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10th International Workshop on Robot Motion and Control, RoMoCo 2015

作者： Vick, Axel Vonásek, Vojtěch Pěnička, Robert Krüger, Jörg Department of Industrial Automation Technology Institute for Machine Tools and Factory Management Technische Universität Berlin Pascalstr. 8-9 Berlin10587 Germany Czech Technical University in Prague Faculty of Electrical Engineering Technicka 2 Prague16627 Czech Republic Department of Robotics and Automation Fraunhofer Institute for Production Systems and Design Technology IPK Pascalstr. 8-9 Berlin10587 Germany

ISBN: (纸本)9781479970438

This paper introduces a new concept for flexible motion planning and control of industrial robots. Instead of a closed monolithic architecture, an open service-based framework is proposed. The services can be run hardware-independent on a decentralized IT infrastructure (Cloud) allowing a fast reconfiguration of control modules and their multiple usage in different tasks. The services can be run on a dedicated PC or on individual virtual machines inside a single computing cluster. The proposed service-based framework was implemented and tested for the motion planning of a robotic manipulator. Effects on control performance, availability and scalability are investigated and documented. © 2015 IEEE.

关键词： Motion planning

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Numerical simulation of friction stir welding (FSW): Prediction of the heat affect zone using a softening model

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AIP Conference Proceedings 2016年第1期1769卷

作者： R. M. F. Paulo P. Carlone R. A. F. Valente F. Teixeira-Dias G. S. Palazzo 1GRIDS Research Group Center of Mechanical Technology and Automation Department of Mechanical Engineering University of Aveiro Campo Universitário de Santiago 3810-193 Aveiro Portugal 2Department of Industrial Engineering University of Salerno Via Ponte Don Melillo 1 Fiscfiano (SA) Italy 3Institute for Infrastructure and Environment School of Engineering University of Edinburgh The King’s Buildings Mayfield Road Edinburgh EH93JL United Kingdom

In this work a numerical model is proposed to simulate Friction Stir Welding (FSW) process in AA2024-T3 plates. This model included a softening model that account for the temperature history and the hardness distribution on a welded plate can thus be predicted. The validation of the model was performed using experimental measurements of the hardness in the plate cross-section. There is an acceptable prediction of the material softening in the Heat Affected Zone (HAZ) using the adopted model.

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Towards real-time two-dimensional wave propagation for articulatory speech synthesis

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Proceedings of Meetings on Acoustics 2016年第1期26卷

作者： Victor Zappi Arvind Vasuvedan Andrew Allen Nikunj Raghuvanshi Sidney Fels 1Department of Advanced Robotics Istituto Italiano di Tecnologia Genoa Italy victor.zappi@*** 2Department of Electric and Computer Engineering University of British Columbia Vancouver BC Canada arvind@ece.ubc.ca ssfels@ece.ubc.ca 3Google Inc. Mountain View CA USA bitllama@*** 4Microsoft Research Redmont WA USA nikunjr@***

The precise simulation of voice production is a challenging task, often characterized by a tradeoff between quality and speed. The usage of 3D acoustic models of realistic vocal tracts produces extremely precise results, at the cost of running simulations that may take several minutes to synthesize a few milliseconds of audio. In contrast, 1D articulatory vocal synthesizers rely on highly simplified acoustic and anatomical models to achieve real-time performances, but can only partially match the spectra of realistic vocal tracts. In this work, we present a novel articulatory vocal synthesizer, based on a fast 2D propagation model running on a graphics card (GPU). The system can run in real-time under specific conditions and, differently from 1D synthesizers, allows for simulating airflow propagation through asymmetric and curved geometries. This paper covers details on the GPU implementation of the different components of the system, including the 2D Finite-Difference Time-Domain wave solver and the excitation mechanism. A preliminary evaluation is presented, using area functions to simulate static vowels. Three different resolutions are tested, combined with two alternative ways of discretizing the 2D geometries. The computed formants are overall characterized by small positional errors while computational times are comparable with those from 1D systems.

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A fuzzy-genetic system to predict the cutting force in microdrilling processes

A fuzzy-genetic system to predict the cutting force in micro...

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作者： Beruvides, Gerardo Quiza, Ramon Rivas, Marcelino Baruvides, Gerardo Castano, Fernando Haber, Rodolfo E. Department of Mechanical Engineering University of Matanzas Autopista a Varadero km 31/2 Matanzas Cuba Centre for Automation and Robotics Scientific Research Superior Council Ora. de Campo Real km. 0.200 La Poveda Madrid Spain

ISBN: (纸本)9781479940325

This paper presents the modeling of thrust force in microdrilling processes of five commonly used alloys (titanium-based, tungsten-based, aluminum-based and invar). The process was carried out by peck drilling and the influence of five parameters (drill diameter, cutting speed, feed rate, one-step feed length and total drilling length) on the behavior of the thrust force was considered. A fuzzy system was used for describing these relationships and genetic algorithms were used for fitting the parameters of the model from the experimental data. Finally a comparison with a traditional cutting model obtained with a regression model was made showing both models a similar correlation values (R2), 0.84 for the regression model and 0.86 for the fuzzy-genetic system. However, the fuzzy model showed a better generalization capability (> 0.9) than the regression model, (very poor, near to 0). © 2014 IEEE.

