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检索条件"机构=Control Systems and Robotics Laboratory"

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Knowledge Engineering Approach to Concurrently Competng Cyclic Processes control

Knowledge Engineering Approach to Concurrently Competng Cycl...

引用

International IEEE Conference on Intelligent systems, IS

作者： R. Wojcik G. Bocewicz Z. Banaszak Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland Technical University of Koszalin Koszalin Poland Systems Research Institute of Polish Academy of Sciences Laboratory of Knowledge Systems and Artificial Intelligence Wroclaw Poland

This paper addresses the problem of designing the steady-state behavior of a system composed of a set of repetitive processes competing for access to shared resources. Its objective is to provide a framework allowing to prototype a robust distributed control policy as a function of the characteristics of the component processes and dispatching rules involved. The considered problem resolution consists in finding a schedule with no process waiting for access to the shared resources and wherefore leading to controls not requiring resource conflict resolution. The problem is formulated as a task of prototyping of conditions sufficient for existence of a waiting-free n-process execution. The conditions prototyping is then examined within the framework of logic-algebraic method. The illustrative example of the approach proposed is provided

关键词： Knowledge engineering Process control Dispatching Steady-state Prototypes Distributed control Telephony Robust control Job shop scheduling Resource management

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Low cost two-axis solar tracker with high precision positioning

Low cost two-axis solar tracker with high precision position...

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International Symposium on Environment Identities and Mediterranean Area, ISEIMA

作者： A. Yazidi F. Betin G. Notton G.A. Capolino Center of Robotics Power Electrical Engineering and Control Systems of the University of Picardie Mitterrand Cuffies France Laboratory of Sciences for the environment University of Corse Ajaccio France Laboratory of Sciences for the environment university of Corse Centre de recherche de Vignola Ajaccio Corse

In this paper, the design of a low cost two-axis solar tracker is introduced. The aim is to obtain a high precision positioning of the cell. The control-board is able to support different control strategy such as classical techniques as PID algorithm or more advanced strategy such as fuzzy logic control (FLC). Using the error signal, the tracking capacities of the proposed approaches can be tested experimentally on the experimental prototype built in our laboratory.

关键词： Costs Solar radiation Photovoltaic systems Solar power generation control systems Three-term control Fuzzy logic Testing Protection Student members

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Decision Support systems Based on CLP Approach in SMEs

Decision Support Systems Based on CLP Approach in SMEs

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Izabela Tomczuk-Pirog Robert Wojcik Zbigniew Banaszak Department of Management and Production Engineering Technical University of Opole Opole Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Systems Research Institute Laboratory of Knowledge Systems and Artificial Intelligence Polish Academy of Sciences Wroclaw Poland

The paper focuses on a selected class of decision problems related with the production flow planning in SMEs, particularly in new production orders. Verification of orders gives a possibility to evaluate whether resources capacity of a manufacturer is balanced with the orderer's requirements. The class of decision problems under analysis is included in the scope of organizational production preparation and can be naturally determined by available CLP (constraint logic programming) tools. The approach proposed in the paper is based on establishment of an interface which facilitates its task oriented use. The system has been presented on the basis of a sample order execution in a manufacturer's company (Archimedes S.A.).

关键词： Decision support systems Flow production systems Logic programming Production planning Manufacturing Companies Packaging Artificial intelligence Production systems Knowledge management

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

引用

International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence Intelligent robots Fires Tracking Process control Communication system control control systems Intelligent control Optical computing Intelligent systems

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Uncertainty vs Performance Trade-Offs in Robust Feedback control: A Mimo Case Study

Uncertainty vs Performance Trade-Offs in Robust Feedback Con...

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IEEE Conference on Decision and control

作者： J.F. Vasconcelos M. Athans S. Fekri C. Silvestre P. Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal EECS (emeritus) M.I.T. USA Research Associate Department of Engineering Control & Instrumentation Research Laboratory University of Leicester Leicester UK

ISBN: (纸本)1424401704;9781424401703

We use a non-trivial MIMO three-cart Mass-Spring-Dashpot (MSD) system to demonstrate how performance (disturbance-rejection) is reduced as the level of uncertainty in one or two real parameters is increased in the presence of unmodeled dynamics. All designs are carried out by the mixed-mu robust synthesis methodology. Comparisons are made: (a) in the frequency-domain, (b) by RMS values of key signals and (c) in time-domain simulation results

关键词： Uncertainty Robust control Feedback control MIMO Robustness Robust stability Frequency domain analysis Mathematical model control systems MATLAB

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Climbing robots with adaptive grippers for construction

Climbing robots with adaptive grippers for construction

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Construction Research Congress 2005: Broadening Perspectives - Proceedings of the Congress

作者： Rachkov, M. Gradetsky, V. Knyazkov, M. Department Automatics Informatics and Control Systems Moscow State Industrial University Moscow Russia ul Avtozavodskaja 16 115280 Moscow Russia Robotics and Mechatronics Laboratory Institute for Problems in Mechanics RAS Moscow Russia 101-1 Prospect Vernadskogo 119526 Moscow Russia

ISBN: (纸本)0784407541

Climbing robots are intended to move over vertical and slope surfaces to fulfill different technological operation by means on-board equipment. Vertical surfaces of buildings can be porous and rough so the robot should perform adaptation to such kinds of surfaces. The paper presents a new climbing robot for construction tasks that has adaptive possibility to move over various surfaces by means of a vacuum adaptive gripper system. It includes pressure, flow and force sensors, sealing gripper design and feedback control system of pedipulators. The control system ensures a sealing mode of adaptive pedipulator motion. The robot has two platforms and a light skeleton structure with nine degrees of freedom including two flexible technological manipulators. The climbing robot design allows adaptation to vertical surfaces of different quality. The design of the robot, its technical characteristics and experimental results are discussed.

