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检索条件"主题词=Control Engineering Computing"

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control Systems Virtual Labs: Pedagogical and Technological Perspectives

Control Systems Virtual Labs: Pedagogical and Technological ...

引用

IEEE International Conference on control Applications (CCA)

作者： Diwakar, Anita Poojary, Sushanth Rokade, Rupak Noronha, Santosh Moudgalya, Kannan

ISBN: (纸本)9781479915590

Virtual labs in control system education have been developed using different technologies and pedagogies. We review the best practices followed in control systems virtual labs and propose an innovative approach from technological and pedagogical perspective to implement a virtual lab with remote triggered hardware. We discuss the features of, and experiments which can be carried out in, the advanced reactor virtual lab which is in the process of development.

关键词： control engineering computing control engineering education virtual instrumentation

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Trajectory-model-based reinforcement learning: Application to bimanual humanoid motor learning with a closed-chain constraint 13

Trajectory-model-based reinforcement learning: Application t...

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13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Sugimoto, Norikazu Morimoto, Jun Natl Inst Informat & Commun Technol Ctr Informat & Neural Networks Dept Brain Machine Interface 1-4 Yamadaoka Suita Osaka 5650871 Japan ATR Computat Neurosci Labs Dept Brain Robot Interface Soura Ku Kyoto 6190237 Japan

ISBN: (纸本)9781479926190

We propose a reinforcement learning (RL) framework to improve policies for a high-dimensional system through fewer interactions with real environments than standard RL methods. In our learning framework, we first use off-line simulations to improve the controller parameters with an approximated environment model to generate samples along locally optimized trajectories. We then use the approximated dynamics to improve the performance of a tool manipulation task in a path integral RL framework, which updates a policy from the sampled trajectories of the state and action vectors and the cost. In this study, we apply our proposed method to a bimanual humanoid motor learning task in which we need to explicitly consider a closed-chain constraint. We show that a 51-DOF real humanoid robot can learn to manipulate a rod to hit via-points using both arms within 36 interactions in a real environment.

关键词： control engineering computing humanoid robots learning (artificial intelligence) trajectory control vectors 51-DOF real humanoid robot bimanual humanoid motor learning closed-chain constraint high-dimensional system path integral RL framework reinforcement learning tool manipulation task trajectory-model vector Humanoid robots Joints Predictive models Standards Trajectory Vectors

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Meeting the Real-time Constraints with Standard Ethernet in an In-Vehicle Network

Meeting the Real-time Constraints with Standard Ethernet in ...

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IEEE Intelligent Vehicles Symposium

作者： Lee, Youngwoo Park, KyoungSoo Korea Adv Inst Sci & Technol Dept Elect Engn Taejon South Korea

ISBN: (纸本)9781467327541

Vehicular networks have traditionally focused on the real-time delivery of critical control messages for safe car operation. Unfortunately, the real-time requirements often cripple the development of flexible car applications by tying the application network stack to underlying physical networks. While popular real-time vehicular networks guarantee the timely delivery of prioritized messages, they often lack in bandwidth and flexibility, which limits the range of car network applications. In this work, we explore the idea of replacing the current vehicular network with standard switched Ethernet, the most popular LAN technology in computer networks. Ethernet is attractive in providing high bandwidth at a low cost with easy and flexible configuration. The most challenging part is to guarantee the real-time delivery of mission-critical messages. We first show that the soft message delivery latency of 10s to 100s milliseconds can be easily met in 100 Mbps switched Ethernet despite coexistence of high-bandwidth network applications. For meeting the hard delivery latency on the order of 100 microseconds for critical control messages, we propose limiting the path MTU to the destination node with priority queuing from IEEE 802.1Q. Our simulation shows that we can satisfy 100 microseconds of latency even in a rich set of vehicular applications without any modification of the application network stack.

关键词： automotive electronics control engineering computing local area networks road vehicles

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A model-based predictive control for FTC for wind turbine wind speed sensor fault

A model-based predictive control for FTC for wind turbine wi...

