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21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Hunter Sanchez, M.E. Lara Leyva, F.J.K. Cisneros Limon, R. Ibarra Zannatha, J.M. Engineering Faculty La Salle University United States Department of Automatic Control Cinvestav Mexico

ISBN: (纸本)9781424495573

In this paper the mechanical design and kinematic analysis of a humanoid robot are presented. This robot is designed to perform as a soccer player, according to the current structure and dimensions restrictions stated by the International RoboCup Federation for the Kid-Size league in the RoboCup competition. The corresponding mechanism has 26 degrees-of-freedom (dof). It is composed by two legs (6 dof each), two arms (5 dof each), a torso (2 dof waist) and a head (2 dof). The direct and inverse kinematic analysis were carried out by means of applying the Denavit-Hartenberg methodology and using Screw Theory. The last one led to an analytical solution to the inverse kinematic problem, given that the mechanical design was correctly planned. As a future work, these mathematical models will be used in the elaboration of a simulator that permits to analyze the robot's movement and to generate adequate gait patterns. © 2011 IEEE.

关键词： Anthropomorphic robots

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Compensation of time-varying delay acting in networked control systems using adaptive Smith predictor and parallel fuzzy-PI controller

Compensation of time-varying delay acting in networked contr...

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IEEE International Conference on Mechatronics

作者： Dragolj, Edin Brankovic, Aida Velagic, Jasmin Osmic, Nedim Department of Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9781612849836

This paper focuses on problems which arise from network controlled systems within master-slave type of Communications. Since the master and slave are connected over the network, network-induced time-varying delay has negative impact on system stability and control system performance. In order to compensate an influence of delay in NCS we proposed the improvement of two control strategies, Smith predictive and parallel fuzzy-PI controllers. Design of parallel fuzzy-PI controller has no demands for mathematical model of controlled system. Parameters of PI controller are adjusted adaptively depending on the delay. Adaptive Smith predictor is based on the adaptive loop that decreases influence of network-induced delay. It requires a mathematical model of the controlled system. Furthermore, simulations and practical experiments are given to illustrate the effectiveness and robustness of the proposed methods. © 2011 IEEE.

关键词： system stability

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Remote control of robot arm with five DOF

Remote control of robot arm with five DOF

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作者： Vajnberger, Vedran Terzimehić, Tarik Silajdzić, Semir Osmić, Nedim Faculty of Electrical Engineering Department of Automatic Control and Electronics Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9789532330670

This paper explains the whole process of making a system for remote control of a robot arm with five degrees of freedom (DOF). For this purpose a hardware structure was fully designed and implemented. The hardware structure is based on microcontroller PIC16F877A and surrounding architecture that controls movement of different axis of the arm. The arm has no sensors, so the visual information from the camera was used as feedback. Two communications were used to operate robot arm. The first one is realized by serial RS-232 protocol between PC and Microcontroller, and this communication is used to operate the arm. The second communication uses TCP/IP protocol for remote control. The TCP/IP protocol provides communication between server and client computers and sends information of position of robot arm. For interaction with user appropriate GUI is implemented in MATLAB. The main objective of this paper was to obtain fully and precise control of every degree of freedom. © 2011 MIPRO.

关键词： Remote control

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Indoor temperature regulation on small scale model using Matlab-based regulators

Indoor temperature regulation on small scale model using Mat...

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作者： Džampo, Gregor Muminović, Hajrudin Osmić, Nedim Faculty of Electrical Engineering Department of Automatic Control and Electronics Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9789532330670

This paper describes indoor temperature regulation. Indoor environment temperature regulation is most frequent type of regulation. To achieve this goal a small scale model was built with software support as well. This system model is composed of the incubator, DC controlled dimmer, ME RedLab data acquisition module as AD/DA converter, a Matlab-based controller, GUI (Graphical User Interface), and an NTC temperature sensor. system identification using step response was carried out to determine a mathematical model of the system which was implemented in Simulink program package. Within the Simulink model P, PI, PID and fuzzy controller were designed. Results acquired during simulation were successfully applied on the real system. Both simulation and experimental results are consistent. It is shown that system developed on simulation level can be translated to the real system which simplifies the regulator design. © 2011 MIPRO.

关键词： Data acquisition

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Finite state control of FES-assisted walking with spring brake orthosis

Finite state control of FES-assisted walking with spring bra...

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2011 UKSim 13th International Conference on Modelling and Simulation, UKSim 2011

作者： Jailani, R. Tokhi, M.O. Gharooni, S.C. Jogtaei, M. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering Universiti Teknologi MARA 40450 Shah Alam Malaysia

ISBN: (纸本)9780769543765

This paper presents finite state control (FSC) of paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Fuzzy logic control (FLC) is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D and finite state control is used to control the transaction between all walking states. Finite state control (FSC) is used to control the switching of brakes, FES and spring during walking cycle. © 2011 IEEE.

