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检索条件"主题词=Control Engineering Computing"

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Disruption-free Software Updates in Automation Systems 19

Disruption-free Software Updates in Automation Systems

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

作者： Wahler, Michael Oriol, Manuel ABB Corp Res CH-5405 Baden Switzerland

ISBN: (纸本)9781479948451

Automation systems must primarily be deterministic and reliable, especially in safety-critical environments. With recent trends such as mass customization or Industry 4.0, there is an increasing need for automation systems to be dynamic. Changing parts of the software of today's automation systems, however, typically requires rebooting the controller, which makes software updates a complex and costly endeavor often despised by operators. This article presents an approach to updating the software of automation systems at runtime without disrupting the system's operation. This is achieved with a combination of a component-based architecture, cyclic application execution, and a state transfer mechanism between the original and the updated version of a component. We validate our solution with a case study in which we update the control algorithm of a magnetic levitation device running at cycles of 1 kHz without dropping the ball.

关键词： control engineering computing magnetic levitation object-oriented programming safety-critical software software architecture automation systems component-based architecture cyclic application execution disruption-free software updates magnetic levitation control algorithm safety-critical environments state transfer mechanism Automation Instruction sets Kernel Runtime Schedules Synchronization

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A Real Time Distributed Approach to Collision Avoidance for Industrial Manipulators 19

A Real Time Distributed Approach to Collision Avoidance for ...

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

作者： Fenucci, Alba Indri, Marina Romanelli, Fabrizio Politecn Torino Dipartimento Automat & Informat I-10129 Turin Italy Res & Dev Grp Mot & Control Comau Robot I-10095 Grugliasco Italy

ISBN: (纸本)9781479948451

Robot interaction with the surrounding environment is an important and newsworthy problem in the context of industrial and service robotics. Collision avoidance gives the robot the ability to avoid contacts with objects around it, but most of the industrial controls implementing collision avoidance checks only the robot Tool Center Point (TCP) over the objects in the cell, without taking into account the shape of the tool, mounted on the robot flange. In this paper a novel approach is proposed, based on an accurate 3D simulation of the robotic cell. A distributed real time computing approach has been chosen to avoid any overloading of the robot controller. The simulator and the client application are implemented in a personal computer, connected via a TCP-IP socket to the robot controller, which hosts and manages the anti-collision policies, based on a proper speed override control. The real time effectiveness of the proposed approach has been confirmed by experimental tests, carried out for a real industrial setup in two different scenarios.

关键词： collision avoidance control engineering computing digital simulation distributed processing industrial manipulators microcomputers real-time systems service robots velocity control 3D robotic cell simulation TCP TCP-IP socket anticollision policies industrial robotics personal computer real time distributed approach robot Tool Center Point robot controller robot interaction service robotics speed override control Collision avoidance Computer architecture Joints Microprocessors Service robots Three-dimensional displays

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A Cooperative Parking System Based on Fuzzy Intention 7

A Cooperative Parking System Based on Fuzzy Intention

引用

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

作者： Matoba, Saki Yasunobu, Seiji Univ Tsukuba Grad Sch Syst & Informat Engn Tsukuba Ibaraki 3058573 Japan Univ Tsukuba Dept Intelligent Interact Technol Tsukuba Ibaraki 3058573 Japan

ISBN: (纸本)9781479959556

Parking a car is an important driving skill. However, many drivers do not like parking. Therefore, a number of parking assist systems have been developed. When humans and computers perform control together, it is important to design cooperative control systems involving a human. The parking assistance method often used in the driving school in Japan is a cooperative assistance method. A good driving instructor not only prioritizes his/her own intention, but can perform flexible operation considering the driver's intention. In the present paper, a cooperative parking system based on fuzzy intention is proposed. This system provides a parking assistance method. This system conforms to a driver much as possible. Fuzzy intention is a set of temporary target candidates that express a good temporary target decided by the assistant. Using fuzzy intention, the breadth of candidates enables the driver's intention to be confirmed. The effectiveness of this system was verified experimentally.

