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检索条件"主题词=Control Engineering Computing"

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User Friendly Matlab-Toolbox for Symbolic Robot Dynamic Modeling used for control Design

User Friendly Matlab-Toolbox for Symbolic Robot Dynamic Mode...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Dean-Leon, Emmanuel Nair, Suraj Knoll, Alois Univ Munich Fortiss Inst Tech Cyber Phys Syst Marchioninistr 15 D-81377 Munich Germany Tech Univ Munich Fac Comp Sci D-87452 Munich Germany

ISBN: (纸本)9781467321273;9781467321259

In this paper a new Robot Modeling/Simulation Toolbox for Matlab is presented. The primary purpose of this toolbox is to generate all the common equations required for robot control design. It can compute the kinematic and dynamic equations of a serial robot in closed-form. The toolbox generates codes for the most representative matrices of the robot dynamics. For example, the Inertia Matrix, Coriolis Matrix, Gravitational Torques Vector and most important the Robot Regressor can be computed in closed-form with symbolic representation. This toolbox uses the Denavit-Hartenberg (DH) and Euler-Lagrange Methodologies to compute the Kinematic and Dynamic models of the robot. Furthermore, it automatically generates useful code for these models, such as M-Files, Simulink model and C/C++ code, allowing easy integration with other popular Matlab toolboxes or C/C++ environments. The only requirement from the user are the DH parameters, making it an easy to use tool. For 3D visualization, the toolbox supports different methods. The primary contribution is the automation and simplification of the robot modeling process which is important for correct robot design and control. In addition, the easy to use GUI and simplified models allow rapid prototyping and simulation of robots and control design/validation. As a proof of concept, validation of the computed models of a real industrial robot is included, where the toolbox was used to compute all the robot models. Thereafter, using the motion equations generated by this toolbox, a Dynamic Compensation control was designed and implemented on a Staubli TX-90 industrial robot in order to demonstrate how this toolbox simplifies the process.

关键词： C++ language control engineering computing control system synthesis data visualisation graphical user interfaces matrix algebra robot dynamics robot kinematics

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Automated Code Generation for Programmable Logic controllers based on Knowledge Acquisition from engineering Artifacts: Concept and Case Study

Automated Code Generation for Programmable Logic Controllers...

引用

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

作者： Steinegger, Michael Zoitl, Alois Vienna Univ Technol Automat & Control Inst AT-1040 Vienna Austria

ISBN: (纸本)9781467347372;9781467347358

The effort for design and implementation of process automation systems increases with the complexity of modern production plants. To shorten the implementation phase we propose a conceptual approach for automated code generation for programmable logic controllers (PLCs) based on knowledge acquisition from standardized engineering artifacts and their corresponding tool database. Ontologies are defined for each engineering domain artifact, representing the concepts and relations specified in the associated domain standards. An automated data extraction and population of the domain-specific ontologies together with semi-automated mapping definitions between common engineering objects then enables a rulebased code generator to query the ontologies. The query results are translated afterward into PLC code by applying a rule transformation algorithm.

关键词： control engineering computing knowledge acquisition logic programming ontologies (artificial intelligence) program compilers programmable controllers

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Perception and human interaction for developmental learning of objects and affordances

Perception and human interaction for developmental learning ...

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

作者： Ivaldi, Serena Lyubova, Natalia Gerardeaux-Viret, Damien Droniou, Alain Anzalone, Salvatore M. Chetouani, Mohamed Filliat, David Sigaud, Olivier Inst Syst Intelligents & Robot CNRS UMR 7222 Paris France Univ Paris 06 Paris France ENSTA ParisTech INRIA Flowers Team Paris France

ISBN: (纸本)9781467313698

In this paper we describe a cognitive architecture for humanoids interacting with objects and caregivers in a developmental robotics scenario. The architecture is foundational to the MACSi project: it is designed to support experiments to make a humanoid robot gradually enlarge its repertoire of known objects and skills combining autonomous learning, social guidance and intrinsic motivation. This complex learning process requires the capability to learn affordances first. Here, we present the general framework for achieving these goals, focusing on the elementary action, perception and interaction modules. Preliminary experiments performed on the humanoid robot iCub are also discussed.

关键词： cognition control engineering computing human-robot interaction humanoid robots learning (artificial intelligence)

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A Design of Intelligence Interactive System of Service Robot Based on The Android

A Design of Intelligence Interactive System of Service Robot...

