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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James. H. Christensen Marco Colla Thomas Strasser Automation and Control Institute University of Technology Vienna Austria Holobloc Inc. Cleveland USA Rockwell Automation Advanced Technologies Cleveland USA CIMSI Institute SUPSI-University of Applied Sciences Switzerland Robotics & Adaptive Systems Group Profactor Produktionsforschungs GmbH Austria

The semantic loopholes of the standard IEC 61499 have been pointed out in different recent publications with focus on some details. This paper investigates especially on the execution models for composite function blocks and subapplications. Of course this is closely related to the execution of basic function blocks and function block networks. Therefore, this work is based on general assumptions about these parts. The different possibilities concerning composite function blocks are described in detail and explained in a case study of a very simple example function block. For the sake of describing the relation to current runtime environments, three current implementations are used in the case study.

关键词： IEC standards Runtime environment Counting circuits Standards publication Programmable control Automatic control robotics and automation Hardware Concrete Automatic programming

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TRACKING control IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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Learning predictive features in affordance-based robotic perception systems

Learning predictive features in affordance-based robotic per...

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2006 AAAI Workshop

作者： Fritz, Gerald Paletta, Lucas Dorffner, Georg Breithaupt, Ralph Rome, Erich JOANNEUM RESEARCH Forschungsgesellschaft mbH Institute of Digital Image Processing Computational Perception Group Wastiangasse 6 8010 Graz Austria Österreichische Studiengesellschaft für Kybernetik Neural Computation and Robotics Freyung 6 1010 Vienna Austria Fraunhofer Institute for Autonomous Intelligent Systems Robot Control Architectures Schloss Birlinghoven 53754 Sankt Augustin Germany

ISBN: (纸本)1577352858

This work is about the relevance of Gibson's concept of affordances [1] for visual perception in interactive and autonomous robotic systems. In extension to existing functional views on visual feature representations [9], we identify the importance of learning in perceptual cueing for the anticipation of opportunities for interaction of robotic agents. We investigate how the originally defined representational concept for the perception of affordances - in terms of using either optical flow or heuristically determined 3D features of perceptual entities - should be generalized to using arbitrary visual feature representations. In this context we demonstrate the learning of causal relationships between visual cues and predictable interactions, using both 3D and 2D information. In addition, we emphasize a new framework for cueing and recognition of affordance-like visual entities that could play an important role in future robot control architectures. We argue that affordance-like perception should enable systems to react on environment stimuli both more efficient and autonomous, and provide a potential to plan on the basis of responses on more complex perceptual configurations. We verify the concept with a concrete implementation for affordance learning, applying state-of-the-art visual descriptors that were extracted from a simulated robot scenario and prove that these features were successfully selected for their relevance in predicting opportunities of robot interaction.

关键词： robotics

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Walker detection in outdoor scenes using spatial-temporal feature analysis of variation regions

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systems and Computers in Japan 2006年第7期37卷 37-46页

作者： Haga, Tetsuji Sumi, Kazuhiko Yagi, Yasushi Advanced Technology R and D Center Mitsubishi Electric Corp. Amagasaki 661-8661 Japan Graduate School of Informatics University of Kyoto Kyoto 606-8501 Japan Institute of Scientific and Industrial Research Osaka University Ibaraki 567-0047 Japan Mitsubishi Electric Corp. Industrial Systems Research Group Advanced Technology R and D Center Information Processing Society of Japan Information Science Research Group Graduate School University of Kyoto Department of Industrial Science Research IEEE Society of Instrument and Control Engineers of Japan Robotics Society of Japan

We propose an image processing algorithm to detect walkers in outdoor images containing movement in the background such as swaying trees or irregular reflections from water. Previously proposed methods to detect walkers focus on the fact that locally distributed movement is reinforced along a spatial and temporal path marked out by an object such as a human that moves at approximately a constant speed and in a straight line while other background movement tends to cancel itself out. However, false alarms can occur with methods that are based on the time-averaged strength of movement due to mistaken associations between moving objects and the fact that temporary movement in high-contrast areas can significantly raise the average value. In our method we use features based on a spatially averaged strength of movement and the uniformity of movement over time in addition to the time-averaged strength of movement, attempting to distinguish walkers from background movement within a feature space made up of these three features. In experiments with real images we have confirmed that the proposed method can reduce the rate of both false positives and false negatives compared to a method that focuses only on the time-averaged strength of movement. In addition, we have constructed an on-line system to implement the proposed method and the results of evaluation experiments conducted in a real-life environ ment over a period of two weeks show that we were able to obtain a level of performances in which the failure rate was less than 1 percent and false alarms occurred less than three times per day. © 2006 Wiley Periodicals. Inc.

关键词： Image processing

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Experimental validation of multi-vehicle coordination strategies

Experimental validation of multi-vehicle coordination strate...

