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1st International Workshop on Computer Graphics, Computer Vision and Mathematics, GraVisMa 2009

作者： Fassold, Hannes Rosner, Jakub Schallauer, Peter Bailer, Werner JOANNEUM RESEARCH Institute of Information Systems Steyrergasse 17 8010 Graz Austria Silesian University of Technology Faculty of Automatic Control and Robotics Ulica Academicka 2 44-100 Gliwice Poland

ISBN: (纸本)9788086943909

Automatic detection and tracking of feature points is an important part of many computer vision methods. A widely used method is the KLT tracker proposed by Kanade, Lucas and Tomasi. This paper reports work done on porting the KLT tracker to the GPU, using the CUDA technology by NVIDIA. For the feature point detection, we propose to do all steps of the detection process, except the final one (enforcing a minimum distance between feature points), on the GPU. The feature point tracking is done on a multi-resolution image representation to allow tracking of large motion. Each feature point is calculated in parallel on the GPU. We compare the CUDA implementation with the corresponding OpenCV (using SSE and OpenMP) routines in terms of quality and speed, noticing a significant speedup of up to factor 10. Some additional experiments are done regarding the influence of different parameterization on the runtime. Our GPU implementation achieves realtime (> 25 fps) performance for High Definition (HD) video sequences, successfully tracking several thousands of points. In summary, the GPU implementation achieves a significant speedup compared with an optimized CPU implementation and allows the analysis of high resolution video sequences in realtime.

关键词： Motion estimation

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development of an underwater vehicle that has functions of acquisition and tracking target objects using images acquired by itself

Development of an underwater vehicle that has functions of a...

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19th (2009) International OFFSHORE AND POLAR ENGINEERING CONFERENCE

作者： Tanaka, Toshinari Yoshie, Muneo Oosato, Mutsuo Construction and Control Systems Department Port and Airport Research Institute Yokosuka City Kanagawa Prefecture Japan Sendai Research and Engineering Office for Port and Airport Tohoku Regional Development Bureau Sendai City Miyagi Prefecture Japan

ISBN: (纸本)9781880653531

ROVs are often used to underwater observation and research mission. However, the operation of conventional ROVs under disturbances such as wave and current conditions are often problem. If the target object is moving by disturbances, the operation will not be able to continue. Therefore, we are aiming at realization of smart and secure in situ operations onboard. Especially, objective of our project is maintenance examination for swinging mooring facility of GPS buoys by our developed underwater vehicle. The buoys were deployed for survey hydrographic phenomena. Our key methods for semi-autonomous underwater vehicle are optical navigation technology and smart operational interface. Copyright © 2009 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Global positioning system

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Mobile robotic dynamic tracking for assembly tasks

Mobile robotic dynamic tracking for assembly tasks

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Bradley Hamner Seth Koterba Jane Shi Reid Simmons Sanjiv Singh Robotics Institute Carnegie Mellon Institute Pittsburgh PA USA Manufacturing Systems Research Laboratory GM Research and Development Center Warren MI USA

Traditional industrial robots have been widely used in automotive manufacturing for nearly 30 years. However, there have been very few attempts to automate mobile robotic systems for final assembly operations, despite their potential for high flexibility and capability. This paper focuses on methods of tracking a dynamic moving vehicle that is similar to the vehicle body on a moving assembly line. We have investigated two tracking methods, one using a laser scanner and the other using a visual fiducial marker. We have also studied the tracking performance of a mobile base using the pure pursuit algorithm with low pass filtering. Experimental results are presented to illustrate the remaining main challenges in achieving robotic assembly on moving assembly lines.

关键词： Robotic assembly Mobile robots Service robots robotics and automation Vehicle dynamics Vehicles Manufacturing industries Automotive engineering Assembly systems Pursuit algorithms

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Modelling and Simulation of a Combustion Turbogenerator for control Analysis and Design

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IFAC Proceedings Volumes 2009年第9期42卷 320-325页

作者： Raul Garduno-Ramirez Miguel A. Delgadillo-Valencia Isaura Hernandez-Rodriguez Indira X. Alcaide-Godinez Ricardo Guevara-Gordillo Electrical Research Institute Division of Control Systems GCI 29-1 Cuernavaca 62490 Mexico (Tel: +52-777-362-3811) Department of Electronics National Research and Development Centre Cuernavaca 62490 Mexico

This paper introduces the mathematical model of a 32 MVA combustion turbogenerator, including its control system, which has been implemented to perform real-time simulation experiments. The turbogenerator model comprehends the interconnection of the gas turbine, synchronous generator, turbine control system and generator control systems. The turbogenerator model allows simulation of turbogenerator startup, from turngear-speed up to synchronization-speed, and turbogenerator loading throughout the generator capability curve, from minimum-load condition up to peak-load condition. The proposed model is intended for the development of control systems, including speed, voltage, real power and reactive power controls. Simulation results using digital PI control algorithms are presented.

关键词： Combustion turbogenerator Gas turbine model Synchronous generator model Real-time simulation Speed control Power control

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Stabilization of nonnecessarily inversely stable first-order adaptive systems under saturated input

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World Academy of Science, Engineering and Technology 2009年 32卷 307-311页

作者： De la Sen, M. Barambones, O. Institute of Research and Development of Processes Campus of Leioa 48080 Spain Department of Systems Engineering and Automatic Control University of Basque Country Nieves Cano 12 01006-Vitoria Spain

This paper presents an indirect adaptive stabilization scheme for first-order continuous-time systems under saturated input which is described by a sigmoidal function. The singularities are avoided through a modification scheme for the estimated plant parameter vector so that its associated Sylvester matrix is guaranteed to be non-singular and then the estimated plant model is controllable. The modification mechanism involves the use of a hysteresis switching function. An alternative hybrid scheme, whose estimated parameters are updated at sampling instants is also given to solve a similar adaptive stabilization problem. Such a scheme also uses hysteresis switching for modification of the parameter estimates so as to ensure the controllability of the estimated plant model.