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IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： An Haibo Gao Huanbing Lu Shouyin Tan Jindong Shandong Jianzhu Univ Sch Informat & Elcetr Engn Jinan 250101 Shandong Peoples R China Univ Tennessee Knoxville TN 37996 USA

ISBN: (纸本)9781467321273;9781467321259

In the perspective of the aging society and the demand of the service robot in the future, this article presents an Intelligence interactive system of service robot based on the android and introduce the main architecture, terminal application, surveillance station and other modules. The intelligent service system was designed and developed with the function of intelligence surveillance remote surveillance and virtual reality that combine with multi-sensor fusion and OpenGL on the android smart terminal. The android terminal was used as the hub of the system that accomplish the task of collect process transmit information and intelligence interactive, it could also service the older by the situation that judged from the information that have collected.

关键词： computer graphics control engineering computing sensor fusion service robots virtual reality

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Priority-Based Smart Household Power control Model

Priority-Based Smart Household Power Control Model

引用

IEEE Electrical Power and Energy Conference (EPEC)

作者： Prymek, Miroslav Horak, Ales Masaryk Univ Fac Informat Bot 68A Brno 60200 Czech Republic

ISBN: (纸本)9781467320801;9781467320818

In the paper, we present the design and implementation of a priority-based Smart Home Simulation (SHS) system. The system architecture as well as particular device types used are described with a detailed presentation of the consumption planning and control mechanism. The SHS system is based on the multi-agent approach, where the global consumption control is driven mostly by the inter-agent communication. Unlike other works in this field, the presented communication model is designed to be usable even with low-performance controllers with limited computational power. The low performance of the controllers does not substantially limit the overall planning and control capabilities of the whole system. The theoretical foundations of the main system ideas are graphically presented in a real-world example simulation.

关键词： control engineering computing digital simulation domestic appliances intelligent control multi-agent systems power consumption power control power engineering computing smart power grids

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A Framework for Multiple Heterogeneous Robots Exploration Using Laser Data and MARG Sensor

A Framework for Multiple Heterogeneous Robots Exploration Us...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Ktiri, Youssef Inaba, Masayuki Univ Tokyo Dept Mechanoinformat Bunkyo Ku Tokyo Japan

ISBN: (纸本)9781467314978

We deal in this paper with the exploration problem using a team of heterogeneous robots. Since no assumption is made on the type of robot used, our system has to handle correctly in one single framework the specificities arising from each type of commonly used robots such as UAVs, ground vehicles or humanoids. To do so, we introduce a framework that handles efficiently the autonomous exploration problem for single robots then that allows sharing and fusing maps received from other teammates. Both theoretical background and software architecture are presented. We show experimental results taken for the case of a humanoid robot and a simulated UAV robot cooperating in previously unknown environment.

关键词： autonomous aerial vehicles control engineering computing humanoid robots mobile robots multi-robot systems sensors software architecture

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A Passivity-based Framework for Composing Attacks on Networked control Systems

A Passivity-based Framework for Composing Attacks on Network...

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50th Annual Allerton Conference on Communication, control, and computing (Allerton)

作者： Clark, Andrew Bushnell, Linda Poovendran, Radha Univ Washington Dept Elect Engn Seattle WA USA

ISBN: (纸本)9781467345392;9781467345378

Networked control systems present an inviting target for adversaries seeking to attack physical infrastructure through cyber attacks alone. A diverse set of possible attacks, including node compromise, false data injection, malware propagation, and denial of service have been identified and studied in isolation. Currently, however, there is no framework for composing multiple attacks, mounted by one or more adversaries, and designing a system defense that guarantees stability and allows flexible performance. In this paper, we introduce a passivity framework for modeling and mitigating multiple, interdependent attacks on networked control systems. Under our framework, multiple adversaries are modeled as passive individual blocks, either in parallel or negative feedback interconnections depending on the interdependencies between the attacks, leading to an overall system that is passive and stabilizable. We present two case studies within this framework, namely joint node capture and malware propagation, as well as joint node capture and control channel jamming, and derive a stabilizing network response to the attacks. Our results are illustrated through a numerical study.

