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Minimization of the Operation Costs of a Solar/Gas Airconditioning System Using Duration-based Predictive control

Energy Procedia 2013年 42卷 784-793页

作者： Johanna Salazar Maria del Mar Castillo Francisco Rodriguez Fernando Tadeo Systems Engineering and Automatic Control Department University of Valladolid 47005 Valladolid Spain Automatic Control Electronics and Robotics Research Group University of Almería Ctra. Sacramento s/n 04120 Almería Spain

A proposal for the advanced control of a hybrid solar/gas air-conditioning system and its testing by simulation is presented. The proposal is based on a Predictive controller that optimizes the operational costs by taking into account the costs of gas heating and the electrical consumption. The Constrained Mixed-Integer Predictive control problem obtained is then solved using a formulation based on the duration of the states, which simplifies the numerical solution. The simulation at different times of the year is carried out in order to show the validity of the proposed approach

关键词： Climatic control Solar Climatization Predictive control

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Dynamics modelling and stable motion control of a Ballbot equipped with a manipulator

Dynamics modelling and stable motion control of a Ballbot eq...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Pouya Asgari Payam Zarafshan S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed.

关键词： Manipulator dynamics

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A new approach in gait planning for humanoid robots

A new approach in gait planning for humanoid robots

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Majid Khadiv S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran

Due to redundancy and natural instability of humanoid robots, their motion planning becomes a challenging task. Designing stable gaits with smooth trajectories for a humanoid robot is the main goal of this article. Taking all related parameters on robot's walking into consideration, a new gait planning approach in the task space is developed. Various aspects like upper-body motion and stability requirements have the most significant role in this new gait planning process. In order to reduce undesired fluctuations on robot center of mass a new method in trajectory planning is also suggested. To show performance of the proposed algorithm, it is compared with another reliable approach in this field, and the results will be discussed.

关键词： Trajectory Planning Joints Stability criteria Robots Foot

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Momentum based traversal of mobility challenges for autonomous ground vehicles

Momentum based traversal of mobility challenges for autonomo...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Camilo Ordonez Nikhil Gupta Oscar Chuy Emmanuel G. Collins Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida A & M University-Florida State University Tallahassee FL USA

Autonomous ground vehicles operating in the field are likely to be faced with several mobility challenges such as piles of rubble, water crossings, steep hills, mud, and stiff vegetation patches. These scenarios are particularly critical for smaller robots with torque and power limited actuators, which as experimentally shown in this work can easily fail to accomplish their tasks in these environments. This paper motivates and provides a methodology that integrates the robot, actuator and terrain models with an efficient motion planner to exploit the vehicle momentum as a way to successfully traverse these difficult terrains. In particular, experimental results showing the efficacy of the proposed methodology are presented for a vegetation patch and a steep hill. Finally, a discussion of the necessary perception work to fully automate the process is included.

关键词： Vegetation mapping Torque Robot kinematics Actuators Wheels Mobile robots

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Active Bayesian perception for angle and position discrimination with a biomimetic fingertip

Active Bayesian perception for angle and position discrimina...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Uriel Martinez-Hernandez Tony Dodd Tony J. Prescott Nathan F. Lepora Department of Automatic Control and Systems Engineering University of Sheffield UK. Sheffield Centre for Robotics (SCentRo) University of Sheffield UK.

ISBN: (纸本)9781467363563

In this work, we apply active Bayesian perception to angle and position discrimination and extend the method to perform actions in a sensorimotor task using a biomimetic fingertip. The first part of this study tests active perception off-line with a large dataset of edge orientations and positions, using a Monte Carlo validation to ascertain the classification accuracy. We observe a significant improvement over passive methods that lack a sensorimotor loop for actively repositioning the sensor. The second part of this study then applies these findings about active perception to an example sensorimotor task in real-time. Using an appropriate online sensorimotor control architecture, the robot made decisions about what to do next and where to move next, which was applied to a contour-following task around several objects. The successful outcome of this simple but illustrative task demonstrates that active perception can be of practical benefit for tactile robotics.

关键词： angle position extend senses Perception Angle edge direction passive methods Biomimetics Active Bayesian inference Discrimination

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Norm optimal iterative learning control for planar tracking tasks

Norm optimal iterative learning control for planar tracking ...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Owens, David H. Freeman, Chris T. Chu, Bing Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Department of Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9783902823373

The Iterative Learning control (ILC) problem in which tracking is only required at a subset of isolated time points along the trial duration has recently gained significant attention since it addresses the practical needs of many *** paper extends the framework by embedding simultaneous iterative convergence of subsets of outputs to reference trajectories on subintervals. This enables it to tackle tasks which mix 'point to point' movements with linear tracking requirements, which substantially broadens the application domain (e.g. to include automation tasks which include welding or cutting movements, or human motion control where the movement is restricted by the task to straight line and/or planar segments). A solution to the problem is presented in the framework of Norm Optimal ILC (NOILC), providing well-defined convergence properties, design guidelines and supporting experimental results. © IFAC.

关键词： Two term control systems

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Norm optimal iterative learning control with auxiliary optimization: A switching approach

Norm optimal iterative learning control with auxiliary optim...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Owens, David H. Freeman, Chris T. Chu, Bing Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ United Kingdom Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova Italy

ISBN: (纸本)9783902823373

The paper describes a substantial extension of Norm Optimal Iterative Learning control (NOILC) that permits tracking of a class of finite dimensional reference signals whilst simultaneously minimizing a quadratic cost function. Motivated by practical problems in automation and control, this enables point-to-point motion tasks to be performed whilst reducing effects such as payload spillage, vibration tendencies and actuator wear. Solutions combine feedforward and feedback actions, and are experimentally tested using a robotic arm. © IFAC.

关键词： Optimization

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Underwater Target Positioning with a Single Acoustic Sensor

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IFAC Proceedings Volumes 2013年第33期46卷 233-238页

作者： D. Moreno-Salinas A.M. Pascoal J. Aranda Department of Computer Science and Automatic Control National University Distance Education (UNED) Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico (IST) University of Lisbon Portugal Adjunct Scientist National Institute of Oceanography (NIO) Goa India

The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs. Furthermore, there is considerable interest in reducing the number of sensors involved in acoustic navigation/positioning systems to reduce the costs involved and the time consumed in the deployment, callibration, and recovery phases. Motivated by these considerations, in this paper we address the problem of single underwater target positioning based on measurements of the ranges between the target and a moving sensor at the sea surface, obtained via acoustic ranging devices. In particular, and speaking in loose terms, we are interested in determining the optimal geometric trajectory of the surface sensor that will, in a well defined sense, maximize the range-related information available for underwater target positioning. To this effect, an appropriate Fisher Information Matrix is defined and its determinant is maximized to yield the sensor trajectory that maximizes the accuracy of the target position estimate that can possibly be obtained with any unbiased estimator. It is shown that the optimal trajectory depends on the relative velocity of the sensor, the sampling time between measurements, and the number of measurements acquired for the FIM computation. Simulation examples illustrate the key results derived.

关键词： Autonomous Vehicles Underwater Navigation Optimal Sensor Placement Positioning Fisher Information Matrix Cramer-Rao Bound

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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Norm Optimal Iterative Learning control with Auxiliary Optimization: A Switching Approach

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IFAC Proceedings Volumes 2013年第11期46卷 140-145页

作者： David H. Owens Chris T. Freeman Bing Chu Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK Electronics and Computer Science University of Southampton Highfield Southampton SO17 1BJ UK (Department of) Advanced Robotics Instituto Italiano di Tecnologia via Morego 30 16163 Genova

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