2017 13th IEEE Conference on Automation Science and Engineering (CASE)最新文献_第10页

IoT-enabled manufacturing synchronization for ecommerce 支持物联网的电子商务制造同步

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256137

Peng Lin, Xiang T. R. Kong, Ming Li, Jian Chen, G. Huang

引用次数: 0

Robust feedback control for automated force/position control of piezoelectric tube based microgripper 基于压电管的微夹持器力/位置自动控制的鲁棒反馈控制

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256170

M. Hammouche, P. Lutz, M. Rakotondrabe

{"title":"Robust feedback control for automated force/position control of piezoelectric tube based microgripper","authors":"M. Hammouche, P. Lutz, M. Rakotondrabe","doi":"10.1109/COASE.2017.8256170","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256170","url":null,"abstract":"This paper addresses the problem of automated grasping tasks using a piezoelectric microgripper, based on two piezoelectric tube actuators, for an accurate and rapid micro/nano manipulations. For this matter, we propose a strategy to control the position of one actuator and a hybrid approach that switches between force and position control of the second actuator. However, the nonlinearities and the uncertainties that characterize the piezoelectric actuators and the different properties of the manipulated objects make the control of such system not a trivial task. To handle this problem we propose to model the microgripper system by linear interval system, that embraces the parameters uncertainties, and synthesize a robust controller to control the interval system based on the classical output-feedback control design. The robust control synthesis consists on the search of robust gains for the controller that ensure the inclusion of the eigenvalues of the interval closed-loop system in a desired region of the complex plane. The effectiveness of the control strategy is illustrated by a real experimentation where the position and the manipulation force control show to maintain the desired performances under system uncertainties.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122361586","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

A secured offline authentication approach for industrial mobile robots 工业移动机器人安全脱机认证方法

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256121

Sarah Haas, Andreas Wallner, Ronald Toegl, Thomas Ulz, C. Steger

引用次数: 2

An optimization approach for team coordination through information sharing 基于信息共享的团队协调优化方法

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256115

Yijie Peng, Edward Huang, Jie Xu, Chun-Hung Chen

{"title":"An optimization approach for team coordination through information sharing","authors":"Yijie Peng, Edward Huang, Jie Xu, Chun-Hung Chen","doi":"10.1109/COASE.2017.8256115","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256115","url":null,"abstract":"Team coordination and information sharing are important in concurrent engineering (CE), where multiple design teams execute their tasks simultaneously and then share information to update their designs, e.g., through integrated tests. The process then iterates until the global design objective is optimized. When properly controlled and executed, CE can be an effective method to speed up the design process for complex and large-scale projects thanks to its parallel nature. Recently, a coordinate optimization framework is proposed in [1] to model and control the information sharing in CE. It can be shown that under a convexity assumption, CE converges to a globally optimal design. In this paper, we study how the coordinate optimization framework can be applied to CE in a general environment where the objective function is non-convex. We propose a simulation optimization method using a domain space cutting and optimal computing budget allocation to efficiently select the initial points from which the coordinate optimization can be applied under a mild local convexity condition. The proposed approach has broad potentials in decentralized control and optimization of complex and large-scale systems in automation. Numerical experiments show that the optimal selection of the initial points allow coordination optimization to efficiently find the global optimum.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129114918","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

An algorithm for transferring parallel-jaw grasps between 3D mesh subsegments 一种在三维网格子段之间传递平行颚抓取的算法

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256195

Matthew Matl, Jeffrey Mahler, Ken Goldberg

{"title":"An algorithm for transferring parallel-jaw grasps between 3D mesh subsegments","authors":"Matthew Matl, Jeffrey Mahler, Ken Goldberg","doi":"10.1109/COASE.2017.8256195","DOIUrl":"https://doi.org/10.1109/COASE.2017.8256195","url":null,"abstract":"In this paper, we present an algorithm that improves the rate of successful grasp transfer between 3D mesh models by breaking each mesh into functional subsegments and transferring grasps between similar subsegments rather than between full models. This algorithm combines prior research on grasp transfer with mesh segmentation techniques from computer graphics to successfully transfer contact points more often while potentially preserving task-specific knowledge across transfers. The algorithm extracts subsegments from each mesh model with a customized segmentation algorithm designed for speed and then groups similar subsegments with D2 shape descriptors and Gaussian mixture models (GMMs). Grasps are then transferred by aligning similar subsegments with Super4PCS, a global point cloud registration algorithm. We experimentally evaluated this algorithm against a non-segmenting baseline on over 20,000 grasp transfers across a set of 80 objects and found that the segmentation-based algorithm improved the success rate for finding a transferred grasp from 82% to 98%. Additionally, grasps transferred with our algorithm were only 8.7% less robust on average than the original grasps without any local re-planning.","PeriodicalId":445441,"journal":{"name":"2017 13th IEEE Conference on Automation Science and Engineering (CASE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115845478","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

Selecting good enough simulated designs 选择足够好的模拟设计

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256244

Fei Gao, Siyang Gao

引用次数: 1

A two-stage RRT path planner for automated parking 自动停车的两阶段RRT路径规划

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256153

Yebin Wang, Devesh K. Jha, Yukiyasu Akemi

引用次数: 15

Development of flexible fabric based tactile sensor for closed loop control of soft robotic actuator 柔性织物触觉传感器在软机器人执行器闭环控制中的应用

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256308

Godwin Ponraj, S. K. Kirthika, N. Thakor, C. Yeow, S. Kukreja, Hongliang Ren

引用次数: 12

Study of effects of high-altitude environments on multicopter and fixed-wing UAVs' energy consumption and flight time 高空环境对多旋翼和固定翼无人机能耗和飞行时间的影响研究

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256340

J. A. Paredes, Carlos Saito, Monica Abarca, F. Cuéllar

引用次数: 17

An improved genetic algorithm for a parallel machine scheduling problem with energy consideration 考虑能量的并行机调度问题的改进遗传算法

2017 13th IEEE Conference on Automation Science and Engineering (CASE) Pub Date : 2017-08-01 DOI: 10.1109/COASE.2017.8256314

Hong Lu, F. Qiao

引用次数: 3