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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是481-490 订阅

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METAPOD - Template META-PrOgramming applied to Dynamics: CoP-CoM trajectories filtering 14

METAPOD - Template META-PrOgramming applied to Dynamics: CoP...

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

作者： Naveau, M. Carpentier, J. Barthelemy, S. Stasse, O. Soueres, P. CNRS LAAS 7 Av Colonel Roche F-31400 Toulouse France Univ Toulouse LAAS F-31400 Toulouse France Aldebaran Robot Grenoble France

ISBN: (纸本)9781479971749

In this contribution, Metapod, a novel C++ library computing efficiently dynamic algorithms is presented. It uses template-programming techniques together with code-generation. The achieved performances shows some advantage over the state-of-the art dynamic library RBDL mostly on ATOM processor and for the inertia matrix computation, which are relevant for robotics application. On recent desktop computer, the ratio of the gain is not so obvious and in general the time achieved by both library is not significantly different for inverse dynamics. The advantage of this library is that it is open-source and does not rely on any external symbolic computational software. A main drawback is the increase complexity in debugging the code source due to template programming. Additionnaly we show how it can help in current control problems for humanoid robots, and more specifically for dynamic filtering of walking gait trajectories.

关键词： C++ language control engineering computing humanoid robots robot programming trajectory control C++ library computing CoP-CoM trajectory filtering Metapod code-generation dynamic filtering humanoid robot inverse dynamics robotics template META-programming walking gait trajectory Computational modeling Humanoid robots Legged locomotion Libraries Software Trajectory Humanoid robots CONTRAST FILTERS control engineering computing Libraries Robot programming inverse kinematics Biped locomotion trajectory trajectory control C language robotics Computational modeling computer software

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Fostering Functional Safety of Real-time Systems with Concepts of Object Orientation 19

Fostering Functional Safety of Real-time Systems with Concep...

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

作者： Houben, Christina K. Fernuniv Chair Comp Engn Hagen Germany

ISBN: (纸本)9781479950812

Hard-wired control systems are increasingly replaced by program-controlled embedded systems. The programming languages currently employed for their implementation lack constructs and design patterns enforcing intelligible code fostering its verification by certification authorities. Recommendations for such constructs necessary to guarantee safety integrity are given in the international standard IEC 61508-3. One of the recommendations refers to object-oriented programming (OOP). Therefore, we analyse both basic and advanced properties of OOP like encapsulation, polymorphism, inheritance, prototyping, delegation etc. with respect to functional safety. In a resulting programming language based on PEARL90 [1] we demonstrate coding with examples from hard real-time systems.

关键词： IEC standards control engineering computing embedded systems object-oriented programming program verification safety-critical software OOP PEARL90 certification authorities design patterns functional safety hard real-time systems hard-wired control systems intelligible code international standard IEC 61508-3 object orientation program-controlled embedded systems programming languages safety integrity verification Computer languages Concrete Prototypes Real-time systems Runtime Safety Software object oriented programming Computer Programming Languages object orientation real-time systems hard real-time system design pattern control engineering computing IEC publications safety-critical software program verification Runtime Embedded systems Consumer safety safety PROTOTYPE

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Big Data Analysis for Sensor Time-Series in Automation 19

Big Data Analysis for Sensor Time-Series in Automation

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

作者： Jirkovsky, Vaclav Obitko, Marek Novak, Petr Kadera, Petr Rockwell Automat Res & Dev Ctr Prague Czech Republic Czech Tech Univ CR-16635 Prague Czech Republic Vienna Univ Technol Christian Doppler Lab Software Engn Integrat Flex A-1040 Vienna Austria

ISBN: (纸本)9781479948451

The trend of large scale data production is observed not only within web companies, but is entering also other domains including automation domain. Smart sensors and smart devices contribute to growing amounts of data that need to be processed. An example of processing is prediction for better control, clustering for more effective maintenance, or improving the overall production in general. The so called Big Data paradigm shows new ways of handling bigger amounts of various data, including providing technologies that are able to handle them in an effective way. This paper examines the utilization of Big Data technologies for industry automation domain. The approach is illustrated on time series data measured from a passive house with the goal of detecting specific events. We show how the Big Data technologies allow data analysis that would be hard with traditional approaches.

