Pub Date : 1900-01-01DOI: 10.5220/0001216000420049
K. Tahboub, T. Mergner, C. Ament
This paper discusses the human postural control as a system engineering approach problem. Two main approaches are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion.
{"title":"Neurological and engineering approaches to human postural control","authors":"K. Tahboub, T. Mergner, C. Ament","doi":"10.5220/0001216000420049","DOIUrl":"https://doi.org/10.5220/0001216000420049","url":null,"abstract":"This paper discusses the human postural control as a system engineering approach problem. Two main approaches are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128312323","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 : 1900-01-01DOI: 10.5220/0002173401470152
A. Vidugiriene, A. Demčenko, M. Tamosiunaite
In the work vehicle acceleration prediction issue is discussed. Three types of parameters are used for prediction system input: CAN-bus parameters - speed and curvature, derived speed parameters and newly offered specific curve point parameters, denoting changes in a curve. The real road data was used for predictions. Road curvature segments were divided into single and S-type curves. Acceleration was predicted using artificial neural networks and look-up table. The look-up table method showed the best results with newly offered specific curve parameters.
{"title":"Vehicle Acceleration Prediction using Specific Road Curvature Points","authors":"A. Vidugiriene, A. Demčenko, M. Tamosiunaite","doi":"10.5220/0002173401470152","DOIUrl":"https://doi.org/10.5220/0002173401470152","url":null,"abstract":"In the work vehicle acceleration prediction issue is discussed. Three types of parameters are used for prediction system input: CAN-bus parameters - speed and curvature, derived speed parameters and newly offered specific curve point parameters, denoting changes in a curve. The real road data was used for predictions. Road curvature segments were divided into single and S-type curves. Acceleration was predicted using artificial neural networks and look-up table. The look-up table method showed the best results with newly offered specific curve parameters.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124640561","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 : 1900-01-01DOI: 10.5220/0001500802070210
S. Degeratu, P. Rotaru, H. Manolea, G. Manolea, A. Petrisor, N. Bîzdoaca
The paper presents the design strategies for two typical configurations of intelligent systems, using as active elements the Shape Memory Alloy (SMA) cantilever strip and the SMA helical spring. Based on the advantages and unique properties of shape memory alloys the authors defined the operating mode, the mechanical considerations and the design assumptions for these two examples. It also includes the experimental results of thermal analysis in order to determine the transformation temperatures for studied SMA elements. A comprehensive graphical interface, which runs under Visual Basic environment, has been developed for each design strategy. Each one provides a user friendly environment that allows intelligent system parameters configuration as well as the choice of the most adapted analysis methods and data displaying. At this moment, these two Visual Basic applications are used for engineering purposes as well
{"title":"Visual Basic Applications for Shape Memory Elements Design used in Intelligent Systems","authors":"S. Degeratu, P. Rotaru, H. Manolea, G. Manolea, A. Petrisor, N. Bîzdoaca","doi":"10.5220/0001500802070210","DOIUrl":"https://doi.org/10.5220/0001500802070210","url":null,"abstract":"The paper presents the design strategies for two typical configurations of intelligent systems, using as active elements the Shape Memory Alloy (SMA) cantilever strip and the SMA helical spring. Based on the advantages and unique properties of shape memory alloys the authors defined the operating mode, the mechanical considerations and the design assumptions for these two examples. It also includes the experimental results of thermal analysis in order to determine the transformation temperatures for studied SMA elements. A comprehensive graphical interface, which runs under Visual Basic environment, has been developed for each design strategy. Each one provides a user friendly environment that allows intelligent system parameters configuration as well as the choice of the most adapted analysis methods and data displaying. At this moment, these two Visual Basic applications are used for engineering purposes as well","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124670110","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 : 1900-01-01DOI: 10.5220/0001646703110317
P. Gil, Fernando Torres Medina, Ó. Reinoso
This work was funded by the Spanish MCYT project “Diseno, implementacion y experimentacion de escenarios de manipulacion inteligentes para aplicaciones de ensamblado y desensamblado automatico (DPI2005- 06222)”.
