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2012 UKACC International Conference on control, control 2012

作者： Patrascu, Monica Dumitrache, Ioan Dept. of Automatic Control and Systems Engineering University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9781467315609

This paper evaluates the possibility of applying a geno-fuzzy control strategy to a magnetorheological semi-active damper for seismic vibration control. The proposed control starategy is designed and then tested and validated in a simulated environment. The control strategy is validated by considering a more destructive seismic disturbance as input for the damper-structure system. The proposed geno-fuzzy hybrid controller offers improved performance and implementability for real-time applications. © 2012 IEEE.

关键词： Vibration control

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Open robot control for services in construction

Open robot control for services in construction

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Borangiu, Theodor Ceccarelli, Marco Anton, Florin Anton, Silvia Carbone, Giuseppe Stocklosa, Octavian Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Romania Italy East Electric Bucharest Romania

ISBN: (纸本)9783902661982

The paper describes open control architecture for a mobile platform with inclination control moving in construction sites and carrying a robotic arm for bricklaying services. The control system for this 12-axis construction robot is open both from the point of view of hardware structure and of basic software and application development, thus allowing rapid deployment automation solutions with service orientation for construction tasks. The navigation and locating of the mobile platform, the motion control of the robotic arm, as well as robot learning and human-robot interaction are embedded in a multiprocessor system developed around a NI Motion control solution for which a structured programming language was developed. The elements of the basic software system design (RTOS, multitasking and operating modes) are described. The parameters for application programs are automatically computed from CAD production data generated in a 3-stage Knowledge Base Technology System (KBTS) from civil engineering projects and data bases for construction materials and building site organization. © 2012 IFAC.

关键词： Robot programming

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Modeling and control of a Novel Hybrid Ground Aerial Robot

Modeling and Control of a Novel Hybrid Ground Aerial Robot

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IEEE International Conference on Mechatronics and Automation

作者： Mahmoud Elsamanty Mohamed Fanni Ahmed Ramadan Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Prod. Eng. & Mechanical Design Dept. Mansoura University Mansoura Egypt. Adjunct Professor at Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology. Computers Engineering & Automatic Control Dept. Tanta University Tanta Egypt.

ISBN: (纸本)9781467355599

This paper presents the dynamic modeling and control simulation of a novel robot that combines flying motion and on ground motion into an integrated single robot. The ground motion is based on four wheels configuration that provides more stability. The flying motion is depending on the flying mechanism of quadrotor system. Smart transformation mechanism is developed to switch the robot from the ground motion configuration to the flying motion configuration and vice versa without adding any additional actuators. A manipulator with 3 DOF is added to handle an object during the ground motion and it is useful to hold this object during the flying motion. A CAD model is developed using SOLIDWORKS. The dynamic model of this robot is derived to achieve the eccentricity of the payload, the weight of the eccentric manipulator and managing the variation of the payload in the dynamic model. The derived robot dynamics are highly nonlinear. A controller is designed based on feedback linearization technique to stabilize the robot attitude and altitude. controlling the horizontal movements' nonholonomic constraints is used to generate the desired trajectories of robot attitudes. Another dynamic model and controller have been established for the transformation mechanism. Finally, the simulation results using MATLAB/SIMULINK show that the controller successfully vanish the eccentric effect and stabilize the robot attitude.

关键词： Flying robot Dynamic Modeling of UA V Feedback Linearization technique controller design

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics): Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2013年 7811 LNCS卷 V-VI页

作者： Purshouse, Robin C. Fleming, Peter J. Fonseca, Carlos M. Greco, Salvatore Shaw, Jane University of Sheffield Dept. of Automatic Control and Systems Engineering Mappin Street Sheffield S1 3JD United Kingdom University of Coimbra Department of Informatics Engineering Pólo II Pinhal de Marrocos 3030-290 Coimbra Portugal University of Catania Department of Economics and Business Corso Italia 55 95129 Catania Italy Unilever Research and Development Port Sunlight Quarry Road East Merseyside CH63 3JW United Kingdom

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LTL planning in dynamic environments

LTL planning in dynamic environments

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11th International Workshop on Discrete Event Systems, WODES 2012

作者： Kloetzer, Marius Mahulea, Cristian Dept. of Automatic Control and Applied Informatics Technical University Gh. Asachi Iasi Romania University of Zaragoza Spain

ISBN: (纸本)9783902823281

This paper addresses the path planning problem of a mobile robot based on linear temporal logic formulae over a set of regions of interest in the environment. The regions have fixed and known locations but have some dynamic observations that can appear and disappear based on exponential probability density functions. The robot movement capabilities are modeled by a finite-state transition system. By drawing inspiration from temporal logic control for static environments, we find a run that has the greatest chance of satisfying the temporal logic specification. Then, we devise a supervising strategy for the robot motion along this run, which updates the execution based on the currently observed regions. The approach is supported by two simulations.

关键词： Formal languages

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Robust LMI control of a buck-boost converter with low ripple propagation

Robust LMI control of a buck-boost converter with low ripple...

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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Ingles, J.V. Garces, P. Leyva, R. Dept. of Electronic Electrical and Automatic Control Engineering Universitat Rovira i Virgili 43007 Tarragona Spain

ISBN: (纸本)9781467325318

This paper proposes a new robust control strategy to prevent the current ripple propagation into the dc-dc converter input, thus avoiding converter malfunctions. Concretely, we apply the new strategy to a buck-boost converter. The strategy is based on LMI control and use readily, fast convex optimization algorithms to obtain the solution. The control objective is maximizing the current disturbance rejection, where current ripple propagation and usual, prescribed dynamic performances are ensured. The paper describes the control design procedure, besides an illustrative example and simulation verifications. Simulation waveforms are in perfect agreement with objective function and performances constraints of the control design. That is, the current ripple propagation is almost zero and other prescribed constraints are satisfied. © 2012 IEEE.

