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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是461-470 订阅

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A Knowledge-Driven Shared Autonomy Human- Robot Interface for Tablet Computers 14

A Knowledge-Driven Shared Autonomy Human- Robot Interface fo...

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

作者： Birkenkampf, Peter Leidner, Daniel Borst, Christoph DLR German Aerosp Ctr Inst Robot & Mechatron Wessling Germany

ISBN: (纸本)9781479971749

Autonomous and teleoperated robots have been proven to be capable of solving complex manipulation tasks. However, autonomous robots can only be deployed in predefined domains and teleoperation requires full attention of a human operator. Therefore, combining autonomous capabilities of the robot with teleoperation is desirable, yet balancing the work load between robot and operator for intuitive human-robot interfaces is still an open issue. In this paper, we present a knowledge-driven tablet computer application for commanding a robot on a high level of abstraction. The application guides an operators decisions based on the actual world state of the robot and enables the operator to command object-centered actions, which are autonomously interpreted symbolically and geometrically by the robot. We evaluate our approach using the humanoid robot Rollin' Justin for an elaborate manipulation experiment and an user study. We show that our approach effciently balances the work load between robot and operator and provides an intuitive interface for human-robot interaction.

关键词： control engineering computing human-robot interaction humanoid robots knowledge based systems manipulators notebook computers telerobotics Rollin' Justin autonomous robots autonomous symbolic interpretation geometrical interpretation human operator humanoid robot intuitive human-robot interface knowledge-driven shared autonomy human-robot interface knowledge-driven tablet computer application manipulation experiment manipulation task object-centered action command robot autonomous capabilities robot command tablet computers teleoperated robots teleoperation work load balancing Cognition Graphical user interfaces Robot sensing systems Service robots Streaming media Tablet computers Tablet Computers Human machine interaction Humanoid robots remote operation Robot control engineering computing Manipulator sensing systems Autonomous robots hand-held equipment Streaming Video Telerobots Knowledge based systems graphical user interfaces Service robots Workload

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Assistive Social Robots for People with Special needs

Assistive Social Robots for People with Special needs

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proc 2014 inter conf contemporary comp informatics (ic3i)

作者： Magnenat-Thalmann, Nadia Zhang, Zhijun Nanyang Technol Univ Inst Media Innovat Singapore Singapore

ISBN: (纸本)9781479966295

An increasing number of elderly people leads to demand for social robots to support health care and independent life. An overview of various potential applications of social robots is provided in this paper. In addition, the latest research progress in our institute is presented, i.e., multi-party interaction, gesture recognition, affective computing, and attention capture. All the research and applications demonstrate that social robots are good assistive robots for people with special needs.

关键词： control engineering computing geriatrics gesture recognition health care medical robotics social sciences computing affective computing assistive social robots attention capture elderly people multiparty interaction special needs Aging Conferences Entertainment industry Mood Robot sensing systems Senior citizens

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Embedded Model Predictive control on a PLC Using a Primal-Dual First-Order Method for a Subsea Separation Process 22

Embedded Model Predictive Control on a PLC Using a Primal-Du...

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22nd Mediterranean Conference on control and Automation (MED)

作者： Kufoalor, D. K. M. Richter, S. Imsland, L. Johansen, T. A. Morari, M. Eikrem, G. O. Norwegian Univ Sci & Technol Dept Engn Cybernet OS Bragstads Plass 2D N-7491 Trondheim Norway Swiss Fed Inst Technol Automat Control Lab CH-8092 Zurich Switzerland Statoil ASA FD ER SF Rotvoll Norway

ISBN: (纸本)9781479959013

The results of a PLC implementation of embedded Model Predictive control (MPC) for an industrial problem are presented in this paper. The embedded MPC developed is based on the linear MPC module in SEPTIC (Statoil Estimation and Prediction Tool for Identification and control), and it combines custom ANSI C code generation with problem size reduction methods, embedded real-time considerations, and a primal-dual first-order method that provides a fast and light QP solver obtained from the FiOrdOs code generator toolbox. Since the primal-dual first-order method proposed in this paper is new in the control community, an extensive comparison study with other state-of-the-art first-order methods is conducted to underline its potential. The embedded MPC was implemented on the ABB AC500 PLC, and its performance was tested using hardware-in-the-loop simulation of Statoil's newly patented subsea compact separation process. A warm-start variant of the proposed first-order method outperforms a tailored interior-point method by a factor of 4 while occupying 40% less memory.