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2nd International Conference on control and Fault-Tolerant Systems (SysTol)

作者： Feng, Xiaoran Patton, Ron Univ Hull Fac Sci & Engn Sch Engn Kingston Upon Hull HU6 7RX N Humberside England

ISBN: (纸本)9781479928552

This paper proposes an approach to fault tolerant control (FTC) of variable-speed wind turbine subject to wind speed sensor faults when the turbine is operating below rated wind speed. Both hardware and analytical redundancy are utilized in this approach. The least-Squares Support Vector Machine (LS-SVM) is proposed as the Fault Detection and Isolation (FDI) unit for the wind speed sensor fault. Single and multiple sensor faults are both considered in this strategy. LS-SVM is also used to estimate the effective wind speed (EWS), which is an unmeasurable signal. Based on the FDI unit, good FTC performance is achieved by identifying the faulty sensors and switching to the healthy sensor or the estimated EWS to provide the required controller reference signal. A robust MPC controller is then designed in order to consider the uncertainty due to error of EWS estimation and respect the physical system constraints.

关键词： control engineering computing control system synthesis fault tolerant control least mean squares methods power engineering computing predictive control robust control sensors support vector machines uncertain systems wind turbines

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Human-Robot Cooperative Swinging of Complex Pendulum-like Objects

Human-Robot Cooperative Swinging of Complex Pendulum-like Ob...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Donner, Philine Christange, Franz Buss, Martin Tech Univ Munich Inst Automat Control Engn D-80290 Munich Germany

ISBN: (纸本)9781467363587

This paper investigates human-robot cooperative swinging of a complex pendulum-like object. The complexity of the object results in two possible swinging modes. The goal is to excite one mode such that a desired energy level of the pendulum is reached while simultaneously damping the other mode. The energy based control concept relies on the projection of the complex mechanism onto an abstract simple pendulum with two-sided actuation. An actively contributing robot leader and robot follower are implemented. The controller performance is analyzed through simulations. A virtual reality experiment shows the transferability of the control approach to a human interaction partner.

关键词： computational complexity control engineering computing damping human-robot interaction motion control pendulums virtual reality

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Adaptive Model-Based Assistive control for Pneumatic Direct Driven Soft Rehabilitation Robots

Adaptive Model-Based Assistive Control for Pneumatic Direct ...

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13th IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Wilkening, Andre Ivlev, Oleg FWBI Friedrich Wilhelm Bessel Inst Res Co Bremen Germany Univ Bremen Inst Automat Bremen Germany

ISBN: (纸本)9781467360241;9781467360227

Assistive behavior and inherent compliance are assumed to be the essential properties for effective robot-assisted therapy in neurological as well as in orthopedic rehabilitation. This paper presents two adaptive model-based assistive controllers for pneumatic direct driven soft rehabilitation robots that are based on separated models of the soft-robot and the patient's extremity, in order to take into account the individual patient's behavior, effort and ability during control, what is assumed to be essential to relearn lost motor functions in neurological and facilitate muscle reconstruction in orthopedic rehabilitation. The high inherent compliance of soft-actuators allows for a general human-robot interaction and provides the base for effective and dependable assistive control. An inverse model of the soft-robot with estimated parameters is used to achieve robot transparency during treatment and inverse adaptive models of the individual patient's extremity allow the controllers to learn on-line the individual patient's behavior and effort and react in a way that assist the patient only as much as needed. The effectiveness of the controllers is evaluated with unimpaired subjects using a first prototype of a soft-robot for elbow training. Advantages and disadvantages of both controllers are analyzed and discussed.

关键词： adaptive control control engineering computing human-robot interaction medical robotics muscle neurophysiology orthopaedics parameter estimation patient rehabilitation patient treatment

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Towards a Parameterizable Exoskeleton for Training of Hand Function After Stroke

Towards a Parameterizable Exoskeleton for Training of Hand F...

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13th IEEE International Conference on Rehabilitation Robotics (ICORR)

作者： Weiss, Patrick Heyer, Lars Muente, Thomas F. Heldmann, Marcus Schweikard, Achim Maehle, Erik Univ Lubeck Inst Comp Engn Lubeck Germany Univ Lubeck Grad Sch Comp Med & Life Sci Lubeck Germany Univ Lubeck Dept Neurol Lubeck Germany Univ Lubeck Inst Robot & Cognit Syst Lubeck Germany

ISBN: (纸本)9781467360241;9781467360227

This paper describes the mechanical design, actuation and sensing of an exoskeleton for hand function training after stroke. The frame is 3D-printed in one piece including the joints. Apart from saving assembly time, this enables parametrization of the link sizes in order to adapt it to the patient's hand and reduce joint misalignment. The joint angles are determined using Hall effect sensors. They measure the change of the magnetic field of in the joints integrated magnets achieving an average accuracy of 1.25 degrees. Tendons attached to the finger tips transmit forces from motors. The armature current, which is proportional to the force transmitting tendons is measured using a shunt and controlled by a custom-made current-limiter circuit. Preliminary experiments with a force/torque-sensor showed high linearity and accuracy with a root mean square error of 0.5937 N in comparison to the corresponding forces derived from the motor torque constant.

