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检索条件"主题词=Control Engineering Computing"

共 1551 条记录，以下是651-660 订阅

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Rendering of Unfalsified PID Gain Sets for Parameter Space control Design

Rendering of Unfalsified PID Gain Sets for Parameter Space C...

引用

9th Asian control Conference (ASCC)

作者： Saeki, Masami Hiroshima Univ Dept Mech Syst Engn Higashihiroshima 7398527 Japan

ISBN: (纸本)9781467357692;9781467357678

In this paper, a new approach to the data-driven PID control design in parameter space is proposed. Namely, first, volume data of the PID gains that are falsified by a necessary condition for the maximum sensitivity constraint is calculated, and next it is visualized by volume rendering. Because of the recent development of parallel computation and GPU(graphics processing unit), rendering can be easily applied, and our main issue is how fast the volume data can be calculated by the parallel computation. We give an estimation method of the l(2) gain using a filter bank from a finite length response data, and this method is used for the volume data calculation at ten-thousand grid points. Efficiency and accuracy of our algorithm are examined by numerical experiments.

关键词： control engineering computing control system synthesis data visualisation estimation theory graphics processing units parallel processing rendering (computer graphics) three-term control

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SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands

SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and R...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Malvezzi, Monica Gioioso, Guido Salvietti, Gionata Prattichizzo, Domenico Bicchi, Antonio Univ Siena Dipartimento Ingn Informaz Via Roma 56 I-53100 Siena Italy Inst Italiano Technol Dept Adv Robot I-16163 Genoa Italy Univ Pisa Interdept Res Ctr E Piaggio I-56100 Pisa Italy

ISBN: (纸本)9781467356411;9781467356435

SynGrasp is a MATLAB toolbox developed for the analysis of grasping, suitable both for robotic and human hands. It includes functions for the definition of hand kinematic structure and of the contact points with a grasped object. The coupling between joints induced by an underactuated control can be modeled. The hand modeling allows to define compliance at the contact, joint and actuator levels. The provided analysis functions can be used to investigate the main grasp properties: controllable forces and object displacement, manipulability analysis, grasp quality measures. Functions for the graphical representation of the hand, the object and the main analysis results are provided.

关键词： control engineering computing manipulators mathematics computing robot kinematics

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Automatic Test Method for Noise Immunity of control System Based on Virtual Instrument

Automatic Test Method for Noise Immunity of Control System B...

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

作者： Wu Jun Xu Yi Li Long Li De-wen Huang Wen-jun Zhejiang Med Coll Network Ctr Hangzhou 310053 Zhejiang Peoples R China Zhejiang Univ Inst Cyber Syst & Control State Key Lab Ind Control Technol Hangzhou 310027 Peoples R China Zhejiang Supcon Technol Co Ltd Hangzhou 310053 Peoples R China

ISBN: (纸本)9781467347082;9781467347075

A noise immunity automatic test method for analog acquisition module of control system based on virtual instrument is proposed. The traditional method is too complicated and inefficient. This paper designs a set of efficient common and series mode noise immunity automatic test system based on virtual instrument. Through the programmable function of virtual instrument we develop test processes such as signal source input, disturbance exerting, data acquisition, data recording and dynamic analysis, and test report can be generated automatically. The experimental results show that the common and series mode noise immunity automatic test system based on virtual instrument can work continuously for a long time, and can do multi-channel parallel test, which significantly improves the test efficiency.

关键词： automatic testing control engineering computing data acquisition noise measurement virtual instrumentation

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Evaluating the Impact of Perception and Decision Timing on Autonomous Robotic Exploration

Evaluating the Impact of Perception and Decision Timing on A...

