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2011 International Conference on Advanced Mechatronic Systems, ICAMechS 2011

作者： Vladareanu, Luige Tont, Gabriela Yu, Hongnian Bucur, Danut A. Institute of Solid Mechanics Romanian Academy Robotics and Mechatronics Department C-tin Mille 15 Bucharest 1 010141 Romania University of Oradea Faculty of Electrical Engineering and Information Technology Universitatii 1 Oradea 410087 Romania Faculty of Computing Engineering and Technology Staffordshire University Stafford ST16 0DG United Kingdom

ISBN: (纸本)9780955529375

This paper investigate Zero Movement Point (ZPM) dynamic control of walking robots and develop an open architecture of real time control multiprocessor systems, in view of obtaining new capabilities for walking robots. Considering the complexity of the movement mechanism of a walking robot being a repetitive tilting process with numerous instable movements can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with a stochastic model of assessing system probability of unidirectional or bidirectional transition states, applying the non-homogeneous/non-stationary Markov chains. The capability of the time-dependent method for describing a multi-state system and assessing the operational situation of a robotic system is evaluated based on a case study. The rationality and validity of the proposed model are demonstrated via an example of quantitative assessment of states probabilities of an autonomous robot. The results show that the proposed new strategy of the walking robot control systems for slope movement and walking by overtaking or going around obstacles has increased the robot's mobility and stability in real. © 2011 Intl Journal of Adv Mechatr.

关键词： Real time control

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One approach to the integration of low-cost inertial sensors and Global Positioning System for mobile robots

One approach to the integration of low-cost inertial sensors...

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作者： Sazdovski, Vasko Stankovski, Mile Gugulovska, Tatjana Kolemisevska Deskovski, Stojce Faculty of Machine Intelligence and Robotics University for Information Science and Technologies Building at ARM Partizanska bb 6000 Ohrid Macedonia Institute of ASI Faculty of Electrical Engineering and Information Technologies University of Ss. Cyril and Methodius Karpos II bb 1000 Skopje Macedonia Department of Traffic and Transport Engineering Faculty of Technical Sciences University of St. Kliment Ohridski 1vi Maj bb 7000 Bitola Macedonia

ISBN: (纸本)9783902661937

Mobile robots are reality these days. Advances in the new technologies, including relatively cheap sensors, new communication and internet technologies together with the increases in the computational speed provide significant advances in the mobile robots autonomy. Precise navigation parameters (position, velocity and attitude) play crucial role for mobile robots to respond autonomously. Supplying wrong or not precise navigation parameters to the Guidance and control System can turn to be catastrophic for mobile robots. In navigation the trend is to use integrated systems. The idea is to integrate more navigation systems and to achieve better navigation accuracy. In this paper a low-cost integrated navigation system was developed where Extended Kalman Filter (EKF) was used for integration of the Global Positioning System (GPS) information and measurements from the single yaw gyro. Extensive practical experiments were carried out to validate the presented approach. The algorithm was tested on a mobile robot platform Itar Pejo and a car. The results show improvements of the integrated navigation system then the GPS and gyro used alone. © 2011 IFAC.

关键词： Global positioning system

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Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability

Feedback design for the Acrobot walking-like trajectory trac...

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1st Joint Symposium on Computer-Aided control System Design, CACSD 2011 and Systems with Uncertainty, SU 2011

作者： Anderle, Milan Čelikovský, Sergej Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Technická 2 166 27 Prague Czech Republic Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Pod Vodárenskou věží 4 182 08 Prague Czech Republic

ISBN: (纸本)9781457710667

This paper aims to the further improve of the previously developed design for the Acrobot walking based on the partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 44 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot "walking". © 2011 IEEE.

关键词： Trajectories

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Stability analysis of the Acrobot walking with observed geometry

Stability analysis of the Acrobot walking with observed geom...

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ISBN: (纸本)9783902661937

This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincaré mappings. This numerical proof of the stability is supported by numerical simulations showing practically unlimited number of steps of the stable Acrobot walking. © 2011 IFAC.

关键词： Stability

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Remote laboratory server based on Java Matlab interface

Remote laboratory server based on Java Matlab interface

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International Conference on Interactive Collaborative Learning (ICL)

作者： Pavol Bisták Institute of Control and Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

Remote laboratories are becoming an integral part of an education process. This paper deals with the design of the server for the remote laboratories suitable for control purposes. Usually a control algorithm runs on a PC with Matlab that really controls the real plant. This is the server side. The server is written in the Java programming language and is running as an object of Matlab's Java virtual machine. Because real systems of our remote laboratories are controlled directly from the Matlab all commands and data are stored in the Matlab. Then if the Java server is also running directly within the Matlab environment there is no problem with data exchange. This is assured by Java Matlab Interface technology. To demonstrate the possibilities of a remote control a Java client server application is introduced. It convers communication and offers a user friendly interface for control of the remote plant and visualization of measured data.

