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Plug-and-Produce Technologies Real-time Aspects - Service Oriented Architectures for SME Robots and Plug-and-Produce 即插即用技术实时方面——面向中小企业机器人和即插即用的服务架构
ICINCO-RA Pub Date : 2018-07-24 DOI: 10.5220/0001504702490254
K. Nilsson, Matthias Bengel
{"title":"Plug-and-Produce Technologies Real-time Aspects - Service Oriented Architectures for SME Robots and Plug-and-Produce","authors":"K. Nilsson, Matthias Bengel","doi":"10.5220/0001504702490254","DOIUrl":"https://doi.org/10.5220/0001504702490254","url":null,"abstract":"Plug-and-Produce (with the meaning that devices can be plugged in without any manual configurations needed) is an attractive paradigm for manufacturing systems, and in particular for Small and Medium Enterprises (SMEs) that do not have the expertise of system integrators but do need to be able to reconfigure their systems by themselves. One approach for loosely (in terms of timing) coupled devices is that of Service-Oriented Architectures (SOA). As can be understood from developments with multiple robot arm and online operator interactions, future applications will in some cases need real-time guarantees for performing services. Thai: includes both real-time communication and the need to perform services with a predictable timing. A review of available technologies and inherent limitations of distributed computing leads to the conclusion that the standard SOA approach based on process oriented (like for RPCs and web services) calls similar to distributed object orientation will not be practically useful. Instead, a data or state centric approach should be adapted together with one-way message-based communication. (Less)","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116864966","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
Shape Memory Alloy Tendons Actuated Tentacle Robotic Structure - Models and Control 形状记忆合金肌腱驱动的触手机器人结构。模型和控制
ICINCO-RA Pub Date : 2018-07-19 DOI: 10.5220/0001490800770080
N. Bîzdoaca, A. Petrisor, E. Bîzdoaca, I. Diaconu, S. Degeratu
{"title":"Shape Memory Alloy Tendons Actuated Tentacle Robotic Structure - Models and Control","authors":"N. Bîzdoaca, A. Petrisor, E. Bîzdoaca, I. Diaconu, S. Degeratu","doi":"10.5220/0001490800770080","DOIUrl":"https://doi.org/10.5220/0001490800770080","url":null,"abstract":"A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. The results are commented.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126993524","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: 6
Hierarchical spline path planning method for complex environments 复杂环境的分层样条路径规划方法
ICINCO-RA Pub Date : 2018-07-14 DOI: 10.5220/0001640001160123
M. Saska, Martin Hess, K. Schilling
{"title":"Hierarchical spline path planning method for complex environments","authors":"M. Saska, Martin Hess, K. Schilling","doi":"10.5220/0001640001160123","DOIUrl":"https://doi.org/10.5220/0001640001160123","url":null,"abstract":"Path planning and obstacle avoidance algorithms are requested for robots working in more and more complicated environments. Standard methods usually reduce these tasks to the search of a path composed from lines and circles or the planning is executed only with respect to a local neighborhood of the robot. Sophisticated techniques allow to find more natural trajectories for mobile robots, but applications are often limited to the offline case. The novel hierarchical method presented in this paper is able to find a long path in a huge environment with several thousand obstacles in real time. The solution, consisting of multiple cubic splines, is optimized by Particle Swarm Optimization with respect to execution time and safeness. The generated spline paths result in smooth trajectories which can be followed effectively by nonholonomic robots. The developed algorithm was intensively tested in various simulations and statistical results were used to determine crucial parameters. Qualities of the method were verified by comparing the method with a simple PSO path planning approach.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123155036","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: 7
Parameterization and Initialization of Bearing-only Information - A Discussion 纯方位信息的参数化与初始化讨论
ICINCO-RA Pub Date : 2018-06-04 DOI: 10.5220/0001500002520261
Rosario Aragues, C. Sagüés
