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IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Casals J. Fernandez J. Amat Dep. Automatic Control and Computer Engineering Universitat Politecnica de Catalunya Barcelona SPAIN Robotics Institute. (lRI) UPC/CSIC Barcelona SPAIN

Teleoperation in harsh environments has to tackle the problem of working with images of poor quality, as the visual feedback means for the human operator. This paper describes a procedure for image augmentation, based on the models of the scene elements, which are built from the images acquired in a previous phase, before the execution of the task, when the visual environment conditions are still good enough.

关键词： Augmented reality Layout Robots TV Optical sensors Optical feedback automatic control control engineering computing Robotics and automation Operating systems

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DEXTERITY IMPROVEMENT IN TELEOPERATION THROUGH computer VISION BASED automatic CORRECTION

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IFAC Proceedings Volumes 2002年第1期35卷 473-478页

作者： J. Amat A. Casals L. Muñoz M. las Heras Robotics Institute. (IRI) UPC / CSIC Llorens Artigas 4-6 2a pt. 08028 Barcelona SPAIN Dep. Automatic Control and Computer Engineering Universitat Politècnica de Catalunya

Robot manipulation through teleoperation requires some ability from a human operator. This requirement is stronger when the tridimensional scene is observed through a 2D monitor. This paper describes a telemanipulation aiding system based on the superposition of a position correction component to the manual orders given by the human operator, through his gestures. This correction will enable the slave arm to move quicker when it is far from the target, while moving slower and more precisely when it operates close to the target, thus, the system behaves as if an external attraction force appear around the possible objects to be manipulated.

关键词： Telerobotics Telemanipulation computer Vision Man-Machine Interface Stereo Vision

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On real-time control tasks schedulability 6

On real-time control tasks schedulability

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6th European control Conference, ECC 2001

作者： Marti, P. Villa, R. Fuertes, J.M. Fohle, G. Dep. of Automatic Control Universitat Politècnica de Catalunya Pau Gargallo 5 Barcelona08028 Spain Dept. of Computer Engineering Mälardalen Högskola PO Box 883 VästeråsSE-721 23 Sweden

ISBN: (纸本)9783952417362

In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. Revising realtime scheduling properties, we analyse which are the main timing problems that current scheduling algorithms may introduce in the execution of control loops. Next, we categorise those timing problems, that is, jitters on task-instances executions, in a control context. Afterwards, we show, by simulations, different types of control system performance degradation that these jitters may cause. Finally, we propose possible solutions that solves this degradation, based on irregular sampling discrete-time system models with varying time delays. © 2001 EUCA.

关键词： Real time control

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On real-time control tasks schedulability

On real-time control tasks schedulability

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European control Conference (ECC)

作者： P. Marti R. Villa J.M. Fuertes G. Fohle Dep. of Automatic Control Universitat Politècnica de Catalunya Barcelona SPAIN Dept. of Computer Engineering Mälardalen Högskola PO Box 883 SE-721 23 Västerås Sweden

In general, characteristics of classical control theory and properties of real-time scheduling algorithms may cause unexpected control system responses in the implementation of real-time computer-controlled systems. Revising real-time scheduling properties, we analyse which are the main timing problems that current scheduling algorithms may introduce in the execution of control loops. Next, we categorise those timing problems, that is, jitters on task-instances executions, in a control context. Afterwards, we show, by simulations, different types of control system performance degradation that these jitters may cause. Finally, we propose possible solutions that solves this degradation, based on irregular sampling discrete-time system models with varying time delays.

关键词： Jitter Real-time systems control systems Degradation Delays Processor scheduling

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An approach for determining phong reflectance parameters from real objects

An approach for determining phong reflectance parameters fro...

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15th International Conference on Pattern Recognition, ICPR 2000

作者： Aparicio, Javier Iglesia García-Bermejo, Jaime Gómez University of Valladolid ETSIT Dep. of Systems Engineering and Automatic Control Spain

ISBN: (纸本)0769507506

Modeling reflectance properties from real objects is useful for solving many practical problems, ranging from industrial inspection to computer graphics. In particular, building computer graphics models directly from real objects has recently received increased attention, because it is useful in many important fields such as CAD, entertainment (3-D games, movies) and virtual museums. This paper describes an automatic way to recover actual reflectance parameters, from range and intensity (or color) data acquired from objects. The proposed approach is based on Phong reflection model, since this model is usually preferred for computer graphics. © 2000 IEEE.

关键词： Reflection

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World Modeling and Position Estimation for a Mobile Robot using Self-Organizing Networks

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IFAC Proceedings Volumes 2000年第25期33卷 113-118页

作者： R. Marqués E. Zalama J.G. García-Bermejo J.R. Perán Dep. of Systems Engineering and Automatic Control University of Valladolid (Spain)

In this paper a system for estimating position and orientation of a mobile robot in a non-structured environment, by means of self-organizing neural networks, is described. After perfonning an initiat learning phase, the system is able to incrementally build a representation of the environment. Position and orientation of the robot can then be obtained, upon data coming from the odometric system and sensors (ultrasound sensors, infrared sensors and 2D-Iaser sensor). The system has been implemented and tested on a NOMAD 200 robot. Experimental results are reported, which show the robot to be able to navigate without losing its way, and to adapt to changes in the environment.

