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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是441-450 订阅

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Transfer Entropy for Feature Extraction in Physical Human-Robot Interaction: Detecting Perturbations from Low-Cost Sensors 14

Transfer Entropy for Feature Extraction in Physical Human-Ro...

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14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Berger, Erik Mueller, David Vogt, David Jung, Bernhard Ben Amor, Heni Tech Univ Bergakad Freiberg Inst Comp Sci Bernhard von Cotta Str 2 D-09599 Freiberg Germany Georgia Inst Technol Inst Robot & Intelligent Machines Atlanta GA 30332 USA

ISBN: (纸本)9781479971749

In physical human-robot interaction, robot behavior must be adjusted to forces applied by the human interaction partner. For measuring such forces, special-purpose sensors may be used, e.g. force-torque sensors, that are however often heavy, expensive and prone to noise. In contrast, we propose a machine learning approach for measuring external perturbations of robot behavior that uses commonly available, low-cost sensors only. During the training phase, behavior-specific statistical models of sensor measurements, so-called perturbation filters, are constructed using Principal Component Analysis, Transfer Entropy and Dynamic Mode Decomposition. During behavior execution, perturbation filters compare measured and predicted sensor values for estimating the amount and direction of forces applied by the human interaction partner. Such perturbation filters can therefore be regarded as virtual force sensors that produce continuous estimates of external forces.

关键词： control engineering computing entropy feature extraction filtering theory force sensors human-robot interaction humanoid robots learning (artificial intelligence) mobile robots perturbation techniques principal component analysis robot dynamics behavior execution behavior-specific statistical models dynamic mode decomposition external forces external perturbations measurement force amount force direction human interaction partner low-cost sensors machine learning approach measured sensor values perturbation filters physical human-robot interaction predicted sensor values robot behavior sensor measurements special-purpose sensors training phase transfer entropy virtual force sensors Feature extraction Principal component analysis Robot sensing systems Training data Vectors Feature extraction Transfer entropy Human machine interaction principal components analysis force sensors force direction control engineering computing Manipulator sensing systems robot dynamics filtering theory Humanoid robots Training data Mobile robots

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Learning Fuzzy control Parameters for Kite-based Tethered Flying Robot using Human Operation Data 7

Learning Fuzzy Control Parameters for Kite-based Tethered Fl...

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Joint 7th International Conference on Soft computing and Intelligent Systems (SCIS) and 15th International Symposium on Advanced Intelligent Systems (ISIS)

作者： Todoroki, Chiaki Takahashi, Yasutake Nakamura, Takayuki Univ Fukui Grad Sch Engn Dept Human & Artificial Intelligent Syst 3-9-1 Bunkyo Fukui Fukui 9108507 Japan Wakayama Univ Fac Syst Engn Dept Comp & Commun Sci Sakaetani 930 Wakayama 6408510 Japan

ISBN: (纸本)9781479959556

This research aims at realizing a flying observation system which complements other information gathering systems using a balloon or an air vehicle. We have proposed the kite-based tethered flying robot with long-term activity capability[1]. This paper shows a computational model of the kite-based tethered flying robot and a method of learning fuzzy control parameters for the robot using human operation data.

关键词： aerospace robotics aircraft balloons control engineering computing fuzzy control learning (artificial intelligence) air vehicle balloon flying observation system human operation data information gathering systems kite-based tethered flying robot learning fuzzy control parameters Computational modeling Drag Force Mathematical model Robots Wind speed Windings

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Cooperative Grasping Through Topological Object Representation 14

Cooperative Grasping Through Topological Object Representati...

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14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Marzinotto, Alejandro Stork, Johannes A. Dimarogonas, Dimos V. Kragic, Danica KTII Royal Inst Technol Sch Comp Sci & Commun Ctr Autonomous Syst Comp Vis & Active Percept Lab SE-10044 Stockholm Sweden

ISBN: (纸本)9781479971749

We present a cooperative grasping approach based on a topological representation of objects. Using point cloud data we extract loops on objects suitable for generating entanglement. We use the Gauss Linking Integral to derive controllers for multi-agent systems that generate hooking grasps on such loops while minimizing the entanglement between robots. The approach copes well with noisy point cloud data, it is computationally simple and robust. We demonstrate the method for performing object grasping and transportation, through a hooking maneuver, with two coordinated NAO robots.

