2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)最新文献_第10页

Recursive Kane formulation for deriving the equations of motion a chain of robotic arms 推导机械臂链运动方程的递归Kane公式

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990933

H. Shafei, M. Bahrami, A. Kamali

引用次数: 0

Reduced order representation of robust multi-target multi-agent sensor allocation 鲁棒多目标多智能体传感器分配的简化阶数表示

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990880

H. Nourzadeh, J. McInroy, Nasrin Sadeghzadehyazdi, S. F. Derakhshan

{"title":"Reduced order representation of robust multi-target multi-agent sensor allocation","authors":"H. Nourzadeh, J. McInroy, Nasrin Sadeghzadehyazdi, S. F. Derakhshan","doi":"10.1109/ICROM.2014.6990880","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990880","url":null,"abstract":"Most of the prevailing optimization packages only accept a quadratic conic representation of a second order cone program. The algorithms that convert the Lorentz conic constraint to such a representation, dramatically increase the size of the original problem by adding new variables and constraints. This impairs the solver performance, particularly in the large-scale problems, where the memory availability is one of the main concerns. This paper proposes a novel conversion algorithm, to achieve a minimal representation as well as a reduced order scheme that substantially decreases the dimensions of the converted model while maintaining the properties of the original problem. The algorithm provides a convenient way to achieve a good compromise between the problem size and the level of approximation by a single parameter. The simulation results confirm the effectiveness of the conversion algorithm on some mixed integer second order cone program optimization problems arising in robust multi-agent multi-target sensor allocation applications. The conducted analyses indicate that while the desired robustness level is achieved, the problem size can be substantially reduced in exchange for negligible performance degradation.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126875026","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: 0

Forbidden region virtual fixture for nonlinear teleoperation systems with variable time delays 变时滞非线性遥操作系统的禁区虚拟夹具

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990883

M. A. Soleimani, I. Sharifi, H. Talebi, A. Suratgar, F. Koochaki

引用次数: 2

Cooperative formation control of quadrotors with obstacle avoidance and self collisions based on a hierarchical MPC approach 基于层次MPC方法的避障自碰撞四旋翼机协同编队控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990926

Abolfazl Eskandarpour, V. J. Majd

引用次数: 20

Nonlinear optimal control via finite time horizon state-dependent Riccati equation 基于有限时间范围状态相关Riccati方程的非线性最优控制

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991015

M. Korayem, S. R. Nekoo

引用次数: 15

A soccer playing humanoid robot: Design, algorithm and prototype 一种会踢足球的人形机器人:设计、算法与原型

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990975

S. Mohammadi, H. Talebi, M. A. Soleimani, M. Mirsalim, S. Asgari

引用次数: 2

Trajectory tracking of a quadrotor using stabilizing mechanism 使用稳定机构的四旋翼飞行器轨迹跟踪

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990936

R. Pourbafarani, S. Moosavian, S. Sadr, P. Zarafshan

引用次数: 0

Management of change propagation in mechatronic product design based on minimum cost of changes 基于最小变更成本的机电产品设计变更传播管理

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990979

Seyed Amir Ahmadinejad, A. Afshar

{"title":"Management of change propagation in mechatronic product design based on minimum cost of changes","authors":"Seyed Amir Ahmadinejad, A. Afshar","doi":"10.1109/ICROM.2014.6990979","DOIUrl":"https://doi.org/10.1109/ICROM.2014.6990979","url":null,"abstract":"Change propagation is a central challenge in the design of mechatronic products, therefore its prediction and management in design and manufacturing process is of major importance. One of the key issues of change management is the estimation of the cost of probable changes before those changes are actually implemented. The estimation of the cost of changes and the change propagation management based on the interrelationships between the elements of a product and its complexity, until now, have not received adequate attention. In this paper, a model-based method is proposed for managing the change propagation with the least cost. In the proposed approach, first, with the help of the fuzzy theory, the changes cost of each component is estimated on the basis of financial, time and structural criteria and then by using the obtained results, the change propagation management is implemented in a hierarchical structure, based on the proposed algorithm. The findings of this method help the engineers and designers to route the best change propagation path from the cost standpoint. They also provide the possibility of identifying a product's affected components, and modifying the design of the product, if necessary. In this paper, as a practical case, the change propagation management in the design and development of a smart gas meter will be investigated.","PeriodicalId":177375,"journal":{"name":"2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123014103","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: 3

A region based CAMShift tracking with a moving camera 一种基于区域的移动摄像机CAMShift跟踪方法

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6990943

Mohamad Mahdi Kassir, M. Palhang

引用次数: 11

Simulation and analysis of a TET-walker robot motion 一种tet -walk机器人运动仿真与分析

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) Pub Date : 2014-12-18 DOI: 10.1109/ICROM.2014.6991021

S. M. Motahari-Bidgoli, M. Mahjoob, Sheyda Davaria

引用次数: 1