{"title":"Parameterization and Initialization of Bearing-only Information - A Discussion","authors":"Rosario Aragues, C. Sagüés","doi":"10.5220/0001500002520261","DOIUrl":"https://doi.org/10.5220/0001500002520261","url":null,"abstract":"In this paper we discuss feature parameterization and initialization for bearing-only data obtained from vision sensors. The interest of this work refers to the comparison of the bearing-only data representation and initialization techniques. The behavior of the algorithm is analyzed for different robot motions and depth of the features. The results are evaluated in terms of the sensitivity to step size and the performance to ill conditioned situations. The problem studied refers to robots moving on the plane, sensing the environment and extracting bearing-only information from uncalibrated cameras to recover the position of the landmarks and its own localization.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134149492","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
Behavior based Dependability Estimation - Estimating the Dependability of Autonomous Mobile Systems using Predictive Filter 基于行为的可靠性估计——用预测滤波器估计自主移动系统的可靠性
ICINCO-RA Pub Date : 2018-04-07 DOI: 10.5220/0001495801370142
Jan Rüdiger, A. Wagner, E. Badreddin
{"title":"Behavior based Dependability Estimation - Estimating the Dependability of Autonomous Mobile Systems using Predictive Filter","authors":"Jan Rüdiger, A. Wagner, E. Badreddin","doi":"10.5220/0001495801370142","DOIUrl":"https://doi.org/10.5220/0001495801370142","url":null,"abstract":"Dependability is getting a more important non-functional p roperty of a system. Measuring and predicting the dependability is especially important for autonomous or se mi-autonomous and safety-critical systems. Since, at least for (semi-) autonomous systems, those systems are u ually described by their behavior, a definition for dependability based on the behavior of the system is evident . In this paper the behavioral based definition of dependability was used together with a particle filter to est imate the dependability of an autonomous mobile system.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114988904","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
Web-based interactive positioning control of an electric flatcar via wireless network 基于web的基于无线网络的电动平车交互式定位控制
ICINCO-RA Pub Date : 2018-04-06 DOI: 10.5220/0001616103230326
K. Ishii, K. Abe, Y. Takao
{"title":"Web-based interactive positioning control of an electric flatcar via wireless network","authors":"K. Ishii, K. Abe, Y. Takao","doi":"10.5220/0001616103230326","DOIUrl":"https://doi.org/10.5220/0001616103230326","url":null,"abstract":"A large tank has been used for target strength pattern measurements of fish. It is equipped with an electric flatcar. Further an elevation-rotating unit runs on the rails above it. The probe on the top of its elevation unit is equipped with an attachment for an ultrasonic transducer. The manipulator probe is movable in the four directions of the x, y, z and θ axes. Installation of a remote control switch has been required for the purpose of efficient operation of an electric flatcar. A remote control system using a notebook personal computer has been developed with good cost performance. The PC is equipped with a wireless network interface card. A model of WEB direct-access monitoring has been designed newly on the basis of the concept that an operator can control a mechanical device using a WEB Browser via LAN. Furthermore it performs double exclusive control for access from multi PCs, and has made possible a controller and multiple-monitor system. The mission was performed for the purpose of evaluation of WEB operation. The result has made clear the specifications for motion, and an external interface of the electric flatcar is applicable to the new protocol developed for WEB Browser control.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121451816","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
Visual alignment robot system: Kinematics, pattern recognition, and control 视觉对准机器人系统:运动学、模式识别与控制
ICINCO-RA Pub Date : 2018-04-06 DOI: 10.5220/0001632000360043
SangJoo Kwon, Chansik Park
{"title":"Visual alignment robot system: Kinematics, pattern recognition, and control","authors":"SangJoo Kwon, Chansik Park","doi":"10.5220/0001632000360043","DOIUrl":"https://doi.org/10.5220/0001632000360043","url":null,"abstract":"The visual alignment robot system for display and semiconductor fabr ication process largely consists of multiaxes precision stage and vision peripherals. One of the central issues in a display or semiconductor mass production line is how to reduce the overall tact time by making a progress in the a lignment technology between the mask and panel. In this paper, we suggest the kinematics of the 4PPR p arallel alignment mechanism with four limbs unlike usual three limb cases and an effective pattern recogn ition algorithm for alignment mark recognition. The inverse kinematic solution determines the moving distances of joint actuators for an identified mask-panel misalignment. Also, the proposed alignment mark detec tion method enables considerable reduction in computation time compared with well-known pattern matching algor ithms.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126708339","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
