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检索条件"主题词=Control Engineering Computing"

共 1546 条记录，以下是731-740 订阅

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On Synthesis and Verification from Event Diagrams in a Robot Theatre Application

On Synthesis and Verification from Event Diagrams in a Robot...

引用

IEEE 43rd International Symposium on Multiple-Valued Logic (ISMVL)

作者： Perkowski, Marek Bhutada, Aditya Lukac, Martin Sunardi, Mathias Portland State Univ Dept Elect & Comp Engn Portland OR 97207 USA

ISBN: (纸本)9781467360678;9780769549767

We present a new type of expressions called Event Expressions (EE), and diagrams called Event Diagrams (ED), that are used to describe robot behaviors (motions). These diagrams are very general and include operators from many known representations, such as Regular Expressions, Boolean and Fuzzy Logic plus many new operators. Most importantly, EDs create probability operator counterparts for all these deterministic operators. They can be used for event acceptance or event generation. The diagrams are intended to simulate robot controllers and verify their correctness and properties.

关键词： control engineering computing formal verification mobile robots probability

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Design and System Identification of a Micro Coaxial Helicopter Testbed

Design and System Identification of a Micro Coaxial Helicopt...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Mechatronics for Human Wellbeing

作者： Robinson, D. C. Doherty, E. Tsai, S. Chung, H. Monash Univ Fac Engn Melbourne Vic 3004 Australia

ISBN: (纸本)9781467353205

This paper outlines design and system identification of a micro coaxial helicopter testbed. A commercially available micro coaxial helicopter is modified to include on-board avionics that enable realtime inertial measurements, multi-channel servo control, and bidirectional communication with a basestation computer. Recorded input-output flight data is used to identify the helicopter's attitude dynamics at the hovering condition in both time and frequency-domains, which are modelled as a parametrised MIMO linear time-invariant system. The fidelity of the identified dynamic models is validated by various residual analyses, and the identified parameters are compared with those of single-rotor helicopters from existing literature. The comparison shows that the newly identified models reveal inherent dynamic characteristics of the micro coaxial helicopter testbed. The identified models will serve as the basis for future design of model-based controllers and aerodynamic disturbance estimation.

关键词： MIMO systems aerodynamics aircraft control autonomous aerial vehicles avionics control engineering computing design engineering helicopters linear systems rotors servomechanisms time-frequency analysis

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Enhancing Surgical Accuracy Using Virtual Fixtures and Motion Compensation in Robotic Beating Heart Surgery

Enhancing Surgical Accuracy Using Virtual Fixtures and Motio...

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21st Mediterranean Conference on control and Automation (MED)

作者： Moustris, G. P. Mantelos, A. I. Tzafestas, C. S. Natl Tech Univ Athens Intelligent Robot & Automat Lab Sch Elect & Comp Engn GR-15773 Athens Greece

ISBN: (纸本)9781479909957;9781479909971

This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using a trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.

关键词： control engineering computing medical computing medical robotics motion compensation robot vision surgery virtual reality

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Acquiring Visual Servoing Reaching and Grasping Skills using Neural Reinforcement Learning

Acquiring Visual Servoing Reaching and Grasping Skills using...

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International Joint Conference on Neural Networks (IJCNN)

作者： Lampe, Thomas Riedmiller, Martin Univ Freiburg Fac Engn Dept Comp Sci Machine Learning Lab D-79110 Freiburg Germany

ISBN: (纸本)9781467361293;9781467361286

In this work we present a reinforcement learning system for autonomous reaching and grasping using visual servoing with a robotic arm. control is realized in a visual feedback control loop, making it both reactive and robust to noise. The controller is learned from scratch by success or failure without adding information about the task's solution. All of the system's major components are implemented as neural networks. The system is applied to solving a combined reaching and grasping task involving uncertainty directly on a real robotic platform. Its main parts and the conditions for their successful interoperation are described. It will be shown that even with minimal prior knowledge, the system can learn in a short amount of time to reliably perform its task. Furthermore, we describe the control system's ability to react to changes and errors.

