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RSI/ISM International Conference on robotics and Mechatronics

作者： Alireza Norouzzadeh Ravari Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

In the problem of simultaneously localization and mapping (SLAM) for a mobile robot, it is required to detect previously visited locations so the estimation error shall be reduced. Sensor observations are compared by a similarity metric to detect loops. In long term navigation or exploration, the number of observations increases and so the complexity of the loop closure detection. Several techniques are proposed in order to reduce the complexity of loop closure detection. Few algorithms have considered the loop closure detection from a subset of sensor observations. In this paper, the compressed sensing approach is exploited to detect loops from few sensor measurements. In the basic compressed sensing it is assumed that a signal has a sparse representation is a basis which means that only a few elements of the signal are non-zero. Based on the compressed sensing approach a sparse signal can be recovered from few linear noisy projections by l_1 minimization. The difference matrix which is widely used for loop detection has a sparse structure, where similar observations are shown by zero distance and different locations are indicated by ones. Based on the multiple measurement vector technique which is an extension of the basic compressed sensing, the loop closure detection is performed by comparison of few sensor observations. The applicability of the proposed algorithm is investigated in some outdoor environments through some publicly available data sets. It has been shown by some experiments that the proposed method can detect loops effectively.

关键词： Loop Closure Detection Compressed Sensing Mobile Robots

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

作者： Hao, Jianlong Xie, Xiaoliang Bian, Guibin Feng, Zhenqiu Gao, Zhanjie Hou, Zengguang Yu, Hongnian Vladareanu, Luige State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Faculty of Science and Technology Bournemouth University Poole DorsetBH12 5BB United Kingdom Robotics and Mechatronics Department Institute of Solid Mechanics Romanian Academy 15 C-tin Mille Street Bucharest 1 Romania

ISBN: (纸本)9781467391047

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper. © 2015 IEEE.

关键词： Manipulators

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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International Conference on Information and Automation (ICIA)

作者： Jianlong Hao Xiaoliang Xie Guibin Bian Zhenqiu Feng Zhanjie Gao Zengguang Hou Hongnian Yu Luige Vladareanu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Faculty of Science and Technology Bournemouth University Poole Dorset UK Robotics and Mechatronics Department Romanian Academy Romian

ISBN: (纸本)9781467391054

关键词： Manipulator dynamics Joints Mathematical model Computational modeling Prototypes Trajectory

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Resource Usage Prediction Algorithms for Optimal Selection of Multimedia Content Delivery Methods

Resource Usage Prediction Algorithms for Optimal Selection o...

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IEEE International Conference on Communications

作者： Yiannos Kryftis Constandinos X. Mavromoustakis Joel J. P. C. Rodrigues George Mastorakis Evangelos Pallis Ciprian Dobre Jordi Mongay Batalla Georgios Kormentzas Department of Computer Science University of Nicosia Department of Informatics Instituto de Telecomunicacoes University of Beira Interior Portugal and University ITMO Department of Informatics Engineering Technological Educational Institute of Crete Faculty of Autonomic Control and Computers University Politehnica of Bucharest National Institute of Telecommunications Department of Information and Communication Systems Engineering University of the Aegean

ISBN: (纸本)9781467364300

This paper proposes two algorithms adopted in a prototype network architecture, for optimal selection of multimedia content delivery methods, as well as balanced delivery load, by exploiting a novel resource prediction engine. The proposed architecture exploits both algorithms for the prediction of future multimedia services demands, by providing the ability to keep optimal the distribution of the streaming data, among Content Delivery Networks, cloud-based providers and Home Media Gateways. In addition, the prediction of the upcoming fluctuations of the network, provides the ability to the proposed network architecture, achieving optimized Quality of Service (QoS) and Quality of Experience (QoE) for the end users. Both algorithms were evaluated to establish their efficiency, towards effectively predicting future network traffic demands. The experimental results validated their performance and indicated fields for further research and experimentation.

关键词： Resource Prediction Engine Resource Usage Prediction Algorithms Content Delivery Networks Multimedia Services systems

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Dynamic control of a Walking Robot Using the Versatile Intelligent Portable Robot Platform

Dynamic Control of a Walking Robot Using the Versatile Intel...