关键词： Big Data control engineering computing data analysis industrial control time series Big Data analysis industry automation domain sensor time-series Automation Big data Companies Production Real-time systems Temperature measurement Time series analysis

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Gain and Order Scheduled Fractional-order PID control Of Fluid Level in a Multi-Tank System

Gain and Order Scheduled Fractional-order PID Control Of Flu...

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International Conference on Fractional Differentiation and its Applications (ICFDA)

作者： Tepljakov, Aleksei Petlenkov, Eduard Belikov, Juri Tallinn Univ Technol Dept Comp Control Ehitajate Tee 5 EE-19086 Tallinn Estonia

ISBN: (纸本)9781479925919

Gain scheduling is widely regarded as an effective nonlinear control technique, and its extension to fractional-order control is a natural step. In this paper, we investigate a particular method based on a gain and order scheduling approach for fractional-order PID controllers. The method is applied to the control of a real-life laboratory model of an industrial multitank system. Gain and order scheduling is realized by means of a control law comprising two static PID controllers and an appropriate control blending rule providing this way means for stability analysis of the control system. The design of controllers for level control in the first tank is carried out by considering linear fractional-order approximations of the nonlinear model of the process with locally applicable frequency-domain robustness specifications. The controller for the second tank is obtained using time-domain optimization of the transient response. In addition, an extended Kalman filter is designed to reduce measurement noise propagation into the control law thereby enhancing the performance of the pump. The majority of necessary computations, including those related to controller design, are performed numerically in the FOMCON toolbox for MATLAB.

关键词： approximation theory control engineering computing control system synthesis frequency-domain analysis industrial plants level control nonlinear control systems optimisation robust control scheduling tanks (containers) three-term control transient response FOMCON toolbox Kalman filter MATLAB control system stability analysis controller design fluid level control fractional-order PID control fractional-order approximations frequency-domain robustness specifications gain scheduling industrial multitank system industrial plant nonlinear control technique order scheduling time-domain optimization Kalman filters Level control Mathematical model Optimization Stability analysis Valves level control Industrial Plants TRANSIENT RESPONSE Kalman filters Three term control systems control engineering computing controller design MATLAB Frequency-domain analysis control system synthesis Nonlinear control systems Stability analysis Approximation Theory VALVE GATE Robust control

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Facilitation of Telepresence Robot Turn-Takings by Gesture Exaggeration 7

Facilitation of Telepresence Robot Turn-Takings by Gesture E...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Hasegawa, Komei Nakauchi, Yasushi Univ Tsukuba Grad Sch Syst & Informat Engn 1-1-1 Tennodai Tsukuba Ibaraki 3058573 Japan Univ Tsukuba Fac Engn Informat & Syst Tsukuba Ibaraki 3058573 Japan

ISBN: (纸本)9781479969449

We propose a telepresence robot that exaggerates non-verbal cues for taking turns in teleconferences. In multiparty teleconferences, it is more difficult for the remote participants to take their turns than face-to-face. It is said that an addressee tends to be next speaker. Therefore, becoming the addressee is a previous step to become a speaker and take turns. In order to make the remote participant become addressee, proposed system detected remote participant's non-verbal cues such as attention directions, nod motions and back-channels. Then, the system exaggerates the cues and expresses them as the robot's motions.

关键词： control engineering computing teleconferencing telerobotics attention directions back-channels gesture exaggeration multiparty teleconferences nod motions nonverbal cues exaggeration remote participants robot motions telepresence robot turn-taking facilitation Educational institutions Face Microphones Neck Robot kinematics Tracking Robot kinematics Teleconference control engineering computing Telerobots Microphone Device Component Educational institutions Neck Face Face Turning REMOTE control Facilitation tracking Robot Loudspeakers

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Using FTT-Ethernet for the coordinated dispatching of tasks and messages for node replication 19

Using FTT-Ethernet for the coordinated dispatching of tasks ...