关键词： Conferences Collaborative work Educational institutions

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Feature referenced tip localization enhanced by probability motion model for AFM based nanomanipulations

Feature referenced tip localization enhanced by probability ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Yuan, Shuai Liu, Lianqing Wang, Zhidong Xi, Ning Wang, Yuechao Dong, Zaili Wang, Zhiyu Wang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning Province 110016 China College of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China Graduate School of Chinese Academy of Sciences Beijing 100001 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48823 United States Department of Advanced Robotics Chiba Institute of Technology Chiba Japan

ISBN: (纸本)9781457721373

The spatial uncertainties of tip positioning due to the nonlinearity of the PZT scanner and thermal drift hinder the further application of the AFM based nanomanipulation. This paper brings forward feature referenced tip localization enhanced by probability motion model to reduce the spatial uncertainties. An improved motion model is probabilistically built by incorporating the PI model, the creep model and the thermal drift model. For calibrating the accurate model parameters, the statistical experiments are designed and performed. Then the tip position is optimally estimated by combining with a local scan based feature sensing method. The simulation and corresponding experiments are performed to illustrate the validity and feasibility of the calibrated parameters and the algorithm. © 2011 IEEE.

关键词： Micromanipulators

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Computer Implementation of Some Recent Developments Related to Generalized Transfer Functions

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IFAC Proceedings Volumes 2011年第1期44卷 11012-11017页

作者： Martin Ondera Miroslav Halás Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 812 19 Bratislava

Abstract The aim of this paper is to contribute to the ongoing development of the theory of transfer functions of nonlinear control systems by means of computer implementation. Concepts like transfer-function-based model matching and transfer-function-based realization of nonlinear systems that were recently discussed and mathematically described in other papers are integrated into software tools here. MATLAB and Maple environments are used as bases for software implementation of the methods and a few illustrative examples are included to demonstrate the usage of the tools.

关键词： nonlinear control systems generalized transfer functions software implementation

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Robust decentralized controller design for large scale systems

Robust decentralized controller design for large scale syste...

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International Carpathian control Conference (ICCC)

作者： Vojtech Veselý Nguyen Quang Thuan Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

The paper addresses the problem of the robust output feedback PI controller design for complex large-scale systems with state output decentralized structure. The proposed design method is based on the Generalized Geršgorin Theorem and the V-K iteration method to design robust PI controller guaranteeing feasible performance achieved in subsystems for the full system and therefore the proposed method excludes limit of system order in BMI solution. Finally, numerical example is given to illustrate the effectiveness of the proposed method.

关键词： Robustness Large-scale systems Design methodology Robust stability control systems Uncertainty Uncertain systems

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control of the juggling system with 1 DOF

Control of the juggling system with 1 DOF

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International Carpathian control Conference (ICCC)

作者： Stanislav Triaška Milan Žalman Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

The article deals with the mechanical machinery whose task is to juggle using the servo drive system. The ball juggler is an open loop system which uses attractive algorithms with no feedback information about the actual ball position. The position control of juggling arms is the basis of the movement system which works on mathematical model for throwing ball and catching with juggling arms. Our work in this paper is focused on the description of the system and on the control implementation for continuous juggling.

关键词： Mathematical model Servomotors Generators Acceleration Equations Manipulators Shafts

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Design and verification of thermostat with peltier thermoelectric modules

Design and verification of thermostat with peltier thermoele...

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International Conference on Radioelektronika

作者： Vladimír Štofanik Alexander Štofanik Elena Cocherová Department of Radio and Electronics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia

In the paper we deal with design, modeling and verification of thermostat with particularly thermally insulated chamber, based on Peltier thermoelectric modules (elements). A prototype of the designed thermostat has been realized. Parameters of the regulated system were obtained experimentally. We have developed the reliable model of the complete thermostat with the PSD regulation in the Matlab environment, as well. The model helps to optimize the parameters of the regulator according to desired temperature profiles inside the chamber. Measurements show a good agreement between the model and realized prototype of the thermostat.

关键词： Temperature measurement Thermostats Regulators Current measurement Mathematical model Prototypes Transfer functions

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