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Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)最新文献

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Plasma State Control of Reactive Sputter Processes 反应溅射过程的等离子体状态控制
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.107
C. Woelfel, M. Oberberg, P. Awakowicz, J. Lunze
{"title":"Plasma State Control of Reactive Sputter Processes","authors":"C. Woelfel, M. Oberberg, P. Awakowicz, J. Lunze","doi":"10.11159/CDSR19.107","DOIUrl":"https://doi.org/10.11159/CDSR19.107","url":null,"abstract":"Nonlinear reactive sputter processes are indispensable for the deposition of functional thin film layers. As the coating process is driven by a low pressure plasma the plasma state affects the thin film properties. The process behavior has specific properties. It is unstable, one specific input value can lead to different values of the plasma state and the same plasma state can be achieved by different input values. This unstable and ambiguous behavior requires a control system, which consists of a stabilizing controller, an estimation unit and a feedforward controller. In this paper, a design method for the plasma state control based of an input/output-model is proposed. Experiments show the effectiveness of the proposed control method.","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133625539","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: 2
ASSESSMENT OF VISUAL SERVOING TECHNIQUES FOR TARGET LOCALIZATION 目标定位的视觉伺服技术评价
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.110
Khushali Saraiya, Dippal Israni, Parth Goel
{"title":"ASSESSMENT OF VISUAL SERVOING TECHNIQUES FOR TARGET LOCALIZATION","authors":"Khushali Saraiya, Dippal Israni, Parth Goel","doi":"10.11159/CDSR19.110","DOIUrl":"https://doi.org/10.11159/CDSR19.110","url":null,"abstract":"Robotics is advancing rapidly in the research area of designing, controlling and building new robots for domestic, commercial and military applications. In addition to these, it also becomes easy to control objects in dangerous locations like bomb defusal, mines and exploring shipwrecks. Visual Servoing (VS) is a technique that controls a robot and gives the motion to achieve the field of technologies such as bionomics and security guard. In robotics, the most important part is to place cameras in the workspace such that each and every place is visible during the whole task. In Visual Servoing, the challenge is to achieve kinematics that gives ease to pick and place objects. This paper represents an overall idea, state of the art techniques and architecture for camera control techniques and robot control techniques. This paper also highlights examples related to forward kinematics and inverse kinematic using Matlab.","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128839785","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
Supplying a Direct Current Electricity to the Isolated Dwellings through MPP Tracked PV System Based on Artificial Neural Network 基于人工神经网络的MPP履带式光伏系统为隔离住宅供电
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.129
H. Attia
{"title":"Supplying a Direct Current Electricity to the Isolated Dwellings through MPP Tracked PV System Based on Artificial Neural Network","authors":"H. Attia","doi":"10.11159/CDSR19.129","DOIUrl":"https://doi.org/10.11159/CDSR19.129","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114104908","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
Conjugate Gradient Approach for Linear Optimal Control of Damped Harmonic Oscillator 阻尼谐振子线性最优控制的共轭梯度法
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.130
S. Kek, W. Leong, Sy Yi Sim, C. Y. Chan
{"title":"Conjugate Gradient Approach for Linear Optimal Control of Damped Harmonic Oscillator","authors":"S. Kek, W. Leong, Sy Yi Sim, C. Y. Chan","doi":"10.11159/CDSR19.130","DOIUrl":"https://doi.org/10.11159/CDSR19.130","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114242853","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
On the Development of a Compliant Sensor Shell for use in Robot Safety 机器人安全用柔性传感器外壳的研制
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.143
Colin Miyata, M. Ahmadi
{"title":"On the Development of a Compliant Sensor Shell for use in Robot Safety","authors":"Colin Miyata, M. Ahmadi","doi":"10.11159/CDSR19.143","DOIUrl":"https://doi.org/10.11159/CDSR19.143","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132296741","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
Integer and Fractional Approaches of a Pair of Car-Following Models 一对汽车跟随模型的整数和分数逼近
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.131
Luis Enrique Abriz Morales, Oscar Alfonso Rosas Rosas Jaimes
{"title":"Integer and Fractional Approaches of a Pair of Car-Following Models","authors":"Luis Enrique Abriz Morales, Oscar Alfonso Rosas Rosas Jaimes","doi":"10.11159/CDSR19.131","DOIUrl":"https://doi.org/10.11159/CDSR19.131","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129615055","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
Singularities, Normal Forms, and Motion Planning for Non-holonmic Robotic Systems 非完整机器人系统的奇点、范式和运动规划
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.127
K. Tchoń, J. Ratajczak
{"title":"Singularities, Normal Forms, and Motion Planning for Non-holonmic Robotic Systems","authors":"K. Tchoń, J. Ratajczak","doi":"10.11159/CDSR19.127","DOIUrl":"https://doi.org/10.11159/CDSR19.127","url":null,"abstract":"We address the motion planning problem in non-holonomic robotic systems using the tools of control theory. To this objective we associate with the robotic system a control-affine system. The derivative of the end-point map of this control system defines the Jacobian of the robotic system. Control functions at which the Jacobian is not surjective are referred to as singular configurations of the robotic system. As a description of these singularities we propose normal forms under feedback of the associated control system. On the basis of the Jacobian we introduce Jacobian motion planning algorithms. Special attention is paid to Lagrangian Jacobian algorithms. As an illustration of theoretical concepts we analyse normal forms, singularities, and motion planning for a free-floating space manipulator. A motion planning problem is solved by a Lagrangian Jacobian motion planning algorithm and, alternatively, by a sinusoidal control applied to the normal form. Results of computations show the performance of the two algorithms.","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"345 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122104242","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: 1
Short term predictions of preceding vehicle speeds for connected and automated vehicles 对联网和自动驾驶车辆前车速度的短期预测
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.132
Mehran Zamani Abnili, N. Azad
{"title":"Short term predictions of preceding vehicle speeds for connected and automated vehicles","authors":"Mehran Zamani Abnili, N. Azad","doi":"10.11159/CDSR19.132","DOIUrl":"https://doi.org/10.11159/CDSR19.132","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123333643","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: 2
Development of a Simulation Platform for Underwater Transportation using Two Hovering Autonomous Underwater Vehicles 两悬停自主水下航行器水下运输仿真平台的研制
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.138
F. Rehman, E. Anderlini, G. Thomas
{"title":"Development of a Simulation Platform for Underwater Transportation using Two Hovering Autonomous Underwater Vehicles","authors":"F. Rehman, E. Anderlini, G. Thomas","doi":"10.11159/CDSR19.138","DOIUrl":"https://doi.org/10.11159/CDSR19.138","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121361040","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: 4
Data-based PID controller design for oscillatory systems using PICS method 基于数据的PICS振荡系统PID控制器设计
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19) Pub Date : 2019-06-01 DOI: 10.11159/CDSR19.141
Yinan Zhang, Thanh Tung Duong Huynh, M. Chiu
{"title":"Data-based PID controller design for oscillatory systems using PICS method","authors":"Yinan Zhang, Thanh Tung Duong Huynh, M. Chiu","doi":"10.11159/CDSR19.141","DOIUrl":"https://doi.org/10.11159/CDSR19.141","url":null,"abstract":"","PeriodicalId":178400,"journal":{"name":"Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130447830","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
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