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

作者： Derasevic, Sinisa Proenza, Julian Barranco, Manuel Univ Illes Balears DMI Palma de Mallorca Spain

ISBN: (纸本)9781479948451

The Flexible Time Triggered (FTT) paradigm provides online flexible scheduling for distributed embedded systems but it does not present adequate fault tolerance mechanisms so as to reach a very high reliability. Adding the adequate fault tolerance mechanisms to FTT-based architectures would open room for adaptive yet highly dependable systems. In this work we present a fault-tolerant system architecture for control applications that adds a node replication scheme with voting on top of an FTT-based system. Using a previously proposed network-centric approach we show how to coordinate the execution of the different phases for a typical control application in our system architecture, i.e. we show how to trigger the execution of tasks in node replicas and the transmission of messages in the communication channel, using the underlying FTT protocol. At the end, we demonstrate how to apply this idea of coordinated dispatching to one concrete control application, ball-on-plate.

关键词： control engineering computing dispatching embedded systems fault tolerant computing local area networks protocols scheduling telecommunication channels FTT paradigm FTT protocol FTT-Ethernet FTT-based architectures FTT-based system communication channel coordinated dispatching distributed embedded systems fault tolerance mechanisms fault-tolerant system architecture flexible time triggered paradigm network-centric approach node replication scheme online flexible scheduling Actuators Computer architecture Dispatching Fault tolerance Fault tolerant systems Sensors Switches

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Coordinating UAVs in Dynamic Environments by Network-Aware Mission Planning 33

Coordinating UAVs in Dynamic Environments by Network-Aware M...

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33rd Annual IEEE Military Communications Conference on Affordable Mission Success - Meeting the Challenge (MILCOM)

作者： Balduccini, Marcello Nguyen, Duc N. Regli, William C. Drexel Univ Appl Informat Grp Philadelphia PA 19104 USA

ISBN: (纸本)9781479967704

Traditional AI planning has been used successfully in many domains, including logistics, scheduling and game playing. This paper examines how AI planning techniques can be extended to coordinate teams of unmanned aerial vehicles (UAVs) in dynamic environments. Specifically challenging are real-world environments where UAVs and other network-enabled devices must communicate to coordinate- and communication actions are neither reliable nor free. Such network-centric environments are common in military, public safety and commercial applications, yet most planning research (even multi-agent planning) usually takes communications among distributed agents as a given. The emerging application challenge of unmanned systems makes this problem of central focus. This work examines the problem of planning, plan monitoring and coordination of the mission of multiple UAVs in a communication-constrained environment. The work introduces several abstractions that enable AI planners to reason about communication and networking knowledge;and provides the underlying network system the means for including mission data as part of network operations. This work has been empirically validated using a distributed network-centric software evaluation testbed and the results provide guidance to designers in how to understand and control intelligent systems that operate in these environments.

关键词： autonomous aerial vehicles control engineering computing planning (artificial intelligence) AI planning UAV coordination artificial intelligence communication-constrained environment distributed network-centric software evaluation network-aware mission planning network-centric environment network-enabled devices unmanned aerial vehicles Ad hoc networks Artificial intelligence Cognition Planning Relays Reliability Vehicle dynamics

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Eclair: An Elevator Group controller Model Checking System Based on S-ring and SPIN 3

Eclair: An Elevator Group Controller Model Checking System B...