关键词： control engineering computing embedded systems oil technology predictive control process control production engineering computing program compilers programmable controllers quadratic programming separation ABB AC500 PLC FiOrdOs code generator toolbox SEPTIC Statoil estimation and prediction tool for identification and control control community custom ANSI C code generation embedded model predictive control fast QP solver first-order method hardware-in-the-loop simulation light QP solver linear MPC module primal-dual first-order method problem size reduction methods quadratic programming solver subsea compact separation process tailored interior-point method warm-start variant Convergence IP networks Liquids Predictive control Real-time systems Separation processes Software

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Evaluating Simulator-Based Training of Skill-Based control Behavior using Multimodal Operator Models

Evaluating Simulator-Based Training of Skill-Based Control B...

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Pool, Daan M. Harder, Gertjan A. Damveld, Herman J. van Paassen, Marinus M. Mulder, Max Delft Univ Technol Control & Simulat Dept Control & Operat Delft Netherlands

ISBN: (纸本)9781479938407

This paper describes a novel method for analyzing the training effectiveness for skill-based manual control tasks based on multimodal human operator models. For skill-based tracking tasks, it is known that the adopted human operator dynamics can be modeled accurately with multimodal human operator models. In this paper, estimated human operator model parameters are used to explicitly quantify the changes that occur in the operator's use of visual and motion feedback during skill-acquisition and transfer. A quasi-transfer-of-training experiment is described, in which inexperienced participants were trained to perform an aircraft pitch attitude tracking task, either in a fixed-base or in moving-base simulator environment. After the training phase, the participants were transferred to the other simulator setting, to reveal possible transfer effects. Preliminary results from one participant in each experiment group indicate that the fitted models are successful in revealing the changes that occur in the multimodal manual control characteristics of the participants, and show that convergence to a final skill-based control strategy requires significant training. Furthermore, the presented results suggest that there might be limited direct transfer from training in a fixed-base environment to a moving-base environment.

关键词： aerospace computing aircraft control attitude control computer based training control engineering computing digital simulation aircraft pitch attitude tracking task fixed-base simulator environment human operator dynamics motion feedback moving-base simulator environment multimodal human operator models quasitransfer-of-training experiment simulator-based training skill-acquisition skill-based manual control behavior skill-based tracking tasks visual feedback Atmospheric measurements Delays Dynamics Human factors Tracking Training Visualization

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Research and Implementation of Multi-Function Missile Borne control System Based on DSP 6

Research and Implementation of Multi-Function Missile Borne ...

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Zhang Zhi-an Lei Xiao-yun NJUST Sch Mech Engn Nanjing 100191 Jiangsu Peoples R China

ISBN: (纸本)9781479946990

Based on the principle of one-dimensional trajectory correction projectile, a multi-function Missile Borne control system is designed to achieve a secondary correction, In order to achieve the function of one-dimensional trajectory secondary correction, in other words, to achieve the "distance & precision" correction function, floating-point DSP processor TMS320F28335 is utilized as the core controller aided with peripheral circuit. The multi-function Missile Borne control system includes power management, communication module, GPS signal processing, trajectory tracking control, command signal generation, boosting & detonating module and data storage module. On the basis of the above, the supporting hardware and software is completed. By the hardware-in-the-loop simulation and experimental studies, its function is verified, The result of the semi-physical simulation and experiments show that multi-function missile borne control system utilizing DSP as its core controller could achieve the function of one-dimensional trajectory secondary correction. Its control capability and real-time performance fully meet the requirements of trajectory correction.

