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Input-output Module of Control Software for Servo Hydraulic Drives with Hydrostatic Guides 16

Input-output Module of Control Software for Servo Hydraulic ...

16th IEEE International Scientific and Technical Conference Actual Problems of Electronic Instrument Engineering, APEIE 2023

作者： Topolsky, Dmitry V. Yumagulov, Nikolay I. Beliakov, Alexander E. Zvereva, Elena A. Topolsky, Nikita D. Gonenko, Tatiana V. Chelyabinsk Russia Dep. of Education in Physics and Mathematics Nizhnevartovsk State University Nizhnevartovsk Russia Industrial University of Tyumen Nizhnevartovsk Department Nizhnevartovsk Russia Dep. of Automation and Robotics Omsk State Technical University Omsk Russia

ISBN: (纸本)9798350330885

The paper presents control software for servo hydraulic drives (SHD) with hydrostatic guides (HG). The control software is used to organize the operation of SHD with HG in a test bench structure. The functions of the software in question are control, adjustment and diagnostics of parameters of SHD with HG. Adjustment of the frequency of influence on the controlled object occurs by transfer of effort from the pumping unit through a specialized platform by processing signals coming from the control system. SHD with HG used in the diagnostic stand has a service life of up to 100 million cycles by operating loads. This performance is achieved through the use of HG in the design of SHD. Focused on ensuring the automated operation of SHD with HG, the architecture of the control software complex allows you to monitor the status of equipment using digital data transfer protocols, set all the necessary equipment parameters, and organizes centralized storage and replication of settings of SHD with HG. As a result of data reception modeling and transmission between SHD with HG installation and the software package, the operability of the control software was checked. © 2023 IEEE.

关键词： Condition monitoring

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Input-output Module of Control Software for Servo Hydraulic Drives with Hydrostatic Guides

Input-output Module of Control Software for Servo Hydraulic ...

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International Conference on Actual Problems of Electronic Instrument Engineering (APEIE)

作者： Dmitry V. Topolsky Alexander E. Beliakov Nikita D. Topolsky Nikolay I. Yumagulov Elena A. Zvereva Tatiana V. Gonenko Dep. of Computers South Ural State University (NRU) Chelyabinsk Russia Dep. of Education in Physics and Mathematics Nizhnevartovsk State University Nizhnevartovsk Russia Nizhnevartovsk Department Industrial University of Tyumen Nizhnevartovsk Russia Dep. of Automation and Robotics Omsk State Technical University Omsk Russia

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Design and Assessment of a Modular Exoskeleton for Lifting Bimanual Loads

Design and Assessment of a Modular Exoskeleton for Lifting B...

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Iberian robotics Conference (ROBOT)

作者： Andrea De la Viuda Nancy Barbosa Clara Molina Fernando Blaya Miguel Berzal Juan M. Muñoz-Guijosa Miguel Á. Sánchez-Urán Manuel Ferre CAR UPM-CSIC Universidad Politécnica de Madrid Madrid Spain Ing. Mecánica Química y D. Industrial Universidad Politécnica de Madrid Madrid Spain Dep. Ingeníeria Mecánica Universidad Polité cnica de Madrid Madrid Spain Centre for Automation and Robotics (CAR) UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

This article proposes a new model of modular exoskeleton that assists the lifting of loads through electrome-chanical systems. With a mainly rigid structure, the exoskeleton has an innovative articulated system in the back region that guarantees freedom of movement during the performance of the activity. The main mechanisms of motion control in the shoulder and elbow joints are described, highlighting the role of the actuators of the latter joint, which generate the torque that allows the movement of the forearm. To this end, the study includes an analysis of the results obtained in relation to the assistance capacity shown by the servomotors according to the perception of different subjects.

关键词： Torque Neuromuscular Exoskeletons Shoulder Prototypes Robot sensing systems Sensors Elbow Servomotors Testing

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Real-time monocular obstacle avoidance using underwater dark channel prior

Real-time monocular obstacle avoidance using underwater dark...

