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检索条件"机构=dept. of Automatic Control and Engineering Informatics"

共 956 条记录，以下是421-430 订阅

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Planning Mobile Robots with Boolean-based Specifications

Planning Mobile Robots with Boolean-based Specifications

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IEEE Annual Conference on Decision and control

作者： Cristian Mahulea Marius Kloetzer Aragon Institute of Engineering Research (I3A) University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University "Gheorghe Asachi" of Iasi Romania

ISBN: (纸本)9781467360890

This research proposes an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The specification consists of logical requirements over some regions of interest for the agents' trajectories and for their final states. A Petri net (PN) with outputs models the movement capabilities of the team and the active regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve a Mixed Integer Linear Programming problem whose solution yields robotic trajectories satisfying the task.

关键词： Mobile robots Specifications Automated methods Pigmentation Mixed integer linear programming trajectory

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Identification of contact conditions between fingers and a grasped object by active force sensing

Identification of contact conditions between fingers and a g...

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

作者： Takayoshi Yamada Shotaro Nakanishi Hidehiko Yamamoto Rolf Johansson Dept. of Mechanical Engineering Gifu University Gifu Japan Dept. of Human and Information Systems Gifu University Dept. of Mechanical Eng. Gifu University Dept. of Automatic Control eLLIIT Excellence Center at Lund University

ISBN: (纸本)9781479957378

In this paper, we discuss an identification of contact conditions by active force sensing. The contact conditions include not only contact location but also contact type and contact direction. The contact type is point, soft-finger, line or planar contact with friction. In our previous papers, the contact conditions between a grasped object and its external environment was treated. This paper identifies the contact conditions between fingers and a grasped object by using six-axis force sensors. Each finger has less than six degrees of freedom. Sensing strategies are provided. The experiment system is introduced and our proposed method is verified.

关键词： Shape Force Thumb Robot sensing systems Eigenvalues and eigenfunctions Force sensors

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. The proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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Sequential Monte Carlo for graphical models 14

Sequential Monte Carlo for graphical models

引用

Proceedings of the 27th International Conference on Neural Information Processing Systems - Volume 2

作者： Christian A. Naesseth Fredrik Lindsten Thomas B. Schön Div. of Automatic Control Linköping University Linköping Sweden Dept. of Engineering The University of Cambridge Cambridge UK Dept. of Information Technology Uppsala University Uppsala Sweden

We propose a new framework for how to use sequential Monte Carlo (SMC) algorithms for inference in probabilistic graphical models (PGM). Via a sequential decomposition of the PGM we find a sequence of auxiliary distributions defined on a monotonically increasing sequence of probability spaces. By targeting these auxiliary distributions using SMC we are able to approximate the full joint distribution defined by the PGM. One of the key merits of the SMC sampler is that it provides an unbiased estimate of the partition function of the model. We also show how it can be used within a particle Markov chain Monte Carlo framework in order to construct high-dimensional block-sampling algorithms for general PGMs.

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ESC-MRAC of MIMO systems for constrained robotic motion tasks in deformable environments

ESC-MRAC of MIMO systems for constrained robotic motion task...

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European control Conference (ECC)

作者： Vasiliki Koropouli Azwirman Gusrialdi Dongheui Lee Institute of Automatic Control Engineering Technische Universität München München Germany Dept. of Electrical Engineering and Computer Science University of Central Florida USA

ISBN: (纸本)9781479947287

Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or the environment and result in poor performance. Instead, a sophisticated control policy is required, which can adjust to the varying conditions of a task while taking into account the coupling of motion dynamics between different directions of movement. To this aim, in this paper, we propose a MIMO Extremum Seeking control (ESC)-Model Reference Adaptive control (MRAC) approach with the view of executing fine motion tasks in presence of uncertain task dynamics. ESC enhances robustness of the system to non-parametric uncertainties compared to single MRAC. The proposed approach ensures state tracking as well as optimization of a global state-dependent cost criterion in all directions of movement. We evaluate our approach in simulations and in a real-world robotic engraving task.

关键词： MIMO Tracking Dynamics Vectors Uncertainty Adaptation models Robots

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Indirect position estimation method for switched reluctance motor using searching windings

Indirect position estimation method for switched reluctance ...

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International Conference on Electrical Machines and Systems (ICEMS)

作者： Cheng Wang Zhiquan Deng Jun Cai Rongguang Hu College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China School of Information and Control Nanjing University of Information Science and Technology Nanjing China Dept. Automatic Control and System Engineering University of Sheffield UK

This paper presents a new method to estimate rotor position indirectly for 12/8 switched reluctance motor (SRM). In this method, searching windings and main windings are wound on stator together. The structure of searching windings is designed to reduce induced voltages caused by main windings. High frequency voltage is applied to searching windings and the position signal is derived from induced high frequency signals. High frequency voltage can be injected from standstill to high speed in this method, thus it can operate in a wide speed range. The proposed method is implemented on a 12/8 SRM and the experimental results demonstrate the validity of this method.