关键词： Mobile Robots Navigation Learning Systems Neural Networks

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Real Time Scheduling Methods Requirements in Distributed control Systems

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IFAC Proceedings Volumes 2000年第7期33卷 95-102页

作者： Pau Martí Ricard Villà Josep M. Fuertes Gerhard Fohler Dep. of Automatic Control Universitat Politècnica de Catalunya Pau Gargallo 5 08028 Barcelona SPAIN Ph.: 34-3-4016971 Fax: 34-3-4017045 Dep. of Computer Engineering Mälardalen Högskola PO Box 883 SE-721 23 Västerås SWEDEN

Distributed control systems involve three main disciplines: control systems, real time systems, and communication systems. control systems, due their stringent timing constraints, demand real time computing technology. Distributed control systems need communication systems when distributing sensors, actuators, the control procedures and data messaging. In general, demands of distributed control systems and properties of real time scheduling algorithms differ, for example, for activation patterns of tasks. The aim of this paper is to provide a set of requirements to overcome current limitations of real time scheduling methods to their increase applicability for distributed control systems

关键词： Real-time systems Real-time tasks Scheduling algorithms Distributed computer control systems control applications Timing analysis

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Stability issues of finite precision state estimate feedback controller realizations for discrete time systems

Stability issues of finite precision state estimate feedback...

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作者： Wu, Jun Chen, Sheng Li, Gang Istepanian, Robert Habib Chu, Jian Whidborne, James F. National Lab. of Industrial Control Tech. Institute of Advanced Process Control Zhejiang University Hangzhou 310027 China Dep. of Electronics and Computer Sci. University of Southampton Highfield Southampton SO17 lBJ United Kingdom School of EEE Nanyang Technological University Singapore Dep. of Electrical and Computer Eng. Ryerson Polytechnic University Toronto ON M5B 2K3 Canada Department of Mechanical Engineering King's College London London WC2R 2LS United Kingdom

This paper present a new effective algorithm for the optimal realization of state estimate feedback controller structures for discrete time systems subject to finite-word-length constraints. The problem is formulated as a nonlinear programming to provide an easy and efficient optimization tool to solve such a complex problem. Simulation results of the optimum realizations of state estimate feedback controller structures are presented to illustrate the effectiveness of the proposed strategy. © 2000 American automatic control Council.

关键词： Nonlinear programming

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Output feedback tracking of nonholonomic systems in chained form

Output feedback tracking of nonholonomic systems in chained ...

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1999 European control Conference, ECC 1999

作者： Lefeber, E. Robertsson, A. Nijmeijer, H. Faculty of Mathematical Science Dep. of Systems Signals and Control. University of Twente P.O. Box 217 Enschede7500 AE Netherlands Dep. of Automatic Control Lund Institute of Technology Lund University P.O. Box 118 LundSE-221 00 Sweden Faculty of Mathematical Science Dep. of Systems Signals and Control Univer. of Twente P.O. Box 217 Enschede7500 AE Netherlands Faculty of Mechanical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

ISBN: (纸本)9783952417355

In this paper we study the tracking problem for the class of non-holonomic systems in chained form. In particular, with as outputs the first and last state component of the chained form, we suggest a solution for the output tracking problem by combining a time-varying state feedback controller with an observer for the chained form system. For the stability analysis of the 'certainty equivalence type' of controller we use a cascaded systems approach. The resulting closed loop system is globally K-exponentially stable. © 1999 EUCA.

关键词： Closed loop systems

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Qualitative Approach for Mobile Robot Collision Avoidance

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IFAC Proceedings Volumes 1997年第6期30卷 1305-1309页

作者： Rita M Planas Nuria Piera Antonio B Martínez Computer Engineering & Control Dpt. UPC Pau Gargallo 5 Barcelona 08022. Spain. phone: +34 3 401 69 92 Dep. Matematica Aplicada II UPC Pau Gargallo 5 Barcelona 08022. Spain. phone: +34 3 40172 76

In a multi mobile robot system is essential to avoid collisions and to coordinate the trajectories of multiple mobile robots in order to insure the safety and the correct operation of the whole process. It is reasonable to think that a qualitative approach is an adequate way in this context, because it is more important to model the space in a more or less risky collision zones that to know with precision the exact distance among robots. The qualitative solutions for space modelization and permitted trajectories problems which are presented in this work, give us some advantages in reference to the computational time.

关键词： Vision Autonomous mobile robots Qualitative control

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