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Transputer based GA motion control for PUMA robot

MECHATRONICS 1996年第3期6卷 349-365页

作者： Wang, Q Zalzala, AMS Robotics Research Group Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD U.K.

A new control system is described for the PUMA 560 industrial robotic manipulator based on transputer networks, where both the hardware and software designs are detailed. A Transputer Interface Board (TIE) establishing a transputer link to the 6503 microprocessors of the PUMA arm joints has been designed, built and tested successfully. In addition to hardware implementation, software testing for this new system had been accomplished. The new system can communicate with the PUMA lower level controller at a much shorter period (i.e. 1.75 ms) than the default 28 ms. Genetic Algorithms are used to plan the PUMA robot minimum-time motion trajectory, which is not possible by the traditional exhaustive search method. Real-time experiments have been carried out based on the new PUMA control platform, and show a very good match with simulations. controlled by the new system, PUMA perfoms better when it is interfaced with the shorter time period. Copyright (C) 1996 Elsevier Science Ltd.

关键词： robotics

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Computational intelligence for high-precision industrial robots

Computational intelligence for high-precision industrial rob...

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2005 IEEE International Symposium on Computational Intelligence in robotics and Automation CIRA 2005

作者： Moberg, Stig ABB Automation Technologies - Robotics Sweden Motion Control Group ABB Robotics Västerås Department of Automatic Control Linköpings University

ABB has launched its fifth generation robot controller, the IRC5. The basic motion control of the IRC5 controller includes the TrueMove and QuickMove functionality for best possible production rate and quality. In addition to this, the MultiMove function enables new production concepts and more cost-effective solutions. To penetrate new market segments, ease-of-use, high precision and cost-effectiveness are important factors. The availability of low-cost computational power and, in some cases, sensor integration enables the use of cost-effective industrial robots for high-precision tasks.

关键词： Artificial intelligence

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Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet 26

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Marciniak, Tomasz Stankiewicz, Agnieszka Zaradzki, Przemyslaw Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Department of Control Robotics and Electrical Engineering Poznan Poland

ISBN: (纸本)9798350304985

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author's publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score). © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Optical tomography

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Active wheel speed control to avoid lifting the swingarms in rocker-bogie suspension 3

Active wheel speed control to avoid lifting the swingarms in...

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3rd International Young Engineers Forum, YEF-ECE 2019

作者： Tomaszuk, P. Lukowska, A. Recko, M. Dzierzek, K. Straszynski, P. Faculty of Mechanical Engineering Bialystok University of Technology Department of Automatic Control and Robotics Bialystok Poland

ISBN: (纸本)9781538692820

Rocker-bogie is kind of suspension system where wheels from each side of the vehicle are connected with swingarm on the rotary axle. Both levers are connected with a differential mechanism. If the vehicle has not had turnable wheels and turns only using the velocity or heading difference of each side or the object, then increased traction on the most loaded wheels causes lifting of the swingarms in opposing directions. This situation is undesirable because it leads to the high inclination of the vehicle's body and threatens to fall over. This article shows the way of active adjusting each wheel's speed to avoid swingarms lifting. Presented algorithm increases or decreases the angular velocity of selected wheels depending on the robot's rotation speed, acceleration, and traction. Parameters are calculated from the velocity of swingarm lift angle changes compared to the vehicle's relative rotation speed. Theoretical description presents the geometry of vehicle suspension, used sensors, and wheels speed control circuitry. The algorithm is implemented on an existing vehicle, and experimental part contains a comparison of behavior with and without active control on different surfaces. © 2019 IEEE.

关键词： Automobile suspensions

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The integrated controller dedicated to multi-coil electromagnetic launcher for micro class unmanned aerial vehicles 3

The integrated controller dedicated to multi-coil electromag...

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3rd International Young Engineers Forum, YEF-ECE 2019

作者： Kuc, Barbara Kondratiuk, Miroslaw Ambroziak, Leszek Dzierzek, Kazimierz Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538692820

The paper presents the structure, design and operational functions of the integrated controller of an multicoil electromagnetic launcher (EML) for micro class unmanned aerial vehicle (UAVs). UAVs are used for military and civilian purposes for patrolling forest areas, transporting loads of small sizes and weights, mapping, counting animal populations or observing mass events, etc. Some constructions of unmanned aerial vehicles are not equipped with a chassis allowing independent start using special runways, so there is a need for manual ejection by a man hand or using one of many types of dedicated launcher. In example, there are in usage rubber launchers (bungee), pneumatic, hydraulic, steam, rocket and also electromagnetic one. Especially the last type can be used for micro class UAVs. EMLs enable operator to precisely control thrust parameters, i.e. giving the appropriate initial speed, avoiding acceleration pulses, repeating start procedure in short periods of time. For instance, more advanced task involved EMLs can be creation of UAVs formation flight structure, which is very complex process sometimes even impossible to do with manual controlled thrust. The first part of the work presents the concept and construction of a multi-coil launcher with a moving ferromagnetic core. Project was created at the Faculty of Mechanical Engineering of the Bialystok University of Technology. The next part of the work presents the structure, design and construction of the dedicated for EML, programmable controller. Moreover, in the paper the method of UAV ejection control and the selection of the appropriate, crucial parameters were described. In the last part, summary the obtained results was presented and conclusions were drawn. © 2019 IEEE.

