ICINCO-RA最新文献

{"title":"Altitude Control of Small Helicopters using a Prototype Test Bed","authors":"Nikos I. Vitzilaios, N. Tsourveloudis","doi":"10.5220/0001493600770084","DOIUrl":"https://doi.org/10.5220/0001493600770084","url":null,"abstract":"In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. The test bed consists of a small unmanned helicopter, mounted on a flying stand that permits all possible movements but prevents the helicopter from damaging or crashing. A fuzzy controller is developed in MATLAB and tested in the helicopter using the test bed. The controller is able to perform hovering and altitude control. Experimental results are presented for various test cases.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124099701","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}

{"title":"Segmentation of satellite images in optoelectronic system","authors":"A. S. Ostrovsky, Ernesto Pino-Mota, Paulo C. Romero-Soría","doi":"10.5220/0001615204080411","DOIUrl":"https://doi.org/10.5220/0001615204080411","url":null,"abstract":"The problem of segmenting the satellite images into homogeneous texture regions that correspond to the different classes of terrestrial surface is considered. It is shown that this problem may be successfully solved by using the method of spectral synthetic discriminant functions recently proposed by the authors for classification of random image fields and realized by means of a rather simple optoelectronic technique. The experimental results of segmenting the true satellite images are given.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127446911","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}

{"title":"Diagnosis of Discrete Event Systems with Petri Nets and Coding Theory","authors":"D. Lefebvre","doi":"10.5772/5325","DOIUrl":"https://doi.org/10.5772/5325","url":null,"abstract":"Modern technological processes include complex and large scale systems, where faults in a single component have major effects on the availability and performances of the system as a whole. For example manufacturing systems consists of many different machines, robots and transportation tools all of which have to correctly satisfy their purpose in order to ensure and fulfil global objectives. In this context, a failure is any event that changes the behaviour of the system such that it does no longer satisfy its purpose. Failure events lead to fault states (Rausand et al., 2004). Faults can be due to internal events as to external ones, and are often classified into three subclasses : plant faults that change the dynamical input – output properties of the system, sensor faults that result in substantial errors during sensors reading, and actuator faults when the influence of the controller to the plant is disturbed (Blanke et al., 2003). In order to limit the effects of the faults on the system, diagnosis is used to detect and isolate the failures. Diagnosis is often associated with control reconfiguration, that adapts the controller to the faulty situation such that it continues to satisfy its goal. Fault diagnosis and controller reconfiguration are carried out by supervision systems. This chapter only consider problems related to the diagnosis of systems. Diagnosis includes distinct stages: 1. The fault detection decides whether or not a failure event has occurred. This stage also concerns the determination of the time at which the failure occurs. 2. The fault isolation find the component that is faulty. 3. The fault identification identifies the fault and estimates also its magnitude. Diagnosis is usually discussed according to the model type used, with component based analysis that uses architectural and structure graph models, with continuous variables systems described by differential or difference equations and transfer functions, with discrete event systems represented by automata or Petri nets and with hybrid dynamical systems that combine continuous and discrete event behaviours (Blanke et al., 2003). Component based methods uses qualitative methods (Rausand et al., 2004) as failure modes and effect analysis (Blanke, 1996) and bi-partite graphs to investigate the redundancies included in the set of constraints and measurements for diagnosis purposes (Cordier et al., 2000; Patton et al., 1999). Fault diagnosis of continuous variables systems is usually based on residual generation and evaluation with parity space approaches or observation,","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122161972","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}

{"title":"Semiotics and human-robot interaction","authors":"J. Sequeira, M. Ribeiro","doi":"10.5772/5200","DOIUrl":"https://doi.org/10.5772/5200","url":null,"abstract":"This paper describes a robot control architecture supported on a human-robot interaction model obtained directly from semiotics concepts. The architecture is composed by a set of objects defined after a well known model of semiotic signs. These objects form an algebraic system suitable to develop formal models of human-robot interactions. They are easily mapped into motion skills and can be associated with basic forms of meaning representation. This characteristic makes them suitable to use as basis objects in high level interactions involving mobile robots. Real and simulation experiments using unicycle robots illustrate the operation of the architecture.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121412793","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}