关键词： aerospace computing control engineering computing digital signal processing chips missile control trajectory control DSP GPS signal processing TMS320F28335 processor boosting-and-detonating module command signal generation communication module data storage module digital signal processor distance-and-precision correction function floating-point DSP processor hardware-in-the-loop simulation multifunction missile borne control system one-dimensional trajectory secondary correction function power management trajectory correction projectile trajectory tracking control Accuracy Global Positioning System Missiles Process control Projectiles Trajectory

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Latency Evaluation of a Firewall for Industrial Networks Based on the Tofino Industrial Security Solution 19

Latency Evaluation of a Firewall for Industrial Networks Bas...

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19th IEEE International Conference on Emerging Technology and Factory Automation (ETFA)

作者： Cereia, Marco Bertolotti, Ivan Cibrario Durante, Luca Valenzano, Adriano CNR IEIIT I-10129 Turin Italy

ISBN: (纸本)9781479948451

Nowadays, industrial control networks are no longer conceived as isolated systems, being them exposed to the same kind of security threats affecting traditional office and business networks. For this kind of systems, the main security requirement is availability, thus the protection measures used to secure industrial control networks must take into account also performance aspects, such as latency and jitters, usually not critical in traditional networks. For this reason, knowing the delays introduced by devices used to protect the network is of paramount importance, in order to evaluate whether the timing constraints of the communication are still satisfied. This paper presents an experimental evaluation of the communication latency introduced by a firewall for industrial control networks built around the Tofino Industrial Security Solution. Experiments have been carried out in three main working conditions of the firewall, that is when 1) it is plugged in the network with all the protection modules disabled (decommissioned mode);2) it implements basic security policies only;3) it adopts complex filtering mechanisms allowing the deep inspection of Modbus TCP packets.

关键词： control engineering computing firewalls production engineering computing transport protocols Modbus TCP packets Tofino industrial security solution business networks communication latency complex filtering mechanisms firewall latency evaluation industrial control networks industrial networks office networks performance aspects protection modules security threats timing constraints Delays Inspection Measurement uncertainty Ports (Computers) Protocols Security Software

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Design and Validation of a Centimeter-Scale Robot Collective

Design and Validation of a Centimeter-Scale Robot Collective

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IEEE International Conference on Systems, Man, and Cybernetics (SMC)

作者： Laird, Damien Raptis, Ioannis A. Price, Jack Univ Massachusetts Dept Mech Engn Lowell MA 01854 USA Univ Massachusetts Dept Elect & Comp Engn Lowell MA 01854 USA

ISBN: (纸本)9781479938407

Though many advances have been made in the field of multi-agent robotic swarms, most results are limited to computer simulations instead of actual implantation to a robotic system. A primary factor limiting the development, testing, and validation of decentralized algorithms for large-scale multi-robot teams is the high cost of the available systems. A low budget but highly flexible platform could create a foundation that would allow researchers to evaluate their control algorithms under real world constraints. This paper presents Spider-Bots, a low cost and versatile platform for testing and validating control algorithms for multi-robot swarms. The system is consisted of centimeter-scale mobile robots that can communicate wirelessly and interact with their environment, along with simple and easy to use software libraries. Once completed, the platform was validated by executing three distinct algorithms: Waypoint navigation, object manipulation, and collision avoidance.

关键词： collision avoidance control engineering computing multi-robot systems Spider-Bots platform centimeter-scale robot collective control algorithms decentralized algorithm large-scale multi-robot teams multi-agent robotic swarm object manipulation software libraries waypoint navigation Collision avoidance Educational institutions Robot kinematics Software algorithms Testing Vehicles

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Optimized Incremental State Replication for Automation controllers 19

Optimized Incremental State Replication for Automation Contr...

