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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是561-570 订阅

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Rapid application development of constrained-based task modelling and execution using Domain Specific Languages.

Rapid application development of constrained-based task mode...

引用

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

作者： Vanthienen, Dominick Klotzbuecher, Markus De Schutter, Joris De Laet, Tinne Bruyninckx, Herman Katholieke Univ Leuven Dept Mech Engn Louvain Belgium

ISBN: (纸本)9781467363587

Current state-of-the-art robot program development needs expert programmers. Moreover, most robot programs developed today are robot hardware and software specific, and therefore little reusable without modifications. This paper realizes easier robot (re-) programming, by software framework independent models that can be executed using different hard-and software platforms. First, the paper focuses on the formalization of the tasks to be fulfilled by a robot, more specifically constraint-based programming tasks using a Domain Specific Language (DSL). Second, it gives a reference implementation in Lua [1]. The presented DSL makes it easy to develop applications, yet is powerful to execute. It enables automatic model verification and code generation for different hard-and software platforms, diminishing code debugging efforts. Experimental validation shows the ease of creating an application and adapting it, the reduction of the amount of hand-written code, and the debugging aid offered through meaningful errors returned by model verification.

关键词： constraint handling control engineering computing expert systems program compilers program debugging program verification robot programming specification languages

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Demonstration of a Multi-Agent-Based control System for Active Electric Power Distribution Grids

Demonstration of a Multi-Agent-Based Control System for Acti...

引用

IEEE International Workshop on Intelligent Energy Systems (IWIES)

作者： Prostejovsky, Alexander Merdan, Munir Schitter, Georg Dimeas, Aris Vienna Univ Technol Automat & Control Inst ACIN A-1040 Vienna Austria Natl Tech Univ Athens Elect Energy Syst Lab Athens Greece

ISBN: (纸本)9781479911356

The rapidly growing number of distributed energy resources and other kinds of active electric grid components, the limitations of the present electric grid infrastructure and the increased complexity of the networks that comes along with these challenges require new sophisticated control methods for future electric distribution grids. To cope with these challenges a control design is necessary that offers autonomous operation and scalability. This contribution shows the results of the first implementation of a Multi-Agent-System-based Smart Grid control system approach in a real laboratory environment. A so-called islanding case is considered where the laboratory grid equipment gets separated from the utility grid and reconnected again. The agents of the developed control system conduct their assigned equipment to react to the changed situation appropriately, hence demonstrating the control system's applicability on a small-scale electric grid configuration.

关键词： control engineering computing control system synthesis distributed power generation energy resources multi-agent systems power distribution faults power engineering computing power generation control power grids

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Closed-loop 3D Motion Modeling and control of a Steerable Needle for Soft Tissue Surgery

Closed-loop 3D Motion Modeling and Control of a Steerable Ne...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Secoli, Riccardo Rodriguez y Baena, Ferdinando Univ London Imperial Coll Sci Technol & Med Mechatron Med Lab Dept Mech Engn London SW7 2AZ England

ISBN: (纸本)9781467356411;9781467356435

Percutaneous intervention has become a topic of interest in recent years, due to the many potential advantages for the patient. To date, several novel needle steering systems have been developed to improve both the accuracy and applicability of this type of surgery, but many of these can still only provide limited control of the trajectory between an entry site and a deep seated target. Our previous work describes the first prototype of a bio-inspired multi-part needle, codenamed STING, which can steer along planar trajectories within a compliant medium by means of a novel programmable bevel, where the steering angle is a function of the offset between interlocked needle segments. This paper presents our first attempt to model a bio-inspired 4-part needle, an extension of the planar steering system with the potential to steer along three-dimensional (3D) trajectories within a compliant medium. This paper introduces a 3D kinematic model and closed-loop controller for the needle, which is inspired by the modeling strategy employed for under-actuated underwater vehicles, followed by simulation results which demonstrate that 3D trajectory tracking can be completed successfully.

关键词： biological tissues closed loop systems control engineering computing medical computing medical image processing medical robotics mobile robots motion control needles robot kinematics robot vision solid modelling steering systems surgery trajectory control

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Formal Specification and Automated Verification of Railway Software with Frama-C

Formal Specification and Automated Verification of Railway S...

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11th IEEE International Conference on Industrial Informatics (INDIN)

作者： Prevosto, Virgile Burghardt, Jochen Gerlach, Jens Hartig, Kerstin Pohl, Hans Voellinger, Kim CEA LIST France Fraunhofer FOKUS Germany

This paper presents the use of the Frama-C toolkit for the formal verification of a model of train-controlling software against the requirements of the CENELEC norm EN 50128. We also compare our formal approach with t... 详细信息

ISBN: (纸本)9781479907526

关键词： control engineering computing formal specification program testing program verification railway engineering

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A Modular Software Architecture for UAVs

A Modular Software Architecture for UAVs

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39th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Kekec, Taygun Ustundag, Baris Can Guney, Mehmet Ali Yildirim, Alper Unel, Mustafa Sabanci Univ Fac Engn & Nat Sci TR-34956 Istanbul Turkey

ISBN: (纸本)9781479902248

There have been several attempts to create scalable and hardware independent software architectures for Unmanned Aerial Vehicles (UAV). In this work, we propose an onboard architecture for UAVs where hardware abstraction, data storage and communication between modules are efficiently maintained. All processing and software development is done on the UAV while state and mission status of the UAV is monitored from a ground station. The architecture also allows rapid development of mission-specific third party applications on the vehicle with the help of the core module.

关键词： autonomous aerial vehicles control engineering computing software architecture storage management

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An Open-Source Educational Toolbox for Power System Frequency control Tuning and Optimization

An Open-Source Educational Toolbox for Power System Frequenc...

