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检索条件"主题词=Control Engineering Computing"

共 1546 条记录，以下是801-810 订阅

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Applying statistical generalization to determine search direction for reinforcement learning of movement primitives

Applying statistical generalization to determine search dire...

引用

12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Nemec, Bojan Forte, Denis Vuga, Rok Tamosiunaite, Minija Woergoetter, Florentin Ude, Ales Jozef Stefan Inst Dept Automat Biocybernet & Robot Ljubljana Slovenia Bernstein Ctr Computat Neurosci Gottingen Germany

ISBN: (纸本)9781467313698

In this paper we present a new methodology for robot learning that combines ideas from statistical generalization and reinforcement learning. First we apply statistical generalization to compute an approximation for the optimal control policy as defined by training movements that solve the given task in a number of specific situations. This way we obtain a manifold of movements, which dimensionality is usually much smaller than the dimensionality of a full space of movement primitives. Next we refine the policy by means of reinforcement learning on the approximating manifold, which results in a learning problem constrained to the low dimensional manifold. We show that in some situations, learning on the low dimensional manifold can be implemented as an error learning algorithm. We apply golden section search to refine the control policy. Furthermore, we propose a reinforcement learning algorithm with an extended parameter set, which combines learning in constrained domain with learning in full space of parametric movement primitives, which makes it possible to explore actions outside of the initial approximating manifold. The proposed approach was tested for learning of pouring action both in simulation and on a real robot.

关键词： approximation theory control engineering computing intelligent robots learning (artificial intelligence) mobile robots optimal control statistical analysis

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Generation of multiplatform control for transitic systems using a component-based approach

Generation of multiplatform control for transitic systems us...

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17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Bevan, Romain Berruet, Pascal de lamotte, Florent Adam, Mickael Cardin, Olivier Castagna, Pierre Univ Bretagne Sud UEB CNRS Lab STICCUMR 3192 BP 92116 F-56321 Lorient France LUNAM Univ IUT Nantes Univ Nantes IRCCyN CNRS UMR 6597 F-44475 Carquefou France

ISBN: (纸本)9781467347372;9781467347358

Transitic systems are typically conveying systems used to transport parcels/products. The design of these systems is more and more complex due to flow and speed increase which pose hardware and software problems. The control engineers, who master the logic of control systems, also have to adapt themselves to the type of hardware already present at the customer ( PLC) without necessarily mastering their programming. In the current logic of time-tomarket reduction, these designers have to design the control of the systems more and more quickly without denying the Quality. To overcome these challenges, this paper presents a design flow which automates the generation of multiplatform control for the transitic systems. Based on model driven engineering and using a component approach, it has been implemented in a tool. We present the specificities of Straton and Unity generations and analyze the cost of adding a new platform.

关键词： control engineering computing conveyors production control programmable controllers time to market

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Robust and Efficient Communication for Real-Time Multi-Process Robot Software

Robust and Efficient Communication for Real-Time Multi-Proce...

引用

12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Dantam, Neil Stilman, Mike Georgia Inst Technol Intelligent Machines Ctr Dept Interact Comp Atlanta GA 30332 USA

ISBN: (纸本)9781467313698

We present a new Interprocess Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating drivers, controllers, and algorithms in complex robotic systems such as humanoid robots. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems, and we discuss the implementation on our humanoid robot Golem Krang. Finally, the source code for Ach is available under an Open Source permissive license.

关键词： control engineering computing humanoid robots multiprocessing systems public domain software real-time systems robot programming

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Things Are Made for What They Are: Solving Manipulation Tasks by Using Functional Object Classes

Things Are Made for What They Are: Solving Manipulation Task...

