Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524539
P. Gróf, P. Baranyi, P. Korondi
This paper deals with the topic of qLPV state-space model based control design in which LMIs are used to optimize the multi-objective control performance. In this paper we investigate how the convex hull of the polytopic model influences the control performance of the LMI based control design. We examine these influences through the controller and observer design of the two dimensional aeroelastic wing's example. First we define various TP type polytopic model representations of a wing section whose vertices define different convex hulls. In the second step we investigate how these models change the control performance.
{"title":"Control performance optimization by convex hull manipulation","authors":"P. Gróf, P. Baranyi, P. Korondi","doi":"10.1109/RAAD.2010.5524539","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524539","url":null,"abstract":"This paper deals with the topic of qLPV state-space model based control design in which LMIs are used to optimize the multi-objective control performance. In this paper we investigate how the convex hull of the polytopic model influences the control performance of the LMI based control design. We examine these influences through the controller and observer design of the two dimensional aeroelastic wing's example. First we define various TP type polytopic model representations of a wing section whose vertices define different convex hulls. In the second step we investigate how these models change the control performance.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128359065","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524558
M. Karkoub, M. Her, Ming-In Ho, J. Huang
The work presented here describes a novel vision-based motion detection system for telerobotic operations. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Color tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the color tags are used to actuate a slave robot or a remote system. The determination of the color tags' motion is achieved through image processing using eigenvectors and color system morphology. Through inverse dynamics and coordinate transformation, the relative head, shoulder, and wrist rotation angles are determined. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 seconds. The results of the experiments are available at: http://www.youtube.com/watch?v=yFxLaVWE3f8 and http://www.youtube.com/watch?v=_nvRcOzlWHw
{"title":"Non-contact sensing system for telerobotic applications","authors":"M. Karkoub, M. Her, Ming-In Ho, J. Huang","doi":"10.1109/RAAD.2010.5524558","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524558","url":null,"abstract":"The work presented here describes a novel vision-based motion detection system for telerobotic operations. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Color tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the color tags are used to actuate a slave robot or a remote system. The determination of the color tags' motion is achieved through image processing using eigenvectors and color system morphology. Through inverse dynamics and coordinate transformation, the relative head, shoulder, and wrist rotation angles are determined. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 seconds. The results of the experiments are available at: http://www.youtube.com/watch?v=yFxLaVWE3f8 and http://www.youtube.com/watch?v=_nvRcOzlWHw","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126246888","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524571
M. Popa, A. Popa, M. Marcu
The robotic domain is in a continuous and highly ascending development. Robots can be found in industry, in medicine, in the military domain, in domestic appliances, in research, in education and so on. Robots are situated at the intersection of several scientific and technological domains. Robots need mechanics (clamping systems, arms, dynamical behavior etc.), electromechanics (dc motors, ac motors, actuators etc.), electronics (amplifiers, servo systems, sensors etc.), hardware (digital circuits, microcontrollers, memory circuits etc.) and software (data processing, motion control, algorithms, artificial intelligence etc.). The education process in robotics is very complex. It must cover all the above mentioned sides. This paper presents some robots achieved at the Faculty of Automation and Computers and at the Faculty of Mechanics from “Politehnica” University of Timisoara, Romania. They were built as projects at the undergraduate study level.
{"title":"Practical aspects of undergraduate education in robotics","authors":"M. Popa, A. Popa, M. Marcu","doi":"10.1109/RAAD.2010.5524571","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524571","url":null,"abstract":"The robotic domain is in a continuous and highly ascending development. Robots can be found in industry, in medicine, in the military domain, in domestic appliances, in research, in education and so on. Robots are situated at the intersection of several scientific and technological domains. Robots need mechanics (clamping systems, arms, dynamical behavior etc.), electromechanics (dc motors, ac motors, actuators etc.), electronics (amplifiers, servo systems, sensors etc.), hardware (digital circuits, microcontrollers, memory circuits etc.) and software (data processing, motion control, algorithms, artificial intelligence etc.). The education process in robotics is very complex. It must cover all the above mentioned sides. This paper presents some robots achieved at the Faculty of Automation and Computers and at the Faculty of Mechanics from “Politehnica” University of Timisoara, Romania. They were built as projects at the undergraduate study level.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126327314","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524616
B. Stratulat, Sebastian Barzeianu, M. Micea, V. Groza
In this paper we consider the problem of time synchronization in collaborative environments of robots and intelligent sensors. Due to its superior performance, the Precision Time Protocol (PTP) has been implemented and tested using various topologies of complex, multi-hop networks. Two distinct approaches have been studied. The first one uses boundary clocks, while the second uses a transparent clock for the intermediary nodes. A set of experiments and simulations have been conducted with the OMNeT++ environment. Finally, we propose and discuss a modified version of the PTP protocol, specifically designed to consider the particular problems of networks with mobile robotic nodes.