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American control Conference (ACC)

作者： J.A. Marshall T. Fung M.E. Broucke G.M.T. D'Eleuterio B.A. Francis Systems Control Group University of Toronto Toronto ON Canada Space Robotics Group University of Toronto Institute for Aerospace Studies Toronto ON Canada

Consequent to previously published theoretical work by Marshall, Broucke, and Francis, this paper summarizes the apparatus and results of multi-vehicle coordination experiments conducted at the University of Toronto Institute for Aerospace Studies. These experiments successfully demonstrated the practicality of cyclic pursuit as a distributed control strategy for multiple wheeled-vehicle systems. Moreover, the pursuit-based coordination algorithm was found to be surprisingly robust in the presence of unmodelled dynamics and delays due to sensing and information processing.

关键词： Distributed control Sensor arrays Pursuit algorithms Kinematics Space technology Analytical models Robustness Vehicle dynamics Aerodynamics Delay

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Experimental validation of multi-vehicle coordination strategies

Experimental validation of multi-vehicle coordination strate...

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2005 American control Conference, ACC

作者： Marshall, J.A. Fung, T. Broucke, M.E. D'Eleuterio, G.M.T. Francis, B.A. Systems Control Group Department of Electrical and Computer Engineering University of Toronto 10 King's College Rd Toronto Ont. M5S 3G4 Canada Space Robotics Group University of Toronto Institute for Aerospace Studies 4925 Dufferin St Toronto Ont. M3H 5T6 Canada

关键词： Intelligent vehicle highway systems

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Comparison of standard and lifted ILC on a motion system 3

Comparison of standard and lifted ILC on a motion system

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3rd IFAC Symposium on Mechatronic systems 2004

作者： Rotariu, Iuliana Dijkstra, Branko Steinbuch, Maarten University of Sydney Australian Centre for Field Robotics Rose Street Building J04 NSW2006 Australia Delft University of Technology Mechanical Engineering System and Control Group Mekelweg 2 Delft2628 CD Netherlands Eindhoven University of Technology Mechanical Engineering Control Systems Technology P.O. Box 513 WH 0.141 Eindhoven5600 MB Netherlands

Iterative Learning control (ILC) is a technique for improving the performance of systems or processes that operate repetitively over a fixed time interval. The basic idea of ILC is that it exploits every possibility to incorporate past repetitive control information, such as tracking errors and control input signals into the construction of the present control action. Past control information is stored and then used in the control action in order to ensure that the system meets the control specifications such as convergence. The goal of the research presented in this paper is to compare two different ILC techniques applied to the wafer stage of a wafer scanner motion system. Namely, we consider briefly the concepts of standard and lifted ILC and we evaluate the ILC performance in terms of tracking errors. We experience that ILC applied to the wafer stage has liability to deal with limited performance in the face of position dependent dynamics, with the fact that ILC does not account for setpoint trajectory changes and with stochastic effects. Copyright © IFAC Mechatronic systems, Sydney, Australia, 2004.

关键词： Stochastic systems

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Comparison of Standard and Lifted ILC on a Motion System

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IFAC Proceedings Volumes 2004年第14期37卷 205-210页

作者： Iuliana Rotariu Branko Dijkstra Maarten Steinbuch The University of Sydney Australian Centre for Field Robotics The Rose Street Building J04 NSW 2006 Australia Delft University of Technology Mechanical Engineering System and Control Group Mekelweg 2 2628 CD Delft The Netherlands Eindhoven University of Technology Mechanical Engineering Control Systems Technology RO. Box 513 WH 0.141 5600 MB Eindhoven The Netherlands

关键词： control Learning Motion system

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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A neural approach to an attentive navigation for 3D intelligent virtual agents

A neural approach to an attentive navigation for 3D intellig...

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IEEE International Conference on systems, Man and Cybernetics

作者： M. Lozano J. Molina Artec Group Institute of Robotics. Computer Science Department University of Valencia Valencia Spain Neurotechnology Control and Robotics Group Engineering and Automatic Systems Department Politechnic University of Cartagena Spain

This paper presents an attempt to integrate attention and navigation skills in 3D embodied agents (virtual humanoids). The neural model presented has been divided in two main phases. Firstly the environment-categorization phase, where an online pattern recognition and categorization of the agent current sensory input data is carried out by an adaptive resonance driven self organizing neural network, which will finally simulate the agent's short term memory (STM). Secondly, the model must also learn how and when to map its current STM state into the navigation and attention motor layers of the 3D agent. We also review the world modelling and the agent vision system, and finally we present the first results extracted from two of the subsystems which conforms the complete neural model, such as, the environment categorization subsystem and the base navigation neural model.

关键词： Navigation Intelligent agent Intelligent robots robotics and automation Humans Graphics Virtual environment Machine vision Computer science Augmented virtuality

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