关键词： Fuzzy systems

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LQR problem of linear discrete time systems with nonnegative state constraints

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AIP Conference Proceedings 2015年第1期1684卷

作者： S. Kostova L. Imsland I. Ivanov 1Institute of System Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria 2Department of Engineering Cybernetics NTNU Trondheim Norway 3Department of Statistics and Econometrics FEBA St. Kliment Ohridski University of Sofia Bulgaria

In the paper the infinite-horizon Linear Quadratic Regulator (LQR) problem of linear discrete time systems with non-negative state constraints is presented. Such kind of constraints on the system determine the class of positive systems. They have big application in many fields like economics, biology, ecology, ICT and others. The standard infinite LQR-optimal state feedback law is used for solving the problem. In order to guarantee the nonnegativity of the system states, we define the admissible set of initial states. It is proven that, for each initial state from this set the nonnegative orthant is invariant set. Two cases are considered, first, when the initial state belongs to the admissible set, and the second, when the initial state does not belong to the admissible set. The procedures for solving the problem are given for two cases. In second case we use a dual-mode approach for solving the problem. The first mode is until the state trajectory enters the admissible set and after that the procedure for the first case is used. The illustrative examples are given for both cases.

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Opening remarks

2016 International Conference on Advances in Human Machine I...

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2016 International Conference on Advances in Human Machine Interaction, HMI 2016 2016年

作者： Nagaraja, Ch. Swamy, J. Nagendra Rajendra, J. Khan, M.S. Vishwanath Reddy, D.S. Manjunath, N. Dillmann, Ruediger Tarn, Tzyh Jong Zhao, Qianchuan Ammi, Mehdi Zuberek, Wlodek M. Sandhu, P.S. Patthira Newman, K. De Silva Liyanage, Chandratilak Hassan, Sohair Aly Aly Sun, Kien Wen Rahman, Md. Moshiur Ordoño, E. Evangelista Sharma, R.K. Mishra, Preeti Chandel, B.S. Singla, Ekta Petric, Tadej Zhong, Yu Jiglar, Janson Alemzadeh, Kazem Asokan, T. Tripathi, Animesh Tripathi, Manoj Ram, Swaminath Shrma, M.K. Panday, P.N. Kumar, Devendra Hinchey, Mike Stilman, Boris Suraj, Zbigniew Pal, Sankar K. Sasi, Sreela Rajan, Deepu Marshall, Roger G. Abraham, Ajith Peter S, David Paul, Vargheese Gopakumar, V. Dustdar, Schahram Soto, Sebastián Ventura Rausch, Andreas Angelis, Lefteris Nelson, Andrew L. Botzheim, Janos Bernardino, Heder Soares Zboril, Frantisek Ane, Bernadetta Kwintiana Maeda, Toshiyuki Sakalauskas, Virgilijus Hann, Garenth Lim King Samek, Jan Romero Salguero, José Raúl Varghese, Kuruvilla Kriksciuniene, Dalia Mathew, Jimson Reif, Wolfgang Mauri, Giancarlo Cabrerizo Lorite, Francisco Javier Özcan, Ender Cho, Sung-Bae Paily, Roy P. Rezankova, Hana Tudjarov, Boris Hong, Wei-Chiang De Oliveira, José Valente Flores Romero, Juan Jose Oskouei, Rozita Jamili Cicchetti, Antonio Roy, Chanchal Segura, Sergio Samuel, C. Mallet, Frédéric Mernik, Marjan Punnekkat, Sasikumar Waseemulla, A. Sri Devaraj Urs Educational Trust Bangalore India R. L. Jalappa Institute of Technology Doddaballapur Bangalore India Humanoids and Intelligence Systems Lab Kalsruhe Germany Electrical and Systems Engineering Washington University in St. Louis United States Deputy Director of Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing China Department of Computer Science CNRS/LIMSI Lab AMI Group France Memorial University St. John'sNL Canada RBIT and Bio-Technology India LR University Thailand University of Colorado at Boulder Boulder United States Faculty of Science University of Brunei Brunei University of Kuala Lumpur Malaysia National Chiao Tung University Taiwan EPR Centre Bangladesh Mapua Institute of Technology Philippines ARO CWC Lucknow India Mpec Kanpur India DSC DBS Kanpu India Indian Institute of Technology Ropar India Jozaf Stefan Institute Department of Automation Biocyernetics and Robotics Ljubljana Slovenia Robotics Institute Carnegie Mellon University Pittsburgh United States Faculty of Engineering University of Bristol United Kingdom Department of Engineering Design Indian Institute of Technology Madras India Lucknow Uni Lucknow India CSJM Uni Kanpur India UPPCB Lucknow India PCB Roorkee India Awadh Uni Faijabad India Agra Uni Agra India Lero University of Limerick Ireland University of Colorado Denver United States University of Rzeszow Poland Indian Statistical Institute Kolkata India Gannon University PA United States Nanyang Technical University Singapore Singapore Plymouth State University NH United States MIR Labs United States Cochin University of Science and Technology India State Project Facilitation Unit TEQIP Kerala India Technical University of Vienna Austria University of Cordoba Spain Clausthal University of Technology Germany Aristotle University of Thessaloniki Greece Androtics LLC TucsonAZ United States Tokyo Metropolitan University Japan Federal Unive