{"title":"Wireless synchronization protocols for collaborative robotic and sensor environments","authors":"B. Stratulat, Sebastian Barzeianu, M. Micea, V. Groza","doi":"10.1109/RAAD.2010.5524616","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524616","url":null,"abstract":"In this paper we consider the problem of time synchronization in collaborative environments of robots and intelligent sensors. Due to its superior performance, the Precision Time Protocol (PTP) has been implemented and tested using various topologies of complex, multi-hop networks. Two distinct approaches have been studied. The first one uses boundary clocks, while the second uses a transparent clock for the intermediary nodes. A set of experiments and simulations have been conducted with the OMNeT++ environment. Finally, we propose and discuss a modified version of the PTP protocol, specifically designed to consider the particular problems of networks with mobile robotic nodes.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122015564","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524608
R. Kamnik, J. Perdan, T. Bajd, M. Munih
Resistance exercise has been widely reported to have positive rehabilitation effects for patients with neuromuscular and orthopaedic disorders. This paper presents the design of a versatile rehabilitation device in the form of a rotation joint mounted on the adjustable arm support that provides a controlled passive resistance during strength training of hand muscles. The resistance is supplied by a rotational magnetorheological actuator controlled with regards to the force feedback information. The device provides both isometric and isokinetic strength training and is reconfigurable for different usage conditions. The experimental evaluation results show that the usage of magnetorheological actuator is advantageous to the electrical motors in the cases of passive resistance based exercise.
{"title":"Exercise device for upper-extremity sensory-motor capability augmentation based on magneto-rheological fluid actuator","authors":"R. Kamnik, J. Perdan, T. Bajd, M. Munih","doi":"10.1109/RAAD.2010.5524608","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524608","url":null,"abstract":"Resistance exercise has been widely reported to have positive rehabilitation effects for patients with neuromuscular and orthopaedic disorders. This paper presents the design of a versatile rehabilitation device in the form of a rotation joint mounted on the adjustable arm support that provides a controlled passive resistance during strength training of hand muscles. The resistance is supplied by a rotational magnetorheological actuator controlled with regards to the force feedback information. The device provides both isometric and isokinetic strength training and is reconfigurable for different usage conditions. The experimental evaluation results show that the usage of magnetorheological actuator is advantageous to the electrical motors in the cases of passive resistance based exercise.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133223394","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524614
T. Borangiu, S. Răileanu, D. Trentesaux, T. Berger
The paper describes a new, open control paradigm for discrete, repetitive shop floor production, designed as a solution for agile manufacturing reengineering through (a) multi-agent robot service reconfiguring and (b) implementing the robot service access model (RSAM) in a distributed, semi-heterarchical production planning, scheduling and execution control architecture. This distributed architecture integrates two layers with generic functionalities: (1) Dynamic reconfiguring of the resource (robot-vision) service access model RSAM through a multi-agent system organization; (2) Holonic manufacturing scheduling (robot allocation), control and tracking based on the PROSA holarchy and the Intelligent Product technology — implemented through intelligent embedded devices (acting as Active Holon Entities) which use OpenEmbedded Linux as real-time operating system. Experimental results are reported from production scenarios tested in the two shop-floor platforms of the Laboratories AIP-PRIMECA (University of Valenciennes) and CIMR (University Politehnica of Bucharest) composed by robot-vision workstations.
{"title":"Open manufacturing control with agile reconfiguring of robot services","authors":"T. Borangiu, S. Răileanu, D. Trentesaux, T. Berger","doi":"10.1109/RAAD.2010.5524614","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524614","url":null,"abstract":"The paper describes a new, open control paradigm for discrete, repetitive shop floor production, designed as a solution for agile manufacturing reengineering through (a) multi-agent robot service reconfiguring and (b) implementing the robot service access model (RSAM) in a distributed, semi-heterarchical production planning, scheduling and execution control architecture. This distributed architecture integrates two layers with generic functionalities: (1) Dynamic reconfiguring of the resource (robot-vision) service access model RSAM through a multi-agent system organization; (2) Holonic manufacturing scheduling (robot allocation), control and tracking based on the PROSA holarchy and the Intelligent Product technology — implemented through intelligent embedded devices (acting as Active Holon Entities) which use OpenEmbedded Linux as real-time operating system. Experimental results are reported from production scenarios tested in the two shop-floor platforms of the Laboratories AIP-PRIMECA (University of Valenciennes) and CIMR (University Politehnica of Bucharest) composed by robot-vision workstations.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121950219","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524566
G. Škorja, J. Babič
The purpose of this study was to implement a three degrees-of-freedom inclining parallel platform to provide postural perturbations for examining human balance during the standing posture. The inclining parallel platform was capable of generating random rotation disturbances in sixteen different directions. By measuring the projection of the subject's centre of mass with a force plate mounted on top of the parallel platform, we had the ability to control the parallel platform rotation in a real time.
