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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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Proposal of an Embedded Distributed System for Fault Detection *

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IFAC Proceedings Volumes 2013年第7期46卷 144-149页

作者： Leonardo B. Piccoli Carlos S. Guimaraes Renato Ventura B. Henriques Carlos E. Pereira Electrical Engineering Department at the Universidade Federal do Rio Grande do Sul - UFRGS. Control Automation and Robotics Group - Av. Osvaldo Aranha 103 Bom Fim CEP:90031-190 Porto Alegre RS Brasil

This paper proposes a Distributed Fault-Detection System for fault detection and prediction in electrical actuators used in pipelines for oil and gas transportation. The proposed system incorporates a signal processing flow that requires low complex mathematical operations using C-ANSI language. For the embedded Fault-Detection System was created a network of real-time on the RS-485 physical layer to application in electric actuators. The system is composed of Master and Slave modules using the Modbus protocol in order to communicate with other devices. To prove its functionalities a testbench was developed, which aims to reproduce in a lab some common faults and degradation processes that may occur in real world field applications. The monitoring of the electric actuators operation through this system can identify problems and faults before they become severe, providing greater efficiencies on the production line and avoid expressive financial losses. The prototype developed in this paper is based on software and hardware platforms flexible and open-source. The slave module equipment was used to collect the sensors information from specific points of the actuator. The sensor data collected and emulation were used to validate the propose fault detection methodology.

关键词： Fault Tolerance Fault-Detection System Electrical Valves

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Multi kinect people detection for intuitive and safe human robot cooperation in the operating room

Multi kinect people detection for intuitive and safe human r...

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International Conference on Advanced robotics (ICAR)

作者： Tim Beyl Philip Nicolai Jörg Raczkowsky Heinz Wörn Mirko D. Comparetti Elena De Momi Institute for Process Control and Robotics Karlsruhe Institute of Technology Karlsruhe Germany Karlsruher Institut fur Technologie Karlsruhe Baden-WÃ¼rttemberg DE Department of Electronics Information and Bioengineering Neuro Engineering and medicAl Robotics Laboratory Milan Italy Politecnico di Milano Milano Lombardia IT

Microsoft Kinect cameras are widely used in robotics. The cameras can be mounted either to the robot itself (in case of mobile robotics) or can be placed where they have a good view on robots and/or humans. The use of cameras in the surgical operating room adds additional complexity in placing the cameras and adds the necessity of coping with a highly uncontrolled environment with occlusions and unknown objects. In this paper we present an approach that accurately detects humans using multiple Kinect cameras. Experiments were performed to show that our approach is robust to interference, noise and occlusions. It provides a good detection and identification rate of the user which is crucial for safe human robot cooperation.

关键词： Cameras Robot vision systems Collision avoidance Noise Surgery Accuracy

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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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Trajectory tracking and obstacle avoidance of a ball and plate system using fuzzy theory

Trajectory tracking and obstacle avoidance of a ball and pla...

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Iranian Conference on Fuzzy Systems (IFSC)

作者： M. Ali Rastin Erfan Talebzadeh S. Ali A. Moosavian Mojtaba Alaeddin Department of Mechanical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence on Robotics and Control K. N. Toosi University of Technology Tehran Iran

Ball and plate platform is a nonlinear and underactuated plant. The plate is assumed to be the end-effector of a 3RRS parallel mechanism. By tilting the plate, the ball in opposite direction is pushed. The system of equation is achieved using Lagrange method. In this article, a fuzzy approach is proposed to control the ball on a given path. It consists of two level TS type fuzzy controller; the first level tries to lead the ball to the desired goal, and the second one prevents collision between the ball and obstacles.

关键词： Collision avoidance Trajectory Educational institutions Mathematical model Mechanical engineering Equations Robots

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Cyclic scheduling of multimodal processes in mesh-like environment

Cyclic scheduling of multimodal processes in mesh-like envir...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Grzegorz Bocewicz Wojciech Muszyński Zbigniew Banaszak Department of Computer Science and Management Koszalin University of Technology Koszalin Poland Department of Business Informatics Warsaw University of Technology Warsaw Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

A processes composed of sequences of local cyclic The theoretical prediction of the behavioral properties of periodic structures is less difficult than in the case of nonperiodic ones. That is because all the information needed to describe the entire structure is given by the elementary substructure itself and by the manner it repeats in the whole periodic structure. So, only a small portion of the structure (which includes the repeating substructure) needs to be considered to obtain the properties of the whole periodic structure. In that context, the contribution provides the discussion of some system periodicity issues, and is aimed at modeling and evaluation of relationships linking the system structure features with required system's functioning.

关键词： Periodic structures Gears Wheels Transportation Cities and towns Dispatching Job shop scheduling

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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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Obstacle Avoidance of a Non-holonomic Snake Robot by Tracking a Desired Gliding Curve

Obstacle Avoidance of a Non-holonomic Snake Robot by Trackin...

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IEEE International Conference on Mechatronics and Automation

作者： Yasunobu Hitaka Masahiro Yokomichi Department of Control and Information System Engineering Kitakyushu National College of Technology 5-20-1 Shii Kokuraminamiku Kitakyushu Fukuoka Japan Department of Environmental Robotics University of Miyazaki 1-1 Gakuen Kibanadai-nishi Miyazaki-shi Japan

ISBN: (纸本)9781467355599

Snake robots move by undulating their slender body. From the fact, it is expected that a snake robot can pass through a narrow hallway even if there are some obstacles by adjusting its gliding form not to contact with both obstacles and walls. In this paper, we present a tracking control method for the obstacle avoidance. It is based on feedback linearization and imposes a holonomic control constraint on the snake robot possessing a nonholonomic property. By our method, the snake robot moves along the desired gliding curve designed to achieve the obstacle avoidance even if there are initial errors or impulse disturbances. In this paper, we demonstrate the effectiveness of our idea for the obstacle avoidance by numerical simulations.

关键词： snake robot obstacle avoidance tracking control

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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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Norm Optimal Iterative Learning control for Planar Tracking Tasks

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IFAC Proceedings Volumes 2013年第11期46卷 683-688页

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.

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