关键词： control engineering computing feedback learning (artificial intelligence) neurocontrollers robot vision visual servoing

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OctoSLAM: A 3D Mapping Approach to Situational Awareness of Unmanned Aerial Vehicles

OctoSLAM: A 3D Mapping Approach to Situational Awareness of ...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Fossel, Joscha Hennes, Daniel Claes, Daniel Alers, Sjriek Tuyls, Karl Maastricht Univ Dept Knowledge Engn Maastricht Netherlands

ISBN: (纸本)9781479908172;9781479908158

The focus of this paper is on situational awareness of airborne agents capable of 6D motion, in particular multi-rotor UAVs. We propose the fusion of 2D laser range finder, altitude, and attitude sensor data in order to perform simultaneous localization and mapping (SLAM) indoors. In contrast to other planar 2D laser range finder based SLAM approaches, we perform SLAM on a 3D instead of a 2D map. To represent the 3D environment an octree based map is used. Our scan registration algorithm is derived from Hector SLAM. We evaluate the performance of our system in simulation and on a real multirotor UAV equipped with a 2D laser range finder, inertial measurement unit, and altitude sensor. The results show significant improvement in the localization and representation accuracy over current 2D map SLAM methods. The system is implemented using Willow Garage's robot operating system.

关键词： SLAM (robots) attitude control autonomous aerial vehicles control engineering computing laser ranging motion control octrees operating systems (computers) robot programming sensors solid modelling

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Model-Based and Model-Free Approaches for Postural control of a Compliant Humanoid Robot using Optical Flow 13

Model-Based and Model-Free Approaches for Postural Control o...

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

作者： Gay, Sebastien van den Kieboom, Jesse Santos-Victor, Jose Ijspeert, Auke Jan Ecole Polytech Fed Lausanne Biorobot Lab CH-1015 Lausanne Switzerland Inst Super Tecn Inst Syst & Robot VisLab Lisbon Portugal

ISBN: (纸本)9781479926190

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under-used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of the COMAN compliant humanoid robot standing on a moving platform. The model-based approach uses inverse kinematics, while the model-free one relies on a neural network as mapping between sensors and actuators. The sensory information is composed of proprioceptive cues ( gyroscope) and visual cues, used separately or together. We present methods of using vision as sensory input without relying on a particular object or feature of the scene, but only on the optical flow. The performance of both approaches are compared systematically in a realistic robotics simulator, for different movements of the platform and using different sensory cues. We aim to see if vision can replace proprioceptive sensors or be fused with them to improve the performance of the stabilizing controller. While both model-based and model-free approaches successfully stabilize the robot, the model-free approach shows better overall performance. Preliminary results on the real COMAN robot are shown.

关键词： compliance control control engineering computing humanoid robots image motion analysis image sequences mechanical engineering computing neural nets robot kinematics robot vision stability COMAN compliant humanoid robot stability compliant humanoid robot postural control gyroscope inverse kinematics model-based approaches model-free approaches neural network optical flow proprioceptive cues proprioceptive sensors sensory cues stabilizing controller visual cues Cameras Joints Optical imaging Optical sensors Robot kinematics Robot sensing systems Robot kinematics Humanoid robots Neural network Optic Flow mechanical engineering computing inverse kinematics control engineering computing Manipulator sensing systems compliance control image motion analysis Gyroscopes robot vision optical sensors image sequences Optical Imaging

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Configurable Real-Time Simulation Suite for Coaxial Rotor UAVs

Configurable Real-Time Simulation Suite for Coaxial Rotor UA...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Huerzeler, Christoph Alexis, Kostas Siegwart, Roland Swiss Fed Inst Technol ASL CH-8092 Zurich Switzerland

ISBN: (纸本)9781467356411;9781467356435

This paper describes an accurate and extendable rotorcraft dynamics simulator developed to support the design and control of autonomous coaxial rotor vehicles. This simulator is capable of accurately predicting the dynamic flight response of coaxial rotor vehicles purely based on geometric, inertial and aerodynamic specifications. The simulator is fully configurable and implements the typical mechanical layouts found in model-size coaxial helicopters. The corresponding software framework as well as the underlying theory is presented in detail. System parameters for a coaxial rotor prototype have been estimated and the resulting simulation results compared with real flight-data demonstrating the capabilities of the presented simulation software.

