2019 19th International Conference on Advanced Robotics (ICAR)最新文献_第5页

Analysis of Energy Consumption in a Two-arm Vertical Planar Robot by Varying a Dimensionless Design Construction Parameter 改变无量纲设计结构参数的双臂垂直平面机器人能耗分析

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981562

M. U. Borges, Fernando Augusto A. Pinto, E. J. Lima

{"title":"Analysis of Energy Consumption in a Two-arm Vertical Planar Robot by Varying a Dimensionless Design Construction Parameter","authors":"M. U. Borges, Fernando Augusto A. Pinto, E. J. Lima","doi":"10.1109/ICAR46387.2019.8981562","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981562","url":null,"abstract":"With the advent of 4.0 industry, robotic technologies are now considered part of the industrial complex. New areas are being researched, merging robotic manipulator's precise and accurate movement to automatise repetitive tasks. In the industry, hundreds of manipulators are being applied to execute tasks that were previously executed manually. This fact promoted not only the rising on the processes efficiency, but also reduced the human exposure to danger. The comprehension of those systems dynamic behaviour is essential to better design new manipulators for specific tasks. Despite this growth, just few other papers are regarding manipulator's energy and design. In this paper, a vertical planar robotic manipulator with two cylindrical arms and two degrees-of-freedom is modelled to analyse the influence of a dimensionless design parameter, i.e. a ratio between length and diameter, on the energy consumption and peak power required. In conjunction with preset properties, e.g. material density, weight and inertial momentum, three simulations are run covering two different move sets and two different manipulators sizes to calculate energy and power for a specific task. It is expected that the longest the manipulator's arm, the higher the energy consumption. However, this is not always observed, and the reasons why are discussed in this paper.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"5 1","pages":"308-311"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85839313","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

Modeling and Control of an Unmanned Aerial Vehicle with Tilt Rotors Equipped with a Camera 装有摄像机的倾斜旋翼无人机建模与控制

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981605

T. L. Costa, J. C. Vendrichoski, E. S. Elyoussef, E. D. Pieri

{"title":"Modeling and Control of an Unmanned Aerial Vehicle with Tilt Rotors Equipped with a Camera","authors":"T. L. Costa, J. C. Vendrichoski, E. S. Elyoussef, E. D. Pieri","doi":"10.1109/ICAR46387.2019.8981605","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981605","url":null,"abstract":"In this work, we present a control law for an unmanned aerial vehicle (UAV) carrying a camera through a two degrees of freedom (2-DOF) gimbal mechanism. The vehicle is an H -shaped quadrotor with an additional mechanism that allows the independent projection, along the longitudinal direction, of the thrust generated by each rotor. This particular characteristic shows useful during the execution of some specific tasks, especially the ones that require high velocity. A control law is designed to deal with the underactuation and nonlinearities behavior of the vehicle, that are expressed mathematically by the Euler-Lagrange formulation. The control structure is arranged in four subsystems, designed to control the dynamics of the UAV position, attitude, rotors inclination, and camera pointing. For the position control, the inverse dynamic is used to linearize the translation subsystem, and then a robust H∞ controller is applied. For the remaining subsystems, the Super-Twisting Sliding Mode Control is applied. We present, through simulation, the performance of the designed control structure, proving that the controlled UAV is stabilized and able to track given trajectories even in the presence of unmodeled dynamics, parametric uncertainties and external disturbances (such as wind gusts).","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"1 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83691061","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

Non-stop Handover of Parcel to Airborne UAV Based on High-speed Visual Object Tracking 基于高速视觉目标跟踪的机载无人机包裹不间断移交

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981623

Satoshi Tanaka, T. Senoo, M. Ishikawa

引用次数: 1

Flux Regulation for Torque-controlled Robotics Actuators 转矩控制机器人执行器的磁链调节

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981613

Mobin Mohammadnia, Navvab Kashiri, F. Braghin, N. Tsagarakis

引用次数: 1

A Comparative Study of Sensor Fault Detection Approaches applied to an Autonomous Solar-powered Aircraft 自主太阳能飞机传感器故障检测方法比较研究

