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Accelerometer-based control of an industrial robotic arm

Accelerometer-based control of an industrial robotic arm

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Pedro Neto J. Norberto Pires A. Paulo Moreira Industrial Robotics Laboratory-Mechanical Engineering Department POLO II University of Coimbra Coimbra Portugal Institute of Systems and Robotics (ISR)-Department of Electrical and Computer Engineering University of Porta Porto Portugal

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed.

关键词： Industrial control Service robots electrical equipment industry Defense industry Educational robots Robot control control systems Accelerometers Artificial neural networks Delay

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Decentralized Output-Feedback control of Large-Scale Nonlinear systems Based on High-Gain Multiple Time Scaling

Decentralized Output-Feedback Control of Large-Scale Nonline...

引用

2009 American control Conference (ACC 2009)

作者： P. Krishnamurthy F. Khorrami IntelliTech Microsystems Inc. (IMI) Bowie MD 20715 Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY 11201

ISBN: (纸本)9781424445233

A globally stabilizing decentralized output-feedback controller is proposed for a general class of nonlinear interconnected large-scale systems. The subsystem interconnections and the dynamics of each subsystem feature both parametric and functional uncertainty. The controller design is based on a general high-gain scaling technique that utilizes arbitrary powers (instead of requiring successive powers) of the high-gain parameter with the powers chosen to satisfy certain inequalities depending on system nonlinearities. The scaling induces a weak-Cascading Upper Diagonal Dominance (w-CUDD) structure on the dynamics and allows relaxation of the cascading dominance assumption on upper diagonal terms. Disturbance attenuation properties of the proposed decentralized controller are also investigated.

关键词： high gain Power (Psychology) Decentralized feedback control time scaling dynamics controller design gain parameter Parametric SUB-SYSTEM Nonlinear systems

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A Hierarchical Path Planning and Obstacle Avoidance System for an Autonomous Underwater Vehicle

A Hierarchical Path Planning and Obstacle Avoidance System f...

引用

2009 American control Conference (ACC 2009)

作者： F. Khorrami P. Krishnamurthy Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY 11201 IntelliTech Microsystems Inc. (IMI) Bowie MD 20715

ISBN: (纸本)9781424445233

In this paper, we propose a Maritime Underwater Navigation System (MUNS) for Unmanned Underwater Vehicles (UUVs). The proposed MUNS has a hierarchical architecture comprising of a Wide Area Planner (WAP) and a Local Area Planner (LAP). MUNS is intended to be a plug-and-play module to provide obstacle avoidance and path planning capabilities to existing UUV platforms thereby expanding operational capabilities in cluttered and littoral environments. MUNS is designed to be flexible and to support a variety of tasks including point-to-point moves, object inspection, contour tracking, and region scanning/searching. The performance of MUNS has been validated through extensive simulation studies.

关键词： Path planning Underwater vehicles Sonar Navigation Inspection Information geometry Global Positioning System control systems Underwater tracking Military communication

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control system for reactor vessel inspection manipulator

Control system for reactor vessel inspection manipulator

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： Alan Mutka Ivica Draganjac Zdenko Kovacic Zeljko Postruzin Ranko Munk Faculty of EE&C Department of Control and Computer Engineering LARICS-Laboratory of Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia Organization of Technology Development and Application HRID Limited Zagreb Croatia

In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.

关键词： control systems Inductors Inspection Welding Parallel robots Visualization TCPIP Software architecture Graphical user interfaces Trajectory

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Iterative Learning control with High-Order Internal Model for Linear Time-Varying systems

Iterative Learning Control with High-Order Internal Model fo...

引用

2009 American control Conference (ACC 2009)

作者： Chunping Liu Jianxin Xu Jun Wu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore

ISBN: (纸本)9781424445233

In this work we focus on iterative learning control (ILC) for iteratively varying reference trajectories which are described by a high-order internal model. The high-order internal model (HOIM) is formulated as a polynomial between two consecutive iterations. The classical ILC with iteratively invariant reference trajectories, on the other hand, is a special case of HOIM where the polynomial renders to a unity coefficient, in other words, the 0th order internal model. By inserting the polynomial (HOIM) into the past control input of the ILC law, and designing appropriate learning control gains, the learning convergence in the iteration axis can be guaranteed for continuous-time linear time varying (LTV) systems. The initial condition, P-type and D-type ILC, and possible extension to nonlinear cases are also explored.