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4th IEEE/PES Innovative Smart Grid Technologies Europe (ISGT EUROPE)

作者： Cecilio, Ines M. Ersdal, Anne Mai Fabozzi, Davide Thornhill, Nina F. Univ London Imperial Coll Sci Technol & Med Dept Chem Engn London SW7 2AZ England Norwegian Univ Sci & Technol Dept Engn Cybernet Trondheim Norway

ISBN: (纸本)9781479929849

This paper presents an open-source educational tool for power and control engineering students to practice frequency control and test tunings and control strategies. The disturbance scenarios are realistic and automatically generated by the tool. This feature facilitates statistical analyses of the behaviour of the system. The paper shows simulation results with a common disturbance scenario and with two more severe cases.

关键词： computer aided instruction control engineering computing control engineering education frequency control optimisation power engineering computing power engineering education power system control power system faults public domain software statistical analysis

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Resolving Subsea Navigation, Tracking and Positioning Issues by Utilising Smart ROV control System Software

Resolving Subsea Navigation, Tracking and Positioning Issues...

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MTS/IEEE OCEANS Conference

作者： Menon, M. Dixon, T. Tena, I. Soil Machine Dynamics Ltd. USA|c|

ISBN: (纸本)9781479900008;9781479900022

The offshore industry is now moving towards deeper waters, challenging geographical areas and dynamic working environments. This is not only applicable to the offshore oil and gas market, but also marine renewables and more recently, the lucrative industry of subsea mining. These initiatives pull together the best practice and experience from established players in dredging, offshore oil and gas and subsea vehicle manufacture. The increasing demand for reliability, performance and lower costs has spurred the development of subsea vehicle design and control which challenges the norms. Original results are presented for a workclass remotely operated vehicle (WROV) system employing an autonomous control algorithm package.

关键词： autonomous underwater vehicles control engineering computing position control

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Real-time Detection of Young Spruce Using Color and Texture Features on an Autonomous Forest Machine

Real-time Detection of Young Spruce Using Color and Texture ...

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International Joint Conference on Neural Networks (IJCNN)

作者： Hyyti, Heikki Kalmari, Jouko Visala, Arto Aalto Univ Autonomous Syst Res Grp Dept Automat & Syst Technol Sch Elect Engn FIN-00076 Aalto Finland Aalto Univ Sch Elect Engn Dept Automat & Syst Technol FIN-00076 Aalto Finland

ISBN: (纸本)9781467361293;9781467361286

Forest machines are manually operated machines that are efficient when operated by a professional. Point cleaning is a silvicultural task in which weeds are removed around a young spruce tree. To automate point cleaning, machine vision methods are used for identifying spruce trees. A texture analysis method based on the Radon and wavelet transforms is implemented for the task. Real-time GPU implementation of algorithms is programmed using CUDA framework. Compared to a single thread CPU implementation, our GPU implementation is between 18 to 80 times faster depending on the size of image blocks used. Color information is used in addition of texture and a location estimate of the tree is extracted from the detection result. The developed spruce detection system is used as a part of an autonomous point cleaning machine. To control the system, an integrated user interface is presented. It allows the operator to control, monitor and train the system online.

关键词： agriculture control engineering computing feature extraction forestry graphics processing units image colour analysis image texture object detection parallel architectures robot vision service robots

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Tangled: Learning to Untangle Ropes with RGB-D Perception

Tangled: Learning to Untangle Ropes with RGB-D Perception

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

作者： Lui, Wen Hao Saxena, Ashutosh Cornell Univ Dept Comp Sci Ithaca NY 14853 USA

ISBN: (纸本)9781467363587

In this paper, we address the problem of manipulating deformable objects such as ropes. Starting with an RGB-D view of a tangled rope, our goal is to infer its knot structure and then choose appropriate manipulation actions that result in the rope getting untangled. We design appropriate features and present an inference algorithm based on particle filters to infer the rope's structure. Our learning algorithm is based on max-margin learning. We then choose an appropriate manipulation action based on the current knot structure and other properties such as slack in the rope. We then repeatedly perform perception and manipulation until the rope is untangled. We evaluate our algorithm extensively on a dataset having five different types of ropes and 10 different types of knots. We then perform robotic experiments, in which our bimanual manipulator (PR2) untangles ropes successfully 76.9% of the time.

关键词： control engineering computing image colour analysis inference mechanisms learning (artificial intelligence) manipulators particle filtering (numerical methods) robot vision ropes visual perception

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Test Generation for Robotized Paint Systems using Constraint Programming in a Continuous Integration Environment

Test Generation for Robotized Paint Systems using Constraint...

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6th IEEE International Conference on Software Testing, Verification and Validation (ICST)

作者： Mossige, Morten Gotlieb, Arnaud Meling, Hein ABB Robot Robot Norway Simula Res Lab Fornebu Norway Univ Stavanger Stavanger Norway

ISBN: (纸本)9780769549682

Advanced industrial robots usually consist of several independent control systems. Particularly, robots that perform process-intensive tasks like painting, gluing, and sealing have dedicated process control systems that are more or less loosely coupled with the motion control system. Testing the software for such systems is challenging because physical systems are necessary to test many of their characteristics. This paper proposes a method for automated testing of such robot systems. Our approach draws on previous work on continuous integration, combined with constraint programming techniques for test sequence generation. In ABB Robotics' process control system for robotized painting, many tests are only conducted every six months, during the release test. With our automated test approach, we expect to reduce the round-trip time, from code change to test completion, to less than one day.

关键词： constraint handling control engineering computing industrial robots motion control painting process control program testing

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