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19th IEEE International Conference on Emerging Technology and Factory Automation (ETFA)

作者： Stattelmann, Stefan Sehestedt, Stephan Gamer, Thomas ABB Corp Res Ladenburg Germany

ISBN: (纸本)9781479948451

This paper presents optimization techniques for implementing software-based redundancy in industrial control devices. Initially, a brief survey of software-based state replication techniques with a special focus on their applicability in industrial control devices is conducted. The scalability, predictability and low latency of the technique are of particular interest in this case. Based on this survey, an analytic evaluation of different implementation alternatives is performed. As part of this analysis, a novel state replication algorithm is introduced. The approach uses support from the compiler or runtime environment to detect changes in the application state with very low overhead. This information is used to replicate the state of an automation controller in a redundant setup. Lastly, experimental results using a prototype implementation of the presented technique demonstrate that the proposed novel approach is able to perform state replication with constant overhead.

关键词： control engineering computing optimisation software fault tolerance automation controllers industrial control devices optimized incremental state replication software-based redundancy software-based state replication technique Automation Checkpointing Fault tolerant systems Hardware Memory management Redundancy

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Cloud-Based Remote Motion control Over FTTH Networks for Home Robotics 3

Cloud-Based Remote Motion Control Over FTTH Networks for Hom...

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3rd IEEE Global Conference on Consumer Electronics (GCCE)

作者： Imai, Ryusuke Kubo, Ryogo Keio Univ Dept Elect & Elect Engn Kohoku Ku 3-14-1 Hiyoshi Yokohama Kanagawa 2238522 Japan

ISBN: (纸本)9781479951468

The Internet technologies make it possible to control home robots from remote locations. This paper proposes a cloud-based remote motion control system over a 20-km fiber-to-the-home (FTTH) network, i.e., a passive optical network (PON). The physical location of the cloud server, in which the controller is installed, greatly affects the stability of the control system. Remote position control of a rotary motor is performed as a fundamental experiment for robot control. The experimental results show that the controller accepts a 20-ms round-trip time delay of cloud networks in the proposed system.

关键词： cloud computing control engineering computing delays home computing motion control passive optical networks position control service robots stability telecontrol FTTH networks Internet technologies PON cloud networks cloud server cloud-based remote motion control fiber-to-the-home network home robotics passive optical network robot control rotary motor round-trip time delay Cloud computing Delay effects Motion control Optical fiber subscriber loops Passive optical networks Robot sensing systems

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Tools for simulating humanoid robot dynamics: a survey based on user feedback 14

Tools for simulating humanoid robot dynamics: a survey based...

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

作者： Ivaldi, Serena Peters, Jan Padois, Vincent Nori, Francesco Tech Univ Darmstadt Intelligent Autonomous Syst Lab Darmstadt Germany Max Planck Inst Intelligent Syst Stuttgart Germany Inst Systemes Intelligents & Robot ISIR CNRS UMR 7222 Paris France UPMC Sorbonne Univ Paris France Italian Inst Technol Robot Brain & Cognit Sci Dept Genoa Italy

ISBN: (纸本)9781479971749

The number of tools for dynamics simulation has grown substantially in the last few years. Humanoid robots, in particular, make extensive use of such tools for a variety of applications, from simulating contacts to planning complex motions. It is necessary for the humanoid robotics community to have a systematic evaluation to assist in choosing which of the available tools is best for their research. This paper surveys the state of the art in dynamics simulation and reports on the analysis of an online survey about the use of dynamics simulation in the robotics research community. The major requirements for robotics researchers are better physics engines and open-source software. Despite the numerous tools, there is not a general-purpose simulator which dominates the others in terms of performance or application. However, for humanoid robotics, Gazebo emerges as the best choice among the open-source projects, while V-Rep is the prefered commercial simulator. The survey report has been instrumental for choosing Gazebo as the base for the new simulator for the iCub humanoid robot.

关键词： control engineering computing humanoid robots Gazebo robotics V-Rep simulator dynamics simulation general-purpose simulator humanoid robot dynamics iCub humanoid robot open-source software physics engine robotics research community user feedback Collision avoidance Communities Engines Open source software Physics Robots Humanoid robots open source software kinetic simulation user feedback control engineering computing Engines Collision avoidance Robot Physics robotics terraces

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