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Motion planning methods for stratified systems

Motion planning methods for stratified systems

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International Conference on Mechatronics (ICM)

作者： Istvan Harmati Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

This paper addresses the motion planning problem (MPP) of stratified kinematic systems (SKSs) without and with drift. Nonholonomic constraints and drift, two typical features of nonlinear systems, make the motion planning nontrivial while stratified nature demands additional attention for path planning. The paper highlights the issues of stratified motion planning from the aspect of these two properties and it provides algorithms to solve MPP. A procedure to drift neutralization within the stratified framework is also proposed. Due mainly to the Lie bracket averaging intensively used in the concept, the algorithm yields generally an approximation. The main motivation in all cases is to drive the robot along a reference path that assists resolving obstacle avoidance problem. Simulation results are provided on the example of a biped robot

关键词： Robots Kinematics Equations Leg technology planning Path planning Motion planning Trajectory Orbital robotics Algebra

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Projective reconstruction for robot vision system

Projective reconstruction for robot vision system

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International Conference on Mechatronics (ICM)

作者： Ferenc Tel Bela Lantos Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Intelligent robot control systems usually require the knowledge about the surrounding environment in order to achieve difficult, high level tasks, such as path planning or collision avoidance. Usually visual information provided by uncalibrated cameras is used to reconstruct the scene. This paper proposes two new resection-intersection type methods that can be used to recover 3D projective structure and camera matrices from multiple images taken about the scene. The only inputs of the algorithm are 2D feature sets (points, lines) extracted from raw camera images

关键词： Robot vision systems Cameras Image reconstruction Layout Intelligent robots Robot control Control systems Path planning Collision avoidance Data mining

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Force-Torque Control for an Experimental Robot Controller

Force-Torque Control for an Experimental Robot Controller

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International Conference on Mechatronics (ICM)

作者： Istvan Olah Gabor Tevesz Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

At the Department of Automation and Applied Informatics an experimental robot control system has been developed. The full plant consists of an IBM-PC based multiprocessor system connected to the power electronics, the manipulator being a NOKIA-PUMA 560 robot arm. Some parts of the central computer and the whole power electronics are developed at the department. The control system is based on the QNX operating system, and the development is made using the corresponding QNX Momentics development suite. One aim of the research is to integrate a six-component force-torque sensor into the robot control system and to extend the basic position control with force-torque control capabilities. This paper introduces the hardware extensions including the PCI bus interface card and presents the recent features implemented into the advanced robot programming system providing the possibility of executing force-torque control tasks

关键词： Force control Robot control Robotics and automation Control systems Automatic control Power electronics Informatics Multiprocessing systems Manipulators Operating systems

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Image Component Analyses by Various Representations of Max-Plus Algebra Based Wavelet Transform

Image Component Analyses by Various Representations of Max-P...

引用

Proceedings of the Biannual World Automation Congress

作者： Hajime Nobuhara Bede Barnabas Tokyo Institute of Technology Japan Budapest University슠of슠Technology슠and슠Economics Hungary

Image component analyses by various representation of max-plus algebra based wavelet transform is proposed, where analysis and synthesis operations of the wavelets are defined by max (or min) and standard sum. In the case of proposed wavelets, various component results can be generated by changing the size/shape of the sampling window used in the analysis/synthesis process. The proposed wavelets especially can reserve edge information on compressed images due to the non-linear operations (max and min); therefore, they are efficient for predictive frames used in video compression and reconstruction. In the experiments, various image component analyses results and video compression and reconstruction by the proposed wavelets are shown.

关键词： Image analysis Algebra Wavelet analysis Wavelet transforms Signal analysis Image reconstruction Video compression Signal synthesis Shape Image sampling

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Thermal Measurements and Qualification IC Packages Using the Transient Method: Principles and Applications

Thermal Measurements and Qualification IC Packages Using the...

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Electronics System-Integration technology Conference, ESTC

作者： Andras Poppe Department of Electron Devices Budapest University슠of슠Technology슠and슠Economics Hungary

Summary form only for tutorial.

关键词： Qualifications Application specific integrated circuits Integrated circuit packaging Transient analysis Semiconductor device packaging Light emitting diodes Micromechanical devices Power measurement Power system reliability Nondestructive testing

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Scalable Tree Optimization for QoS Ethernet

Scalable Tree Optimization for QoS Ethernet

引用

IEEE Symposium on Computers and Communications (ISCC)

作者： A. Kern I. Moldovan T. Cinkler Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

The low cost and the wide availability make Ethernet the dominant networking technique of access networks. Standardization further extends the capabilities of Ethernet by adding traffic separation and prioritization (802.1Q) and by allowing use of multiple spanning trees (802.1s). In this paper we present an Ethernet based QoS architecture for broadband services with triple play support. We propose an optimization framework with Traffic Engineering where the MSTP trees are spanned taking both the traffic conditions and the QoS requirements into account. The optimization is based on our previously presented formal model. Here we propose a novel decomposition based tree constructing heuristic with high scalability. We conduct simulations to evaluate the performance of the heuristic method that provides nearly optimal solutions within acceptable time constraints.

