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One Approach to the Integration of Low-Cost Inertial Sensors and Global Positioning System for Mobile Robots

IFAC Proceedings Volumes 2011年第1期44卷 10746-10751页

作者： Vasko Sazdovski Mile Stankovski Tatjana Kolemisevska Gugulovska Stojce Deskovski Faculty of Machine Intelligence and Robotics University for Information Science and Technologies Building at ARM Partizanska bb 6000 Ohrid R. Macedonia Institute of ASI Faculty of Electrical Engineering and Information Technologies University of Ss. Cyril and Methodius Karpos II bb 1000 Skopje R. Macedonia Department of Traffic and Transport Engineering Faculty of Technical Sciences University of St. Kliment Ohridski1vi Maj bb 7000 Bitola R. Macedonia

Abstract 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.

关键词： Inertial Sensors Global Positioning System Navigation systems Extended Kalman Filter robotics Mobile robots

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Stability analysis of the Acrobot walking with observed geometry

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IFAC Proceedings Volumes 2011年第1期44卷 1046-1051页

作者： Milan Anderle Sergej Čelikovský 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 (Tel: +420-26605-2018)

Abstract 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.

关键词： Walking robots Nonlinear control Stability analysis

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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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IEEE International Conference on robotics and Biomimetics

作者： Shuai Yuan Lianqing Liu Zhidong Wang Ning Xi Yuechao Wang Zaili Dong Zhiyu Wang Zhibo Wang College of Information & Control Engineering of Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Department of Advanced Robotics Chiba Institute of Technology Department of Electrical and Computer Engineering Michigan State University

ISBN: (纸本)9781457721366

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.

关键词： Atomic Force Microscopy terminal interface processor nonlinearity based model parameters Drift models

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control of Discrete Linear Repetitive Processes using Non-local Previous Pass information

Control of Discrete Linear Repetitive Processes using Non-lo...

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IEEE Conference on Decision and control

作者： Blazej Cichy Krzysztof Galkowski Eric Rogers Anton Kummert Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 65-246 Zielona Gora Poland School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK Faculty of Electrical Information and Media Engineering University of Wuppertal Rainer-Gruenter-Strasse 21 D-42119 Wuppertal Germany

ISBN: (纸本)9781612848006

A repetitive process makes a series of sweeps or passes through dynamics defined on a finite duration termed the pass length. The process output is termed the pass profile and when each pass is completed, resetting to the starting location ready for the start of the next one. On any pass the previous pass profile acts as a forcing function on, and hence contributes to, the dynamics of the next one. There has been a considerable volume of profitable work on the development of a control theory for these processes with more recent focus on the design of control laws. The novel contribution of this paper is a new design algorithm which makes more use of available previous pass profile information and reduces the conservativeness present in existing alternatives.

关键词： control Theory Repetitive Forcing Function control law Standing Orders Design Algorithm dynamics

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB)

作者： Danny Plass-Oude Bos Matthieu Duvinage Oytun Oktay Jaime Delgado Saa Huseyin Guruler Ayhan Istanbullu Marijn van Vliet Bram van de Laar Mannes Poel Linsey Roijendijk Luca Tonin Ali Bahramisharif Boris Reuderink HMI group Faculty of EEMCS University of Twente Netherlands TCTS Laboratory Electrical Engineering University of Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal Üniversitesi Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Faculty of Engineering and Natural Sciences VPA Laboratory Sabanci University Turkey Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Institute for Computing and Information Sciences Radboud University Nijmegen Nijmegen Netherlands

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment.

关键词： Pipelines Accuracy Electrooculography Electrodes Training Electroencephalography Games

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Decentralized robust control of linear uncertain systems with reduced conservatism

Decentralized robust control of linear uncertain systems wit...

