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American Control Conference (ACC)

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhovan University of Technology Netherlands Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macao China

ISBN: (纸本)9781457710957

We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.

关键词： Sensors Protocols Scheduling Optimal scheduling Covariance matrix Processor scheduling Networked control systems

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Modeling and Control of a New Quadrotor Manipulation System

Modeling and Control of a New Quadrotor Manipulation System

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International Conference on Innovative Engineering Systems

作者： Ahmed Khalifa Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Engineering Dept. School of Innovative Design Engineering Egypt-Japan University of Science and Technology New Borg-El-Arab city Alexandria Egypt Prod. Eng. & Mechanical Design Dept. Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Dept. Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467344401

This paper introduces a new quadrotor manipulation system that consists of a 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system which uses a gripper fixed to a quadrotor. Unlike the current system, the proposed system enables the end-effector to achieve any arbitrary orientation and thus increases its degrees of freedom from 4 to 6. Also, it provides enough distance between the quadrotor and the object to be manipulated. This is useful in some applications such as demining applications. System kinematics and dynamics are derived which are highly nonlinear. Controller is designed based on feedback linearization to track desired trajectories. Controlling the movements in the horizontal directions is simplified by utilizing the derived nonholonmic constraints. Finally, the proposed system is simulated using MATLAB/SIMULINK program. The simulation results show the effectiveness of the proposed controller.

关键词： Aerial manipulation Quadrotor 2-link manipulator Feedback linearization Demining devices

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Aerial service robotics: The AIRobots perspective

Aerial service robotics: The AIRobots perspective

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International Conference on Applied robotics for the Power Industry (CARPI)

作者： L. Marconi F. Basile G. Caprari R. Carloni P. Chiacchio C. Hurzeler V. Lippiello R. Naldi J. Nikolic B. Siciliano S. Stramigioli E. Zwicker CASY-DEIS University of Bologna Italy Università degli Studi di Salerno Italy Eidgenoessische Technische Hochschule Zürich Switzerland Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Netherlands PRISMA Laboratory Università degli Studi di Napoli Federico II Italy Alstom Inspection Robotics Switzerland

This paper presents the main vision and research activities of the ongoing European project AIRobots (Innovative Aerial Service Robot for Remote Inspection by Contact, ***). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in all those activities that require the ability to interact actively and safely with environments not constrained on ground but, indeed, airborne. Besides presenting the main ideas and the research activities within the three-year project, the paper shows the first technological outcomes obtained during the first year and a half of activity.

关键词： Vehicles Inspection Humans Service robots Robot sensing systems

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Erratum to “A New Solution for Camera Calibration and Real-Time Image Distortion Correction in Medical Endoscopy–Initial Technical Evaluation” [Mar 12 634-644]

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IEEE Transactions on Biomedical Engineering 2012年第7期59卷 2095-2095页

作者： Rui Melo João P. Barreto Gabriel Falcão Institute for Systems and Robotics and Department of Electrical and Computer Engineering Faculty of Science and Technology Coimbra Portugal Instituto de Telecomunicações Faculty of Science and Technology Coimbra Portugal

In the above-titled paper (ibid., vol. 59, no. 3, pp. 634-644, Mar. 2012), the affiliation of G. Falcao should have read as follows: G. Falcao is with the Instituto de Telecomunicacoes and Department of Electrical and computer Engineering, faculty of science and Technology, University of Coimbra, 3030-290 Coimbra, Portugal (e-mail: gff@***).

关键词： Cameras Calibration Biomedical imaging Endoscopes Graphics processing unt Lenses

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The European R&D-project MORPH: Marine robotic systems of self-organizing, logically linked physical nodes

The European R&D-project MORPH: Marine robotic systems of se...

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9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Eichhorn, M. Brignone, L. Caccia, M. Alves, J. Santos, R.S. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche Pour l'Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale Delle Ricerche Istituto di Studi sui Sistemi Intelligenti per l'Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto Do Mar Horta Portugal

ISBN: (纸本)9783902823601

The MORPH project (FP 7, 2012-2016) advances the novel concept of an underwater robotic system composed of a number of spatially separated mobile robot-modules, carrying complementary resources. Instead of being physically coupled, the modules are connected via communication links that rely on the flow of information among them, i. e. inter-module interactions are enabled by underwater communication networks at distant and close ranges and supported by visual perception at very close range. Without rigid links, the MSV can reconfigure itself and adapt in response to the shape of the terrain, including walls with negative slope. The MORPH concept requires qualitatively new behaviors such as adaptive sensor placement for perception and navigation, as well as environmental modeling in complex environments. On site view planning will lead to a solution well beyond the operational state of the art for underwater cliff surveys and other similar missions. A final demonstration on a vertical cliff, unfeasible automatically with today's technology, will validate the efficacy of the methods developed at the end of the project. © IFAC.

关键词： Robots

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The European R&D-project MORPH: Marine robotic systems of self-organizing, logically linked physical nodes

The European R&D-project MORPH: Marine robotic systems of se...