关键词： aerospace computing aerospace simulation autonomous aerial vehicles control engineering computing robot dynamics

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Development of a Stereo Vision Measurement Architecture for an Underwater Robot

Development of a Stereo Vision Measurement Architecture for ...

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

作者： Sanchez-Ferreira, Camilo Mori, Jones Y. Llanos, Carlos H. Fortaleza, Eugenio Univ Brasilia Dept Mech Engn Brasilia DF Brazil

ISBN: (纸本)9781424494859;9781467348973

Underwater robotics tasks are considered very critical, mainly because of the hazardous environment. The embedded systems for this kind of robots should be robust and fault-tolerant. This paper describes the development of a system for embedded stereo vision in real-time, using a hardware/software co-design approach. The system is capable to detect an object and measure the distance between the object and the cameras. The platform uses two CMOS cameras, a development board with a low-cost FPGA, and a display for visualizing images. Each camera provides a pixel-clock, which are used to synchronize the processing architectures inside the FPGA. For each camera a hardware architecture has been implemented for detecting objects, using a background subtraction algorithm. Whenever an object is detected, its center of mass is calculated in both images, using another hardware architecture to do that. The coordinates of the object center in each image are sent to a soft-processor, which computes the disparity and determines the distance from the object to the cameras. A calibration procedure gives to the soft-processor the capability of computing both disparities and distances. The synthesis tool used (Altera Quartus II) estimates that the system consumes U5.25m W and achieves a throughput of 26.56 frames per second (800x480 pixels). These synthesis and the operation results have shown that the implemented system is useful to real-time distance measurements achieving a good precision and an adequate throughput, being suitable for real-time critical operation.

关键词： CMOS image sensors autonomous underwater vehicles control engineering computing display devices embedded systems field programmable gate arrays hardware-software codesign robot vision stereo image processing

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Motion and Action Planning under LTL Specifications using Navigation Functions and Action Description Language

Motion and Action Planning under LTL Specifications using Na...

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

作者： Guo, Meng Johansson, Karl H. Dimarogonas, Dimos V. KTH Royal Inst Technol ACCESS Linnaeus Ctr Sch Elect Engn SE-10044 Stockholm Sweden

ISBN: (纸本)9781467363587

We propose a novel framework to combine model-checking-based motion planning with action planning using action description languages, aiming to tackle task specifications given as Linear Temporal Logic (LTL) formulas. The specifications implicitly require both sequential regions to visit and the desired actions to perform at these regions. The robot's motion is abstracted based on sphere regions of interest in the workspace and the structure of navigation function(NF)-based controllers, while the robot's action map is constructed based on precondition and effect functions associated with the actions. An optimal planner is designed that generates the discrete motion-and-action plan fulfilling the specification, as well as the low-level hybrid controllers that implement this plan. The whole framework is demonstrated by a case study.

关键词： control engineering computing formal specification path planning temporal logic

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Decentralized control Strategy for the Implementation of Cooperative Dynamic Behaviors in Networked Systems

Decentralized Control Strategy for the Implementation of Coo...

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

作者： Cocetti, Matteo Sabattini, Lorenzo Secchi, Cristian Fantuzzi, Cesare Univ Trento 6 Trento Italy

ISBN: (纸本)9781467363587

Decentralized control of networked systems has been widely investigated in the literature, with the aim of obtaining coordinated emerging behaviors (e. g. synchronization, swarming, coverage, formation control) by means of local interaction. In this paper we consider the possibility of injecting external inputs into the networked system, in order to obtain more complex cooperative behaviors. Specifically, we introduce a strategy that makes it possible to control the overall state of the networked system by directly controlling only a subset of the networked agents, namely the leaders. Exploiting local interaction rules, it is possible to define the inputs for the leaders in such a way that each follower is forced to track a desired periodic setpoint.

关键词： control engineering computing decentralised control multi-robot systems networked control systems position control

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