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12th IFAC Symposium on Large Scale Systems: Theory and Applications, LSS 2010

作者： Rosinová, Danica Veselý, Vojtech Institute of Control and Industrial Informatics Slovak University of Technology Faculty of Electrical Engineering and Information Technology Bratislava Slovakia

ISBN: (纸本)9783902661913

In this paper a novel decentralized robust control design scheme is proposed, considering the structured uncertain system matrix with a constant part (typical case for a system with dynamic controller as PID);the resulting robust control design is based on developed robust stability LMI condition which is less conservative than those from literature. In the following we use parameter dependent Lyapunov function and structured auxiliary matrices to receive "structured robust stability condition" which is the base for robust controller design. All developments are performed in general formulation including both discrete-time and continuous-time systems.

关键词： Linear matrix inequalities

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Disturbance decoupling of coupled tanks: From theory to practice

Disturbance decoupling of coupled tanks: From theory to prac...

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4th IFAC Symposium on System, Structure and control, SSSC 2010

作者： Žilka, Vladimír Halás, Miroslav Faculty of Electrical Engineering and Information Technology Institute of Control and Industrial Informatics Slovak University of Technology Ilkovicova 3 812 19 Bratislava Slovakia

ISBN: (纸本)9783902661838

Mathematical technicalities, which are involved in the modern theory of non-linear control systems, many times prevents a wider use of the impressive theoretical results in practice. Attempts to overlap this gap between theory and practice are usually more than welcome and form the main scope of our interest in this work. An important control problem given by the disturbance decoupling is studied for a real laboratory model of coupled tanks. It is shown that the theoretical solution to the disturbance decoupling problem does not satisfy practical control requirememt . Accordingly, the solution is modified and yields a nonlinear controller with the distrubance decoupling. Experiments on the real plant, verifying and comparing the results with and without the disturbance decoupling, are included as well. It is shown that the disturbances practically do not affect the system output. © 2010 IFAC.

关键词： Nonlinear systems

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Hybrid optimal control of large-scale systems

Hybrid optimal control of large-scale systems

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12th IFAC Symposium on Large Scale Systems: Theory and Applications, LSS 2010

作者： Kozák, Š. Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovakia

ISBN: (纸本)9783902661913

The paper deals with the decentralized control design strategy for generalized hybrid systems that consists of continuous - and discrete-time subsystems. Mathematical model of the process is traditionally associated with differential and difference equations typically derived from related physical laws. Hybrid large-scale systems are working in multiple operating modes where each mode is controlled by its own dynamic characteristics. Transitions between modes are triggered when some state variable exceeds the threshold (state events), after expiration of specified time period (time events) or by external inputs (entry events). Typical examples of hybrid control systems are many industrial processes in chemical, power and car industries in which process subsystems consist of continuous-time and discrete logic parts.

关键词： Decentralized control

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Research on the control station system for a shape-shifting search and rescue robot

Research on the control station system for a shape-shifting ...

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2010 IEEE International Conference on robotics and Biomimetics, ROBIO 2010

作者： Wang, Minghui Wang, Nan Wu, Chengdong Li, Bin State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Information and Control Engineering Faculty Shenyang JianZhu University Shenyang 110168 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781424493173

In conformity with the request for search and rescue application, the design criterions of human-robot interaction are proposed. Based on the human-robot interaction, the control station system for the shape-shifting search and rescue robot is designed. The system mainly has four features, which are completely perceptive information, flexible control, friendly interface and strong interaction. The experiments demonstrate that the control station system for search and rescue robots can control motion and exchange the multi-channel information in the complex simulated after-earthquake environment. Thus, feasibility and validity of the control station system have been proved in the fields of search and rescue. © 2010 IEEE.

关键词： Human robot interaction

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Case study on simulation analysis of a multiple product manufacturing system

Case study on simulation analysis of a multiple product manu...

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作者： Švančara, Juraj Králová, Zdenka Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 812 19 Bratislava Slovakia

ISBN: (纸本)9783902661814

The paper presents a case study on simulation modelling and analysis of a real production line operating in an electronics company. Simulation technique is applied to analyse the existing manufacturing system and detect factors with significant impact on its capacity. The analysis aims to improve the allocation of available production resources to maximize the average capacity of the system. A full factorial design has been applied as a simulation analysis tool. Then, a new system design is proposed to enhance the overall performance and is verified using a simulation model. The simulation system WITNESS has been used to complete this study. © 2010 IFAC.

关键词： Manufacture

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