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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是591-600 订阅

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Deploying Artificial Landmarks to Foster Data Association in Simultaneous Localization and Mapping

Deploying Artificial Landmarks to Foster Data Association in...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Beinhofer, Maximilian Kretzschmar, Henrik Burgard, Wolfram Univ Freiburg Dept Comp Sci Freiburg Germany

ISBN: (纸本)9781467356411;9781467356435

Data association is an essential problem in simultaneous localization and mapping. It is hard to solve correctly, especially in ambiguous environments. We consider a scenario where the robot can ease the data association problem by deploying a limited number of uniquely identifiable artificial landmarks along its path and use them afterwards as fixed anchors. Obviously, the choice of the positions where the robot should drop these markers is crucial as poor choices might prevent the robot from establishing accurate data associations. In this paper, we present a novel approach for learning when to drop the landmarks so as to optimize the data association performance. We use Monte Carlo reinforcement learning for computing an optimal policy and apply a statistical convergence test to decide if the policy is converged and the learning process can be stopped. Extensive experiments also carried out with a real robot demonstrate that the data association performance using landmarks deployed according to our learned policies is significantly higher compared to other strategies.

关键词： Monte Carlo methods SLAM (robots) control engineering computing convergence learning (artificial intelligence) mobile robots optimisation position control robot vision sensor fusion statistical testing

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Real-Time Analysis of a Multi-Robot Sewing Cell

Real-Time Analysis of a Multi-Robot Sewing Cell

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Schrimpf, Johannes Lind, Morten Mathisen, Geir Norwegian Univ Sci & Technol Dept Engn Cybernet Trondheim Norway SINTEF Raufoss Mfg AS Trondheim Norway

ISBN: (纸本)9781467345675;9781467345682

This paper presents a sewing cell based on an industrial sewing machine, and with two robots controlling the sewing operation in real-time. The software architecture and the communication structure are presented. Widely available software and hardware technologies were used to build a highly flexible system for operation and control prototyping. This paper focuses on analyzing the real-time characteristics of the control system. Experiments were conducted to measure the delays in different parts of the system in order to gain an understanding of the real-time performance and to show that the chosen system is capable to make use of the robot's high update frequency and low tracking delay.

关键词： control engineering computing industrial robots joining processes multi-robot systems production engineering computing sewing machines software architecture textile technology

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Novel method for underwater navigation aiding using a companion underwater robot as a guiding platforms

Novel method for underwater navigation aiding using a compan...

引用

MTS/IEEE OCEANS Conference

作者： Djapic, Vladimir Nad, Dula Ferri, Gabriele Omerdic, Edin Dooly, Gerard Toal, Dan Vukic, Zoran CMRE Viale S Bartolomeo 400 I-19126 La Spezia Italy Univ Limerick MMRRC Limerick Ireland Univ Zagreb Fac Elect Engn & Comp LabUST Lab Underwater Syst & Technol Zagreb 3 Croatia

ISBN: (纸本)9781479900008;9781479900022

This paper presents the results of multi-national collaboration during the sea trial held in the coastal waters of La Spezia, Italy, in the period 17 Oct. - 07 Nov. 2012. The trial was performed as one of the objectives of the program which has a goal to achieve the entire chain of Mine Countermeasures (MCM) using unmanned, robotic platforms. The focus of activities in this sea trial was to perform the last events of the mission: reacquisition, identification and intervention using a pair of collaborating underwater vehicles. The trial's objectives were to combine the expertise and robotic systems from different partners and achieve a mission of precise guiding of an inexpensive underwater vehicle to an underwater target using the navigation suite and control system of a more capable underwater vehicle. The objectives were accomplished and the researchers' opinion is that the extension to multi-vehicle cooperation (one leader guiding several agents, or followers) is feasible given the test results.

关键词： autonomous underwater vehicles control engineering computing mobile robots path planning

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Study of Waveform Generation in Simulation Torque-Loading System Based on LabVIEW

Study of Waveform Generation in Simulation Torque-Loading Sy...

