cover any device, regardless of manufacturer or technology level. In this scenario, small lot sizes and the fast adaptability of the production environment is more important than short cycle times. Moreover, the ability to incorporate new devices smoothly must be considered in order to reduce adaptation costs in an otherwise stablished production environment. This is the main difference of our approach when compared, for instance, to the European Union's Sixth Framework Programme (FP6) called SMErobot(1). control architecture for Device Integration (CADI), although a much modest project, proposes a more flexible approach for transitioning an stablished production environment from a current technology level into a more flexible and automated environment, without the need for an overall adaptation of the work cell and the acquisition of all new equipment. This paper presents CADI's architecture in the form of its subsystems: the tag subsystem, the device proxy and the work cell controller.

关键词： control architecture PRODUCTION ENVIRONMENT seamless integration time cycles Environments Building construction architecture cell controller SUB-SYSTEM DNA Integration integration

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