{"title":"Selective image diffusion for oriented pattern extraction","authors":"A. Histace, V. Courboulay, M. Ménard","doi":"10.5220/0001617802700274","DOIUrl":"https://doi.org/10.5220/0001617802700274","url":null,"abstract":"Anisotropic regularization PDE's (Partial Differential Equation) raised a strong interest in the field of image processing. The benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, a selective diffusion approach based on the framework of Extreme Physical Information theory is presented. It is shown that this particular framework leads to a particular regularization PDE which makes it possible integration of prior knowledge within diffusion scheme. As a proof a feasibility, results of oriented pattern extractions are presented on ad hoc images. This approach may find applicability in vision in robotics.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127959498","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}

{"title":"Estimation of state and parameters of traffic system","authors":"P. Pecherková, J. Homolová, J. Duník","doi":"10.5772/5843","DOIUrl":"https://doi.org/10.5772/5843","url":null,"abstract":"Pavla Pecherkova1, Jindřich Dunik2 and Miroslav Flidr2 1Research Centre Data-Algorithms-Decision Making, Dept. of Adaptive Systems, Institute of Information Theory and Automation, AV CR, Pod vodarenskou věži 4, 182 08 Prague 8, Czech Republic 2Research Centre Data-Algorithms-Decision Making, Dept. of Cybernetics, Faculty of Applied Sciences, University of West Bohemia, Univerzitni 8, 306 14 Pilsen, Czech Republic","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132300609","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}

{"title":"Calibration of quasi-isotropic parallel kinematic machines: Orthoglide","authors":"A. Pashkevich, Roman Gomolitsky, P. Wenger, D. Chablat","doi":"10.5220/0001646000840091","DOIUrl":"https://doi.org/10.5220/0001646000840091","url":null,"abstract":"The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of the relevant leg location while the manipulator moves the TCP along the Cartesian axes. Using the measured differences, the developed algorithm estimates the joint offsets and the leg lengths that are treated as the most essential parameters. Validity of the proposed calibration technique is confirmed by the experimental results.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"8 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122598400","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}

{"title":"Internet-based teleoperation: A case study - toward delay approximation and speed limit module","authors":"Shengtong Zhong, P. L. Parc, J. Vareille","doi":"10.5220/0001648202670270","DOIUrl":"https://doi.org/10.5220/0001648202670270","url":null,"abstract":"This paper presents the internet-based remote control of mobile robot. To face unpredictable Internet delays and possible connection rupture, a direct teleoperation architecture with “Speed Limit Module” (SLM) and “Delay Approximator” (DA) is proposed. This direct control architecture guarantees the path error of the robot motion is restricted within the path error tolerance of the application. Experiment results show the effectiveness and applicability of this direct internet control architecture in the real internet environment.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133545102","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}

{"title":"Irreversibility modeling applied to the control of complex robotic drive chains","authors":"O. Assad, E. Godoy, V. Croulard","doi":"10.5220/0001629802170222","DOIUrl":"https://doi.org/10.5220/0001629802170222","url":null,"abstract":"The phenomena of static and dry friction may lead to difficult problems during low speed motion (e.g. stick slip phenomenon). However, they can be used to obtain irreversible mechanical transmissions. The latter tend to be very hard to model theoretically. In this paper, we propose a pragmatic approach to model irreversibility in robotic drive chains. The proposed methodology consists of using a state machine to describe the functional state of the transmission. After that, for each state we define the efficiency coefficient of the drive chain. This technique gives conclusive results during experimental validation and allows reproducing a reliable robot simulator. This simulator is set up for the purpose of position control of a medical positioning robot.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130441606","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}

{"title":"Managing control architectures design process - patterns, components and object petri nets in use","authors":"R. Passama, D. Andreu, C. Dony, T. Libourel","doi":"10.5220/0001208802230228","DOIUrl":"https://doi.org/10.5220/0001208802230228","url":null,"abstract":"Utilisation pratique d'un systeme de Composants et de Reseaux de Petri a Objets pour les architectures de controle.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122376876","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}