检索结果-内蒙古大学图书馆

IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： T. Dias P. Miraldo N. Goncalves P. U. Lima Department of Electrical and Computer Engineering University of Coimbra Portugal Institute for Systems and Robotics (LARSyS) University of Lisbon Portugal

In this paper we present a framework for the application of augmented reality to a mobile robot, using non-central camera systems. Considering a virtual object in the world with known local 3D coordinates, the goal is to project this object into the image of a non-central catadioptric imaging device. We propose a solution to this problem which allows us to project textured objects to the image in real-time (up to 20 fps): projection of 3D segments to the image;occlusions;and illumination. In addition, since we are considering that the imaging device is on a mobile robot, one needs to take into account the real-time localization of the robot. To the best of our knowledge this is the first time that this problem is addressed (all state-of-the-art methods are derived for central camera systems). To evaluate the proposed framework we test the solution using a mobile robot and a non-central catadioptric camera (using a spherical mirror).

关键词： Cameras Three-dimensional displays Robot vision systems Mirrors Augmented reality

来源：评论

学校读者我要写书评

暂无评论

Model-based event-triggered control for freeway traffic systems

Model-based event-triggered control for freeway traffic syst...

引用

International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP)

作者： Antonella Ferrara Simona Sacone Silvia Siri Department of Electrical Computer and Biomedical Engineering University of Pavia Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy

ISBN: (纸本)9781467378895

In this paper a model-based event-triggered control scheme for freeway traffic systems is proposed. The freeway network is a spatially distributed system in which sensors and actuators act on portions of the overall system. Measurements and control actions can be transmitted among the plant and the controllers via a shared communication network. For this reason the freeway network can be controlled relying on a design framework typical of Networked Control Systems. In the proposed control scheme the number of transmissions over the network is reduced by adopting local triggering conditions included in sensors, allowing transmissions from the sensors to the controller only when such conditions are verified. One of the novelties of this work stands in considering not only sensors able to measure the freeway traffic state but also sensors which measure the traffic demands, which can be regarded as disturbances affecting the system dynamics.

关键词： Traffic control Sensor systems Vehicles Atmospheric measurements Particle measurements Time measurement

来源：评论

学校读者我要写书评

暂无评论

Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part I)

Control of wheeled mobile robots singularly perturbed by usi...

引用

作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federação Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil

In work reported here, it is proposed a method to reduce the effects of slipping and skidding in WMRs not exactly satisfying kinematic constraints. It is studied the case for WMRs whose kinematic constraints are violated owing to deformability or flexibility. To this end, it is considered the static-state linearization whose robustness will be based on singular perturbation methods and an auxiliary control law that is modeled on a suitable transformation for curvilinear coordinates. In results will be seen that the tracking error converges to small ball of the origin whose radius can be adjusted by a known function that depends on the slipping and skidding variations. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

引用

第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

来源：评论

学校读者我要写书评

暂无评论

FPAA-based Control of Bilateral Teleoperation Systems

FPAA-based Control of Bilateral Teleoperation Systems

引用

第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

来源：评论

学校读者我要写书评

暂无评论

Novel Cooperative Teleoperation Framework: Multi-Master/Single-Slave System

Novel Cooperative Teleoperation Framework: Multi-Master/Sing...

引用

作者： Shahbazi, Mahya Atashzar, Seyed Farokh Talebi, Heidar A. Patel, Rajni V. Canadian Surgical Technologies and Advanced Robotics Lawson Health Research Institute LondonONN6C2R5 Canada Department of Electrical and Computer Engineering University of Western Ontario LondonONN6A3K7 Canada Department of Electrical Engineering Amirkabir University of Technology Tehran15875-4413 Iran Department of Electrical and Computer Engineering Canadian Surgical Technologies and Advanced Robotics LondonONN6A5A5 Canada Department of Surgery University of Western Ontario LondonONN6A3K7 Canada

In this paper, a novel multi-master/single-slave (MM/SS) teleoperated framework is proposed. The desired objectives for the MM/SS system are presented in such a way that both cooperative and training applications, e.g., surgical teleoperation and surgical training, can benefit. Passivity of the system is investigated, and it is shown that an ideal MM/SS system, depending on its structure, may not always be passive unlike a conventional SM/SS system. An impedance-based control methodology is developed to satisfy the desired objectives of the MM/SS system in the presence of communication delays. The small-gain theorem is used to analyze the closed-loop stability, deriving a sufficient condition to guarantee system stability in the presence of time delays. Experimental results conducted on an MM/SS system are presented to evaluate the performance of the proposed methodology. © 1996-2012 IEEE.

关键词： Time delay

来源：评论

学校读者我要写书评

暂无评论

Remote lab for Stochastic Computing using reconfigurable logic

Remote lab for Stochastic Computing using reconfigurable log...

引用

Experiment@ International Conference (exp.at)

作者： José Domingos Alves Jorge Lobo DEEC - Department of Electrical and Computer Engineering FCT University of Coimbra ISR - Institute of Systems and Robotics - University of Coimbra

In this interactive demonstration we show the basics of Stochastic Computing (SC) using a remote reconfigurable logic laboratory. A very simple web based approach is used to enable a remote access to a development board hosting a FPGA (Field Programmable Gate Array). The board switches and keys are virtualised with an online web form, and a webcam is used to provide feedback to the user. Recently, SC has been revisited and evaluated as a possible way of performing approximate probabilistic computations for artificial perception systems. Therefore, we provide the basic stochastic computing modules, so that any user can use them to build a stochastic computing circuit and go beyond software simulations, providing a remote hardware device to test real circuits at high clock speeds.

关键词： Hardware Field programmable gate arrays Generators computers Computational modeling Integrated circuit modeling Remote laboratories

来源：评论

学校读者我要写书评

暂无评论

Control of wheeled mobile robots singularly perturbed by using the slipping and skidding variations: Curvilinear coordinates approach (Part II)

Control of wheeled mobile robots singularly perturbed by usi...

引用

作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federacao Salvador Bahia40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Campina Grande Paraíba58429-970 Brazil

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Control Schemes for Passive Teleoperation Systems over Wide Area Communication Networks with Time Varying Delay

引用

International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

来源：评论

学校读者我要写书评

暂无评论

Trajectory control of wheeled mobile robots not satisfying ideal velocity constraints by using slipping and skidding variations: A singular perturbation approach 1

引用

11th Latin-American robotics Symposium on robotics, LARS 2014

作者： Peña Fernández, C.A. Cerqueira, J.J.F. Lima, A.M.N. Robotics Laboratory - Department of Electrical Engineering Federal University of Bahia Rua Aristides Novis 02 Federação Bahia Salvador40210-630 Brazil Center of Electrical and Computer Engineering Department of Electrical Engineering Federal University of Campina Grande Rua Agripio Veloso 882 Universitário Paraíba Campina Grande58429-970 Brazil

ISBN: (数字)9783662481349

ISBN: (纸本)9783662481332

Control of wheeled mobile robots (WMRs) on trajectory tracking problems has given rise to an abundant proposals at recent years. Normally, WMRs are subject to phenomena like sliding, deformability or flexibility, which are strongly associated with violation of velocity constraints. Here, we propose a method to reduce the effects of slipping and skidding in WMRs by using an auxiliary control law whose robustness is based on slipping and skidding variations. It is considered the control law based on state-feedback linearization whose robustness with respect to the deformability of wheel will be based on singular perturbation methods. The tracking problem is studied by using the auxiliary control law proposed in a feedforward loop. The results show that the law proposed is robust to slipping and skidding and that tracking error converges toward zero. © Springer-Verlag Berlin Heidelberg 2015.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：