关键词： Brakes

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Reduction of low-resolution incremental encoder usage effects on control performance by using a fuzzy controller

Reduction of low-resolution incremental encoder usage effect...

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2011 23rd International Symposium on Information, Communication and Automation Technologies, ICAT 2011

作者： Abdagic, Alvin Sinanovic, Adisa Velagic, Jasmin Osmic, Nedim Department for Automatic Control and Electronics Faculty of Electrical Engineering Sarajevo Zmaja od Bosne bb. Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9781457707469

Different methods for position control of a DC servomotor are examined. Position is measured with a low-resolution incremental encoder that is a cheap solution that allows for free movement of motor shaft. This kind of measurement affects control and degrades its performance. Entire system is first identified using Matlab system Identification Toolbox. P and PD controllers, along with cascaded and observer-based controllers are synthesised and tested. Sugeno type fuzzy controller with two inputs and constant output membership functions shows the best results of the tested controllers in both simulation and testing done on a real system. Simulation is performed with Matlab Simulink. control system prototyping is done using DS1104 board. © 2011 IEEE.

关键词： Position control

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An anti-slip predictive controller for a V-PRA vehicle

An anti-slip predictive controller for a V-PRA vehicle

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作者： Cochior, Carmen De Keyser, Robin Lazar, Corneliu Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical Energy Systems and Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

ISBN: (纸本)9783902661937

In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is nonlinear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller. © 2011 IFAC.

关键词： Vehicles

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Monocular visual self-localization for humanoid soccer robots

Monocular visual self-localization for humanoid soccer robot...

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21st International Conference on Electronics Communications and computers, CONIELECOMP 2011

作者： Ibarra Zannatha, J.M. Cisneros Limon, R. Gomez Sanchez, A.D. Hernandez Castillo, E. Figueroa Medina, L.E. Lara Leyva, F.J.K. Department of Automatic Control Cinvestav Mexico Department of Computer Systems Cinvestav Mexico Engineering Faculty La Salle University United States

ISBN: (纸本)9781424495573

In this paper a visual self-localization method for a humanoid robot is presented. This one is based on monocular information. The goal of this method is to obtain the position (x;y) and orientation θ of the humanoid robot inside the field of play. The methods proposed include some digital image processing algorithms and geometric interpretation to perform a 3D monocular reconstruction, that allows to measure the relative position between the robot and some known objects (goals and beacons), and to use them to obtain the robot's absolute position, by means of a triangulation method. Finally, the results obtained in Webots and in the real platform are presented. © 2011 IEEE.

关键词： Anthropomorphic robots

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Resource management based on gossip monitoring algorithm for large scale distributed systems

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Scalable Computing 2011年第1期12卷 21-34页

作者： Pop, Florin Computer Science Department Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania

The optimization of resource management in large scale distributed systems (LSDS) with the capability of selforganization is a complex process. LSDS are highly dynamic systems, with permanent changes in their configurations, as peers may join and leave the system with no restriction or control. This paper present the architecture for monitoring and resource management based on existing middleware solutions through the design of algorithms and methods inspired by natural models. The architecture is decentralized and it aims to optimize resource management in different types of distributed systems such as Grid, P2P, and Cloud. The important components considered for the architecture are: allocation of resources, task scheduling, resource discovery, monitoring resources and provide fault tolerance. As the system may have a large number of nodes, we need a scalable algorithm for monitoring process, able to guarantee a fast convergence no matter what the structure of the network is. In this context, gossip-based algorithms offer solutions for various topics in LSDS. The project aims to highlights the original obtained results in internationally scientific community. The paper presents the expecting results and discusses the performance evaluation of proposed architecture. Secondly, the paper presents a gossip-based algorithm for monitoring large-scale distributed systems and analyzes its efficiency in a simulated environment provided by OverSim. © 2011 SCPE.

关键词： Fault tolerance

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automatic data migration e-system for public administration e-services

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Scalable Computing 2011年第1期12卷 51-61页

作者： Dobre, Ciprian Marin, Andreea Computer Science Department Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania

Interoperability represents an important issue in developing successful e-Services applications. In such applications data is often produced by services specifics to one organization and is consumed by services belonging to another one. Still, automatic data migration and transfer utilities are currently insufficiently addressed. We present a solution for automatic data migration that is able to handle data transfers between different database instances. The solution works with dynamic data schemas, and requires minimal user input and interaction. The proposed e-system was successfully used to support public administration automatic collection of data about companies. Various government processes require information from businesses. Examples include statistics about number of employees, revenue data, etc. However, collecting such data generally requires it to be voluntarily transmitted by business organizations. We present results for evaluating in a real-world e-system the proposed solution, as a backbone designed to automatically collect reporting data. © 2011 SCPE.

关键词： Public administration

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