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International Conference on control systems and Computer Science (CSCS)

作者： Victor Vladareanu Corina Boscoianu Radu I. Munteanu Hongnian Yu Luige Vladareanu Robotics and Mechatronics Department Romanian Academy Institute of Solid Mechanics Bucharest ROMANIA Department of Automatic Control and Systems Engineering Faculty of Electrical Engineering Technical University of Cluj-Napoca Napoca ROMANIA School of Design Engineering and Computing Bournemouth University Poole UK Bournemouth UK

This paper studies the walking robot hybrid dynamic control in real time in order to increase movement stability of walking robots on flat terrain, with obstacles or uneven ground, at constant or variable walking speed and variable load. The motion trajectory positions of the robot leg end-effect or and joints, reaction forces and the walking robot dynamics are analyzed and the virtual projection method is adopted using the Versatile Intelligent Portable Robot Platform VIPRO. The obtained results lead to higher performance in relation to the walking robots movement possibilities, the real-time robot balance control, gait control and predictable motion control, providing increased mobility and stability, and also the development of new technological capabilities of the control systems.

关键词： Legged locomotion Stability analysis control systems Real-time systems Robot kinematics Dynamics

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

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RSI/ISM International Conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Corrigendum to `Parallel machine scheduling and common due window assignment with job independent earliness and tardiness costs' [Information Sciences, 224 (2013) 109–117]

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Information Sciences 2016年 357卷 217-217页

作者： Adam Janiak Władysław Janiak Mikhail Y. Kovalyov Erhan Kozan Erwin Pesch Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Str. 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology 5 Lukasiewicza Str. 50-373 Wroclaw Poland United Institute of Informatics Problems National Academy of Sciences of Belarus Surganova 6 2200120 Minsk Belarus School of Mathematical Sciences QUT GPO Box 2434 Brisbane Qld 4001 Australia Institute of Information Systems University of Siegen 57068 Siegen Germany

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Second Order Sliding Mode control of a Mobile Hydraulic Crane

Second Order Sliding Mode Control of a Mobile Hydraulic Cran...

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IEEE Annual Conference on Decision and control

作者： Carlos Vazquez Stanislav Aranovskiy Leonid Freidovich Leonid Fridman Department of Applied Physics and Electronics Umea University SE-901 87 Umea Sweden Department of Control Systems and Informatics ITMO University Saint-Petersburg Russia Department of Control Engineering and Robotics Engineering Faculty UNAM C.P. 04510 Mexico City Mexico

ISBN: (纸本)9781467360890

A second order sliding mode control design for a mobile hydraulic system, including bounded model uncertainties and external disturbances, is the subject of study. The proposed algorithm provides a continuous control signal, achieving good performance and chattering attenuation in comparison to other sliding-mode-based techniques. The design includes the formulation of a partial stability problem and we provide the required Lyapunov-function-based analysis. Experimental results are performed over an industrial setup and confirm the effectiveness of the methodology. Moreover, promising results of a comparison with the Super-Twisting and PID controllers are presented.

关键词： Variable structure systems mobile hydraulics stability problems model uncertainty continuous control external disturbance

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Analysis of scale invariance property applying homogeneity 19

Analysis of scale invariance property applying homogeneity

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Bernuau, Emmanuel Efimov, Denis Perruquetti, Wilfrid Non-A Team at INRIA Parc Scientifique de la Haute Borne 40 Avenue Halley Villeneuve d'Ascq59650 France Faculty of Engineering University of Pisa Largo Lucio Lazzarino 1 Pisa56122 Italy Ecole Centrale de Lille BP 48 Cité Scientifique Villeneuve-d'Ascq59651 France Department of Control Systems and Informatics National Research University ITMO 49 av. Kronverkskiy Saint-Petersburg197101 Russia

ISBN: (纸本)9783902823625

The problem of scalability of trajectories in homogeneous and locally homogeneous systems is considered. It is shown that the homogeneous systems have scalability property, and locally homogeneous systems possess this property approximately. The issue of closeness of trajectories for the system and its local homogeneous approximation is investigated. The notions of scale invariance and fold change detection are also studied. The results are illustrated by a cascade system analysis. © IFAC.

关键词： Scalability

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System of geometric parameters monitoring during cutting of steel plates process

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Diagnostyka 2013年第3期14卷 23-28页

作者： Kwasniewski, Jerzy Grzybowski, Józef Kordos, Damian AGH University of Science and Technology in Kraków Faculty of Mechanical Engineering and Robotics Department of Rope Transport Poland Rzeszów University of Technology Faculty of Mechanical Engineering and Aeronautics Department of Avionics and Control Systems Poland

The steel plate cutting is performed on a special pro-duction lines to enable longitudinal and lateral cut. Input material is usually a metal ring of weight about 32 tons. The cutting process is preceded by an operation of straightening the cutting section. So far, during this operation parameters such as wave cut off sheets, the thickness of the material were not monitored. This paper presents a system of continuous monitoring of sheets parameters constructed by the authors. It was mounted on the process line-cutting and slitting of one of the companies cutting sheet metal. Such approach allows to improve quality control.

关键词： Metal cutting

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