关键词： Stabilization

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Experimental study on manipulator design for low collision impact force

Experimental study on manipulator design for low collision i...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yusuke Sugahara Keigo Noha Kazuhiro Kosuge Jun'ichiro Ooga Hideichi Nakamoto Takashi Yoshimi Department of Bioengineering and Robotics University of Tohoku Sendai Japan Department of Bioengineering and Robotics University of Tohoku Japan Mechanical Systems Laboratory Corporate Research & Development Center Toshiba Corporation Kawasaki Japan Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

This paper experimentally studies how the mechanism and system design of a manipulator affect the impact force when the manipulator collides with its environment. Although considerable safety-related research has been conducted, there has been no research comparing tendon-driven and direct-driven mechanisms. In this paper, from the perspective of impact force and impulse, two types of driving mechanisms are experimentally compared; a tendon-driven mechanism and a direct-driven mechanism. Also the effect of the absorber and the collision detection system are experimentally investigated. Finally, based on the knowledge obtained above, a single system design method of the manipulator to reduce the collision impact force is proposed and experimentally evaluated.

关键词： Humans Actuators Manipulators Safety Service robots Orbital robotics Robot sensing systems Gears Hardware Force control

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Band-limited guidance and control of large parafoils

Band-limited guidance and control of large parafoils

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作者： Carter, David Singh, Leena Wholey, Leonard Rasmussen, Scott Barrows, Tim George, Sean McConley, Marc Gibson, Chris Tavan, Steve Bagdonovich, Brian Draper Laboratory 555 Technology Square Cambridge MA 02459 United States US Army Natick Soldier Research Development and Engineering Center Natick MA 01760 United States Decision Systems Group MS 15 United States Aerospace Guidance and Control Group MS 70 United States Tactics Guidance and Control Group MS 77 United States Cognitive Robotics Group MS 77 United States Manned Space Systems Group MS 70 United States Vehicle and Robotics Group MS 23 United States Navigation and Localization Group MS 77 United States Tactical Systems Program Office MS 79 United States NSRDEC 15 Kansas Street United States

ISBN: (纸本)9781563479724

The Natick Soldier research development and Engineering Center has been leading an effort to develop precision guided airdrop systems to accommodate cargo weights from 1 pound to 42,000 pounds. This paper describes flight software developed by Draper Laboratory for one of the largest of these systems. Copyright © 2009 by The Charles Stark Draper Laboratory, Inc.

关键词： Precision engineering

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An innovative generation control system for improving design and stability of shipboard medium-voltage DC Integrated Power System

An innovative generation control system for improving design...

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IEEE Electric Ship Technologies Symposium, ESTS

作者： Vittorio Arcidiacono Antonello Monti Giorgio Sulligoi Research & Development Division M. A. I. Control Systems Limited Milan Italy Institute of Automation of Complex Power Systems E.ON Energy Research Center RWTH Aachen University Aachen Germany Department of Electrical Electronic and Computer Engineering University of Trieste Trieste Italy

Ensuring system stability in medium-voltage DC (MVDC) integrated power systems (IPS) is a key issue, due to the presence of many shipboard electric users fed by constant power load (CPL) converters. This paper presents an innovative control system aimed at utilizing alternators, connected to the IPS through controlled AC-DC interface converters, to improve MVDC stable voltage control. Such system is designed to control, for each shipboard generator, the AC machine voltage, the prime mover speed and the interface converter, in an integrated way. Technological aspects and control principle scheme of this system will be presented in the paper, with particular reference to the issue of DC-link voltage stability. This system is expected to bring advantages in terms of MVDC IPS integration, stable parallel operation of generators and loads, safe exploitation of alternators capability as a source of stabilizing power.

关键词： Power system stability DC generators Power generation control systems Medium voltage Power system control Power systems Voltage control Alternators Analog-digital conversion

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Scaling reduction of port-Hamiltonian systems for numerical calculation

Scaling reduction of port-Hamiltonian systems for numerical ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Nishida, Gou Ichishima, Daiji Kashima, Kenji Fujimoto, Kenji Yamakita, Masaki Maschke, Bernhard Ikeura, Ryojun Robotic Motion Lab. Advanced Science Institute RIKEN Japan Research and Development Center Sumitomo Heavy Industries Ltd. Japan Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology Japan Department of Mechanical Science and Engineering Graduate School of Engineering Nagoya University Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan Laboratoire d'Automatique et de Génie des Procédés UMR CNRS 5007 Université Claude Bernard Lyon 1 France Department of Mechanical Engineering Mie University Denmark

ISBN: (纸本)9784907764333

We present a novel reduction method of port-Hamiltonian systems by a renormalization group. The reduced system is suitable for a fast numerical calculation in a mesoscopic scale. Especially, we aim at the development of renormalized molecular dynamics with controls. First, we define a renormalized Hamiltonian with coarse graining. Next, we introduce a renormalized canonical Hamiltonian system. Moreover, we clarify the relationship between the renormalized Hamiltonian system and a Dirac structure. Finally, we obtain necessary conditions of boundary connections for each renormalized Hamiltonian system with different scales. © 2009 SICE.

关键词： Hamiltonians

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Annual business and news: Beginning the 32nd year

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Journal of Guidance, control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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