关键词： Gaussian processes computer graphics control engineering computing manipulators multi-agent systems position control Gauss linking integral NAO robot cooperative grasping approach hooking grasp hooking maneuver multiagent system noisy point cloud data object grasping object transportation robot entanglement topological object representation Collision avoidance Grasping Joints Robot kinematics Shape Three-dimensional displays Grasp Multi-agent systems three-dimensional displays control engineering computing Robot kinematics Collision avoidance Gaussian processes Position control Manipulators COMPUTER GRAPHICS Joints Joints

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FPGA design and implementation of a matrix multiplier based accelerator for 3D EKF SLAM

FPGA design and implementation of a matrix multiplier based ...

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2014 International Conference on Reconfigurable computing and FAGAs

作者： Tertei, Daniel Tortei Piat, Jonathan Devy, Michel CNRS LAAS 7 Ave Colonel Roche F-31400 Toulouse France Univ Toulouse UPS LAAS F-31400 Toulouse France Fac Tech Sci Dept Comp & Automat Novi Sad 21000 Serbia

ISBN: (纸本)9781479959440

In hw/sw co-design FPGAs are being used in order to accelerate existing solutions so they meet real-time constraints. As they consume less power than a standard microprocessor and provide powerful parallel data processing capabilities, they remain a highly optimizable tool and object of research within an embedded system. In this paper we present an efficient architecture for matrix multiplication accelerator conceived as a systolic array co-processor to IBM's PPC440 processor on Virtex5 XC5VFX70T FPGA. Our design is afterwards synthesized and wired as a large-scale matrix multiplier required for an embedded version of a visual Simultaneous Localization and Mapping (SLAM) algorithm based on Extended Kalman Filter (EKF). This algorithm is implemented entirely as a System On a programmable Chip (SoC) design on the FPGA;an EKF epoch is executed at least 7.3 times faster than the pure software implementation, maintaining and correcting 20 points in the map. This optimization permits an EKF block throughput to be increased from 6.07Hz to 44.39Hz, which exceeds our real-time constraint of 30Hz.

关键词： Kalman filters SLAM (robots) control engineering computing embedded systems field programmable gate arrays hardware-software codesign integrated circuit design logic design matrix multiplication microprocessor chips nonlinear filters parallel processing system-on-chip systolic arrays 3D EKF SLAM EKF block throughput EKF epoch FPGA design IBM PPC440 processor SLAM algorithm SoC design Virtex5 XC5VFX70T FPGA embedded system extended Kalman filter hw/sw codesign large-scale matrix multiplier matrix multiplication accelerator matrix multiplier based accelerator microprocessor optimization parallel data processing capability real-time constraint software implementation system on a programmable chip systolic array coprocessor visual simultaneous localization and mapping algorithm Arrays Equations Field programmable gate arrays IP networks Simultaneous localization and mapping Visualization

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Grid Modernization: Seamless Integration of Protection, Optimization & control

Grid Modernization: Seamless Integration of Protection, Opti...

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47th Annual Hawaii International Conference on System Sciences

作者： Meliopoulos, A. P. Sakis Cokkinides, George J. Huang, Renke Polymeneas, Evangelos Myrda, Paul Georgia Tech Atlanta GA 30332 USA Elect Power Res Inst Palo Alto CA 94303 USA

ISBN: (纸本)9781479925049

The objectives of smart grid and grid modernization are to increase automation and seamlessly integrate data, models, protection, optimization and control of the power grid. This effort is affected by technological advances. One such technology is the numerical relay which has increased its domination to the point that today has almost completely displaced electromechanical and solid state relays and the most recent technology of merging units that has separated the data acquisition function from protective relays and SCADA systems. The capabilities of the numerical relays are not fully utilized today;specifically, by and large, they simply mimic the logics that were developed for the electromechanical relays but with much more flexibility. Recent developments towards substation automation are utilizing the numerical relays for SCADA, communications and in general an integrated system for protection and control. These approaches indicate the recognition that numerical relays offer much more than simply mimicking protection functions of the past. They also offer the ability to form the basic infrastructure towards a fully automated power system, the subject of this paper. In previous work, we presented a new protection scheme that is a generalization of differential protection. The approach is based on dynamic state estimation. Specifically, the protection scheme is based on continuously monitoring terminal voltages and currents of the component and other possible quantities such as tap setting, temperature, etc. as appropriate for the component under protection. The monitored data are utilized in a dynamic state estimation that continuously provides the dynamic state of the component. The dynamic state is then used to determine the health of the component. Tripping or no tripping is decided on the basis of the health of the component. The present paper takes the above concept one step further. Using the dynamic state estimation of a protection zone as the basic tech

关键词： SCADA systems control engineering computing optimisation power engineering computing power system control power system measurement power system protection relays smart power grids state estimation SCADA systems automated disturbance playback capabilities automated power system component health control center data acquisition function dynamic state estimation electromechanical relays grid modernization integrated automation system merging units numerical relay optimization power grid protection functions protection scheme protection zone protective relays smart grid solid state relays substation automation terminal voltage monitoring tripping Biological system modeling Computational modeling Data models Power system dynamics Relays State estimation Substations Energy Management System Power System control Power System Optimization Setting-less Protection State Estimation

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Intelligent Robotics in 3D Simulation - An eRobotics Approach

Intelligent Robotics in 3D Simulation - An eRobotics Approac...