关键词： Hall effect devices control engineering computing current limiters design engineering dexterous manipulators force sensors human-robot interaction magnetic field measurement mechanical engineering computing medical computing medical robotics prosthetics

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Secure Design of engineering Software Tools in Industrial Automation and control Systems

Secure Design of Engineering Software Tools in Industrial Au...

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11th IEEE International Conference on Industrial Informatics (INDIN)

作者： Hristova, Ana Obermeier, Sebastian Schlegel, Roman ABB Corp Res Ind Software Syst Baden Switzerland

ISBN: (纸本)9781479907526

Industrial Automation and control Systems (IACS) used in critical infrastructure typically perform their tasks using embedded devices. While the security of the embedded devices during the operation of the system is naturally the focus of security considerations, the security of the engineering framework is often overlooked. In this paper, we model the trust boundaries of a typical engineering tool used in an IACS, identify security risks in this context, suggest mitigation techniques for end users, and finally propose an architecture that allows to implement secure engineering frameworks.

关键词： control engineering computing critical infrastructures embedded systems industrial control security of data software tools

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An Approach to Design a Robust Software Architecture and an Intelligent Model for Multi-Agent Systems

An Approach to Design a Robust Software Architecture and an ...

引用

3rd Joint Conference of AI and Robotics / 5th RoboCup Iran Open International Symposium

作者： Norouzi, Asadollah Acosta, Carlos Antonio Singapore Polytech Sch Elect & Elect Engn Singapore Singapore

ISBN: (纸本)9781467363150

A successful multi-agent system requires the intelligent agents to perform within a dynamically complex environment where proper and quick response in a cooperative manner is a primary key to successfully complete a task. This paper proposes a non-deterministic decision making method using electric fields and high-level decision making. Different layers are designed, defined, and implemented for the software architecture with focus on system adaptability, sustainability, and optimization. Consequently, a software architecture is proposed in this paper to complement the AI algorithms. The proposed architecture aims to provide a well-structured and managed system for control, behavior, and decision making of multi-agent systems. The proposed decision making approach in this paper is based on layered artificial intelligence implemented using vector-based fuzzy electric fields and a decision tree. Furthermore, an approach to model the world which, in this paper, is called Agent Relative Polar Localization is introduced. This world model is based on fuzzy measurements and polar coordinates. In order to optimize the overall performance of the system learning methods have been introduced to the system. The proposed system in this paper has been implemented on soccer robots to evaluate the performance of the system. The results show that the proposed system implemented on the soccer robots is reliable and robust.

关键词： control engineering computing decision making decision trees fuzzy set theory learning (artificial intelligence) mobile robots multi-robot systems software architecture sport

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On the development of a robotic system for telepresence

On the development of a robotic system for telepresence

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10th IEEE Latin American Robotics Symposium (LARS)

作者： Rezeck, Paulo A. F. Vieira, Marcos A. M. Chaimowicz, Luiz Campos, Mario F. M. Univ Fed Minas Gerais Dept Comp Sci Belo Horizonte MG Brazil

ISBN: (纸本)9780769551395

In a large number of tasks, such as exploration, inspection and surgery, robots are being used to replace or represent humans in remote environments. To investigate the challenges of this emerging research field, we have developed a robotic system for telepresence. It is composed of two main modules: a robotic avatar, which is able to represent a human in a remote environment and a user interface that allows a remote operator to task and control the avatar. Through the use of cameras, microphones and other sensors on the avatar, the operator can assess the environment and interact with other humans in the remote area. The robot can execute commands given by the operator and also act autonomously in certain tasks such as navigation and obstacle avoidance. In this paper, we describe the main components of the system in terms of hardware and software and present some proof-of-concept experiments to demonstrate its capabilities.

关键词： avatars cameras collision avoidance control engineering computing human-robot interaction humanoid robots microphones sensors telerobotics user interfaces

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