Pub Date : 2008-05-01DOI: 10.5220/0001493600770084
Nikos I. Vitzilaios, N. Tsourveloudis
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.
{"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}
Pub Date : 2008-02-20DOI: 10.5220/0001615204080411
A. S. Ostrovsky, Ernesto Pino-Mota, Paulo C. Romero-Soría
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.
{"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}
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,
现代技术过程包括复杂和大规模的系统，其中单个组件的故障会对整个系统的可用性和性能产生重大影响。例如，制造系统由许多不同的机器、机器人和运输工具组成，所有这些都必须正确地满足它们的目的，以确保和实现全球目标。在这种情况下，失败是改变系统行为的任何事件，使其不再满足其目的。故障事件导致故障状态(Rausand et al.， 2004)。故障可能是由于内部事件而不是外部事件造成的，并且通常分为三大类:改变系统动态输入-输出属性的工厂故障，在传感器读取期间导致严重错误的传感器故障，以及控制器对工厂的影响受到干扰时的执行器故障(Blanke等人，2003)。为了限制故障对系统的影响，诊断是一种检测和隔离故障的方法。诊断通常与控制重新配置有关，使控制器适应故障情况，使其继续满足其目标。由监控系统进行故障诊断和控制器重构。本章只考虑与系统诊断有关的问题。诊断包括不同的阶段:1。故障检测判断是否发生了故障事件。此阶段还涉及确定故障发生的时间。2. 故障隔离找到发生故障的组件。3.故障识别识别故障并估计其大小。诊断通常根据所使用的模型类型进行讨论，使用基于组件的分析，使用建筑和结构图模型，使用由微分或差分方程和传递函数描述的连续变量系统，使用自动机或Petri网表示的离散事件系统，以及结合连续和离散事件行为的混合动力系统(Blanke et al.， 2003)。基于组件的方法使用定性方法(Rausand et al.， 2004)作为失效模式和影响分析(Blanke, 1996)，并使用双部图来研究用于诊断目的的约束和测量集合中包含的冗余(Cordier et al.， 2000;Patton et al.， 1999)。连续变量系统的故障诊断通常基于残差生成和用宇称空间方法评估或观测。
{"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}
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.
{"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}
Pub Date : 2007-05-09DOI: 10.5220/0001617802700274
A. Histace, V. Courboulay, M. Ménard
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.
{"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}
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
Pavla Pecherkova1, Jindřich Dunik2和Miroslav Flidr2 1信息理论与自动化研究所自适应系统研究中心数据-算法-决策研究中心věži 4,182 08布拉格8，捷克共和国2西波西米亚大学应用科学学院数据-算法-决策研究中心，8号大学控制论系，306 14 Pilsen，捷克共和国
{"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}
Pub Date : 2007-05-09DOI: 10.5220/0001646000840091
A. Pashkevich, Roman Gomolitsky, P. Wenger, D. Chablat
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.
{"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}
Pub Date : 2007-05-09DOI: 10.5220/0001648202670270
Shengtong Zhong, P. L. Parc, J. Vareille
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.
{"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}
Pub Date : 2007-05-01DOI: 10.5220/0001629802170222
O. Assad, E. Godoy, V. Croulard
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.
{"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}
Pub Date : 2006-08-01DOI: 10.5220/0001208802230228
R. Passama, D. Andreu, C. Dony, T. Libourel
Utilisation pratique d'un systeme de Composants et de Reseaux de Petri a Objets pour les architectures de controle.
由Petri组件和网络组成的系统的实际使用为控制体系结构提供了对象。
{"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}
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