关键词： control engineering computing driver information systems fuzzy set theory traffic control Japan cooperative assistance method cooperative control system design cooperative parking system driver intention driving instructor driving school fuzzy intention parking assist systems parking assistance method Detectors Educational institutions Force Fuzzy control Strain Vehicles Wheels

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Robust Sensor Fusion for Robot Attitude Estimation 14

Robust Sensor Fusion for Robot Attitude Estimation

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

作者： Allgeuer, Philipp Behnke, Sven Univ Bonn Comp Sci Inst 4 Autonomous Intelligent Syst AIS Grp Bonn Germany

ISBN: (纸本)9781479971749

Knowledge of how a body is oriented relative to the world is frequently invaluable information in the field of robotics. An attitude estimator that fuses 3-axis gyroscope, accelerometer and magnetometer data into a quaternion orientation estimate is presented in this paper. The concept of fused yaw, used by the estimator, is also introduced. The estimator, a nonlinear complementary filter at heart, is designed to be uniformly robust and stable-independent of the absolute orientation of the body-and has been implemented and released as a cross-platform open source C++ library. Extensions to the estimator, such as quick learning and the ability to deal dynamically with cases of reduced sensory information, are also presented.

关键词： C++ language accelerometers attitude control control engineering computing gyroscopes learning (artificial intelligence) magnetometers public domain software robots robust control sensor fusion 3-axis gyroscope accelerometer attitude estimator cross-platform open source C++ library magnetometer data nonlinear complementary filter quaternion orientation estimate quick learning reduced sensory information robot attitude estimation robust sensor fusion Accelerometers Current measurement Estimation Gyroscopes Magnetometers Quaternions Robot sensing systems accelerometers Gyroscopes magnetometers Sensor fusion open source software control engineering computing Manipulator sensing systems Quaternion C language Electric current measurement Current measuring attitude control Robot Robust control complementary filter

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A Study of Network Emulation for IP Network-based control System of a Small Motor 17

A Study of Network Emulation for IP Network-based Control Sy...

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17th IEEE International Conference on Electrical Machines and Systems (ICEMS)

作者： Matsuo, Kenshi Tajima, Katsubumi Akita Univ Grad Sch Engn & Resource Sci Akita 010 Japan

ISBN: (纸本)9781479951628

In networked control system (NCS) though IP networks, there are the issues such that time delays, its jitter and packet losses cause control performance degradation. Hence, many control schemes against the issues have been developed. For evaluating the effectiveness of the scheme, control experiments generally need to be done under actual IP networks. However, in actual networks, it is difficult to experiment under various conditions. Hence, the evaluation should be done under networks emulated by emulators because they can make the various realistic conditions. Therefore, it is important to confirm the validity of emulator in the case of using in NCS. In this paper, we discuss the validity of a popular network emulator built-in Linux, called netem, in terms of NCS. As a result, it has been found by experiment that netem in a recent Linux kernel can work well as emulator in NCS.

关键词： IP networks Linux control engineering computing electric motors machine control networked control systems power engineering computing IP network-based control system Linux kernel NCS netem network emulation small motor DC motors Delays Emulation Jitter Kernel

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Vehicle Classification Using Measurements From Accelerometers Mounted On The Road Surface 19

Vehicle Classification Using Measurements From Accelerometer...

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19th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Obertov, Dmitri Andrievsky, Boris ITMO Univ St Petersburg 199178 Russia RAS Inst Problems Mech Engn St Petersburg 199178 Russia

ISBN: (纸本)9781479950812

A new method for vehicle classification is presented. An axle parameter estimation gives advanced results for the distances between axles as well as transferred energy of vibrations. Measured road vibrations are analyzed and the phenomena are studied. Algorithms for vehicle classification based on the findings are described and their performance, advantages and disadvantages are evaluated and discussed. Correct classification of vehicles by wheelbases using accelerometers is about 89 %.

