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检索条件"主题词=Control Engineering Computing"

共 1546 条记录，以下是831-840 订阅

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Solving The Singularity of Car Like Robot With Back Trailer

Solving The Singularity of Car Like Robot With Back Trailer

引用

22nd International Conference on Computer Theory and Applications (ICCTA)

作者： El-Shenawy, Ahmed K. El-Derini, Tarek Arab Acad Sci & Technol Alexandria Egypt

ISBN: (纸本)9781467328241;9781467328234

This paper proposes a novel model for a car like wheeled mobile robot with back trailer. The proposed model is the first step in developing an auto parking control system for assisting non-professional drivers. The kinematics analysis of the front car shows the singularity problem of the system, which is expressed by means of non-holonomic constraints. A virtual new actuated kinematics is developed to overcome this problem. The inverse and forward kinematics of the front car and the back trailer are also solved in this paper. Two simulation examples results are presented to illustrate the performance of the new kinematics solution.

关键词： automobiles automotive engineering control engineering computing mobile robots road traffic control robot kinematics virtual reality

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Usage of Public Key Infrastructures in Automation Networks

Usage of Public Key Infrastructures in Automation Networks

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

作者： Hausmann, Stefan Heiss, Stefan Ostwestfalen Lippe Univ Appl Sci inIT Inst Ind IT D-32657 Lemgo Germany

ISBN: (纸本)9781467347372

Due to the use of standardized information technology from the office world in industrial automation networks, threats concerning such networks become relevant for automation systems. Communication protocols used in automation networks typically provide no security functionalities. In this paper, a public key infrastructure (PKI) for automation networks is proposed that supports the establishment of secured connections between automation components and also supports protective measures against product piracy.

关键词： computer crime control engineering computing cryptographic protocols industrial control production engineering computing public key cryptography

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Indoor Furniture and Room Recognition for a Robot using Internet-derived Models and Object Context

Indoor Furniture and Room Recognition for a Robot using Inte...

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10th International Conference on Frontiers of Information Technology (FIT)

作者： Varvadoukas, Theodoros Giannakidou, Eirini Gomez, Javier V. Mavridis, Nikolaos Univ Athens NCSR Demokritos Inst Informat & Telecommun GR-10679 Athens Greece Aristotle Univ Thessaloniki Dept Informat Thessaloniki Greece Univ Carlos III Madrid Robot Lab Madrid 28911 Spain New York Univ Abu Dhabi Dept Comp Engn Abu Dhabi U Arab Emirates

ISBN: (纸本)9780769549279;9781467349468

For robots to be able to fluidly collaborate with and keep company to humans in indoor spaces, they need to be able to perceive and understand such environments, including furniture and rooms. Towards that goal, we present a system for indoor furniture and room recognition for robots, which has two significant novelties: it utilizes internet-derived as well as self-captured models for training, and also uses object- and room-context information mined through the internet, in order to bootstrap and enhance its performance. Thus, the system also acts as an example of how autonomous robot entities can benefit from utilizing online information and services. Many interesting subproblems, including the peculiarities of utilizing such online sources, are discussed, followed by a real-world empirical evaluation of the system, which shows highly promising results.

关键词： Internet control engineering computing data mining learning (artificial intelligence) object recognition robot vision

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Development and Study of a Robot for Transferring Mycobacterium Tuberculosis Samples

Development and Study of a Robot for Transferring Mycobacter...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Wang, Yan Liu, Guanyang Chen, Chao Beihang Univ Inst Robot Beijing 100191 Peoples R China

ISBN: (纸本)9781467321273;9781467321259

As an essential part of the Mycobacterium tuberculosis automatic testing system, a 3-DOF robot for transferring testing samples has been developed in this paper. Mechanical structure of the robot has been first presented. The control system of the robot is then studied. A closed loop control method of steeping motors, which are motion actuators of each joint, is developed with a Proportion Integration (PI) controller so that high precision and fast response can be obtained. In order to avoid sudden increase of motor speed when it starts, which may cause mechanical shock, a starting acceleration algorithm is applied. An upper computer interface is developed for operators to easily program that robot. Finally, experiments have been performed to verify the design performance.