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3rd IEEE Global Conference on Consumer Electronics (GCCE)

作者： Nagafuji, Kazuya Yamaguchi, Shingo Yamaguchi Univ Grad Sch Sci & Engn 2-16-1 Tokiwadai Ube Yamaguchi 7558611 Japan

We developed a model checking system for elevator group controllers, named Eclair. Eclair can perform model checking of a given S-ring model by invoking SPIN. In this paper, we described how to convert the S-ring mode... 详细信息

ISBN: (纸本)9781479951468

关键词： control engineering computing formal verification lifts E?clair test capability S-ring model SPIN input model elevator group controller model checking system Data models Elevators Floors Model checking Scalability Servers Shafts Elevators Model checking control engineering computing Scalability data models SHAFT Decks lifts Formal verification Servers Spin group controller

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A Touch Interface for Soft Data Modeling in Bayesian Estimation

A Touch Interface for Soft Data Modeling in Bayesian Estimat...

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

作者： Mehta, S. S. McCourt, M. Doucette, E. A. Curtis, J. W. Univ Florida Res & Engn Educ Facil Shalimar FL 32579 USA US Air Force Res Lab Munit Directorate Eglin AFB FL 32542 USA

ISBN: (纸本)9781479938407

A novel approach for human-generated "soft information" modeling and Bayesian fusion using touch interface devices is presented. The human-generated soft information can be encoded using a combination of single, multiple, and overlapping strokes that represent arbitrary measurement likelihood functions which can be approximated using non-parametric density estimators. The proposed interface offers a flexible and natural medium to encode a large class of qualitatively distinct types of information for both positive and negative observations. The touch interface naturally provides robustness with respect to human variability in terms of psycho-physiological and environmental parameters without the need for offline training. An urban-target tracking example is provided to illustrate fusion of soft information (generated using the proposed soft sensor model) with measurements from traditional automated sensors.

关键词： Bayes methods control engineering computing nonparametric statistics sensor fusion target tracking user interfaces Bayesian estimation Bayesian fusion arbitrary measurement likelihood function automated sensor environmental parameter human variability human-generated soft information modeling nonparametric density estimator offline training overlapping strokes psycho-physiological parameter robustness soft data modeling soft sensor model touch interface devices urban-target tracking example Atmospheric measurements Density measurement Observers Particle measurements Target tracking Bayes methods Target tracking control engineering computing Particle measurements atmospheric monitoring density measurement Nonparametric Statistics Sensor fusion User Interface Device Component environmental parameters Observers information-type

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Online Learning of Foot Placement for Balanced Bipedal Walking 14

Online Learning of Foot Placement for Balanced Bipedal Walki...

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

作者： Missura, Marcell Behnke, Sven Univ Bonn Autonomous Intelligent Syst Grp Bonn Germany

ISBN: (纸本)9781479971749

Due to the high complexity of the humanoid body, and its inherently unstable inverted pendulum-like dynamics, the development of a robust and versatile walking controller proves to be a difficult task. Using machine learning algorithms with hardware in the loop is a promising way of achieving balanced and dynamic gaits. In this work, we propose an online learning technique that learns how to step onto a reference footstep location while maintaining the balance of a bipedal walker in the presence of disturbances. The ability to step with the help of a parametrized motion generator simplifies the learning problem to the low-dimensional space of footstep coordinates. To quickly adapt the produced step sizes from learned experience, we update an online-capable function approximator with a pendulum-cart motivated gradient function that incorporates the trade-off between maintaining balance and stepping onto a desired location. While our method is able to robustly learn suitable footstep locations without prior knowledge, we gain advantage from initializing the learning with an analytic controller and show experimentally that the learning process can further improve the capabilities of the robot.

关键词： computer aided instruction control engineering computing humanoid robots learning (artificial intelligence) legged locomotion nonlinear control systems pendulums balanced bipedal walking bipedal walker foot placement humanoid body inverted pendulum-like dynamics machine learning algorithms online learning walking controller Foot Generators Iron Legged locomotion Mathematical model Trajectory Biped locomotion e-learning Machine learning algorithms control engineering computing Clock weights computer-assisted instruction Humanoid robots Nonlinear control systems dynamos Foot Foot Foot British Foot Pedal trajectory Mathematical Model

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