关键词： accelerometers axles control engineering computing intelligent transportation systems parameter estimation pattern classification road traffic control road vehicles vibration control vibration measurement wheels accelerometers measurements axle parameter estimation road surface road vibrations measurement transferred energy vehicle classification wheelbases Accelerometers Artificial intelligence Axles Roads Smoothing methods Vehicles Vibrations Vehicle classification Axle accelerometers PAVEMENTS control engineering computing smoothing methods Vibration vibration monitoring Intelligent transportation systems vehicle road vehicles Parameter estimation Road Pattern recognition vibration control

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Reinforcement Learning-based Optimal control Considering L Computation Time Delay of Linear Discrete-time Systems

Reinforcement Learning-based Optimal Control Considering <i>...

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL)

作者： Fujita, Taishi Ushio, Toshimitsu

ISBN: (纸本)9781479945528

In embedded control systems, the control input is computed based on sensing data of a plant in a processor and there is a delay, called the computation time delay, due to the computation and the data transmission. When we design an optimal controller, we need to take the delay into account to achieve its optimality. Moreover, in the case where it is difficult to identify a mathematical model of the plant, a model free approach is useful. Especially, the reinforcement learning-based approach has been much attention to in the design of an adaptive optimal controller. In this paper, we assume that the plant is a linear system but the parameters of the plant are unknown. Then, we apply the reinforcement learning to the design of an adaptive optimal digital controller with taking the computation time delay into consideration. First, we consider the case where all states of the plant are observed, and it takes L times to update the control input. An optimal feedback gain is learned from sequences of a pair of the state and the control input. Next, we consider the case where the control input is determined from outputs of the plant. We cannot use an observer to estimate the state of the plant since the parameters of the plant are unknown. So, we use a data-based control approach for the estimation. Finally, we apply the proposed adaptive optimal controller to attitude control of a quadrotor at the hovering state and show its efficiency by simulation.

关键词： adaptive control control engineering computing control system synthesis data communication delays discrete time systems embedded systems feedback learning (artificial intelligence) linear systems optimal control parameter estimation state estimation L-computation time delay adaptive optimal digital controller attitude control data transmission data-based control approach embedded control systems linear discrete-time systems linear system mathematical model model free approach optimal feedback gain reinforcement learning Adaptation models Delay effects Optimal control Output feedback Propellers State feedback discrete time systems Linear system Optimal control Parameter estimation learning (artificial intelligence) attitude control data transmission control engineering computing PROPELLER Delay effects control input control system synthesis data communication State feedback plants

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Road curb and lanes detection for autonomous driving on urban scenarios 17

Road curb and lanes detection for autonomous driving on urba...

引用

IEEE 17th International Conference on Intelligent Transportation Systems (ITSC)

作者： Fernandez, C. Izquierdo, R. Llorca, D. F. Sotelo, M. A. Univ Alcala Polytech Sch Dept Comp Engn Madrid Spain

ISBN: (纸本)9781479960781

This paper addresses a framework for road curb and lanes detection in the context of urban autonomous driving, with particular emphasis on unmarked roads. Based on a 3D point cloud, the 3D parameters of several curb models are computed using curvature features and Conditional Random Fields (CRF). Information regarding obstacles is also computed based on the 3D point cloud, including vehicles and urban elements such as lampposts, fences, walls, etc. In addition, a gray-scale image provides the input for computing lane markings whenever they are present and visible in the scene. A high level decision-making system yields accurate information regarding the number and location of drivable lanes, based on curbs, lane markings, and obstacles. Our algorithm can deal with curbs of different curvature and heights, from as low as 3 cm, in a range up to 20 m. The system has been successfully tested on images from the KITTI data-set in real traffic conditions, containing different number of lanes, marked and unmarked roads, as well as curbs of quite different height. Although preliminary results are promising, further research is needed in order to deal with intersection scenes where no curbs are present and lane markings are absent or misleading.