{"title":"Estimation of camera 3D-position to minimize occlusions","authors":"P. Gil, Fernando Torres Medina, Ó. Reinoso","doi":"10.5220/0001646703110317","DOIUrl":"https://doi.org/10.5220/0001646703110317","url":null,"abstract":"This work was funded by the Spanish MCYT project \u0000“Diseno, implementacion y experimentacion de \u0000escenarios de manipulacion inteligentes para \u0000aplicaciones de ensamblado y desensamblado \u0000automatico (DPI2005- 06222)”.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124173355","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 : 1900-01-01DOI: 10.5220/0001484800540061
J. Nummela, P. Oksa, L. Ukkonen, L. Sydänheimo, M. Kivikoski
Automated Data Collecting System (ADCS) is a common name for automatic systems that collect data of any kind. These systems are becoming more and more common in several industries and play an important part in many of today’s and future applications. Information flow architecture is an important issue, when employing an ADCS. This paper presents different kinds of architecture models and their typical characteristics, concentrating on traffic load issues in different parts of the system. The results presented in this paper, give a basis for more accurate specifying and designing of the architecture model for each automated data collecting application in question.
{"title":"Comparison of Different Information Flow Architectures in Automated Data Collection Systems","authors":"J. Nummela, P. Oksa, L. Ukkonen, L. Sydänheimo, M. Kivikoski","doi":"10.5220/0001484800540061","DOIUrl":"https://doi.org/10.5220/0001484800540061","url":null,"abstract":"Automated Data Collecting System (ADCS) is a common name for automatic systems that collect data of any kind. These systems are becoming more and more common in several industries and play an important part in many of today’s and future applications. Information flow architecture is an important issue, when employing an ADCS. This paper presents different kinds of architecture models and their typical characteristics, concentrating on traffic load issues in different parts of the system. The results presented in this paper, give a basis for more accurate specifying and designing of the architecture model for each automated data collecting application in question.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121596850","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 : 1900-01-01DOI: 10.3182/20110828-6-IT-1002.02872
A. Pujana-Arrese, Kepa Bastegieta, A. Mendizabal, Ramon Prestamero, J. Landaluze
Abstract A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. This paper describes the control of this mechatronic system's interaction with its environment, controlling both its position and the force exerted against it by the implementation of bio-inspired algorithms. Specifically, two different variations of the Compliance Control have been adapted for their application in the experimental device powered by pneumatic muscles. It is worthy of mention that an estimator has been developed in order to close the inner torque and pressure loops without the use of any torque or force sensor. Finally, the article concludes by presenting the experimental results obtained and the most outstanding conclusions of the study as a whole.
{"title":"Position/Force Control of a 1-DoF Set-up Powered by Pneumatic Muscles","authors":"A. Pujana-Arrese, Kepa Bastegieta, A. Mendizabal, Ramon Prestamero, J. Landaluze","doi":"10.3182/20110828-6-IT-1002.02872","DOIUrl":"https://doi.org/10.3182/20110828-6-IT-1002.02872","url":null,"abstract":"Abstract A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. This paper describes the control of this mechatronic system's interaction with its environment, controlling both its position and the force exerted against it by the implementation of bio-inspired algorithms. Specifically, two different variations of the Compliance Control have been adapted for their application in the experimental device powered by pneumatic muscles. It is worthy of mention that an estimator has been developed in order to close the inner torque and pressure loops without the use of any torque or force sensor. Finally, the article concludes by presenting the experimental results obtained and the most outstanding conclusions of the study as a whole.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114713228","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 : 1900-01-01DOI: 10.5220/0001632504380445
M. Delafosse, L. Delahoche, A. Clerentin, A. Jolly-Desodt
Firstly this article presents a multi-level architecture permitting the localization of a mobile platform and secondly an incremental construction of the environment’s map. The environment will be modeled by an occupancy grid built with information provided by the stereovision system situated on the platform. The reliability of these data is introduced to the grid by the propagation of uncertainties managed thanks to the theory of the Transferable Belief Model.