关键词： Buck-Boost converter

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Model-based Angiogenic Inhibition of Tumor Growth using Feedback Linearization

Model-based Angiogenic Inhibition of Tumor Growth using Feed...

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IEEE Annual Conference on Decision and control

作者： Annamaria Szeles Daniel Andras Drexler Johanna Sapi Istvan Harmati Levente Kovacs Budapest University of Technology and Economics Dept. of Control Engineering and Information Technology Magyar tudosok krt. 2. H-1117 Budapest Hungary Obuda University John von Neumann Faculty of Informatics Becsi ut 96/B H-1034 Budapest Hungary

ISBN: (纸本)9781467357159

In the last decades beside conventional cancer treatment methods, molecular targeted therapies show prosperous results. These therapies have limited side-effects, and in comparison to chemotherapy, tumorous cells show lower tendency of becoming resistant to the applied antiangiogenic drugs. In clinical research, antiangiogenic therapy is one of the most promising cancer treatment methods. Using a simplified model of the reference dynamical model for tumor growth under angiogenic inhibition from the literature, exact linearization is performed in the paper to handle the nonlinear behavior of the model. Two different control methods are applied on the linearized model: flat control and switching control. Simulations are performed on the nonlinear model to show the characteristics of the therapies carried out using the presented control methods.

关键词： tumor growth Angiogenesis Inhibition control Methods Model reference Linearization Nonlinear Models cancer therapy

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Human-Robot Natural Interaction and Collision Avoidance in Flexible Manufacturing Cells

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IFAC Proceedings Volumes 2012年第6期45卷 835-840页

作者： Florin D. Anton Silvia Anton Theodor Borangiu Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Bucharest Romania

The paper discusses a new method of using robots to interact with humans (natural interaction) to provide assistance services. Using dept. sensors the robots are able to assist the human operator and to avoid collisions. Natural interaction is implemented using a dept. sensor which monitors the activity outside and inside the robot system workspace. The sensor extracts dept. data from the environment and then uses the processing power of a workstation in order to detect the humans and robot arms. This is done by detecting skeletons which represent the position and posture of the humans and manipulators. Using skeleton tracking, a software agent is able to monitor the movements of the human operators and robotic arms and to detect possible collisions and to stop the robot motion at the right time. Also the agent can interpret the posture (or full body gesture) of the human operator in order to send basic commands to the robot.

关键词： Assembly robots Industrial robots Robotic manipulators Sensors Range finders Range data Real time

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Online Rapid Vision Integration for a Robotized China Plates Manufacturing Line

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IFAC Proceedings Volumes 2012年第6期45卷 1832-1837页

作者： Florin D. Anton Silvia Anton Theodor Borangiu Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Bucharest Romania

In conventional robot systems the different robot parts (sensors, processing elements and actuators) are combined together in a compact, self contained system. The need for faster development and deployment, system reconfigurability and flexibility required the introduction of rapid deployment automation for robot systems in flexible manufacturing cells. Vision sensors are one of the most important sensors in robot systems. When constructing a new robot system, it is desirable that vision and image processing components are just as easily integrated as any other robot components. In some situations robot stations must be upgraded with vision systems in order to accomplish new tasks or to enhance the current work, here the Rapid Deployment Automation concept is the base to solve such problems in a shorter time having the smallest impact over the production flow in terms of production downtime. The paper describes an RDA solution of vision upgrade for robot stations in a china objects production plant.

关键词： Factory automation Robot vision Object recognition Flexible manufacturing systems Shared robot workspace

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Characterization of Patients with Different Ventricular Ejection Fractions using Blood Pressure Signal Analysis

Characterization of Patients with Different Ventricular Ejec...

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Computing in Cardiology Conference

作者： Andres Arcentales Andreas Voss Pere Caminal Antonio Bayés-Genís M Teresa Domingo Beatriz F Giraldo Institut de Bioenginyeria de Catalunya (IBEC) Barcelona Spain Dept. of Medical Engineering and Biotechnology University of Applied Sciences Jena Germany Dept. of Automatic Control (ESAII) Universitat Politécnica de Catalunya Barcelona Spain Cardiology Service Hospital Universitari Germans Trias i Pujol Badalona Spain Cardiology Service Hospital de la Santa Creu i Sant Pau Barcelona Spain

ISBN: (纸本)9781479908851

Ischemic and dilated cardiomyopathy are associated with disorders of myocardium. Using the blood pressure (BP) signal and the values of the ventricular ejection fraction, we obtained parameters for stratifying cardiomyopathy patients as low- and high-risk. We studied 48 cardiomyopathy patients characterized by NYHA >2: 19 patients with dilated cardiomyopathy (DCM) and 29 patients with ischemic cardiomyopathy (ICM). The left ventricular ejection fraction (LVEF) percentage was used to classify patients in low risk (LR: LVEF > 35%, 17 patients) and high risk (HR: LVEF < 35%, 31 patients) groups. From the BP signal, we extracted the upward systolic slope (BP_(s1)), the difference between systolic and diastolic BP (BPA), and systolic time intervals (STI). When we compared the LR and HR groups in the time domain analysis, the best parameters were standard deviation (SD) of 1/STI, kurtosis (K) of BP_(sl) and K of BP A. In the frequency domain analysis, very low frequency (VLF) and high frequency (HF) bands showed statistically significant differences in comaprisons of LR and HR groups. The area under the curve of power spectral density was the best parameter in all classifications, and particularly in the very-low- and high-frequency bands (p < 0.001). These parameters could help to improve the risk stratification of cardiomyopathy patients.

关键词： BP DCM NYHA

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