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End-point regulation of a flexible robotic manipulator under the unknown spatiotemporally varying disturbance

End-point regulation of a flexible robotic manipulator under...

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3rd IFAC Conference on Intelligent Control and automation Science, ICONS 2013

作者： Zhang, Shuang He, Wei Liu, Chang Huang, Deqing Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Robotics Institute School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9783902823458

In this paper, the end-point regulation problem is investigated for a flexible robotic manipulator under the spatiotemporally varying disturbance. By using the Hamilton's principle, the dynamics of the flexible robotic manipulator are represented by one partial differential equation (PDE) and five ordinary differential equations (ODEs). Boundary control is developed to drive the manipulator to the desired set-point and simultaneously suppress the vibrations of the flexible link. Considering the unknown spatiotemporally varying disturbance, the developed boundary control schemes achieve uniform boundedness of the steady state error between the boundary payload and the desired position. Simulations are provided to illustrate the applicability and effectiveness of the proposed control. Copyright © 2013 IFAC.

关键词： Ordinary differential equations

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End-Point Regulation of a Flexible Robotic Manipulator under the Unknown Spatiotemporally Varying Disturbance

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IFAC Proceedings Volumes 2013年第20期46卷 713-718页

作者： Shuang Zhang Wei He Chang Liu Deqing Huang Department of Electrical & Computer Engineering National University of Singapore Singapore 117576 Robotics Institute and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China Department of Aeronautics Imperial College London London SW7 2AZ UK

关键词： Flexible robotic manipulator distributed parameter system boundary control

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Rotary-wing UAVs trajectory planning by distributed linear MPC with reconfigurable communication network topologies

Rotary-wing UAVs trajectory planning by distributed linear M...

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4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013

作者： Grancharova, Alexandra Grøtli, Esten I. Johansen, Tor A. Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Bl.2 P.O.Box 79 Sofia 1113 Bulgaria Department of Industrial Automation University of Chemical Technology and Metallurgy 8 Sv. Kliment Ohridski Blvd. Sofia 1756 Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway Norwegian University of Science and Technology 7491 Trondheim Norway

ISBN: (纸本)9783902823557

In this paper, a distributed approach to Model Predictive Control (MPC)-based trajectory planning for rotary-wing UAV (Unmanned Aerial Vehicle) communication network topologies under radio path loss constraints is proposed. The goal is to find trajectories that are safe with respect to grounding and collision, fuel efficient and satisfy criteria for communication such that the UAVs form chains to multiple targets with given radio communication capacities. The MPC-based optimization sub-problems are computed autonomously within each UAV, using convex quadratic programming, with the requirement that each UAV communicates its current measured position to all other UAVs. In addition, a simple coordination between UAVs allows for the communication network topology to be reconfigured in case of failures or radio path loss changes. The control performance of the distributed linear MPC trajectory planning is studied based on a simulation case with four UAVs and two targets. Copyright © 2013 IFAC.

关键词： Unmanned aerial vehicles (UAV)

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Rotary-Wing UAVs Trajectory Planning by Distributed Linear MPC with Reconfigurable Communication Network Topologies

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IFAC Proceedings Volumes 2013年第27期46卷 198-205页

作者： Alexandra Grancharova Esten I. Grøtli Tor A. Johansen Institute of System Engineering and Robotics Bulgarian Academy of Sciences Acad. G. Bonchev str. Bl.2 P.O. Box 79 Sofia 1113 Bulgaria (Tel: +*** ) Department of Industrial Automation University of Chemical Technology and Metallurgy 8 Sv. Kliment Ohridski Blvd. Sofia 1756 Bulgaria Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway Center for Autonomous Marine Operations and Systems (AMOS) Department of Engineering Cybernetics Norwegian University of Science and Technology 7491 Trondheim Norway

关键词： Autonomous vehicles, Radio-communication, Path planning, Predictive control, Distributed control, Constraints, Multi-vehicle coordination

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