{"title":"An incremental mapping method based on a dempster-shafer fusion architecture","authors":"M. Delafosse, L. Delahoche, A. Clerentin, A. Jolly-Desodt","doi":"10.5220/0001632504380445","DOIUrl":"https://doi.org/10.5220/0001632504380445","url":null,"abstract":"Firstly this article presents a multi-level architecture permitting the localization of a mobile platform and secondly an incremental construction of the environment’s map. The environment will be modeled by an occupancy grid built with information provided by the stereovision system situated on the platform. The reliability of these data is introduced to the grid by the propagation of uncertainties managed thanks to the theory of the Transferable Belief Model.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127875241","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 : 1900-01-01DOI: 10.5220/0001494901250128
L. Puig, J. J. Guerrero, P. Sturm
This work presents an automatic hybrid matching of central catadioptric and perspective images. It is based on the hybrid epipolar geometry. The goal is to obtain correspondences between an omnidirectional image and a conventional perspective image taken from different points of view. Mixing both kind of images has multiple applications, since an omnidirectional image captures many information and perspective images are the simplest way of acquisition. Scale invariant features with a simple unwrapping are considered to help the initial putative matching. Then a robust technique gives an estimation of the hybrid fundamental matrix, to avoid outliers. Experimental results with real image pairs show the feasibility of that hybrid and difficult
{"title":"Hybrid Matching of Uncalibrated Omnidirectional and Perspective Images","authors":"L. Puig, J. J. Guerrero, P. Sturm","doi":"10.5220/0001494901250128","DOIUrl":"https://doi.org/10.5220/0001494901250128","url":null,"abstract":"This work presents an automatic hybrid matching of central catadioptric and perspective images. It is based on the hybrid epipolar geometry. The goal is to obtain correspondences between an omnidirectional image and a conventional perspective image taken from different points of view. Mixing both kind of images has multiple applications, since an omnidirectional image captures many information and perspective images are the simplest way of acquisition. Scale invariant features with a simple unwrapping are considered to help the initial putative matching. Then a robust technique gives an estimation of the hybrid fundamental matrix, to avoid outliers. Experimental results with real image pairs show the feasibility of that hybrid and difficult","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126345095","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 : 1900-01-01DOI: 10.5220/0001503101220130
L. Rauchhaupt, M. Krätzig
Wireless communication is an emerging technology for industrial automation applications. Many solutions are available which more or less consider industrial related requirements. One of the main concerns of industrial automation system users is the reliability of wireless communication. The subject of this paper is a method to assess reliability of wireless communication from the point of view of industrial automation applications. Characteristic parameters are introduced which can be used in analytical studies, in network simulations or measurements to assess reliability with respect to intended industrial control processes. In particular the different use cases for the characteristic parameters are stated as well as the stochastic nature of these parameters. Finally the influences are mentioned which have to be taken into account while assessing wireless industrial communication systems.
{"title":"How to Assess Reliability of Industrial Wireless Solutions","authors":"L. Rauchhaupt, M. Krätzig","doi":"10.5220/0001503101220130","DOIUrl":"https://doi.org/10.5220/0001503101220130","url":null,"abstract":"Wireless communication is an emerging technology for industrial automation applications. Many solutions are available which more or less consider industrial related requirements. One of the main concerns of industrial automation system users is the reliability of wireless communication. The subject of this paper is a method to assess reliability of wireless communication from the point of view of industrial automation applications. Characteristic parameters are introduced which can be used in analytical studies, in network simulations or measurements to assess reliability with respect to intended industrial control processes. In particular the different use cases for the characteristic parameters are stated as well as the stochastic nature of these parameters. Finally the influences are mentioned which have to be taken into account while assessing wireless industrial communication systems.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132299406","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 : 1900-01-01DOI: 10.5220/0001205404860493
C. Lupu, T. Niculiu, E. Franti
In this paper we try to define a collectivity, to model and to measure it. Because N. Bourbaki names ”collectivizing relation” the relation defining a set, we name collectivities only the sets selected or built by the help of the relations. The orthogonal interconnections model very well the collectivities. The behavior (structural self-organization) around the origin is different for homogenous and non-homogenous interconnections. How can we measure this behavior? A way is by locality and globality. The locality measures analytically by neighborhoods, neighborhood reserves, Moorereserves and synthetically by diameters, degrees, average distances. The globality is the behavior of an interconnection around a property. The globality vs. symmetry measures by the compactity, efficiency and interconnecting filling. The locality and the globality are among primary manifestations of the self-organization. In this way, collectivities modeled by self-organizing interconnections can contribute to changing our fundamental view of computers by trying to bring them nearer to the nature.
{"title":"Locality and globality: Estimations of the encryption collectivities","authors":"C. Lupu, T. Niculiu, E. Franti","doi":"10.5220/0001205404860493","DOIUrl":"https://doi.org/10.5220/0001205404860493","url":null,"abstract":"In this paper we try to define a collectivity, to model and to measure it. Because N. Bourbaki names ”collectivizing relation” the relation defining a set, we name collectivities only the sets selected or built by the help of the relations. The orthogonal interconnections model very well the collectivities. The behavior (structural self-organization) around the origin is different for homogenous and non-homogenous interconnections. How can we measure this behavior? A way is by locality and globality. The locality measures analytically by neighborhoods, neighborhood reserves, Moorereserves and synthetically by diameters, degrees, average distances. The globality is the behavior of an interconnection around a property. The globality vs. symmetry measures by the compactity, efficiency and interconnecting filling. The locality and the globality are among primary manifestations of the self-organization. In this way, collectivities modeled by self-organizing interconnections can contribute to changing our fundamental view of computers by trying to bring them nearer to the nature.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130048424","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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