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12th IEEE-RAS International Conference on Humanoid Robots (Humanoids)

作者： Leidner, Daniel Borst, Christoph Hirzinger, Gerd DLR German Aerosp Ctr Inst Robot & Mechatron Wessling Germany

ISBN: (纸本)9781467313698

Solving arbitrary manipulation tasks is a key feature for humanoid service robots. However, especially when tasks involve handling complex mechanisms or using tools, a generic action description is hard to define. Different objects require different handling methods. Therefore, we try to solve manipulation tasks from point of view of the object, rather than in the context of the robot. Action templates within the object context are introduced to resolve object specific task constraints. As part of a centralized world representation, the action templates are integrated into the planning process. This results in an intuitive way of solving manipulation tasks. The underlying architecture as well as the mechanisms are discussed within this paper. The proposed methods are evaluated in two experiments.

关键词： control engineering computing human-robot interaction humanoid robots manipulators path planning

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Comparison of a transformed Matlab/Simulink model into the programming language CFC on different IEC 61131-3 PLC environments

Comparison of a transformed Matlab/Simulink model into the p...

引用

17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Bayrak, Guelden Murr, Patrik J. Ulewicz, Sebastian Vogel-Heuser, Birgit Tech Univ Munich Chair Automat & Informat Syst D-85748 Garching Germany

ISBN: (纸本)9781467347372;9781467347358

In this paper, the structure and the simulation results of a model between Simulink and different PLC environments (integrated development environment) will be compared. The transformation of the simulation model from Simulink into a PLC code, which is compatible to the investigated PLC environments, is realized with a self-developed code generator. Continuous Function Charts (CFC) is used as target language for the PLC environments. The investigated PLC environments are TwinCAT (Beckhoff), PCS7 (Siemens) and PC Worx (Phoenix Contact). For the comparison, a simple speed control model was designed in Simulink. The code transformation and evaluation of the structure and simulation results show, that the PLC environment of Beckhoff has the best accordance in structure with the simulation model in Simulink. However, the PLC environment of Siemens shows the best accordance the simulation results with Simulink.

关键词： control charts control engineering computing production engineering computing program compilers programmable controllers programming languages

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Modeling and Design of an Active Suspension System with Maple and MapleSim

Modeling and Design of an Active Suspension System with Mapl...

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9th France-Japan and 7th Europe-Asia Congress on Mechatronics (MECHATRONICS) / 13th International Workshop on Research and Education in Mechatronics (REM)

作者： Gachadoit, N. Renaud, R. Maplesoft 35 Ave Chantiers F-78000 Versailles France Supmeca F-93400 Paris France

ISBN: (纸本)9781467347716;9781467347723

In this contribution we present new type of modelling tool taking full advantage of symbolic computing. Physical components are described from block libraries and a fast developing physical language. Directly from the block diagram description the analytical equations of the system are automatically generated and simplified with a powerful symbolic engine. On different kind of suspension systems with increasing complexity, we show how the system is described and how easy it is to get access to the equations. Automatic generation of equations is used in a math tool to analyze the systems and carry out control design steps. Besides traditional analysis based on numerical computing, several symbolic techniques arc used.

关键词： control engineering computing mechanical engineering computing suspensions (mechanical components) symbol manipulation

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Evaluation and Modeling of Temperature Effects for Catalytic Nano-mobile Robot

Evaluation and Modeling of Temperature Effects for Catalytic...

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23rd Annual International Symposium on Micro-Nano Mechatronics and Human Science (MHS 2012)

作者： Bao, Jingjing Nakajima, Masahiro Yang, Zhan Shen, Yajing Tajima, Hirotaka Fukuda, Toshio Nagoya Univ Dept Micronano Syst Engn Chikusa Ku Furo Cho Nagoya Aichi 4648603 Japan Nagoya Univ Ctr Micro nano Mech Chikusa Ku Nagoya Aichi 4648603 Japan

ISBN: (纸本)9781467348133;9781467348119

In this paper, we develop the Catalytic Nano-mobile Robot (CNMR) by Focus Ion Beam (FIB), which can swim in hydrogen peroxide solution as a novel type of nano machine. And then an effective and stable manipulation method in sub micrometer scale and liquid environment is shown to operate the fabricated nano-mobile robot. Following up the manipulation method, we get the movement of the nano-mobile robot. And then the temperature effect on the movement of nanorobot is evaluated. The evaluations show that the temperature can have a big effect on the speed of nanorobot greatly, and also we find out that the influence is mainly from the Oxygen bubble propulsion instead of the fluctuation.