关键词： Construction industry

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Parametric Excitation Mechanisms for Dynamic Bipedal Walking

Parametric Excitation Mechanisms for Dynamic Bipedal Walking

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： F. Asano Zhi-Wei Luo S. Hyon Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan

It is already clarified throughout studies of passive dynamic walking mechanisms that the common nec essary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation using telescopic leg actuation. We first introduce a simple walking model and a control law for the telescopic leg motion, and show the typical walking pattern by numerical simulations. We then analyze the gait performance by adjusting some control and physical parameters. In addition, some extensions of the mechanism and control applications are investigated.

关键词： Legged locomotion Leg Mechanical energy Torso Foot Torque control Adaptive systems Biomedical engineering Motion control Numerical simulation

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Autonomous Walking Inspection and Maintenance Robot (AWIMR)

Autonomous Walking Inspection and Maintenance Robot (AWIMR)

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InfoTech at Aerospace: Advancing Contemporary Aerospace Technologies and Their Integration

作者： Lane, Hobson Hanson, Mark Kennedy, Brett Diftler, Myron Northrop Grumman Redondo Beach CA 90278 NASA Jet Propulsion Laboratory Pasadena CA 91109 NASA Lyndon B. Johnson Space Center Houston TX 77058 Control Systems Department One Space Park R4/2020 AIAA AWIMR One Space Park R4/2020 Planetary Robotics Laboratory M/S: 82-105 4800 Oak Grove Dr. Robotics Technology Branch Code ER4 2101 NASA Road 1

ISBN: (纸本)1563477394

In this paper we describe a distributed computational architecture and robotic system to accomplish autonomous space vehicle exterior inspection and teleoperated maintenance using an untethered hexapod for perpetual locomotion on a variety of common spacecraft exterior surfaces. Metrics are provided to support the performance improvement expected for this prototype system relative to conventional techniques applied to some common extravehicular activity (EVA) tasks. Comparison systems include human EVA, conventional robotic arms, and free-flying inspection nanosats. Novel techniques for microgravity legged locomotion are described which build upon demonstrations at JSC1, JPL, and CMU.2 In addition, an innovative approach to autonomous inspection sensor data communication and processing for incorporation into Integrated Vehicle Health Management systems3 is examined. Finally, the human element is addressed by our description of the supervision station as part of a system of systems with sliding autonomy4 tailored to meet mission requirements with minimal recurring cost and crew workload for the AWIMR system. Copyright © 2005 by Northrop Grumman Corporation.

关键词： Autonomous agents

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories Computer science

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MICRON: Small Autonomous Robot for Cell Manipulation Applications

MICRON: Small Autonomous Robot for Cell Manipulation Applica...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J. Brufau M. Puig-Vidal J. Lopez-Sanchez J. Samitier N. Snis U. Simu S. Johansson W. Driesen J.-M. Breguet J. Gao T. Velten J. Seyfried R. Estana H. Woern Instrumentation and Communication Systems Laboratory Universitat de Barcelona Barcelona Spain Laboratoir de Systèmes Robotiques Swiss Federal Institute of Technology Lausanne Switzerland Department of Engineering Sciences Uppsala University Uppsala Fraunhofer Institute of Biomedical Engineering Saint Ingbert Germany Inst. for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

Manipulating in the micro- or even nano world still poses a great challenge to robotics. Conventional (stationary) systems suffer from drawbacks regarding integration into process supervision and multi-robot approaches, which become highly relevant to fight scaling effects. This paper describes work currently being carried out which aims to make automated manipulation of micrometer-scaled objects possible by robots with nanometer precision. The goal is to establish a small cluster of (up to five) micro robots equipped with on-board electronics, sensors and wireless power supply. Power autonomy has been reached using inductive energy transmission from an external wireless power supply system or a battery based system. Electronics requirements are fulfilled in the electronic module with the full custom integrated circuit design for the robot locomotion control and the closed loop force control for AFM tool in cell manipulation applications. The maximum velocity obtained is about 0.4 mm/s with a saw tooth voltage signals of 20Vpp and 2500 Hz. In order to keep a AFM tool on micro-robot a specific tip with integrated piezoresistance, instead of the classical laser beam methodology, is validated for force measurement.

关键词： robotics and automation Robot sensing systems Wireless sensor networks Power supplies Force control Batteries Application specific integrated circuits Robot control Teeth Voltage

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