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

作者： Drews, Paulo Hernández, Emili Elfes, Alberto Nascimento, Erickson R. Campos, Mario Autonomous Systems Laboratory Data61-CSIRO Brisbane Australia Computer Vision and Robotics Laboratory Dep. de Ciência da Computação Univ. Federal de Minas Gerais - UFMG Belo Horizonte Brazil NAUTEC Intelligent Robotics and Automation Group Univ. Federal do Rio Grande - FURG Rio Grande Brazil

ISBN: (纸本)9781509037629

In this paper we propose a new vision-based obstacle avoidance strategy using the Underwater Dark Channel Prior (UDCP) that can be applied to any Unmanned Underwater Vehicle (UUV) equipped with a simple monocular camera and minimal on-board processing capabilities. For each incoming image, our method first computes a relative dep.h map to estimate the obstacles nearby. Then, the map is segmented and the most promising Region of Interest (RoI) is identified. Finally, an escape direction is computed within the RoI and a control action is performed accordingly to avoid the obstacles. We tested our approach on a video sequence in a natural environment and compared it against a stateofthe-art method showing better performance, specially in light changing conditions. We also provide online results on a low-cost Remotely Operated Vehicle (ROV) in a controlled environment. © 2016 IEEE.

关键词： Remotely operated vehicles

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Robot Dynamic Model Identification Through Excitation Trajectories Minimizing the Correlation Influence among Essential Parameters

Robot Dynamic Model Identification Through Excitation Trajec...

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International Conference on Informatics in Control, automation and robotics

作者： Enrico Villagrossi Giovanni Legnani Nicola Pedrocchi Federico Vicentini Lorenzo Molinari Tosatti Fabio Abba Aldo Bottero Institute of Industrial Technologies and Automation National Research Council Italy University of Brescia Dep. of Mechanical and Industrial Engineering COMAU Robotics

ISBN: (纸本)9781479979202

Robot dynamics is commonly modeled as a linear function of the robot kinematic state from a set of dynamic parameters into motor torques. Base parameters (i.e. the set of theoretically demonstrated linearly-indep.ndent parameters) can be reduced to a subset of "essential" parameters by eliminating those that are negligible with respect to their contribution in motor torques. However, generic trajectories, if not properly defined, couple the contribution of such essential parameters into the motor torques, actually reducing the estimation accuracy of the dynamics parameters. The work presented here introduces an index for evaluating correlation influence among essential parameters along an executed trajectory. Such index is then exploited for an optimal search of excitatory patterns consistent with the kinematical coupling constraints. The method is experimentally compared with the results achievable by one of the most popular IRs dynamic calibration method.

关键词： Industrial Robot Dynamics Identification Optimal Excitation Trajectories Dynamics Decoupling

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Vision Enhanced Reactive Locomotion Control for Trotting on Rough Terrain

Vision Enhanced Reactive Locomotion Control for Trotting on ...

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IEEE Conference on Technologies for Practical Robot Applications

作者： Stephane Bazeille Victor Barasuol Michele Focchi Ioannis Havoutis Marco Frigerio Jonas Buchli Claudio Semini Darwin G. Caldwell Dep. of Advanced Robotics Istituto Italiano di Tecnologia (IIT) Dep. of Automation and Systems Federal University of Santa Catarina (UFSC) Agile & Dexterous Robotics Lab ETH Zurich

ISBN: (纸本)9781467362238

Legged robots have the potential to navigate in more challenging terrain than wheeled robots do. Unfortunately, their control is more difficult because they have to deal with the traditional mapping and path planning problems, as well as foothold computation, leg trajectories and posture control in order to achieve successful navigation. Many parameters need to be adjusted in real time to keep the robot stable and safe while it is moving. In this paper, we will present a new framework for a quadruped robot, which performs goal-oriented navigation on unknown rough terrain by using inertial measurement data and stereo vision. This framework includes perception and control, and allows the robot to navigate in a straight line forward to a visual goal in a difficult environment. The developed rough terrain locomotion system does not need any mapping or path planning: the stereo camera is used to visually guide the robot and evaluate the terrain roughness and an inertial measurement unit (IMU) is used for posture control. This new framework is an important step forward to achieve fully autonomous navigation because in the case of problems in the SLAM mapping, a reactive locomotion controller is always active. This ensures stable locomotion in rough terrain, by combining direct visual feedback and inertial measurements. By implementing this controller, an autonomous navigation system has been developed, which is goal-oriented and overcomes disturbances from the ground, the robot weight, or external forces. Indoor and outdoor experiments with our quadruped robot show the effectiveness and the robustness of this framework.