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2nd International Conference on control, Decision and Information Technologies (CoDIT)

作者： Kaigom, Eric Guiffo Rossmann, Juergen Rhein Westfal TH Aachen Inst Man Machine Interact D-52074 Aachen Germany

ISBN: (纸本)9781479967735

Robot manipulators are increasingly employed in dynamic and uncertain environments. Therefore, weak and strong physical interactions with the surrounding operational environment can occur. Managing the complexity related to this trend requires simulation capabilities going far beyond traditional off-line motion planning of robots in free-space. This paper presents a dynamic simulation that addresses this issue. The simulator conveys insight into the accommodation of external forces during physical interaction, since the simulated robots are endowed with force-sensitive and compliance control capabilities. Further, a symbiotic simulation of compliance control enables physical interaction between a human operator and a real position-controlled robot. Our approach builds upon a comprehensive, holistic and versatile coupling of modeling paradigms. It leverages the significance of simulation outcomes by enriching the simulator with realistic robot control techniques. It deepens the understanding of ongoing processes by allowing an overall and customizable view on the robot down to actuators. The results highlight the effectiveness of the eRobotics methodology, which represents the foundation this work is built upon.

关键词： control engineering computing digital simulation manipulators path planning 3D simulation compliance control dynamic simulation eRobotics approach intelligent robotics position-controlled robot robot manipulators robot motion planning Admittance Impedance Joints Mathematical model Robot kinematics Robot sensing systems compliance control impedance Robot Manipulator control engineering computing Manipulator sensing systems Robot kinematics Dynamic simulation motion planning Intelligent robots Digital simulation Computer Simulation Manipulators Path planning Robot Joints

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Cyber Physical System - Smart Cloud Traffic control 12

Cyber Physical System - Smart Cloud Traffic Control

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IEEE East West Design and Test Symposium (EWDTS)

作者： Hahanov, Vladimir Gharibi, Wajeb Abramova, L. S. Chumachenko, Svetlana Litvinova, Eugenia Hahanova, Anna Rustinov, Vladimir Miz, Vladimir Zhalilo, Aleksey Ziarmand, Artur Natl Univ Radioelect Kharkov Ukraine Jazan Univ Jazan Saudi Arabia Kharkiv Natl Automobile & Highway Univ Kharkov Ukraine

ISBN: (纸本)9781479976300

A cyber physical system for smart cloud traffic control is proposed. It is an intellectual (smart) road infrastructure for monitoring and control of traffic in real-time through the use of global systems for positioning and navigation, mobile gadgets and the Internet in order to improve the quality and safety of vehicle movement, as well as for minimizing the time and costs when vehicles are moved at the specified routes. The main innovative idea is step-by-step transfer of traffic lights from the ground to a virtual cloud space for vehicle management, equipped with a mobile gadget or computer, which displays on the screen map, route, coordinates of the road user and real traffic signals. A set of innovative technologies to address the social, humanitarian, economic, energy, insurance, crime and environmental problems through the creation and application of cloud-based digital traffic monitoring and management is developed. All of these technologies and functional components are integrated into the system automaton model of cyber physical system for interaction between an infrastructure cloud of exact monitoring and digital control and vehicle gadget or computer.

关键词： cloud computing control engineering computing digital control mobile computing road safety road traffic control traffic engineering computing Internet cloud-based digital traffic monitoring cyber physical system global systems intellectual road infrastructure mobile gadgets road user coordinates screen map smart cloud traffic control system automaton model traffic control traffic lights vehicle gadget vehicle management vehicle movement quality vehicle movement safety virtual cloud space Cloud computing Companies Computers Cyberspace Monitoring Vehicles Ran Traffic control Numerical controls Cloud computing Traffic lights vehicle control engineering computing Cyber-physical systems Computers Online resources Road safety Mobile computing Internets Companies gadgets engineering computing

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Results From COLLAB13 Sea Trial on Tracking Underwater Targets With AUVs in Bistatic Sonar Scenarios

Results From COLLAB13 Sea Trial on Tracking Underwater Targe...