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6th European Conference on Mobile Robots (ECMR)

作者： Amigoni, Francesco Li, Alberto Quattrini Holz, Dirk Politecn Milan Dipartimento Elettron Informaz & Bioingn I-20133 Milan Italy Univ Bonn Autonomous Intelligent Syst Grp Bonn Germany

ISBN: (纸本)9781479902637

Autonomous robotic exploration of initially unknown environments is at the basis of several applications, including map building and search and rescue. Despite the many recent works on robotic exploration, an issue that has not been adequately addressed in the literature so far is the evaluation of the impact of the perception (for map update) and decision (about where to go next) timing on the behavior of an exploring robotic system. In this paper, we contribute to fill this gap by providing a quantitative experimental analysis of how frequencies of perception and decision influence the performance of an exploring mobile robot. Results, obtained with an experimental simulation framework (implemented and made publicly available) based on ROS and Stage, confirm the intuitive idea that the best performance is obtained with fast-paced perceptions and decisions, but also suggest some trade-offs for the values of perception and decision frequencies in some settings.

关键词： control engineering computing intelligent robots mobile robots

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A Methodology for Model-based Development and Automated Verification of Software for Aerospace Systemsd

A Methodology for Model-based Development and Automated Veri...

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IEEE Aerospace Conference

作者： Maertin, Lukas Schatalov, Maxim Hagner, Matthias Goltz, Ursula Maibaum, Olaf TU Braunschweig Inst Programming & React Syst D-38106 Braunschweig Germany German Aerosp Ctr Simulat & Software Technol D-38108 Braunschweig Germany

ISBN: (纸本)9781467318112

Today's software for aerospace systems typically is very complex. This is due to the increasing number of features as well as the high demand for safety, reliability, and quality. This complexity also leads to significant higher software development costs. To handle the software complexity, a structured development process is necessary. Additionally, compliance with relevant standards for quality assurance is a mandatory concern. To assure high software quality, techniques for verification are necessary. Besides traditional techniques like testing, automated verification techniques like model checking become more popular. The latter examine the whole state space and, consequently, result in a full test coverage. Nevertheless, despite the obvious advantages, this technique is rarely yet used for the development of aerospace systems. In this paper, we propose a tool-supported methodology for the development and formal verification of safety-critical software in the aerospace domain. The methodology relies on the V-Model and defines a comprehensive work flow for model-based software development as well as automated verification in compliance to the European standard series ECSS-E-ST-40C. Furthermore, our methodology supports the generation and deployment of code. For tool support we use the tool SCADE Suite (Esterel Technology), an integrated design environment that covers all the requirements for our methodology. The SCADE Suite is well established in avionics and defense, rail transportation, energy and heavy equipment industries. For evaluation purposes, we apply our approach to an up-to-date case study of the TET-1 satellite bus. In particular, the attitude and orbit control software is considered. The behavioral models for the subsystem are developed, formally verified, and optimized.

关键词： aerospace computing aerospace safety attitude control control engineering computing formal verification

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Rigid body pose and twist scene graph founded on geometric relations semantics for robotic applications

Rigid body pose and twist scene graph founded on geometric r...

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

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

ISBN: (纸本)9781467363587

This paper presents a scene graph for geometric relations between rigid bodies that keeps track of poses and twists of rigid bodies in the scene. The scene graph relies on semantic pose and twist representation, making it invariant to the actual coordinate representation at hand. This makes the scene graph more general and interoperable than most scene graphs currently available. The presented scene graph takes into account constraints imposed by particular coordinate representations, allows for constant poses, answers semantic pose and twist queries, and provides built-in semantic consistency checks. Since the scene graph also keeps track of the twist, it allows native twist calculations, as opposed to deriving the velocities from the poses in the graph. This paper comes with software released under a dual BSD/LGPLv2.1 license.

关键词： control engineering computing data structures robot programming

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Test Setup for Multi-finger Gripper control based on Robot Operating System (ROS)

Test Setup for Multi-finger Gripper Control based on Robot O...