关键词： Time varying systems Polynomials Convergence control systems Iterative methods Process design Time domain analysis Design methodology Transient response Trajectory

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Coverage tracking of a moving target by a group of mobile agents

Coverage tracking of a moving target by a group of mobile ag...

引用

Asian control Conference

作者： Xiaoli Wang Yiguang Hong Zhong-Ping Jiang Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy and Sciences Beijing China Department of Electrical and Computer Engineering Polytechnic Institute of New York University Brooklyn NY USA

In this paper, we consider finite-time tracking problems of a moving target by multiple mobile agents. The mobile agents with global sensing areas and limited actuation region are designed to track down a target with estimation error with the help of formation and coverage. In order to capture the target, its location and velocity are first estimated. With observer-based estimation and formation control, the group of agents can catch the target by a coverage tracking policy in finite time.

关键词： Target tracking Mobile agents Robot sensing systems Robot kinematics State estimation Estimation error control systems Power system reliability Power system modeling Collaboration

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Learning Approaches to the Witsenhausen Counterexample From a View of Potential Games

Learning Approaches to the Witsenhausen Counterexample From ...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Na Li Jason R.Marden Jeff S.Shamma Department of Control and Dynamical Systems California Institute of Technology Social and Informational Sciences Laboratory California Institute of Technology School of Electrical and Computer Engineering Georgia Institute of Technology

Since Witsenhausen put forward his remarkable counterexample in 1968,there have been many attempts to develop efficient methods for solving this non-convex functional optimization *** there are few methods designed from game theoretic *** this paper,after discretizing the Witsenhausen counterexample and re-writing the formulation in analytical expressions,we use fading memory JSFP with inertia,one learning approach in games,to search for better controllers from a view of potential *** achieve a better solution than the previously known best ***,we show that the learning approaches are simple and automated and they are easy to extend for solving general functional optimization problems.

关键词： Learning Approaches to the Witsenhausen Counterexample From a View of Potential Games

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Design of Petri net-based deadlock prevention controllers for flexible manufacturing systems

Design of Petri net-based deadlock prevention controllers fo...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Guoqiang Zeng Weimin Wu MengChu Zhou Weijie Mao Hongye Su Jian Chu State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control University of Zhejiang Hangzhou China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This paper presents a novel method to design Petri net-based deadlock prevention controllers for flexible manufacturing systems. It starts from the computation of the complete deadlock markings by utilizing the conservativeness property of a Petri net model and the necessary and sufficient condition for deadlock. Then, it verifies a small state space including the dangerous and bad markings only by combining one-step look-forward through the original net and one-step look-backward via its reverse net. Subsequently, it defines the set of place invariants from the subset of marked operation places for the so called ¿elementary controlled bad markings¿. Finally, it synthesizes a deadlock prevention controller by a simplified invariant-based method. Its obtained deadlock-free controller allows more behavior of the closed-loop system than those obtained via a siphon-based control method. Its computational efficiency is higher than those based on a complete reachability graph-based control method.

关键词： System recovery control systems Flexible manufacturing systems Design methodology Sufficient conditions State-space methods control system synthesis Computational efficiency Cybernetics USA Councils

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

引用

IEEE International Workshop on Imaging systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining computer industry electrical products industry

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Optimal design of oversampled filter banks with lattice structure

Optimal design of oversampled filter banks with lattice stru...

引用

Asian control Conference

作者： Li Chai Jingxin Zhang Yuxia Sheng Measurement Technology and the Key Laboratory of Metallurgical Equipment and Control Wuhan University of Science and Technology Wuhan China Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

ISBN: (纸本)9781424454402

For an oversampled linear phase (LP) perfect reconstruction filter banks with lattice structure, the synthesis FB is not unique. However, existing methods to choose a synthesis FB for ldquooptimalrdquo noise reduction may destroy the linear phase and lattice structure property. This paper studies the noise reduction design problem for oversampled filter banks (FBs) preserving lattice structure. Both the optimal design and worst case design are considered, where the former caters for the noise with known power spectral density (PSD), and the latter for the noise with unknown PSD. Explicit formula for the former and LMI-based algorithms for the latter are provided.

关键词： Filter bank Lattices Noise reduction Image reconstruction Signal synthesis Image processing Nonlinear filters Optimal control Quantization Noise robustness

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