Stable States Transition Approach - A New Strategy for Walking Robots Control in Uncertain Environments 稳定状态转换方法——不确定环境下步行机器人控制的新策略
ICINCO-RA Pub Date : 2018-04-02 DOI: 10.5220/0001490302020207
A. Petrisor, N. Bîzdoaca, A. Drighiciu, I. Diaconu, S. Degeratu, G. Canureci, G. P. Serb
{"title":"Stable States Transition Approach - A New Strategy for Walking Robots Control in Uncertain Environments","authors":"A. Petrisor, N. Bîzdoaca, A. Drighiciu, I. Diaconu, S. Degeratu, G. Canureci, G. P. Serb","doi":"10.5220/0001490302020207","DOIUrl":"https://doi.org/10.5220/0001490302020207","url":null,"abstract":"A new strategy for walking robots control in uncertain environments, called Stable States Transition Approach (SSTA), is proposed in this paper. All the controls, both the steps succession and the evolution inside each step are established by the evolution environment and by the objective proposed during the evolution. There are no predetermined types of legs movements; they are on-line determined during the robot evolution, irrespective of the ground shape. To apply this strategy it was necessary the robot interpretation as a Variable Causality Dynamic Systems (VCDS). Experimental results are implemented and verified in RoPa, a platform for simulation and design of walking robot control algorithms, to demonstrate the efficacy of the proposed control method.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116723573","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
Integrated Path Planning and Tracking for Autonomous Car-like Vehicles Maneuvering 自动驾驶车辆机动的综合路径规划与跟踪
ICINCO-RA Pub Date : 2018-03-26 DOI: 10.5220/0002219504570464
F. Gómez-Bravo, Diego A. López García, F. Real, L. Merino, José M. Matamoros
{"title":"Integrated Path Planning and Tracking for Autonomous Car-like Vehicles Maneuvering","authors":"F. Gómez-Bravo, Diego A. López García, F. Real, L. Merino, José M. Matamoros","doi":"10.5220/0002219504570464","DOIUrl":"https://doi.org/10.5220/0002219504570464","url":null,"abstract":"This paper proposes a new method for control car-like vehicles maneuvering. For this purpose, traditional planning and tracking algorithms has been modified in order to follow complex maneuvers in a frame of a distributed control architecture. Thus, planning and tracking algorithm run in different platforms exchanging data in order to control the maneuvers performance.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"191 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133837293","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
A Quadratic Programming Approach to the Minimum Energy Problem of a Mobile Robot 移动机器人最小能量问题的二次规划方法
ICINCO-RA Pub Date : 2018-03-23 DOI: 10.5220/0001499102450251
A. S. Potts, J. J. Cruz, Reinaldo de Bernardi
{"title":"A Quadratic Programming Approach to the Minimum Energy Problem of a Mobile Robot","authors":"A. S. Potts, J. J. Cruz, Reinaldo de Bernardi","doi":"10.5220/0001499102450251","DOIUrl":"https://doi.org/10.5220/0001499102450251","url":null,"abstract":"As a consequence of physical constraints and of dynamical nonlinearities, optimal control problems involving mobile robots are generally difficult ones. Many algorithms have been developed to solve such problems, the more common being related to trajectory planning, minimum-time control or any specific performance index. Nevertheless optimal control problems associated to mobile robots have not been reported. Minimum energy problems subject to both equality and inequality constraints are generally intricate ones to be solved using classical methods. In this paper we present an algorithm to solve it using a Quadratic Programming approach. In order to illustrate the application of the algorithm, one practical problem was solved.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-03-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115306402","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
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