关键词： PI control closed loop systems control engineering computing medical computing medical robotics motion control robot dynamics stepping motors

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Simulation and control Integrated Framework for Modular Snake Robots Locomotion Research

Simulation and Control Integrated Framework for Modular Snak...

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IEEE/SICE International Symposium on System Integration (SII)

作者： Melo, Kamilo Leon, Juan Monsalve, Jose Fernandez, Vivian Gonzalez, Daniel KM ROBOTA SAS KM ROBOTA Res Grp Bogota Colombia

ISBN: (纸本)9781467314978

Executing challenging tasks in field robotics, commonly depends on the locomotive capabilities of the robot. Particularly, modular snake robots have shown an increasing ability to perform mobility and manipulation tasks in different environments. However, its locomotion strategies are not trivial and the modeling of such type of motion is still an important research goal. Consequently, robust controlling software to command motion and retrieve data is needed. Since the execution of experiments with these robots is expensive and time consuming, computer aided dynamics simulation becomes an indispensable tool to reduce the gap between modeling and real experiments validations. In this paper, a framework architecture to control and simultaneously simulate the modular snake robot locomotion behavior is presented. Using this integrated tool, experiments with real robots can be carried out, simulations of a virtual robot in a user-defined environment can be run and the retrieval of useful data from real or virtual outputs can be performed in a log file.

关键词： control engineering computing digital simulation information retrieval mobile robots

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Towards an Autonomous Pilot System for a Tunnel Boring Machine

Towards an Autonomous Pilot System for a Tunnel Boring Machi...

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5th Robotics and Mechatronics Conference of South Africa (ROBMECH)

作者： Ferrein, Alexander Kallweit, Stephan Lautermann, Mark FH Aachen Univ Appl Sci Aachen Germany

ISBN: (纸本)9781467351843;9781467351829

Modern Tunnel Boring Machines (TBMs) used in mines or for road construction often consist of several modules for the drill head and further equipment as well as wagons for carrying the mined material (dump). These machines can have a total length of up to 70 meters. In the mines, the machine has to be navigated over long stretches through the mine adits to reach the borehole. The problem is to get there without getting stuck in the galleries. Usually, these long trains are navigated manually and theodolites deal as sensory input for the teleoperator. In this paper we outline a robot system that can deal as a pilot system for such long machines for semi-autonomously driving the TBMs right to their destination. For this, the pilot robot needs to fulfil the following tasks: (1) it has to acquire an accurate 31) map of the tunnel environment, (2) plan a path from a start location to the destination and (3) guide the TBM through the tunnel. We outline the hardware and software system that we envision for our pilot system in this paper. For the hardware, we plan to deploy a Husky A200 platform which is particularly suitable for rugged terrain. For the control software we want to make use of the robot operating system ROS with its many well-implemented modules for map building, navigation and path-planning. As the system is in the planning stage at the moment, we are very interested to learn more about and share experiences and ideas of operating robots in rugged mining environments at the conference.

关键词： boring machines control engineering computing industrial robots mining navigation operating systems (computers) path planning robot programming telerobotics tunnels

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Towards an Online Fuzzy Modeling for Human Internal States Detection

Towards an Online Fuzzy Modeling for Human Internal States D...