关键词： Reactive walking Active compliance Goal oriented navigation Visual servoing Quadruped robot

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Enhancing student learning: On-line interactive laboratory for modelling of real world control system applications

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IFAC Proceedings Volumes 2011年第1期44卷 7268-7273页

作者： Joshué Pérez Sebastián Dormido Ljubo Vlacic Centre of Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Dep. Informática y Automática Escuela Técnica Superior de Ingeniería Informática Universidad Nacional de Educación a Distancia Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract Teaching an introductory course on control systems to undergraduate students often seeks elaborations on real engineering world control system applications to assist students in grasping theoretical concepts. In this paper, the newly developed animated and interactive control systems tutorials are presented. The paper shows that this teaching approach helps students in bridging the gap between the classical control techniques and the real world applications. The course evaluations undertaken since the time of the inclusion of the animated tutorials into the teaching process clearly show the learning improvement gained, reflected in increased average scores, and reduced course fail grade.

关键词： Interactive control system tutorials Interactive teaching tools Animation Distance Education

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Optimization of logistic processes in supply-chains using meta-heuristics

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2003年 2902卷 9-23页

作者： Silva, Carlos A. Runkler, Thomas A. Sousa, João M. Sá Da Costa, J.M. Siemens AG Corporate Technology Information and Communications CT IC 4 81730 Munich Germany Technical University of Lisbon Instituto Superior Técnico Dep. Mechanical Engineering - Control Automation and Robotics Group Av. Rovisco Pais 1049-001 Lisbon Portugal

This paper addresses the optimization of logistic processes in supply-chains using meta-heuristics: genetic algorithms and ant colony optimization. The dynamic assignment of components to orders and choosing the solution that is able to deliver more orders at the correct date, is a scheduling problem that classical scheduling methods can not cope with. However, the implementation of meta-heuristics is done only after a positive assessment of the performance's expectation provided by the fitness-distance correlation analysis. Both meta-heuristics are then applied to a simulation example that describes a general logistic process. The performance is similar for both methods, but the ant colony optimization method provides more information at the expenses of computational costs. © Springer-Verlag Berlin Heidelberg 2003.

关键词： Supply chains

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Ant colonies as logistic processes optimizers 3rd

Ant colonies as logistic processes optimizers

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3rd International Workshop on Ant Algorithms, ANTS 2002

作者： Silva, Carlos A. Runkler, Thomas A. Sousa, João M. Palm, Rainer Siemens AG Corporate Technology Information and Communications CT IC 4 Munich81730 Germany Technical University of Lisbon Instituto Superior Tècnico Dep. Mechanical Engineering - Control Automation and Robotics Group Av. Rovisco Pais Lisbon1049-001 Portugal

ISBN: (纸本)9783540457244

This paper proposes a new framework for the optimization of logistic processes using ant colonies. The application of the method to real data does not allow to test different parameter settings on a trial and error basis. Therefore, a sensitive analysis of the algorithm parameters is done in a simulation environment, in order to provide a correlation between the different coefficients. The proposed algorithm was applied to a real logistic process at Fujitsu-Siemens Computers, using the set of parameters defined by the analysis. The presented results show that the ant colonies provide a good scheduling methodology to logistic processes. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Parameter estimation

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Utilisation of soft computing techniques to model abstract manufacturing information

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IFAC Proceedings Volumes 2000年第20期33卷 153-158页

作者： Chrysostomos D. Stylios Peter P. Groumpos Lab. for Automation & Robotics Dep. of Electrical & Computer Engineering University of Patras26500 Rion Patras Greece

The paper examines the usefulness of Fuzzy Cognitive Maps in modeling complex systems and specifically their use in modeling manufacturing systems and information from an abstract point of view. Aspects such as Fuzzy Cognitive Map representation and development are presented and PCM use to develop a behavioral model of the system is discussed. Fuzzy Cognitive Maps applicability in modeling complex systems and their use to aggregate different models for the complex system is discussed. A hierarchical structure is proposed, where a Fuzzy Cognitive Map models the supervisor of the system.

关键词： Fuzzy Cognitive Map Modeling Complex Systems Manufacturing Systems

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