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9th International Workshop on Robot Motion and control (RoMoCo)

作者： Zubrycki, Igor Granosik, Grzegorz Lodz Univ Technol Lodz Poland

ISBN: (纸本)9781467355100;9781467355117

This paper presents the concept for a test setup to prototype control algorithms for a multi-finger gripper. The human-robot interface has to provide enough degrees of freedom (DOF) to intuitively control advanced gripper and to accomplish this task a simple sensor glove equipped with flex and force sensors has been prepared for this project. The software architecture has to support both real hardware and simulation, as well as flexible communication standards, therefore, ROS architecture was employed in this matter. Paper presents some preliminary results for using sensor glove and simulated model of the three finger gripper.

关键词： control engineering computing data gloves dexterous manipulators force sensors grippers human-robot interaction operating systems (computers) software architecture

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Intelligent Mobile Robots Cooperation within A Tasks Oriented Environment

Intelligent Mobile Robots Cooperation within A Tasks Oriente...

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14th IEEE International Symposium on Computational Intelligence and Informatics (CINTI)

作者： Panfir, Alina Ninett Boboc, Razvan Gabriel Mogan, Gheorghe Transilvania Univ Brasov Dept Automot & Transport Engn Brasov Romania

ISBN: (纸本)9781479901944;9781479901975

This article describes the architecture of a system that assigns operation tasks to a team of mobile robots. The purpose of the system is the execution of a complex set of operations by a cooperative team of robots. The framework includes a simple and friendly interface that uses a WWW navigator. The robot team is equipped with a different set of capacities. Each individual robot is developed having its own elementary set of tasks that can be executed. Even so, the robots are not able to execute a complex operation independently, this being the reason for witch this assign manager system was implemented, using a database as support. The database contains all the necessary information in order to perform complex operations.

关键词： control engineering computing database management systems human-robot interaction intelligent robots mobile robots multi-robot systems path planning software architecture

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Autonomous Evasive Maneuvers Triggered by Infrastructure-Based Detection of Pedestrian Intentions

Autonomous Evasive Maneuvers Triggered by Infrastructure-Bas...

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IEEE Intelligent Vehicles Symposium

作者： Koehler, Sebastian Schreiner, Brian Ronalter, Steffen Doll, Konrad Brunsmann, Ulrich Zindler, Klaus Univ Appl Sci Aschaffenburg Fac Engn Aschaffenburg Germany

ISBN: (纸本)9781467327541

We present an active pedestrian protection system that performs an autonomous lane-keeping evasive maneuver in urban traffic scenarios when collision avoidance by braking is no longer possible. The system focuses on pedestrians standing at the curb and intending to cross the street despite an approaching car. It is demonstrated that the evasive maneuver of the car can be initiated before the pedestrian's foot hits the lane, by means of video-based motion contour histograms of oriented gradients and stationary detection. Using clothoid-based real-time trajectory planning and a lateral control of the car, combining feedforward and feedback control, the difference between the driven and the calculated trajectories is kept below 10 cm at maximum lateral accelerations of 4 ms(-2) and -5 ms(-2). We present the technical realization of the system and its precision with respect to intention recognition and driven trajectories. A case study showed that the system reacted faster than human drivers in five out of 11 cases, with an average time gain of 214 ms, even though the drivers were able to pay the utmost attention to the behavior of the crossing pedestrian.

关键词： automobiles collision avoidance control engineering computing feedback feedforward gradient methods image motion analysis object detection pedestrians road safety road traffic control traffic engineering computing video signal processing

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Multi-Process control Software for HUBO2 Plus Robot

Multi-Process Control Software for HUBO2 Plus Robot

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Grey, M. X. Dantam, Neil Lofaro, Daniel M. Bobick, Aaron Egerstedt, Magnus Oh, Paul Stilman, Mike Georgia Inst Technol Atlanta GA 30332 USA

ISBN: (纸本)9781467362252;9781467362238

Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot.

关键词： control engineering computing humanoid robots software architecture software reliability

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