关键词： control engineering computing decision making driver information systems learning (artificial intelligence) mobile robots remotely operated vehicles road vehicles ADAS CRF advanced driver assistance systems conditional random fields curvature features decision-making system lane detection road curb urban autonomous driving Estimation Image color analysis Image reconstruction Roads Three-dimensional displays Vectors Vehicles

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Teleoperation control of Baxter Robot using Body Motion Tracking

Teleoperation Control of Baxter Robot using Body Motion Trac...

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International Conference on Multisensor Fusion and Information Integration for Intelligent Systems (MFI)

作者： Reddivari, H. Yang, C. Ju, Z. Liang, P. Li, Z. Xu, B. Univ Plymouth Ctr Robot & Neural Syst Plymouth PL4 8AA Devon England S China Univ Technol Key Lab Autonomous Syst & Network Control Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China North Automat Control Technol Inst Taiyuan 030006 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China Northwestern Polytech Univ Sch Automat Xian 710072 Peoples R China

ISBN: (纸本)9781479967315

In this paper, we use Kinect Xbox 360 sensor to implement the motion control of Baxter robot, a semi humanoid robot with limbs of 7 DOF joints with collision avoidance capabilities. Two different methods using vector approach and inverse kinematics approach have been designed to achieve a given task. Primitive experiments have been carried out to verify the effectiveness of the developed methods. Human motions is captured by Kinect sensor and calculated with Processing Software using SimpleOpenNI wrapper for OpenNI and NITE. UDP protocol is adopted to send reference motion to Baxter robot. Python and RosPy script programming kit is used to calculate joint angles of Baxter robot based on vector approach and inverse kinematics approach. The experimental results demonstrate that both of our proposed approaches have achieved satisfactory performance.

关键词： collision avoidance control engineering computing humanoid robots mobile robots motion control robot kinematics sensors telerobotics transport protocols Baxter robot DOF joints Kinect Xbox 360 sensor NITE Python RosPy script programming kit SimpleOpenNI wrapper UDP protocol body motion tracking collision avoidance capabilities human motions inverse kinematics joint angles processing software reference motion semihumanoid robot teleoperation control vector approach Joints Robot kinematics Robot sensing systems Shoulder Software Vectors

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Gabor Filter Based Localization of Needles in Ultrasound Guided Robotic Interventions

Gabor Filter Based Localization of Needles in Ultrasound Gui...

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IEEE International Conference on Imaging Systems and Techniques (IST) / IEEE International School on Imaging

作者： Kaya, Mert Bebek, Ozkan Ozyegin Univ Dept Elect & Elect Engn Istanbul Turkey Ozyegin Univ Dept Mech Engn Istanbul Turkey

ISBN: (纸本)9781479952205

This paper presents an entropy based parameter tuning method for needle segmentation, and a probability map based needle tip estimation method using Gabor-based line filter. The proposed automatic parameter tuning method optimizes the threshold value that is used by the Otsu's thresholding technique to binarize the ultrasound image. A probability map is created to estimate the needle tip location using the Gabor filtered image and the binarized image. The pixel with the maximum probability represents the needle tip location. Finally, an enhancement method to improve needle visibility is proposed. The proposed methods are experimentally tested in four different phantoms and distilled water. The image processing time is reduced by 24% using the proposed tuning method, and the needle tip location can be successfully estimated using the probability map.

关键词： Gabor filters control engineering computing entropy image enhancement image segmentation medical image processing medical robotics probability robot vision ultrasonic imaging Gabor filter based needle localization Gabor-based line filter Otsu thresholding technique automatic parameter tuning method entropy based parameter tuning method image enhancement method image processing time needle segmentation probability map based needle tip location estimation method ultrasound guided robotic interventions ultrasound image binarization Entropy Estimation Image edge detection Image segmentation Kernel Needles Tuning NEEDLES Gabor filters image segmentation entropy Ultrasonography control engineering computing image enhancement method needles Edge detection medical robotics robot vision tuning Medical image processing image enhancement processing time

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