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3rd IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, NGCUV 2012

作者： Kalwa, J. Pascoal, A. Ridao, P. Birk, A. Eichhorn, M. Brignone, L. Caccia, M. Alvez, J. Santos, R.S. ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Técnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut Français de Recherche Pour l Exploitation de la Mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche Istituto di Studi Sui Sistemi Intelligenti Per l' Automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Horta Portugal

ISBN: (纸本)9783902823199

关键词： Robots

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TPS-SURF-SAC matching approach of feature point applied to deformation measurement of nonrigid tissues from MR images

TPS-SURF-SAC matching approach of feature point applied to d...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Zhang, Xubing Hirai, Shinichi Department of Robotics Faculty of Science and Engineering Ritsumeikan University Kusatsu Shiga 525-8577 Japan School of Computer Science Wuhan Textile University Wuhan 430073 China

ISBN: (纸本)9781457721373

Due to the nonlinear deformation of the nonrigid and nonuniform biological tissues, it is difficult whereas important to correctly match a number of feature points distributed somewhat uniform in the tissues from MR images for deformation measurement. In this paper, the authors present TPS-SURF-SAC matching method and mismatching elimination method based on TPS clustering. Firstly the matching region is identified by a TPS for every query point. Then the SURF descriptors and the proposed Spatial Association Correspondence (SAC) method are combined to match the feature points. Finally, using clustering the coordinate differences between the matching points obtained using TPS-SURF-SAC method and the matching points matched by TPS model, most of wrong match points are eliminated. After every iterative processing of matching and mismatching elimination, the updated TPS model becomes more accurate and more correctly matched points can be identified than that of the previous iteration. The experimental results showed that the proposed method outperformed the single SURF and SIFT methods. © 2011 IEEE.

关键词： Tissue

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Micromechanical and tribological properties of nanocomposite nc-TiC/a-C coatings

Solid State Phenomena

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Solid State Phenomena 2011年 177卷 36-46页

作者： Kot, Marcin Moskalewicz, Tomasz Wendler, Bogdan Czyrska-Filemonowicz, Aleksandra Rakowski, Wieslaw Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Al. Mickiewicza 30 PL-30-059 Kraków Poland Faculty of Metals Engineering and Industrial Computer Science AGH University of Science and Technology Al. Mickiewicza 30 PL-30-059 Kraków Poland Faculty of Mechanical Engineering Technical University of Lodz ul Stefanowskiego 1 PL-90 924 lódź Poland

The nanocomposite coatings composed of nanocrystalline TiC grains embedded in hydrogen free amorphous carbon a-C matrix (nc-TiC/a-C) were deposited by magnetron sputtering on the two substrates, oxygen hardened Ti-6Al-4V alloy and heat treated VANADIS 23 steel. The Ti-6Al-4V alloy was oxygen hardened by plasma glow discharge. Micro-mechanical and tribological properties as well as coating adhesion to the substrates were investigated. Micro/nanostructure of the coatings and the substrates were examined using scanningand transmission electron microscopy methods as well as X-ray diffractometry. Nano-, microhardness tests performed for the coated materials showed average hardness 13.4-14.7 GPa and modulus of elasticity 160 GPa. Scratch test revealed good adhesion of coatings to the both substrates. The nanocomposite coatings significantly improved tribological properties of the titanium alloy and steel, increased wear resistance and decreased friction coefficient. © (2011) Trans Tech Publications, Switzerland.

关键词： High resolution transmission electron microscopy

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Cyclic steady state refinement

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作者： Bocewicz, Grzegorz Wójcik, Robert Banaszak, Zbigniew A. Dept. of Computer Science and Management Koszalin University of Technology Koszalin Poland Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Faculty of Management Dept. of Business Informatics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783642199332

The paper presents a new modeling framework enabling to evaluate the cyclic steady state of a given system of concurrently flowing cyclic processes (SCCP) on the base of the assumed topology of transportation routes, dispatching rules employed, resources and operation times as well as an initial processes allocation. The objective is to provide the rules useful in the course of routing and scheduling executed in SCCP where local cyclic processes interact on the base of a mutual exclusion protocol. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Transportation routes

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The European R&D-Project MORPH: Marine robotic systems of self-organizing, logically linked physical nodes

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IFAC Proceedings Volumes 2012年第5期45卷 349-354页

作者： J. Kalwa A. Pascoal P. Ridao A. Birk M. Eichhorn L. Brignone M. Caccia J. Alvez R.S. Santos ATLAS ELEKTRONIK GmbH Bremen Germany Institute of Robotics of the Instituto Superior Tècnico Lisbon Portugal Universiat de Girona Girona Spain Jacobs Universität Bremen Bremen Germany Ilmenau University of Technology Faculty of Computer Science and Automation Ilmenau Germany Institut français de recherche pour l'exploitation de la mer La Seyne sur Mer France Consiglio Nazionale delle Ricerche - Istituto di studi sui sistemi intelligenti per l'automazion Genova Italy NATO Undersea Research Centre La Spezia Italy Instituto do Mar Horta Portugal

关键词： complementary navigation control architecture adaptive behaviour robotic vehicle

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