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检索条件"主题词=Control Engineering Computing"

共 1546 条记录，以下是661-670 订阅

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Task control with Remote Center of Motion Constraint for Minimally Invasive Robotic Surgery

Task Control with Remote Center of Motion Constraint for Min...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Aghakhani, Nastaran Geravand, Milad Shahriari, Navid Vendittelli, Marilena Oriolo, Giuseppe Univ Roma La Sapienza Dipartimento Ingn Informat Automat & Gest I-00185 Rome Italy

ISBN: (纸本)9781467356411;9781467356435

Minimally invasive surgery assisted by robots is characterized by the restriction of feasible motions of the manipulator link constrained to move through the entry port to the patient's body. In particular, the link is only allowed to translate along its axis and rotate about the entry point. This requires constraining the manipulator motion with respect to a point known as Remote Center of Motion (RCM). The achievement of any surgical task inside the patient's body must take into account this constraint. In this paper we provide a new, general characterization of the RCM constraint useful for task control in the minimally invasive robotic surgery context. To show the effectiveness of our formalization, we consider first a visual task for a manipulator with 6 degrees of freedom holding an endoscopic camera and derive the kinematic control law allowing to achieve the visual task while satisfying the RCM constraint. An example of application of the proposed kinematic modeling to a motion planning problem for a 9 degrees of freedom manipulator with assigned path for the surgical tool is then proposed to illustrate the generality of the approach.

关键词： cameras control engineering computing endoscopes manipulator kinematics manipulators medical computing medical robotics path planning robot vision surgery

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Stereo Vision based indoor/outdoor Navigation for Flying Robots

Stereo Vision based indoor/outdoor Navigation for Flying Rob...

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

作者： Schmid, Korbinian Tomic, Teodor Ruess, Felix Hirschmueller, Heiko Suppa, Michael German Aerosp Ctr DLR Robot & Mech Ctr RMC Dept Percept & Cognit Munchner Str 20 D-82234 Wessling Germany

ISBN: (纸本)9781467363587

We introduce our new quadrotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Autonomous waypoint navigation, obstacle avoidance and flight control is implemented on-board. The system does not require a special environment, artificial markers or an external reference system. We developed a monolithic, mechanically damped perception unit which is equipped with a stereo camera pair, an Inertial Measurement Unit (IMU), two processor-and an FPGA board. Stereo images are processed on the FPGA by the Semi-Global Matching algorithm. Keyframe-based stereo odometry is fused with IMU data compensating for time delays that are induced by the vision pipeline. The system state estimate is used for control and on-board 3D mapping. An operator can set waypoints in the map, while the quadrotor autonomously plans its path avoiding obstacles. We show experiments with the quadrotor flying from inside a building to the outside and vice versa, traversing a window and a door respectively. A video of the experiments is part of this work. To the best of our knowledge, this is the first autonomously flying system with complete on-board processing that performs waypoint navigation with obstacle avoidance in geometrically unconstrained, complex indoor/outdoor environments.

关键词： aerospace computing aerospace control aerospace robotics cameras collision avoidance control engineering computing field programmable gate arrays image fusion image matching robot vision state estimation stereo image processing

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EVANS 3: Home Appliance control System with Appliance Authentication Framework Using Augmented Reality Technology

EVANS 3: Home Appliance Control System with Appliance Authen...

引用

10th IEEE Consumer Communications and Networking Conference (CCNC)

作者： Mihara, Shinya Kawai, Kohei Shimada, Hideki Sato, Kenya Doshisha Univ Dept Informat Syst Design Kyotanabe Kyoto 6100321 Japan

ISBN: (纸本)9781467331333;9781467347358

The popularity of home appliances continues to increase that can interconnect with other appliances through networks. For users who want to identify the network home appliances they want to operate, their operation is complex and difficult since their locations are not represented within the operating system. We propose Embodied Visualization with Augmented Reality for Networked System 3 (EVANS 3) to solve operation problems with obvious and intuitive controls by implementing augmented reality (AR) technology. We implemented our proposed LED Marker instead of the use of graphical images (image markers) as the AR markers to identify the network home appliance's location at any distant and altering light environments. By dynamically operating LED Markers, we can achieve a comfortable and effective appliance authentication environment for suitable operating conditions.

