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IEEE International Conference on Development and Learning, ICDL

作者： Patricia Shaw James Law Mark Lee Department of Computer Science Aberystwyth University Sheffield Robotics & Department of Automatic Control and Systems Engineering The University of Sheffield

Psychological studies have often suggested that internal models of the body and its structure are used to process sensory inputs such as proprioception from muscles and joints. Within robotics, there is often a need to have an internal representation of the body, integrating the multi-modal and multi-dimensional spaces in which it operates. Here we propose a body model in the form of a series of distributed spatial maps, that have not been purpose designed but have emerged through our experiments on developmental stages using a minimalist content-neutral approach. The result is an integrated series of 2D maps storing correlations and contingencies across modalities, which has some resonances with the structures used in the brain for sensorimotor coordination.

关键词： Neck Robot sensing systems Robot kinematics Visualization Modeling Joining processes

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A fuzzy controller for visual comfort inside a meeting-room 23

A fuzzy controller for visual comfort inside a meeting-room

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23rd Mediterranean Conference on control and Automation, MED 2015

作者： Rodriguez, J.M. Castilla, M. Alvarez, J.D. Rodriguez, F. Berenguel, M. University of Almería Agrifood Campus of International Excellence CeiA3 CIESOL Joint Center University of Almería CIEMAT Automatic Control Robotics and Mechatronics Research Group Ctra. Sacramento s/n La-Cañada04120 Spain

ISBN: (纸本)9781479999361

In general, human beings receive most part of information through eyesight. Therefore, light is an essential element which allows people to distinguish the shape, colour and perspective of the environment around them. Moreover, energy efficiency in buildings is a problem that is being widely analysed since energy consumption inside them represents approximately 40% of total world energy consumption. In addition, illumination supposes around 20% of total energy consumption in houses and between 40% and 70% in shops and offices. This paper presents a fuzzy logic controller which allows maintaining visual comfort inside a meeting-room through an efficient use of both natural and artificial lights. In order to probe the effectiveness of the proposed control system, suitable real results obtained in a meeting-room of the CIESOL bioclimatic building are included and commented. © 2015 IEEE.

关键词： Energy utilization

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Water distribution network optimization using genetic algorithms 13

Water distribution network optimization using genetic algori...

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13th Annual International Industrial Simulation Conference 2015, ISC 2015

作者： Fajdek, Bartlomiej Stachura, Marcin Studzihski, Jan Warsaw University of Technology Institute of Automatic Control and Robotics Ul. Sw. A. Boboli 8 Warsaw02-525 Poland Polish Academy of Science Institute of System Research Ul. Newelska 6 Warsaw01-447 Poland

ISBN: (纸本)9789077381892

This paper presents the description of the IT solutions which have been applied in a computer simulation system for optimal pump switching. The Genetic Algorithm (GA) was used to solve the altered multi-objective optimization model. Nowadays, genetic algorithms (GA) have becomes one of the preferred water system designed optimization technique for many researchers (Cheung 2003;Prasad et al. 2004;Zheng 2013;Jin Xi et al. 2008;Kurek and Ostfeld 2013). The main reason is that GA (Golberg 1989) have the ability to deal with complex nonlinear optimization problems. The GA is integrated with the hydraulic simulation programme called WD S (Water Distribution System). The description of the implementation of the WD S software is provided in (Fajdek et al. 2014;Stachura et al. 2012). The WDS software can be used to design new networks, analyse existing networks, perform hydraulic simulation of the networks etc. In (Fajdek et al. 2014) the WDS system performance was presented using simple example of rehabilitation process applied to the hypothetical network. In this paper, a new algorithm for pump scheduling was presented and applied to the real water distribution system of Glubczyce city. Pump scheduling is one of the most important tasks of the operation of a water distribution system. Moreover, it is much more complex problem than rehabilitation process. The main goal was to schedule N pumps in water distribution system over a time period, in our case 24 hours. In proposed solution we had to use a more complex solutions in both math and programming than in the solution applied to rehabilitation process (Fajdek et al. 2014). Developed algorithm which is the part of WDS software for complex management of communal waterworks is under development at the Warsaw University of Technology, Institute of automatic control and robotics, in cooperation with the Systems Research Institute of Polish Academy of Sciences.