关键词： Windings Reluctance motors Rotors Inductance Estimation Coils

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Internal inductance predictive control for Tokamaks

Internal inductance predictive control for Tokamaks

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Proceedings of the Biannual World Automation Congress

作者： Izaskun Garrido Jesús Antonio Romero Aitor J. Garrido Davide Lucchin Edorta Carrascal Goretti Sevillano-Berasategui Universidad del Pais Vasco Bilbao PaÃs Vasco ES CIEMAT National Fusion Laboratory Madrid Spain Automatic Control Group. Dept. Aut. Control and Systems Eng University of the Basque Country (UPV/EHU) Spain Automatic Control Group. Dept. of Thermal Engineering University of the Basque Country (UPV/EHU) Spain

control of the plasma inductance is an essential tool for the successful operation of Tokamaks in order to overcome stability issues as well as the new challenges specific to advanced scenarios operation. Thus, tokamak operation may benefit from model predictive control techniques to extend the pulse duration by reducing instabilities while guaranteeing tokamak integrity. The numerical results seem to indicate that internal inductance and current profiles can be adequately controlled which will influence the L-H transition timing, the density peaking and pedestal pressure. In this regard, the need for optimal, robust control emerges as a key factor in the development of a nuclear fusion reactor.

关键词： Inductance Tokamaks Mathematical model Coils Optimization Aerospace electronics

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Fast color reduction using approximative c-means clustering models

Fast color reduction using approximative c-means clustering ...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： László Szilágyi Geliért Dénesi Sándor M. Szilágyi Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary Dept. of Electrical Engineering Sapientia University Tîrgu Mure§ Romania Dept. of Electrical Engineering Sapientia University Tirgu Mure§ Romania Dept. of Informatics Petru Maior Univesity Tîrgu Mures Romania

In this paper we propose an efficient color reduction framework that employs c-means clustering to extract optimal colors. The processing consists of three stages: preprocessing, c-means clustering, and creation of the output image. The main goal of the first stage is to transform the pixel matrix into a list of records, which indicates what colors are present in the image and how many times they appear. To achieve this, first we apply a static color quantization scheme that aligns the 16.7 million possible colors with 140 thousand grid points, and build the histogram of this quantized image. Then we mark least frequent quantized colors to be ignored during the clustering stage, the amount of such marks being controlled by the pixel inclusion parameter. Leaving out 2-5% of the image pixels can reduce the number of colors to 500-5000 in most images. This limited set of colors together with frequency information consists the input of the c-means clustering process performed in the second stage. Before creating the final output image, the marked quantized colors are mapped to the closest cluster. Thorough numerical tests were performed on 500 randomly chosen images using both fuzzy and hard c-means clustering. Evaluations revealed that hard c-means is more suitable than fuzzy c-means for the given problem, both in terms of accuracy and efficiency. The proposed method performs quicker 2-3 times than other recent reported solutions.

关键词： Image color analysis Clustering algorithms Runtime Prototypes Histograms Color Vectors

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Nonlinear fuzzy control of human heart rate during aerobic endurance training with respect to significant model variations

Nonlinear fuzzy control of human heart rate during aerobic e...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Adrian Pătraşcu Monica Patrascu Iacob Hantiu Faculty of Physical Education and Sport Babeş-Bolyai University Cluj-Napoca Romania Automatic Control and Systems Engineering Dept. University Politehnica of Bucharest Bucharest Romania

In the field of physical activity a significant importance is held by aerobic endurance training, which is a relatively low intensity exercise that depends primarily on aerobic energy generating processes. This type of training is used for the overall endurance and fitness of the body by engaging all the major systems of the body and pushing the limits of their functions with the ultimate goal of adapting these structures to the stress of the physical effort and thus improving the performance output. However, using classic training methods, it is often impossible to ensure the necessary operating points in order to obtain the desired results. The human heart rate model with respect to the velocity of walking or running presents inherent nonlinearities that are required to be taken into account when designing computer integrated training aids. This paper implements such a tool using a fuzzy control system for human heart rate during aerobic endurance training. The controller is tested and validated using two nonlinear human-on-treadmill models, and it presents robustness to significant model variations, as well as uncertainties in the model parameters and white noise type of disturbances. The designed control system ensures desired heart rate profiles, finding its usefulness in supporting the training configuration process by specialized professionals.

关键词： Heart rate Training control systems Fuzzy logic Mathematical model Adaptation models Computational modeling

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Comparison of various improved-partition fuzzy c-means clustering algorithms in fast color reduction

Comparison of various improved-partition fuzzy c-means clust...

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International Symposium on Intelligent Systems and informatics (SISY)

作者： László Szilágyi Géllert Dénesi Levente Kovács Sándor M. Szilágyi Dept. of Electrical Engineering Sapientia University Romania Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary Dept. of Electrical Engineering Sapientia University Calea Sighiÿoarei l/C 540485 Tirgu Muteÿ Romania John von Neumann Faculty of Informatics Obuda Univesity Budapest Hungary Dept. of Informatics Petru Maior Univesity Tirgu Mureÿ Romania

This paper provides a comparative study of several enhanced versions of the fuzzy c-means clustering algorithm in an application of histogram-based image color reduction. A common preprocessing is performed before clustering, consisting of a preliminary color quantization, histogram extraction and selection of frequently occurring colors of the image. These selected colors will be clustered by tested c-means algorithms. Clustering is followed by another common step, which creates the output image. Besides conventional hard (HCM) and fuzzy c-means (FCM) clustering, the so-called generalized improved partition FCM algorithm, and several versions of the suppressed FCM (s-FCM) in its conventional and generalized form, are included in this study. Accuracy is measured as the average color difference between pixels of the input and output image, while efficiency is mostly characterized by the total runtime of the performed color reduction. Numerical evaluation found all enhanced FCM algorithms more accurate, and four out of seven enhanced algorithms faster than FCM. All tested algorithms can create reduced color images of acceptable quality.

关键词： Image color analysis Clustering algorithms Partitioning algorithms Accuracy Prototypes Quantization (signal) Vectors

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