关键词： Brownian motion bubbles catalysis control engineering computing decomposition fluctuations focused ion beam technology mobile robots multiphase flow nanofabrication nanomechanics oxygen oxygen compounds robot kinematics sputter etching temperature control thermomechanical treatment

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A Test Facility for Experimental HIL Analysis of Industrial Embedded control Systems

A Test Facility for Experimental HIL Analysis of Industrial ...

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17th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Abugchem, Fathi Short, Michael Xu, Donglai Univ Teesside Elect & Control Grp Middlesbrough Cleveland England

ISBN: (纸本)9781467347372;9781467347358

It is well known that the performance of real-time control applications can be affected by many factors, including the choice (and configuration) of the hardware platform and task scheduling algorithm. This paper presents a real-time hardware-in-the-loop simulation tool that simultaneously integrates concepts from control and real-time computing to allow further investigation into these links. It allows the experimental prototyping and analysis of real-time control systems on real hardware - but within a simulated plant environment and thus allows the potential impacts of hardware and software architecture on control performance and dependability to be evaluated. The structure of the proposed tool is described, along with a preliminary experiment that has been performed to illustrate some of the test facility capabilities.

关键词： control engineering computing control system analysis embedded systems industrial control industrial plants scheduling software architecture test facilities

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control of Energy Systems as Distributed Parameter Systems with Software Support by Virtual Software Environments

Control of Energy Systems as Distributed Parameter Systems w...

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51st IEEE Annual Conference on Decision and control (CDC)

作者： Hulko, Gabriel Rohal'-Ilkiv, Boris Noga, Pavol Lipar, Slavomir Slovak Univ Technol Bratislava Inst Automat Measurement & Appl Informat Fac Mech Engn IAMAI FME STU Nam Slobody 17 Bratislava 81231 Slovakia Slovak Univ Technol Bratislava Ctr Control Distributed Parameter Syst Bratislava 81231 Slovakia IAMAI FME STU Bratislava 81231 Slovakia

ISBN: (纸本)9781467320665

Thanks to development of information technology, the so-called virtual software environments offer wide possibilities for the estimation of time-space dynamical characteristics of energy systems, including modeling, control and design of distributed parameter systems. Based on these advances, we present a novel approach to control energy systems as lumped-input and distributed-parameter-output systems. An adaptive-predictive controller is deployed to control temperature fields to ensure optimal conditions for the desulphurization process in a coal-burning fluidized bed furnace, demonstrating the potential of the proposed methodology.

关键词： adaptive control coal combustion control engineering computing distributed parameter systems fluidised beds furnaces predictive control temperature control

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Software Interface for controlling Diverse Robotic Platforms using BMI

Software Interface for Controlling Diverse Robotic Platforms...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Penaloza, Christian Isaac Mae, Yasushi Ohara, Kenichi Arai, Tatsuo Osaka Univ Cognit Neurosci Robot Program Grad Sch Engn Sci 1-3 Machikaneyamacho Toyonaka Osaka Japan

ISBN: (纸本)9781467314978

This paper presents a software interface that allows a user to control different types of robotic systems by using a Brain-Machine Interface. Unlike common device-specific BMI systems, our software architecture maps simple EEG-based commands to diverse functionalities depending on the robotic platform, so the user does not have learn to generate new EEG commands for different robots. The graphic user interface provides a mechanism that allows the user to navigate through menus using EMG signals (i.e. eye-blink), and then execute robot commands using EEG signals. Our software is based on a modular design that allows the integration of new robotic platforms with easy customization. Our current prototype explores the controllability of a humanoid robot, a flying robot and a pan-tilt robot using the proposed software interface. Experimental evidence shows that the system achieves good user satisfaction as well as easy controllability of different types of robotic systems.

关键词： aerospace robotics brain-computer interfaces control engineering computing controllability electroencephalography electromyography graphical user interfaces humanoid robots navigation software architecture

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