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12th International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Aly, Amir Tapus, Adriana ENSTA ParisTech F-75015 Paris France

ISBN: (纸本)9781467318723;9781467318716

In human-robot interaction, a social intelligent robot should be capable of understanding the emotional internal state of the interacting human so as to behave in a proper manner. The main problem towards this approach is that human internal states can't be totally trained on, so the robot should be able to learn and classify emotional states online. This research paper focuses on developing a novel online incremental learning of human emotional states using Takagi-Sugeno (TS) fuzzy model. When new data is present, a decisive criterion decides if the new elements constitute a new cluster or if they confirm one of the previously existing clusters. If the new data is attributed to an existing cluster, the evolving fuzzy rules of the TS model may be updated whether by adding a new rule or by modifying existing rules according to the descriptive potential of the new data elements with respect to the entire existing cluster centers. However, if a new cluster is formed, a corresponding new TS fuzzy model is created and then updated when new data elements get attributed to it. The subtractive clustering algorithm is used to calculate the cluster centers that present the rules of the TS models. Experimental results show the effectiveness of the proposed method.

关键词： control engineering computing emotion recognition fuzzy control fuzzy set theory human-robot interaction intelligent robots learning (artificial intelligence) pattern clustering

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Monitoring Parameters of Synchronous Motor Via Internet

Monitoring Parameters of Synchronous Motor Via Internet

引用

1st International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Bayindir, Ramazan Vadi, Seyfettin Gazi Univ Fac Technol Dept Elect & Elect Engn Ankara Turkey

ISBN: (纸本)9781467323284;9781467323291

In this study, an experimental application has been improved for three phase synchronous motor including observation and control the motor speed by adjusting the frequency. A DAQ (Data Acquisition Card) has been used in the system as controller. Interface program has been prepared in Visual C#.NET platform which has more visual components and provides data exchange safely. Thanks to this interface program, users can easily observe most parameters of synchronous motor such as current, voltage, power factor, frequency, torque and speed. Furthermore, start-stop operations of the motor, frequency and speed control by a frequency convertor can be achieved as computer controlled. Thus, an interactive educational set is obtained that shows frequency-speed relation of three phase synchronous motor over a visual interface.

关键词： C listings Internet angular velocity control control engineering computing data acquisition electric machine analysis computing electronic data interchange frequency control frequency convertors machine control synchronous motors user interfaces

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Time as non-functional requirement in distributed control systems

Time as non-functional requirement in distributed control sy...

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

作者： Hadlich, Thomas Hoeme, Stephan Diedrich, Christian Eckert, Karin Frank, Timo Fay, Alexander Vogel-Heuser, Birgit Otto Von Guericke Univ Inst Automat D-39106 Magdeburg Germany Helmut Schmidt Univ Inst Automat Technol Dept Engn Mech Hamburg Germany Tech Univ Munich Inst Automat & Informat Syst Munich Germany

ISBN: (纸本)9781467347372;9781467347358

When designing a distributed control system consisting of heterogeneous components whose properties are usually not well known, it is difficult or even impossible to use an analytical approach to verify the fulfillment of all requirements. In this contribution, it is shown (at the example of different implementation scenarios for a typical control function) that detailed knowledge about the communication system is required to reliably assess and compare different designs of distributed systems with regard to a real-time characteristic. However, automation engineers typically can neither be expected to have such detailed knowledge about the internal details of computing and communication, nor do they have the time to study different design alternatives in detail. This motivates further work of the authors towards better engineering support for the design of distributed automation systems, by providing helpful advice regarding design decisions

关键词： control engineering computing distributed control

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Simulated performance assessment of different digital hydraulic configurations for use on the HyQ Leg

Simulated performance assessment of different digital hydrau...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Peng, Shuang Branson, David Guglielmino, Emanuele Caldwell, Darwin G. Ist Italiano Tecnol Genoa Italy

ISBN: (纸本)9781467321273;9781467321259

This paper investigates the performance of four different digital hydraulic configurations on the leg of a hydraulic quadruped robot HyQ via numerical simulation. Hydraulic dynamics are analyzed in Co-simulation utilizing AMESim and Simulink where State flow control is used to make decisions for each digital valve, and the performance and power usage of the systems analyzed. Results indicate that digital hydraulic technology can be applied to the actuation system of the robot to achieve energy saving performance and smooth response.

关键词： actuators control engineering computing energy conservation flow control hydraulic systems legged locomotion mechanical engineering computing numerical analysis robot dynamics valves

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