关键词： Pumps

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Distributed Dynamic Decoupling-based Output Synchronization for Networks of Linear Heterogeneous MIMO Agents

Distributed Dynamic Decoupling-based Output Synchronization ...

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IEEE Annual Conference on Decision and control

作者： Saman Khodaverdian Jurgen Adamy Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universitat Darmstadt Landgraf-Georg-Str. 4 64283 Darmstadt Germany

ISBN: (纸本)9781479978878

This paper deals with the output synchronization problem of linear heterogeneous MIMO systems. In contrast to common approaches, we present a method which works without the embedding of virtual exosystems that produce a certain synchronization trajectory. A distributed control strategy is provided that consists of three parts: First, noninteracting control techniques are used to generate the synchronization dynamics, if necessary, and to satisfy the internal model principle. Second, a transformation is proposed to get appropriate SISO descriptions for the decoupled input-output channels. Third, based on the SISO models for every channel, distributed controllers are designed that synchronize the agents' outputs.

关键词： multiple input multiple output systems Agents Network embedding noninteracting control Output Distribute control technology

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Nonlinear position-flux zero-bias control for AMB system

Nonlinear position-flux zero-bias control for AMB system

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Arkadiusz Mystkowski Ewa Pawluszewicz Rafal P. Jastrzebski Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland LUT Energy Lappeenranta University of Technology Lappeenranta Finland

This paper reports on a novel nonlinear controller for a single one-degree-of-freedom (1-DOF) Active Magnetic Bearing (AMB) system. The nonlinear feedback tools such as Lyapunov based techniques, control Lyapunov functions (CLFs), and feedback passivation control are developed. The control objective is to globally stabilize the mass position of an AMB with flux feedback. The flux-based control model for an AMB system is derived due to voltage switching strategy with voltage saturation. This strategy enables the flux control under a zero-bias operation. The proposed nonlinear CLF with a zero-bias can achieve a dynamic performance superior to that of a linear controller with the zero-bias or with the classical bias operations.

关键词： Voltage control control systems Force Rotors Electromagnets Mathematical model Nonlinear dynamical systems

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A comparison of braking strategies for elastic joint robots

A comparison of braking strategies for elastic joint robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nico Mansfeld Sami Haddadin Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wessling Germany Institute of Automatic Control Leibniz University Hannover (LUH) Germany

It has recently been shown that intrinsically elastic robots are capable of outperforming rigid robots in terms of peak velocity by making systematic use of energy storage and release. Certainly, high link side velocities are beneficial for performance, however, they also increase the probability of self damage or human injury in case of a collision. To ensure the physical integrity of both human and robot, it is therefore crucial to avoid potentially dangerous collisions and react in a compliant manner if unwanted contact has occurred or may occur unforeseeable. In this paper, we consider the most intuitive collision anticipation and pre-reaction scheme, namely stopping an elastic robot, if possible in minimum time. For 1-DOF elastic joints with limited elastic deflection we extend existing model-based and model-free controllers and compare their performance. Furthermore, we analyze the braking trajectory that is achieved with the different strategies. The 1-DOF solution is extended to the double pendulum case, where we show that feasible estimates for maximum and final position can be obtained at the very first instant of braking.

