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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems control systems Robot control Sensor systems Sampling methods

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Considerations regarding security issues impact on systems availability

Considerations regarding security issues impact on systems a...

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International Conference on Electronics, computers and Artificial Intelligence (ECAI)

作者： Emil Pricop Sanda Florentina Mihalache Nicolae Paraschiv Jaouhar Fattahi Florin Zamfir Automatic Control Computers & Electronics Department Petroleum-Gas University of Ploiesti Ploiesti Romania Dept. of Computer Science & Software Engineering Université Laval Québec Canada

control systems behavior can be analyzed taking into account a large number of parameters: performances, reliability, availability, security. Each control system presents various security vulnerabilities that affect in lower or higher measure its functioning. In this paper the authors present a method to assess the impact of security issues on the systems availability. A fuzzy model for estimating the availability of the system based on the security level and achieved availability coefficient (depending on MTBF and MTR) is developed and described. The results of the fuzzy inference system (FIS) are presented in the last section of the paper.

关键词： Security Reliability control systems Wireless sensor networks Fuzzy logic Safety Network topology

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ESC-MRAC of MIMO systems for constrained robotic motion tasks in deformable environments

ESC-MRAC of MIMO systems for constrained robotic motion task...

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European control Conference (ECC)

作者： Vasiliki Koropouli Azwirman Gusrialdi Dongheui Lee Institute of Automatic Control Engineering Technische Universität München München Germany Dept. of Electrical Engineering and Computer Science University of Central Florida USA

ISBN: (纸本)9781479947287

Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or the environment and result in poor performance. Instead, a sophisticated control policy is required, which can adjust to the varying conditions of a task while taking into account the coupling of motion dynamics between different directions of movement. To this aim, in this paper, we propose a MIMO Extremum Seeking control (ESC)-Model Reference Adaptive control (MRAC) approach with the view of executing fine motion tasks in presence of uncertain task dynamics. ESC enhances robustness of the system to non-parametric uncertainties compared to single MRAC. The proposed approach ensures state tracking as well as optimization of a global state-dependent cost criterion in all directions of movement. We evaluate our approach in simulations and in a real-world robotic engraving task.

关键词： MIMO Tracking Dynamics Vectors Uncertainty Adaptation models Robots

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Delay differential control theory applied to differential linear repetitive processes

Delay differential control theory applied to differential li...

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American control Conference (ACC)

作者： E. Rogers K. Galkowski D.H. Owens Department Electronics and Computer Science University of Southampton Southampton UK Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland Dept Automatic Control and Systems Engineering University of Sheffield Sheffield UK

Differential linear repetitive processes are a distinct class of 2D continuous-discrete linear systems of both applications and systems theoretic interest. In applications, they arise in iterative learning control schemes and in iterative solution algorithms for nonlinear dynamic optimal control algorithms based on the maximum principle. Repetitive processes cannot be analysed/controlled by direct application of the existing systems theory and hence a 'mature' systems theory must be developed for them followed (where appropriate) by onward translation into efficient controller design algorithms. This paper continues the development of the former area by developing some significant new results on the application of currently available delay differential systems theory to these processes.

关键词： Delay control theory control systems Iterative algorithms automatic control Ear Metals industry Optimal control System testing 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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ANFIS based Jacobian for a parallel manipulator mobility assistive device 10

ANFIS based Jacobian for a parallel manipulator mobility ass...

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10th UKACC International Conference on control, control 2014

作者： Asker, Ahmed Salah, Omar Fath El-Bab, Ahmed M. R. Ramadan, Ahmed A. Assal, Samy M. F. Sessa, Salvatore Abo-Ismail, Ahmed School of Innovative Design Engineering Egypt-Japan University for Science and Technology E-JUST New-Borg-El-Arab-City-Alexandria Egypt Mechanical Engineering Dept Faculty of Engineering Assiut University Assiut Egypt Dept. of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Tanta Egypt Computer and Automatic Control Dept Faculty of Engineering Tanta University Tanta Egypt Graduate School of Creative Science and Engineering Waseda University Tokyo Japan

ISBN: (纸本)9781479950119

Nowadays parallel manipulators are used widely in bioengineering applications;this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. computer simulations show relatively good results of the proposed system. © 2014 IEEE.

