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2006 IEEE International Conference on Mechatronics, ICM

作者： Novak, Gregor Roesenert, Charlotte Bader, Markus Deutsch, Tobias Jakubek, Stefan Krywult, Stefan Seyr, Martin Institute of Computer Technology Vienna University of Technology 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 Vienna University of Technology Vienna Austria

ISBN: (纸本)0780397134

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 entails 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 75x75x150mm. 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 real-time communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control. © 2006 IEEE.

关键词： control theory

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Approximation and Optimization of L1-norm for Continuous-Time Linear Systems

Approximation and Optimization of L1-norm for Continuous-Tim...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xiajiao Wang Jun Wu Weihua Xu Sheng Chen Xiaoliang Wang National Laboratory of Industrial Control Technology Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Southampton UK Department of Electronics College of Information Science and Technology Jinan University Guangzhou China

A method is derived to approximate the L 1 -norm of continuous-time linear time-invariant systems. The optimization problem is then formulated to design fixed-order L 1 -controller. The method of approach and simulate... 详细信息

关键词： Linear systems Industrial electronics Simulated annealing Laboratories Industrial control process control Educational institutions Information science Design optimization control system synthesis

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Modeling and control of Interaction Forces in Dynamically-Coupled Robotic Systems

Modeling and Control of Interaction Forces in Dynamically-Co...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goo Bong Chung Byung-ju Yi Whee-kuk Kim The Robotics Institute Carnegie Mellon University Pittsburgh USA School of Electrical Engineering and Computer Science Hanyang University Ansan Republic of Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Republic of Korea

In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot

关键词： Force control Mobile robots Manipulator dynamics Kinematics Motion control Orbital robotics Intelligent robots Parallel robots Human robot interaction Force measurement

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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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Low-Level Finger Coordination for Compliant Anthropomorphic Robot Grippers

Low-Level Finger Coordination for Compliant Anthropomorphic ...

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IEEE Conference on Decision and control

作者： A. Lehmann R. Mikut D. Osswald Institute of Applied Computer Science Forschungszentrum Karlsruhe GmbH (FZK) Germany Institute for Process Control and Robotics University of Karlsruhe Germany

The execution of a grasp process with an anthropomorphic multi-finger robot gripper has to base on an appropriate movement planning and an accurate low-level control strategy. Stability problems may arise, if there is a deviation, e.g. through position, orientation and/or size perturbation of the object, between planned and real executable movement patterns. One opportunity to react to such perturbations is the use of visual information. But if the there is no visual system available or even the object is concealed, e.g. through the robot gripper, the robot arm or another object, then the use of a visual system is insufficient. For this reason a low-level finger coordination depending on the actual state of the grasp (grasp phase) is presented. With this concept it is possible to coordinate the grasp on the level of the low-level controller and therefore to improve the grasp performance.

关键词： Fingers Anthropomorphism Robot kinematics Grippers Visual system Strategic planning Motion planning Humans computer science Object detection

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Parameter estimation for Choquet fuzzy integral based on Takagi–Sugeno fuzzy model

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Information Fusion 2005年第2期6卷 175-182页

作者： Shihong Yue Ping Li Zongxian Yin Institute of Industrial Process Control Zhejiang University HangZhou 310027 China Department of Computer Science and Information National Cheng Kung University Tainan 70101 Taiwan

Currently, both Choquet fuzzy integral and Takagi–Sugeno fuzzy models are popular synthetic evaluation and fuzzy modeling tools. In this paper, we prove that Choquet fuzzy integral is a special version of Takagi–Suguno fuzzy model in the sense of structure, thus the learning algorithm of the latter is used to develop a parameter estimation procedure for the former. The parameter estimation procedure actually is performed in each ordinal subspace of input space, in which all input data have unique ordering of components. The proposed approach in this paper has been proven to possess better performance than the existing ones by not only theoretical analysis but also experiments.

关键词： Synthetic evaluation Fuzzy integral Takagi–Sugeno fuzzy model

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories computer science

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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Quadratic stability of process systems in generalized Lotka-Volterra form 6

Quadratic stability of process systems in generalized Lotka-...

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6th IFAC Symposium on Nonlinear control Systems, NOLCOS 2004

作者： Magyar, A. Szederkényi, G. Hangos, K.M. Process Control Research Group Systems and Control Laboratory Computer and Automation Research Institute HAS P.O. Box 63 BudapestH-1518 Hungary Department of Computer Science University of Veszprém Egyetem u. 10 VeszpremH-8200 Hungary

The global and local stability of process systems in generalized Lotka-Volterra form is studied in this paper using entropy-like and quadratic Lyapunov function candidates. The global stability check for LV models is performed by solving an LMI for a diagonal positive semi-definite matrix using singular perturbation technique. It is shown that a quadratic Lyapunov function can also be determined by solving linear matrix inequalities (LMIs). In addition, the quadratic stability neighborhood is convex in the space of the quasi-monomials and can be estimated by computing its comer points using LMIs. Furthermore, it is proved that quadratic stability with a diagonal weighting matrix enables to construct adissipative-Hamiltonian description of the system. The developed methods are illustrated on the model of a continuously stirred tank reactor with a nonlinear reaction system. Copyright © 2004 IFAC.

关键词： Linear matrix inequalities

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Computing a FWL stability measure for second order digital systems

Computing a FWL stability measure for second order digital s...

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International Conference on control, Automation, robotics and Vision (ICARCV)

作者： J. Wu S. Chen J. Chu National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control University of Zhejiang Hangzhou China Department of Electronics and Computer Science University of Southampton Highfield Southampton UK National Key Laboratory of Industrial Control Technology Institute of Advanced Process Control Zhejiang University Hangzhou China

The best measure quantifying FWL (finite word length) stability is the one that bases on the largest stable perturbation hypercube. But the computing of this FWL stability measure has not been solved. For second order digital systems, this paper develops an analytic computing method. Through solving 12 linear equations and 12 quadratic equations, the measure value can be obtained exactly.

关键词： Stability Digital systems control systems Industrial control Laboratories process control Equations Digital filters Digital control Eigenvalues and eigenfunctions

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