关键词： computer network security control engineering computing distributed control feedback invasive software networked control systems stability

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A New Algorithm for Robot Localization Using Monocular Vision and Inertia/Odometry Sensors

A New Algorithm for Robot Localization Using Monocular Visio...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Wang, Kai Liu, Yunhui Li, Luyang Chinese Univ Hong Kong Dept Mech & Automat Engn Shatin Hong Kong Peoples R China

ISBN: (纸本)9781467321273;9781467321259

Vision and inertia/odometry sensors fusion strategy is popular in the recent years for the robot localization, due to its feasibility in GPS-denied environments. In this paper, a new adaptive estimation algorithm, inspired by the Slotine-Li adaptive control algorithm, is designed to fuse the monocular vision and inertia/odometry sensors for estimating the robot position. By the new method, the robot can be localized in GPS-free and map-free environments, and the localization results can be theoretically proved convergent to their real values and robust to the measurement noises. Comparing with other methods, our algorithm is simple to implement and suitable for parallel processing. To achieve the real-time performance, the algorithm is implemented in parallel using GPU, therefore it can be easily integrated into control tasks which need the real-time robot localization information.

关键词： adaptive control control engineering computing graphics processing units image fusion parallel processing position control robot vision sensors

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Simulation of Rolling Mill's Electro-Hydraulic Gap Adjustment System

Simulation of Rolling Mill's Electro-Hydraulic Gap Adjustmen...

引用

13th IEEE International Symposium on Computational Intelligence and Informatics (CINTI)

作者： Kovari, A. Fodor, D. Coll Dunaujvaros Dunaujvaros Hungary Univ Pannonia Veszprem Hungary

ISBN: (纸本)9781467352062;9781467352055

In rolling mills technology the plastic deformation of the strip is realized at high plastic strain speed. The dynamic control of rolling gap and force is realized with help of electro-hydraulic servo actuators - so-called hydraulic capsules. Hydraulic capsules can adjust the rolling gap at great rolling force dynamically. Expensive and unique electro-hydraulic servo systems are hard to test in real conditions so simulation is very important to test the system dynamic behavior. The dynamic behavior of rolling mill's gap adjustment system is mainly depends on the correct operation of hydraulic capsules and servo valves. For this reason, the hydraulic cylinder must be renewing at intervals. In this paper simulation was used to examine the dynamic behavior of the rolling mill's electro-hydraulic gap adjustment system while internal leakage changes at hydraulic cylinder's piston seal.

关键词： control engineering computing digital simulation electrohydraulic control equipment force control pistons plastic deformation production engineering computing rolling mills

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Solution Patterns of Software engineering for the System Design of Advanced Mechatronic Systems

Solution Patterns of Software Engineering for the System Des...

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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： Anacker, Harald Gausemeier, Juergen Dumitrescu, Roman Dziwok, Stefan Schaefer, Wilhelm Univ Paderborn Heinz Nixdorf Inst Furstenallee 11 D-33102 Paderborn Germany

ISBN: (纸本)9781467347716;9781467347723

Recently, mechatronics as a self-contained discipline has doubtlessly shaped the development of technical systems. Mechatronics means the close interaction of mechanics, electronics, control engineering and software engineering in order to achieve a better systems behavior. Due to the advancement of information and communication technologies, the functionality of mechatronic systems will go far beyond current standards along with the potential to increase their robustness, flexibility and reliability. The design of such advanced mechatronic systems is a challenge. The increasing complexity requires a consistent comprehension of the tasks between all the developers involved. Especially during the early design phases (conceptual design/ system design), the communication and cooperation between the mechanical, electrical, control and software engineers is necessary to design a first overall system model. In this context, the main difficulty is how to integrate into a system model the solutions that have already been successfully used and described in detail. Currently, the reuse is partially established during discipline-specific engineering in areas such as mechanics and software engineering. Nevertheless, a catalogue of domain-spanning reusable abstracts that may describe solution patterns for holistic system designs does not exist. Hence, to create a collective solution space as wide as possible, it is necessary to abstract gradually the discipline-specific described solutions on a generic level. The precondition is a functional description. It is easy to see that a function has to depict the solution in a neutral and abstract way as well as the volitional relation between the input and the output of a system. In our work, we present the necessary abstraction of domain specific solutions exemplified by reusable and detailed described solutions of software engineering.

关键词： control engineering computing electronic engineering computing formal specification mechanical engineering computing mechatronics

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