19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)最新文献_第5页

Adaptive sliding mode controller design for mobile robot fault tolerant control. introducing ARTEMIC. 移动机器人容错控制的自适应滑模控制器设计。引入ARTEMIC。

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524575

Cristian Axenie, D. Cernega

引用次数: 7

A working lunar rover: Passive gripper mechanism and actuated leg 工作月球车:被动抓取机构和驱动腿

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524585

A. Ambu, A. Manuello Bertetto, C. Falchi

引用次数: 0

Detection of cylindrical objects in tabletop scenes 桌面场景中圆柱形物体的检测

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524557

Mario Richtsfeld, Robert Schwarz, M. Vincze

引用次数: 1

Virtual classrooms for robotics and other engineering applications 用于机器人和其他工程应用的虚拟教室

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524537

J. Gáti, G. Kártyás

引用次数: 4

ARM-Cortex microcontroller fuzzy position control on an automatic door test-bed ARM-Cortex微控制器在自动门试验台的模糊位置控制

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524549

H. Franc, R. Šafarič

{"title":"ARM-Cortex microcontroller fuzzy position control on an automatic door test-bed","authors":"H. Franc, R. Šafarič","doi":"10.1109/RAAD.2010.5524549","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524549","url":null,"abstract":"This paper describes an application of a fuzzy logic [1] implementation on an ARM-Cortex microcontroller. The microcontroller with integrated fuzzy logic was tested on motor position and speed control application. Fuzzy logic is a subtype of multi-valued logic and can be used in combination with other controller types (PI, PID, neural networks, genetic algorithms, etc.). The microcontroller is the core, or the “brains”, of the device. Complex devices include two or more microcontrollers that exchange data via various communication protocols. Each microcontroller has integrated software, which represents the “mind” of the microcontroller. Without software, the microcontroller is just a useless electronic component. The software represents fuzzy logic, which controls the motor position in this application. The microcontroller's software is often written in the C programming language. Expression often means that there are available more programming languages. Position control has a closed loop, meaning that the position of the motor is regulated to a reference position if the motor load is changing. The first goal of this application is to write a C language source code for a fuzzy logic inference engine for the ARM Cortex M3 microcontroller. The second goal is to test this fuzzy logic inference engine on an automatic door for position control with combination of PI speed controller. The last goal is to analyze the automatic door behavior with fuzzy logic controller by variable door wing weight.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117044533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Combined snake robot: Analysis and verification of designed structure 组合蛇形机器人:设计结构的分析与验证

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524580

J. Sitar, T. Hulmik, V. Racek

引用次数: 0

Robotized welding of large one-dimensional structures 大型一维结构的机器人焊接

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524547

A. Dobra, N. Joni

引用次数: 1

Robotic control system for hydraulic telescopic handler 液压伸缩处理机器人控制系统

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524596

J. Cinkelj, J. Cinkelj, R. Kamnik, Peter Cepon, Peter Čepon, M. Mihelj, M. Mihelj, M. Munih

引用次数: 6

Calibration machine for linear scales 线性刻度校准机

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524551

G. Hermann, M. Báthor, Z. Bánki

引用次数: 0

A novel approach to the Model Reference Adaptive Control of MIMO systems MIMO系统模型参考自适应控制的一种新方法

19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) Pub Date : 2010-06-24 DOI: 10.1109/RAAD.2010.5524613

J. Tar, I. Rudas, J. Bitó, K. Kozlowski, C. Pozna

{"title":"A novel approach to the Model Reference Adaptive Control of MIMO systems","authors":"J. Tar, I. Rudas, J. Bitó, K. Kozlowski, C. Pozna","doi":"10.1109/RAAD.2010.5524613","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524613","url":null,"abstract":"The “Model Reference Adaptive Control (MRAC)” is a popular approach from the early nineties to our days. Its basic idea is the application of proper feedback that makes the behavior of the controlled system identical to that of the “reference model” that normally is simple enough to control. The idea has many particular variants with the common feature that they are designed by the use of Lyapunov's 2nd (“direct”) method that normally applies a quadratic Lyapunov function constructed of the tracking error and further additional terms. Though this approach normally guarantees global asymptotic stability, its use can entail complicated tuning that may have disadvantages whenever very fast applications are needed. In this paper an alternative problem tackling, the application of “Robust Fixed Point Transformations (RFPT)” in the MRAC technique is recommended. This approach applies strongly saturated, multiplicative nonlinear terms causing a kind of “deformation” of the input of the available imprecise system model. Instead parameter tuning that is typical in the traditional MRAC it operates with a simple convergence guaranteed only within a local basin of attraction. This technique can well compensate the simultaneous consequences of modeling errors and external disturbances that normally can “fob” the more traditional, tuning based approaches. As a potential application paradigm the novel MRAC control of a “cart - beam - hamper” system is considered. The conclusions of the paper are illustrated by simulation results.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115489552","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 13