关键词： Inverse kinematics

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On-line Reconfiguration of Real-Time Robot Motion and Force control

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IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot control Force control Embedded systems Rapid prototyping Non-linear control

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Optimal distributed control for platooning via sparse coprime factorizations

Optimal distributed control for platooning via sparse coprim...

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American control Conference (ACC)

作者： Şerban Sabău Cristian Oară Sean Warnick Ali Jadbabaie Electrical and Computer Engineering Dept. Stevens Institute of Technology Hoboken NJ Automatic Control Dept. University “Politehnica” Bucharest Faculty of the Computer Science Department Brigham Young University Electrical and Systems Engineering Dept. University of Pennsylvania

We introduce a novel distributed control architecture for disturbances attenuation in heterogeneous platoons of linear and time-invariant autonomous agents that inherits the performance achievable by the leader-follower control policies. We provide a Youla-like parameterization for the class of all distributed controllers such that the sparsity constraints are imposed on the controllers' left coprime factors, outlining a new concept of structural constraints in distributed control. The proposed scheme lends itself to optimal controller design via norm based costs, it guarantees string stability and completely eliminates the accordion effect from the behavior of the platoon. The distributed controller is proven to attain global optimality for heterogeneous platoons and ℋ 2 costs and can easily reconfigure such as to remain optimal during formation merging/exiting maneuvers. The scheme is amenable to a GPS time base synchronization mechanism, allowing for the exact compensation of the time delays induced by the wireless communications.

关键词： Vehicles Standards Decentralized control Stability analysis Linear systems Transfer functions Electronic mail

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Development of parallel manipulator sit to stand assistive device for elderly people

Development of parallel manipulator sit to stand assistive d...

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2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013

作者： Salah, Omar Asker, Ahmed Fath El-Bab, Ahmed M. R. Assal, Samy M. F. Ramadan, Ahmed A. Sessa, Salvatore Abo-Ismail, Ahmed Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Mechanical Engineering Department Faculty of Engineering Assiut University Egypt Department of Production Engineering and Mechanical Design Faculty of Engineering Tanta University Alexandria Egypt Computer and Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt Mechatronics and Robotics Dept. Egypt-Japan University of Science and Technology Egypt School of Creative Science and Engineering Waseda University Tokyo 168-8480 Japan

ISBN: (纸本)9781479923694

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. computer simulation was built to verify the performance of the proposed system with the reference trajectory. © 2013 IEEE.

关键词： Mechanisms

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A Neural Network Approach to Failure Decision of Adaptively controlled Systems

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IFAC Proceedings Volumes 1994年第8期27卷 605-610页

作者： K. Kumamaru K. Inoue S. Nonaka H. Ono T. Söderström Dept of Control Eng. and Sci. Faculty of Computer Science and Systems Eng. Kyushu Institute of Technology Iizuka 820 Fukuoka Japan Dept. of Automatic Control and Systems Analysis Institute of Technology. Uppsala Unit. P. O. Box 27 Uppsala. Sweden

In this paper, a combined method of change detection and failure decision is proposed for the system under the adaptive control based on the self-tuning regulator. The controlled system is assumed encounter unexpected parameter changes, which may be caused by a failure or a normal operation. Such a system change can effectively be detected by using Fullback Discrimination Information (KDI) as an index for model discrimination. In order to decide whether the detected system change is caused by a failure or not, a neural network approach to failure decision is introduced. Based on the knowledge about failure modes and system operations, the regulator parameter variations after the change detection are used as training data for the network learning. In this way an on-line monitoring scheme of adaptively controlled systems can be established. Simulation studies of a second-order damped oscillator have been earned out to demonstrate the effectiveness of the method.

关键词： Adaptive control failure diagnosis Fullback discrimination information neural network parameter estimation

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