引用

10th IEEE International Conference on control and Automation (IEEE ICCA)

作者： Zhang, Chenwei Wang, Jianbo Shan, Liang Kong, Jianshou Nanjing Univ Sci & Technol Dept Automat Nanjing 210094 Jiangsu Peoples R China

ISBN: (纸本)9781467347082

Electric torque-loading test system can check the disturbed operating performance of servo system by simulating the disturbance torques during the operation. Using LabVIEW software, the PC software of this loading system has been designed in this article. Based on sine wave, square wave and some other waves, this paper focuses on the generation methods of bidirectional square wave and bidirectional triangle wave. The running performance fits the requirements well and the servo system can be effectively tested with the help of the designed simulation torque-loading system.

关键词： control engineering computing servomechanisms torque control

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Speed Regulation in 3D Robotic Walking through Motion Transitions between Human-Inspired Partial Hybrid Zero Dynamics

Speed Regulation in 3D Robotic Walking through Motion Transi...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Powell, Matthew J. Hereid, Ayonga Ames, Aaron D. Texas A&M Univ Dept Mech Engn College Stn TX 77843 USA

ISBN: (纸本)9781467356411;9781467356435

This paper employs the Human-Inspired control framework in the formal design, optimization and implementation of controllers for 3D bipedal robotic walking. In this framework, controllers drive the robot to a low-dimensional representation, termed the partial hybrid zero dynamics, which is shaped by the parameters of the outputs describing human locomotion data. The main result of this paper is the use of partial hybrid zero dynamics in an optimization problem to compute physical constraints on the robot, without integrating the dynamics of the system, and while simultaneously yielding provably stable walking controllers for a 3D robot model. controllers corresponding to various walking speeds are obtained through a second speed regulation optimization, and formal methods are presented which provide smooth transitions between walking speeds. These formal results are demonstrated through simulation and utilized to obtain 3D walking experimentally with the NAO robot.

关键词： control engineering computing legged locomotion motion control optimisation robot dynamics solid modelling stability velocity control

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ProTACD: A Generic Privacy Process for Vehicle Development

ProTACD: A Generic Privacy Process for Vehicle Development

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12th IEEE International Conference on Trust, Security and Privacy in computing and Communications (TrustCom)

作者： Asaj, Naim Schaub, Florian Mueter, Michael Held, Albert Weber, Michael Daimler AG Dep Infotainment & Telemat Res Ulm Germany Univ Ulm Inst Media Informat Ulm Germany

ISBN: (纸本)9780769550220

The growth in information technology and connectivity has enabled a significant range of new functionalities in modern automobiles, such as telematics wireless interfaces via Wi-Fi. At the same time, the protection of privacy is becoming a major concern and questions are being raised regarding the need for current privacy concepts to be extended or even replaced by integrative and structured privacy approaches. This might be necessary to uncover isolated and unexpected privacy threats, e. g., tracking of multiple in-car wireless sensors. We identify the key challenges for privacy enforcement in the vehicle's lifecycle and propose a generic, yet integrative, privacy process for vehicle development (ProTACD). The final decision to enforce and deploy privacy features in vehicular development requires several prerequisites to be provided by ProTACD. In this paper, we outline the phases and interactions of ProTACD, and discuss its general objectives and differences from other approaches.

关键词： automobiles control engineering computing data privacy wireless LAN

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Force-Position control for a Miniature Camera Robotic System for Single-Site Surgery

Force-Position Control for a Miniature Camera Robotic System...

引用

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

作者： Rivas-Blanco, I. Bauzano, E. Cuevas-Rodriguez, M. del Saz-Orozco, P. Munoz, V. F. Univ Malaga Dept Syst Engn & Automat E-29071 Malaga Spain

ISBN: (纸本)9781467363587

This paper describes the design and implementation of a robotic vision system for single-site surgery. The system is composed of a wireless miniature camera robot with magnetic pan and tilt capabilities, and an external robotic arm to guide the camera along the abdominal wall. The camera robot is provided with a set of magnets, and a magnetic holder is attached at the end effector of the manipulator. This way, the camera robot can be displaced to obtain additional viewpoints of the abdominal cavity by displacing the external manipulator. The first prototype of the camera robot with an embedded LED lighting system is described. To properly displace the robotic arm over the abdominal wall, a hybrid force-position control has been developed, which includes a torque compensation module in order to obtain an appropriate orientation of the end effector. The contact surface has been assumed to be an elastic model, which stiffness matrix is estimated with a recurrent least squares algorithm. Finally, an in-vitro experiment to validate the control scheme proposed is presented.