关键词： Joints Switches Robots Collision avoidance Trajectory Torque

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controlling force in polarization-maintaining fiber fused biconical tapering

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Mathematical Problems in Engineering 2015年第1期2015卷

作者： Zhang, Wei Rong, Weibin Wang, Lefeng Zheng, Qing Sun, Lining State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150080 China AVIC Xi'An Flight Automatic Control Research Institute Xi'an710065 China

Fused biconical tapering (FBT) is an important method of manufacturing polarization-maintaining fiber (PMF) couplers. However, the tension on the ends of the fibers can affect the performance of the coupler. In this paper, a computer-based method of controlling the drawing force was presented. The system includes a drawing mechanism, rotary position encoders, and a control circuit. A three-dimensional model of a permanent magnet and a coil is constructed, and the relationship among the coil current, rotation angle of the clamp, and electromagnetic force is determined using finite element simulations. Electromagnetic force control based on these simulations can be realized. The method is verified experimentally, and it is shown that a drawing force of 0-1.8 gf can be achieved with an error of within 3.04%. This result can be used in the FBT-based manufacture of fiber components such as fiber couplers and gratings. © 2015 Wei Zhang et al.

关键词： Permanent magnets

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A noninteracting control strategy for the robust output synchronization of linear heterogeneous networks

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control Theory and Technology 2014年第3期12卷 234-249页

作者： Saman KHODAVERDIAN Jürgen ADAMY Institute of Automatic Control and Mechatronics Control Methods and Robotics Lab Technische Universitt DarmstadtLandgraf-Georg-Str.464283 Darmstadt Germany

This paper deals with the problem of robust output synchronization for heterogeneous multi-agent systems. First, a new synchronization approach is presented to synchronize the outputs of heterogeneous agents. Based on noninteracting control techniques, a method is derived for homogenizing the input-output behavior of every agent. Hence, applying the same reference input signal to every agent leads to synchronization. Furthermore, a strategy for increasing the robustness of the synchronization process against exogenous disturbances is presented, which leads to a structurally constrained optimization problem. However, by a convenient reformulation of the problem, well established tools from robust control theory can be used. Moreover, it is shown that this procedure allows to separate the robustness issue from the synchronization task. The effectiveness of the approach is illustrated by a robust output synchronization example for a heterogeneous aircraft fleet.

关键词： Heterogeneous networks Multi-agent systems Decentralized control Robust synchronization Disturbance rejection controller constraints and structure

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Robust monocular SLAM towards motion disturbance

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Chinese Science Bulletin 2014年第17期59卷 2050-2056页

作者： Wei Liu Nanning Zheng Zejian Yuan Pengju Ren Tao Wang Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University AVIC Xi’an Flight Automatic Control Research Institute

The standard extended Kalman filter-based simultaneously localization and mapping(EKF-SLAM)algorithm has a drawback that it could not handle the sudden motion caused by the motion *** prevents the SLAM system from real *** techniques have been developed to make the system more robust to the motion *** this paper,we propose a robust monocular SLAM ***,when the motion model-based system failed to track the features,a KLT tracker will be activated for each ***,the KLT tracked features are used to update the camera ***,the difference between the camera states and the predictions is used to adjust the input motion ***,we do the standard EKF-SLAM with the new input motion *** order to make the system more reliable,a joint compatibility branch and bound algorithm are used to check the outliers,and an IEKF filter is used to make the motion estimation smoother when the camera encounters sudden *** experiments are done on an image sequence caught by a shaking hand-held camera,which show that the proposed method is very robust to large motion disturbance.

关键词：扰动运动 SLAM 干扰鲁棒性分支定界算法扩展卡尔曼滤波照相机地图创建

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control of mobility assistive robot for human fall prevention

Control of mobility assistive robot for human fall preventio...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Milad Geravand Wolfgang Rampeltshammer Angelika Peer Chair of Automatic Control Engineering Technische Universität München Munich Germany Bristol Robotics Laboratory University of the West of England Bristol United Kingdom

ISBN: (纸本)9781479918096

Mobility assistance robots can provide physical and balance support in order to prevent falls of elderly or patients. In this paper we propose a fall prevention approach for a mobility assistance robot equipped with a pair of actuated arms. The algorithm evaluates the user's Extrapolated Center of Mass (XCOM) and determines required supportive forces to be provided to the user in order to prevent user falls. We further present how the required forces are realized by the robot. Performance of the proposed approach is tested in experiments by a mobility assistance robot supporting subjects provoking falls in different directions.

关键词： Legged locomotion Force Computational modeling Foot Robot sensing systems Manipulators

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