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Oceans Conference

作者： Ferri, Gabriele Munafo, Andrea Goldhahn, Ryan LePage, Kevin NATO Ctr Maritime Res & Expt Res Dept Viale San Bartolomeo 400 I-19126 La Spezia SP Italy

ISBN: (纸本)9781479949182

We describe the implementation of a novel nonmyopic, receding horizon strategy to control the movement of an AUV towing a line array acting as a receiver node in a multistatic network for littoral surveillance and Anti-Submarine Warfare (ASW). The algorithm computes the vehicle heading angles to minimize the expected target position estimation error of a tracking filter. Minimizing this error is typically of the utmost interest in target state estimation since it is one way of maintaining track. The optimization solves a resulting decision tree taking into consideration a planning future horizon. In this paper, we focus on how to solve the different challenges related to the implementation of this kind of computational intensive algorithms on vehicles operating in realistic ASW scenarios and characterized by limited computational power. Specifically, we describe the multistatic network used in COLLAB13 experiments, how we simplify the solution of the resulting decision tree and the implementation of the algorithm in CMRE's software system running on AUVs and based on MOOS-IvP middleware. We conclude reporting results from COLLAB13 which demonstrate the feasibility to use the proposed algorithm in realistic operations onboard AUVs and its effectiveness over conventional predefined tracklines.

关键词： autonomous aerial vehicles control engineering computing decision trees filtering theory middleware optimisation sonar tracking target tracking ASW AUV CMRE software system COLLAB13 sea trial MOOS-IvP middleware antisubmarine warfare bistatic sonar scenarios computational intensive algorithms decision tree line array littoral surveillance multistatic network nonmyopic strategy optimization realistic ASW scenarios receding horizon strategy receiver node target state estimation tracking filter underwater target tracking vehicle heading angles Arrays Covariance matrices Decision trees Optimization Receivers Target tracking Vehicles

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RoboBrain: A Software Architecture Mapping the Human Brain 14

RoboBrain: A Software Architecture Mapping the Human Brain

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14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Vasiliu, Laurentiu Trochidis, Ilias Bussler, Christoph Koumpis, Adamantios Peracton Ltd Ireland Galway Ireland Ortelio Coventry W Midlands England Tropo Inc San Francisco CA USA Univ Passau Passau Germany

ISBN: (纸本)9781479971749

RoboBrain proposes a biologically inspired 'blueprint' software architecture for humanoid robots that maps the main functions of the human brain. Given the extreme complexity of designing such an architecture, our intention is to provide a basic robots' IT command and control foundation with minimal required components to address humanoid robots' functionality needs. Our approach integrates the 'must have' components that emulate the human brain's corresponding functionality as well as addresses the command, control, perception and task execution requirements of a humanoid robot.

关键词： control engineering computing humanoid robots software architecture RoboBrain command requirement control requirement human brain mapping humanoid robot information technology perception requirement robot IT command and control task execution requirement Brain modeling Command and control systems Computer architecture Robot kinematics Robot sensing systems Humanoid robots Software architecture Command and control systems wetware control engineering computing Manipulator sensing systems Brain modeling Robot kinematics Computer Architecture information technology Task execution Brain Mapping

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Process Alarming in PID Loop Using Foundation Fieldbus with control in the Field: A Case Study of DeltaV Host System 7

Process Alarming in PID Loop Using Foundation Fieldbus with ...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Arayawat, Suvishchan Thepmanee, Teerawat Julsereewong, Prasit Julsereewong, Amphawan King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand

ISBN: (纸本)9781479969449

This paper presents a software configuration guideline for process alarming in proportional-integral-derivative (PID) loop using Foundation Fieldbus (FF) with control in the field. Process alarm configuration of FF H1 segment installed in a level-control plant model and operated by the DeltaV host system is examined as an illustrative case study. Experimental results showing relations between alarm configuration and alarm notification of the studied system are included. The proposed practical guideline can be applied to develop a good fieldbus system alarm strategy for industrial processes.

关键词： alarm systems control engineering computing field buses process control production engineering computing three-term control DeltaV host system PID Loop alarm configuration alarm notification foundation fieldbus system alarm strategy industrial continuous process control process alarming proportional-integral-derivative loop software configuration guideline Artificial intelligence Instruments Monitoring Process control Software Transmitters Valves Process control Field buses Three term control systems production engineering computing control engineering computing foundation fieldbus Alarm Systems Alarm VALVE GATE Transmitters Artificial Intelligence computer software

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