关键词： cameras control engineering computing end effectors force control least squares approximations lighting matrix algebra medical computing medical robotics micromanipulators position control robot vision surgery

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Thought-controlled robots - Systems, studies and future challenges

Thought-controlled robots - Systems, studies and future chal...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Finke, Andrea Hachmeister, Nils Riechmann, Hannes Ritter, Helge Univ Bielefeld CITEC D-33615 Bielefeld Germany

ISBN: (纸本)9781467356411;9781467356435

Brain-machine interfaces open a direct channel between a brain and a robot. This channel is commonly used to provide direct and active input to the robot, resulting in a tele-operation system. We argue in favor of a more passive brain-machine interface as a means for human-robot interaction. There, the brain signals of the human interaction partner are constantly monitored and decoded to detect particular states that correlate with events in the robot's behavior. Such a state can be surprise due to a strange or erroneous robot action. We review three studies that we conducted with our own EEG-based brain-robot interface framework. The interface is active, that is, we directly control humanoid robots in different application scenarios in a semi-autonomous manner. Our results show that automated and unconscious components in the EEG are the most robust and acceptable for the user. These are exactly the components that are useful for a passive interface. Finally, we present a pilot study where we extract correlates of human surprise from an interaction with a real humanoid robot. We show that, currently in offline analysis, we are able to extract similar components used in the structured, stimulus based active interfaces. We pinpoint the issues that need to be solved, such as a more reliable real-time decoding of brain signals from real-world interaction situations.

关键词： brain-computer interfaces control engineering computing electroencephalography human-robot interaction humanoid robots medical robotics medical signal processing telerobotics

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Decomposing CAD Models of Objects of Daily Use and Reasoning about their Functional Parts

Decomposing CAD Models of Objects of Daily Use and Reasoning...

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

作者： Tenorth, Moritz Profanter, Stefan Balint-Benczedi, Ferenc Beetz, Michael Univ Bremen Inst Artificial Intelligence D-28359 Bremen Germany Tech Univ Munich Munich Germany

ISBN: (纸本)9781467363587

Today's robots are still lacking comprehensive knowledge bases about objects and their properties. Yet, a lot of knowledge is required when performing manipulation tasks to identify abstract concepts like a "handle" or the "blade of a spatula" and to ground them into concrete coordinate frames that can be used to parametrize the robot's actions. In this paper, we present a system that enables robots to use CAD models of objects as a knowledge source and to perform logical inference about object components that have automatically been identified in these models. The system includes several algorithms for mesh segmentation and geometric primitive fitting which are integrated into the robot's knowledge base as procedural attachments to the semantic representation. Bottom-up segmentation methods are complemented by top-down, knowledge-based analysis of the identified components. The evaluation on a diverse set of object models, downloaded from the Internet, shows that the algorithms are able to reliably detect several kinds of object parts.

关键词： CAD control engineering computing inference mechanisms knowledge based systems knowledge representation manipulators service robots

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An Intelligent SA-Adaptive Interface to Aid Supervisory control of a UAV Swarm

An Intelligent SA-Adaptive Interface to Aid Supervisory Cont...

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11th IEEE International Conference on Industrial Informatics (INDIN)

作者： Fortmann, Florian Luedtke, Andreas OFFIS Inst Informat Technol Oldenburg Germany

ISBN: (纸本)9781479907526

Building and maintaining Situation Awareness (SA) during supervisory control of a swarm of highly automated Unmanned Aerial Vehicles (UAV) is a complex and visually demanding process, which is often affected by weak scanning behaviors of the human operators. As a consequence severe errors, such as incorrect decisions, are likely to occur. This paper presents an Intelligent SA-Adaptive Interface (ISAAI) for supervisory control of a UAV swarm, which aims at optimizing the scanning behavior of a human operator with regard to his/her actual SA-needs. Therefore, the ISAAI integrates an eye movement based technique to assess human operator SA during mission execution and a technique for guiding visual attention to relevant but unattended information.

关键词： autonomous aerial vehicles control engineering computing knowledge based systems multi-robot systems user interfaces

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