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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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Stereo Vision based Relative Pose and Motion Estimation for Unmanned Helicopter Landing

Stereo Vision based Relative Pose and Motion Estimation for ...

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International Conference on Information and automation (ICIA)

作者： Cui Xu Liankui Qiu Ming Liu Bin Kong Yunjian Ge Department of Automation University of Science and Technology Hefei Anhui China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machines Chinese Academy and Sciences Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne VIC Australia

In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.

关键词： Stereo vision Motion estimation Helicopters Feature extraction Cameras Robot vision systems Real time systems Marine vehicles Metalworking machines computer vision

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The Tinyphoon's control Concept

The Tinyphoon's Control Concept

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International Conference on Mechatronics (ICM)

作者： Gregor Novak Charlotte Roesener Markus Bader Tobias Deutsch Stefan Jakubek Stefan Krywult Martin Seyr Institute of Computer Technology University of Technology Vienna Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic University of Technology Vienna Vienna Austria

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of realtime communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control

关键词： Service robots Motion control Robotics and automation Automatic control Mobile robots control systems Electrical equipment industry Robot sensing systems Mobile computing Robotic assembly

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Delay-dependent stability of 2D state-delayed linear systems

Delay-dependent stability of 2D state-delayed linear systems

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： W. Paszke J. Lam K. Galkowski Shengyuan Xu E. Rogers A. Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Gora Poland Department of Mechanical Engineering University of Hong Kong Hong Kong China Department of Automation Nanjing University of Science and Technology of PLA Nanjing China Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany School of Electronics and Computer Science University of Southampton Southampton UK

This paper addresses the problem of stability for two-dimensional systems with delays in the state. To solve this problem, the Lyapunov second method is used. The resulting condition is written in terms of linear matrix inequalities and it is dependent on the size of delays. This fact allows us to reduce the conservatism in the stability analysis of two-dimensional systems with state delays. A simulation example is given to illustrate the theoretical developments

关键词： Stability Linear systems Delay systems Symmetric matrices control systems Linear matrix inequalities Delay lines Automatic control control engineering computing Mechanical engineering

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Improving handling of vehicles with active suspensions

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International Journal of Vehicle Autonomous Systems 2005年第2-4期3卷 134-151页

作者： Gaáspaár, P. Bokor, J. Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungary Control and Transport Automation Department Budapest University of Technology and Economics Hungary

In this paper an active suspension system which guarantees passenger comfort in normal cruising and rollover prevention in emergencies is proposed. In the control design the changes in forward velocity, the normalised load transfer, the performance specifications both for rollover and suspension problems, and the model uncertainties are taken into consideration. By selecting scheduling variables, a Linear Parameter Varying model is constructed, which is the basis of the control design. The operation of the active suspension is demonstrated in a cornering manoeuvre. Copyright © 2005 Inderscience Enterprises Ltd.

关键词： Vehicle suspensions

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Optimization of ray tracing in octrees

Optimization of ray tracing in octrees

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15th International Conference on computer Graphics and Vision, GraphiCon 2005

作者： Bobkov, Valery Melman, Sergey Ronshin, Yurij Department of Computer Graphics Institute for Automation and Control Processes Russia

Ray tracing algorithm on octrees is described. The algorithm is based on decomposition of 3D search child sub-voxel to 2D task in coordinate planes. Optimization of algorithm at the path coherency in octree is suggested. The notion of supporting rays with storing and common path of close rays is introduced. The algorithm of optimized traversal for intermediate rays, based on common paths, is presented. Two version of path coherency in octree realization is considered. Experimental efficiency values of considered optimization are received for different scenes. Comparative efficiency values of optimized discrete ray tracing algorithm and forward rendering algorithm are received also.

关键词： Ray tracing

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Artificial cognitive BP-CT Ant routing algorithm

Artificial cognitive BP-CT Ant routing algorithm

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International Joint Conference on Neural Networks, IJCNN 2005

作者： Jing, Xu Liu, Chunyu Sun, Xiaobo Department of Automation Computer and Control College Harbin University of Science and Technology Harbin 150080 China

ISBN: (纸本)0780390482

This paper analyses the primary features of computing intelligence in the circumstance of multi-agents modeling, and the artificial cognitive methods with computing intelligent agents, and the artificial cognitive features in reinforcement learning and the Q-routing algorithm which is a kind of reinforcement learning in the domain of intelligent network. At the same time, aiming at the problem in AntNet routing algorithm, this paper introduces BP-CT Ant routing algorithm and simulates the algorithm on OMNeT++ software platform, then proves the availability of the algorithm. Considering the global planning and optimal control theory, BP-CT Ant routing algorithm has some potential aspects of intelligent control, and shows good QoS performance. © 2005 IEEE.

关键词： Neural networks

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PASIBC - A *** agent platform for knowledge based information systems

PASIBC - A *** agent platform for knowledge based informatio...

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2005 IEEE/WIC/ACM International Conference on Intelligent Agent Technology

作者： Şova, Ioan Department of Automation Control and Computer Science Technical University Gh. Asachi Iaşi Romania

ISBN: (纸本)0769524168

In this paper the PASIBC (PlatformǍ Agent pentru Sisteme Informatice Bazate pe Cunoştinţe) agent platform is presented I have implemented this platform in C# as a high performance multi-threading application and it is a novel agent platform that benefits from the .NET technology advantages. The platform subscribes to the FIPA agent platform model and it uses (through its agents) RDF ontologies. A new agent platform architecture is also proposed, architecture based on four layers: agent layer, communication layer, security layer and knowledge layer. As expected the PASIBC outperforms, with respect to the communication performance, existing Java based agent platforms and experimental results for the comparison with the JADE platform are presented. © 2005 IEEE.

关键词： Intelligent agents

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Estimation of dynamic origin destination matrix of traffic systems

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Periodica Polytechnica Transportation Engineering 2005年第1-2期33卷 3-14页

作者： Kulcsár, Balázs Bécsi, Tamás Varga, István Department of Control and Transport Automation Budapest University of Technology and Economics Bertalan L. u. 2 H-1111 Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

The paper suggests the necessity of the estimation of unmeasured variables of traffic systems. The presented method proposes constrained state estimation of unmeasured traffic variable such as turning rates. The weighted constrained state approach uses moving horizon along the state trajectory which permits to handle equality and inequality constraints belonging to the nature of the traffic model. A numerical example illustrates the importance of constrained estimation.

关键词： Transportation

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An approach for designing real-time embedded systems from RT-UML specifications

An approach for designing real-time embedded systems from RT...

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作者： Wehrmeister, M.A. Becker, L.B. Pereira, C.E. Computer Science Institute UFRGS Brazil Automation and Control Systems Department UFSC Brazil Electrical Engineering Department UFRGS Brazil

ISBN: (纸本)008045108X

The current work presents an API based on the Real-Time Specification for Java (RTSJ) that optimizes real-time embedded systems development. Using this API it is possible to state non-functional specifications, like time constraints, and guarantee its implementation in the selected platform. Moreover, it discusses how real-time requirements derived from the RT-UML standard can be mapped to the elements from the proposed API..An integrated toolset is used to support the intermediate steps of this mapping process. The paper illustrates the mapping mechanism by means of a case study that implements the control system of an automated wheelchair. Copyright © 2005 IFAC.

关键词： Mapping

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