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981577

Paulo Padrão, L. Hsu, Michael Vilzmann, K. Kondak

{"title":"A Comparative Study of Sensor Fault Detection Approaches applied to an Autonomous Solar-powered Aircraft","authors":"Paulo Padrão, L. Hsu, Michael Vilzmann, K. Kondak","doi":"10.1109/ICAR46387.2019.8981577","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981577","url":null,"abstract":"Developed by Elektra Solar, an official spin-off of the DLR Institute for Robotics and Mechatronics (DLR-RMC), the Elektra 2 is a solar-powered autonomous aircraft designed to endure long distances as well as high altitudes. The main motivation of this work is to develop and compare three different IMU sensor fault detection (FD) approaches to be further applied to the Elektra 2 Aircraft in real flight experiments. Currently, the Elektra 2 Solar aircraft provides a simple limit-checking of certain measurements such as aircraft angular velocities and pitch, roll and yaw angles. The first proposed FD approach is based on decoupled lateral and longitudinal linear models of the aircraft in combination with the ATLMS technique. The second proposed FD approach is based on a well-defined kinematic model of the aircraft in combination with an extended Kalman filter. The third FD approach is a model-free approach based on principal component analysis. Simulation methodology covered different flight scenarios with different additive faults (abrupt, incipient, extra noise) applied to roll and pitch angles and rates.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"40 1","pages":"761-766"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85579854","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

Dynamic Movement Primitives: Volumetric Obstacle Avoidance 动态运动原语:体积避障

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981552

Michele Ginesi, D. Meli, A. Calanca, D. Dall’Alba, N. Sansonetto, P. Fiorini

引用次数: 27

Bargaining game approach for lane change maneuvers 变道机动的讨价还价博弈方法

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981547

T. C. Santos, D. Wolf

{"title":"Bargaining game approach for lane change maneuvers","authors":"T. C. Santos, D. Wolf","doi":"10.1109/ICAR46387.2019.8981547","DOIUrl":"https://doi.org/10.1109/ICAR46387.2019.8981547","url":null,"abstract":"Lane change is one of the most common maneuvers in traffic and at least 60,000 people are injured from them. This problem is usually addressed from the perspective of automation and for a single vehicle using path planning and control approaches. However, traffic is a multi-agent system which can use communication technologies to perform coordinated maneuvers in a decentralized manner. This paper aims to present a Decentralized Bargaining Negotiation Process allowing that two conflicting agents negotiate. During the negotiation, agents calculate velocity change proposals and communicate with each other in order to solve the conflict at the lowest cost. This enables that agents open safe distance gaps and make the maneuvers. We also proposed a cost function attenuation so that the agents can continue to negotiate while the agreement was not reached, but with less impact on the cost. We simulated lane merge task on SUMO with a two-lane highway with speed limit of 30 m/s. We initially simulated 2 agents and we were increasing the number of agents up to 26. We recorded the total average time for the platoon to perform the lane merge task, the platoon average velocity and the average of the speed limit exceeded in each simulation. By increasing the number of agents the total average time stabilized approximately 25 seconds. Which represents an expressive result because the time for one vehicle to complete the maneuver is 4.6 seconds. The average speed was also approximately constant around 22 m/s, which represents a good result for the traffic flow. The highest speed exceeded 9 % which represents 2.70 m/s with the attenuation cost function. We can observe that the approach proved to be scalable since the analyzed data show stability by increasing the number of vehicles.","PeriodicalId":6606,"journal":{"name":"2019 19th International Conference on Advanced Robotics (ICAR)","volume":"139 1","pages":"629-634"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76575115","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

Neural Adaptive Integral-Sliding-Mode Controller with a SSVEP-based BCI for Exoskeletons 基于ssvep的外骨骼BCI神经自适应积分滑模控制器

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981615

A. Jebri, T. Madani, Karim D Djouani

引用次数: 3

Walking in the 2-Step Capture Region; pushes, ramps and speed modulation 2步捕获区行走;推，坡道和速度调节

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981616

Ivan Fischman Ekman Simões, A. Forner-Cordero

引用次数: 2

Outdoor Particle Filter Localization with Sparse Observation 基于稀疏观测的室外粒子滤波定位

2019 19th International Conference on Advanced Robotics (ICAR) Pub Date : 2019-12-01 DOI: 10.1109/ICAR46387.2019.8981650

Nils Einecke, A. Robert

引用次数: 0