关键词： controllers

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Evaluation of Hybrid Particle Swarm Optimization in the Multi-door Cross-docking Problem 25

Evaluation of Hybrid Particle Swarm Optimization in the Mult...

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25th International Conference on Methods and Models in Automation and robotics, MMAR 2021

作者： Pasko, Kamil Kucharska, Edyta Baranowski, Jerzy AGH University of Science and Technology Department of Automatic Control and Robotics Krakow30-059 Poland

ISBN: (纸本)9781728173801

The paper deals with a cross-docking problem which is an example of real-word logistics problem and belongs to the class of NP-hard optimization problems. Cross-docking is a transshipment platform, where products from suppliers to several destinations are deconsolidated, sorted, consolidated based on the customer's orders, and shipped out to the end customers using outbound trucks. In particular, multiple inbound and outbound doors cross-docking is under consideration. The aim is to optimize the sequence of inbound and outbound trucks and truck dock assignment in cross-docking systems with multiple inbound and outbound dock doors. A particle swarm optimization hybridized with simulated annealing is proposed to solve this problem. The paper also presents the results of computational experiments. © 2021 IEEE.

关键词： Trucks

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Smart floor for a more comfortable and safer life 3

Smart floor for a more comfortable and safer life

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3rd International Young Engineers Forum, YEF-ECE 2019

作者： Haraburda, Karol Czygier, Jakub Recko, MacIej Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538692820

The article presents the design of a SmartFloor to monitor pedestrians' movement patterns and collect data for Neural Network Analysis. The floor can be used in smart homes and environments to provide easy interaction with space's occupants. It is also used to determine the gender of the walkers useful during the calculation of attendance monitoring at events. Conducted research proved that the concept does indeed work and can be used for the use mentioned above cases. © 2019 IEEE.

关键词： Machine learning

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RLS-based control algorithms for 3D zones of quiet 55

RLS-based control algorithms for 3D zones of quiet

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55th Open Seminar on Acoustics, OSA 2008

作者： Michalczyk, Malgorzata I. Serwin, Janusz Institute of Automatic Control Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Graduated in Automatic Control and Robotics Department of Automatic Control Electronics and Computer Science Silesian University of Technology Gliwice Poland

ISBN: (纸本)8392166302

The paper summarises research on application of RLS-based adaptive control algorithms for single-channel active noise control (ANC) system, used to create three dimensional (3D) local zones of quiet in a reverberant enclosure by attenuation of tonal disturbances. Three different ANC system structures are concerned: classical and modified 'filtered-x' and 'adjoint' structure. The problem of parameterisation of six RLS-based adaptive control algorithms is evaluated, firstly, in simulations with the use of nonsimplified plant models and tonal disturbances. Next, research results are proved in real-world experiments. Finally, the efficiency of ANC systems using different control structures and RLS-based control algorithms is compared. © AIChE Southwest Process Technology Conference *** right reserved.

关键词： Active noise control

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High-definition event frame generation using SoC FPGA devices 26

High-definition event frame generation using SoC FPGA device...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Blachut, Krzysztof Kryjak, Tomasz AGH University of Krakow Embedded Vision Systems Group Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9798350304985

In this paper we have addressed the implementation of the accumulation and projection of high-resolution event data stream (HD - 1280×720 pixels) onto the image plane in FPGA devices. The results confirm the feasibility of this approach, but there are a number of challenges, limitations and trade-offs to be considered. The required hardware resources of selected data representations, such as binary frame, event frame, exponentially decaying time surface and event frequency, were compared with those available on several popular platforms from AMD Xilinx. The resulting event frames can be used for typical vision algorithms, such as object classification and detection, using both classical and deep neural network methods. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： System-on-chip

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Vision-Based Segregation Behaviours in a Swarm of Autonomous Robots

Vision-Based Segregation Behaviours in a Swarm of Autonomous...

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12th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2011

作者： Price, Michael J. Groß, Roderich Natural Robotics Lab Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642232312

The accelerating development and usage of autonomous robots has led to increased interest in decentralised systems and the cooperation of individual elements within a swarm, in particular the ability to self-organise and form patterns or self-segregate. Such segregation is readily exhibited in nature, as highlighted by prior work looking at the collective sorting of brood items by ant colonies [1,3]. This work focuses on the ability of robots to spatially segregate themselves. In particular, it takes inspiration primarily from the Brazil nut effect [6], which is responsible for the emergent striped patterns observed when a container holding particles of different sizes is agitated. © 2011, Springer-Verlag Berlin Heidelberg.

关键词： Robots

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