关键词： augmented reality control engineering computing data visualisation home automation home networks light emitting diodes networked control systems

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Tool-Assisted Verification of Behaviour Networks

Tool-Assisted Verification of Behaviour Networks

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Armbrust, Christopher Kiekbusch, Lisa Ropertz, Thorsten Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab D-67653 Kaiserslautern Germany

ISBN: (纸本)9781467356411;9781467356435

This paper deals with the problem of assisting developers when verifying properties of complex behaviour-based systems. A central aspect of behaviour-based systems is the interaction between the behaviours, as a lot of the functionality of a system typically arises from this interaction. Hence, verification has to deal with the specialities of behaviour interaction. Previous work has introduced a concept for modelling behaviour-based systems as networks of finite-state automata and for applying model checking as verification technique. As the manual verification of large networks is tedious and error-prone, the work at hand introduces a concept for assisting developers by partly automating the verification process. The applicability of the presented approach is demonstrated using the behaviour-based control system of an autonomous bucket excavator.

关键词： control engineering computing finite state machines formal verification graphical user interfaces robots

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Visual Servoing for the REEM Humanoid Robot's Upper Body

Visual Servoing for the REEM Humanoid Robot's Upper Body

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Agravante, Don Joven Pages, Jordi Chaumette, Francois Heriot Watt Univ Edinburgh EH14 4AS Midlothian Scotland PAL Robot SL Barcelona Spain INRIA Rennes Bretagne Atlantique Rennes France

ISBN: (纸本)9781467356411;9781467356435

In this paper, a framework for visual servo control of a humanoid robot's upper body is presented. The framework is then implemented and tested on the REEM humanoid robot. The implementation is composed of 2 controllers - a head gaze control and a hand position control. The main application is precise manipulation tasks using the hand. For this, the hand controller takes top priority. The head controller is designed to keep both the hand and object in the eye field of view. For robustness, a secondary task of joint limit avoidance is implemented using the redundancy framework and a large projection operator proposed recently. For safety, joint velocity scaling is implemented. The implementation on REEM is done using the ROS and ViSP middleware. The results presented show simulations on Gazebo and experiments on the real robot. Furthermore, results with the real robot show how visual servoing is able to overcome some deficiency in REEM's kinematic calibration.

关键词： control engineering computing humanoid robots middleware operating systems (computers) position control robot vision visual servoing

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An Efficient Periodic Resource Supply Model for Workloads with Transient Overloads

An Efficient Periodic Resource Supply Model for Workloads wi...

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25th Euromicro Conference on Real-Time Systems (ECRTS)

作者： Azim, Akramul Sundaram, Shreyas Fischmeister, Sebastian Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada

ISBN: (纸本)9780769550541

Real-time applications have deadline constraints. The system should provision sufficient resources for the application to meet the deadlines, and use supply and demand bound functions to analyze the schedulability of workloads. The concept of the demand bound function describes the upper bound on the resources required by the application, while the supply-bound function specifies the lower bound on the resources supplied to the tasks. If the system provides fewer resources than required, the application will experience an overload. Most work concentrates on designing systems that cannot experience short periods of overloads. This work explores resource provisioning for control applications that can tolerate overloads. It introduces analysis techniques for supply and demand bound functions that specifically consider overloads and delays in a periodic resource model. With this extended model, the work addresses three problems: (1) determine the worst-case delay for a given resource demand and supply under a periodic resource model, (2) find a periodic resource supply for a given workload and worst-case tolerable delay, and (3) for a control system with a given robustness criterion, identify a periodic resource supply with a worst-case delay.

关键词： control engineering computing delays resource allocation robust control

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A Vision and GPS-Based Real-Time Trajectory Planning for MAV in Unknown Urban Environments

A Vision and GPS-Based Real-Time Trajectory Planning for MAV...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Flores, Gerardo Zhou, Shuting Lozano, Rogelio Castillo, Pedro Univ Technol Compiegne Heudiasyc UMR Lab 6599 Compiegne France

ISBN: (纸本)9781479908172;9781479908158

This paper addresses the issue of real-time optimal trajectory generation of a micro Air Vehicle (MAV) in unknown urban environments. The MAV is required to navigate from an initial and outdoor position to a final position inside a building. To achieve this objective, we develop a safe path planning method using the information provided by the GPS and a consumer depth camera. With the purpose to develop a safe path planning with obstacle avoidance capabilities, a model predictive control approach is developed, which uses the environment information acquired by the navigation system.