关键词： Ethernet networks Quality of service Costs Telecommunication traffic Traffic control Bridges Access protocols Standardization Scalability Bandwidth

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Theoretical Investigation of Torque Measuring by a Vibration Motor in a Mobile Phone

Theoretical Investigation of Torque Measuring by a Vibration...

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International Spring Seminar on Electronics technology

作者： Attila Lukacs Attila Halmai Department of Mechatronics Optics and Instrumentation Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

In the precision technology always puts the measuring of way-out small torques trouble. There are not any commercially available special instruments to measure the torque. The task has to be solved with a non-contact method because the measuring system must not load the object. The measuring of intensive variables can be solved easily with a non-contact method but by extensive variables like the torque we have to provide for the circulating of the unknown quantity through the transducer (or sensor). The small size of the emissive instrument presents beyond the small value of the unknown quantity difficulty. The diameter of the motor is only 0.7 mm. By so conditions can be taken only such physical principle into account which ensures the non-contact method and it does not need more space such the unknown object itself. Non-contact method for measuring of small torque of vibration motors is presented in this paper. The possible errors its influences are discussed as well.

关键词： Vibration measurement Torque measurement Mobile handsets Eddy currents Loss measurement Instruments Shafts Force measurement Springs Couplings

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A novel probabilistic extension of network calculus for workload loss examinations

A novel probabilistic extension of network calculus for work...

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Conference on Next Generation Internet Networks, NGI

作者： J. Biro A. Gulyas Z. Heszberger Department of Telecommunications and Media Informatics Budapest University슠of슠Technology슠and슠Economics Hungary

In this paper we define a calculus for communication networks which is suitable for workload loss estimation based on the original definition of stationary loss ratio. Our novel calculus is a probabilistic extension of the deterministic network calculus, and takes an envelope approach to describe arrivals and services for the quantification of resource requirements in the network. We introduce the effective w-arrival curve and the effective w-service curve for describing the inputs and the service and we show that the per-node results can be extended to a network of nodes with the definition of the effective network w-service curve. The derivation of effective w-arrival curves and effective w-service curves for typical arrivals processes and schedulers is also an important contribution of this paper

关键词： Calculus Communication system traffic control Stochastic processes Quality of service Scheduling algorithm Probability Telecommunication traffic Environmental economics Informatics Communication networks

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Robust Gamma-Stable Controller Design for a Two-Degree-of-Freedom Robot Arm

Robust Gamma-Stable Controller Design for a Two-Degree-of-Fr...

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International Conference on Mechatronics (ICM)

作者： Laszlo Lemmer Balint Kiss Department of Control Engineering and Information Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

This paper presents the robustness analysis of a two-degree-of-freedom robot arm based on the notion of gamma-stability. First the mathematical model of the robot arm is given than the model parameters such as load mass and inertia, which have to be considered as uncertain, are enumerated. A simple linear controller is designed for the nominal parameters to provide position control without overshoot and the gamma-stability of the closed-loop system is studied

关键词： Robust control Robot kinematics Mathematical model Position control Orbital robotics Gravity Nonlinear equations Control engineering Information technology Control systems

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The Design Space of the Services of Knowledge Assessment Systems

The Design Space of the Services of Knowledge Assessment Sys...

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International Conference on Information technology Based Higher Education and Training, ITHET

作者： Saindor Szollosi Dezso Sima Balazs Schmuck John von Neumann Faculty of Informatics Budapest University슠of슠Technology슠and슠Economics Hungary

The emergence of the knowledge based society as well as the rapid expansion of the number of students enrolled into higher education is an unmistakable international trend. As a consequence, the input necessary for delivering teaching materials is on to wane compare to that required for proper knowledge assessment. In addition, a usual deficiency of distance learning systems is the lack of any integrated knowledge assessment component. These were the reasons that triggered the appearance of Knowledge Assessment Systems (KAS) from the 1970's and onwards. KAS's may be considered from two distinct aspects: either focusing on the services they provide or based on their implementation. Our paper aims to provide a comparative demonstration of published KAS systems using the design space tree concept. Based on relevant design aspects as well as implementation alternatives, the design space of the services of knowledge assessment systems was defined. A projection of relevant design aspects and the possible alternatives then yielded a spanned design space of KAS services, in which the correct position of all implementations documented in the literature to date were identified. An analysis of the implemented systems in the design space allows for the demonstration of knowledge assessment system generations as well as the recognition of relevant KAS development trends. The highlights of these trends include the continuous growth of the complexity of evaluated question types as well as the level of assessment automation on the on hand, and - in terms of active question types - the fact that although several solutions are already available for assessing long essays, the systems analyzed here offer no solutions for short text evaluation.

关键词： Informatics Intelligent systems IEEE members Societies Education Computer aided instruction Automation

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