{"title":"Implementation of the three degrees-of-freedom parallel platform in human posture analysis","authors":"G. Škorja, J. Babič","doi":"10.1109/RAAD.2010.5524566","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524566","url":null,"abstract":"The purpose of this study was to implement a three degrees-of-freedom inclining parallel platform to provide postural perturbations for examining human balance during the standing posture. The inclining parallel platform was capable of generating random rotation disturbances in sixteen different directions. By measuring the projection of the subject's centre of mass with a force plate mounted on top of the parallel platform, we had the ability to control the parallel platform rotation in a real time.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127113841","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524555
G. Calangiu, M. Stoica, F. Sisak
Knowledge-based systems are advanced systems for representing complex problems that use artificial intelligence to solve these problems. They incorporate a database of expert knowledge designed to facilitate the knowledge retrieval in response to specific queries, along with learning. In this paper we present a knowledge based system designed to increase the efficiency of the tasks executed by a robot located in a flexible manufacturing line.
{"title":"A knowledge based system designed for making task execution more efficient for a robot arm","authors":"G. Calangiu, M. Stoica, F. Sisak","doi":"10.1109/RAAD.2010.5524555","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524555","url":null,"abstract":"Knowledge-based systems are advanced systems for representing complex problems that use artificial intelligence to solve these problems. They incorporate a database of expert knowledge designed to facilitate the knowledge retrieval in response to specific queries, along with learning. In this paper we present a knowledge based system designed to increase the efficiency of the tasks executed by a robot located in a flexible manufacturing line.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"284 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121330578","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524587
T. Borangiu, F. Anton, S. Anton
The paper discusses a generic, open architecture for industrial or non-industrial robot controllers allowing system designers and robot manufacturers to develop rapid deployment automation solutions for particular mechanics of robot manipulators. The paper describes a multiple-axis open controller design for a mobile AGV platform carrying a robotic arm, with inclination control to provide horizontal alignment in any terrain configuration. The navigation and locating of the mobile robot platform, the motion control of the robotic arm, as well as monitoring, learning, program editing, debugging and execution are embedded in a multiprocessor system developed around a Motion Control solution for which a structured programming language was developed. A strongly coupled multi-processor architecture embedding model learning, control and man-machine GUI functionalities is described both as hardware implementing and basic software system design (RTOS, multitasking and operating modes). Experimental results are reported for the motion control of the 5-d.o.f. robot arm.
{"title":"Open architecture for robot controllers","authors":"T. Borangiu, F. Anton, S. Anton","doi":"10.1109/RAAD.2010.5524587","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524587","url":null,"abstract":"The paper discusses a generic, open architecture for industrial or non-industrial robot controllers allowing system designers and robot manufacturers to develop rapid deployment automation solutions for particular mechanics of robot manipulators. The paper describes a multiple-axis open controller design for a mobile AGV platform carrying a robotic arm, with inclination control to provide horizontal alignment in any terrain configuration. The navigation and locating of the mobile robot platform, the motion control of the robotic arm, as well as monitoring, learning, program editing, debugging and execution are embedded in a multiprocessor system developed around a Motion Control solution for which a structured programming language was developed. A strongly coupled multi-processor architecture embedding model learning, control and man-machine GUI functionalities is described both as hardware implementing and basic software system design (RTOS, multitasking and operating modes). Experimental results are reported for the motion control of the 5-d.o.f. robot arm.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129393275","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}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524542
L. Horváth, I. Rudas, K. Jezernik
One of the main recent achievements in engineering is description of complex products and their physical environment in a single object model. This model has capabilities to serve engineering from the first specification of a product to recycling. New research programs were needed in order to establish a new style of engineering where engineers communicate model creation and application procedures. The authors joined to these efforts and developed new modeling methods for the above purpose. In this paper they introduce some of these methods considering needs by the complex and knowledge intensive engineering for robot systems. Paper starts with an outline of application of virtual spaces in robot system modeling. Following this, a content based contextual object definition is explained considering robotic application. Next, application of human control by contextual spaces for adaptive definition of engineering objects and the related control of product definition are shown. Finally, object space for robot system is outlined as application related issue of the proposed modeling.
{"title":"Engineering for industrial robots in content based virtual space","authors":"L. Horváth, I. Rudas, K. Jezernik","doi":"10.1109/RAAD.2010.5524542","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524542","url":null,"abstract":"One of the main recent achievements in engineering is description of complex products and their physical environment in a single object model. This model has capabilities to serve engineering from the first specification of a product to recycling. New research programs were needed in order to establish a new style of engineering where engineers communicate model creation and application procedures. The authors joined to these efforts and developed new modeling methods for the above purpose. In this paper they introduce some of these methods considering needs by the complex and knowledge intensive engineering for robot systems. Paper starts with an outline of application of virtual spaces in robot system modeling. Following this, a content based contextual object definition is explained considering robotic application. Next, application of human control by contextual spaces for adaptive definition of engineering objects and the related control of product definition are shown. Finally, object space for robot system is outlined as application related issue of the proposed modeling.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121714055","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}
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