关键词： Global Positioning System aerospace computing autonomous aerial vehicles cameras collision avoidance control engineering computing predictive control robot vision trajectory control

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control of a High-Speed Nanopositioner for Lissajous-scan Video-rate AFM 3rd

Control of a High-Speed Nanopositioner for Lissajous-scan Vi...

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3rd Australian control Conference (AUCC)

作者： Yong, Yuen Kuan Bazaei, Ali Moheimani, S. O. Reza Univ Newcastle Australia Sch Elect Engn & Comp Sci Callaghan NSW 2308 Australia

ISBN: (纸本)9781479924981;9781479924974

Conventionally, raster-based trajectory is used in atomic force microscopy (AFM) for scanning applications. A triangle reference, which is one of the two input signals used to construct the raster trajectory, contains high order harmonics of its fundamental frequency that can excite the mechanical resonant modes of a nanopositioner. To achieve video-rate scanning, high-bandwidth nanopositioners with lateral dominant modes above 20 kHz are often required when using the raster-pattern in order to avoid vibrations. In this paper, we achieve video-rate scanning on a 11.3-kHz nanopositioner using a smooth scan trajectory known as Lissajous-scan pattern. The Lissajous trajectory can be constructed by tracking two monotonic sinusoidal waveforms on the lateral axes of the nanopositioner. Using the internal model (IM) controllers, good tracking performance of 2-kHz sinusoids was achieved. High-quality AFM images of a calibration specimen were successfully recorded at 18 frames/s using the proposed Lissajous trajectory and control strategies.

关键词： atomic force microscopy computerised instrumentation control engineering computing harmonic analysis nanopositioning vibration control

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FPGA Implementation of a Sequential Extended Kalman Filter Algorithm Applied to Mobile Robotics Localization Problem

FPGA Implementation of a Sequential Extended Kalman Filter A...

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IEEE 4th Latin American Symposium on Circuits and Systems (LASCAS)

作者： Cruz, Sergio Munoz, Daniel M. Conde, Milton Llanos, Carlos H. Borges, Geovany A. Univ Brasilia Dept Mech Engn BR-70910900 Brasilia DF Brazil

ISBN: (纸本)9781424494859;9781467348973

This work describes a hardware architecture for implementing a sequential approach of the Extended Kalman Filter (EKF) that is suitable for mobile robotics tasks, such as self-localization, mapping, and navigation problems. As such algorithm is computationally intensive, commonly it is implemented in Personal Computer (PC)-based platform to be employed on larger robots. In order to allow the development of small robotic platforms, as those required in many current state of the art research (for instance microrobotics area), small size, low-power and high floating-point computing capability targets are required, as well as specific architectures designed for them. Thus, the proposed architecture has been achieved, for self-localization task, using floating-point arithmetic operators (in simple precision), allowing the fusion of data coming from different sensors such as ultrasonic (Sonar) and Laser Range Finder (LRF). The system has been adapted for achieving a reconfigurable platform, and applied to a Pioneer 3-AT mobile robot.

关键词： Kalman filters control engineering computing field programmable gate arrays floating point arithmetic laser ranging mobile robots ultrasonic devices

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Reducing Failure Rates of Robotic Systems though Inferred Invariants Monitoring

Reducing Failure Rates of Robotic Systems though Inferred In...

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

作者： Jiang, Hengle Elbaum, Sebastian Detweiler, Carrick Univ Nebraska Dept Comp Sci & Engn Lincoln NE 68588 USA

ISBN: (纸本)9781467363587

System monitoring can help to detect abnormalities and avoid failures. Crafting monitors for today's robotic systems, however, can be very difficult due to the systems' inherent complexity. In this work we address this challenge through an approach that automatically infers system invariants and synthesizes those invariants into monitors. The approach is novel in that it derives invariants by observing the messages passed between system nodes and the invariants types are tailored to match the spatial, temporal, and operational attributes of robotic systems. Further, the generated monitor can be seamlessly integrated into systems built on top of publish-subscribe architectures. An application of the technique on a system consisting of a unmanned aerial vehicle (UAV) landing on a moving platform shows that it can significantly reduce the number of crashes in unexpected landing scenarios.

关键词： autonomous aerial vehicles control engineering computing message passing middleware

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