Pub Date : 2022-01-01DOI: 10.5220/0011353100003271
Eber Lawrence Souza Gouveia, Rupali Srivastava, Maulshree Singh, Sean Lyons, Eddie Armstrong, D. Devine
{"title":"Smart Autonomous Part Displacement System based on Point Cloud Segmentation","authors":"Eber Lawrence Souza Gouveia, Rupali Srivastava, Maulshree Singh, Sean Lyons, Eddie Armstrong, D. Devine","doi":"10.5220/0011353100003271","DOIUrl":"https://doi.org/10.5220/0011353100003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"9 1","pages":"549-554"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90465856","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 : 2022-01-01DOI: 10.5220/0011320200003271
K. Kabore, Samet Güler
{"title":"Practical Formation Acquisition Mechanism for Nonholonomic Leader-follower Networks","authors":"K. Kabore, Samet Güler","doi":"10.5220/0011320200003271","DOIUrl":"https://doi.org/10.5220/0011320200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"4 1","pages":"330-339"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88871388","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 : 2022-01-01DOI: 10.5220/0010857000003271
S. Guo, Zhiyin Li, Jinhua Zhang
{"title":"Design and Locomotion Control of a Myliobatid-inspired Robot Actuated by Passively-flexing Pectoral Fins","authors":"S. Guo, Zhiyin Li, Jinhua Zhang","doi":"10.5220/0010857000003271","DOIUrl":"https://doi.org/10.5220/0010857000003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"6 1","pages":"353-360"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88783416","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 : 2022-01-01DOI: 10.5220/0011353200003271
Matteo Melchiorre, L. Scimmi, Laura Salamina, Stefano Mauro, S. Pastorelli
{"title":"Robot Collision Avoidance based on Artificial Potential Field with Local Attractors","authors":"Matteo Melchiorre, L. Scimmi, Laura Salamina, Stefano Mauro, S. Pastorelli","doi":"10.5220/0011353200003271","DOIUrl":"https://doi.org/10.5220/0011353200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"51 1","pages":"340-350"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77181194","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 : 2022-01-01DOI: 10.5220/0011267100003271
Diego Bianchi, M. Antonelli, C. Laschi, E. Falotico
{"title":"Open-loop Control of a Soft Arm in Throwing Tasks","authors":"Diego Bianchi, M. Antonelli, C. Laschi, E. Falotico","doi":"10.5220/0011267100003271","DOIUrl":"https://doi.org/10.5220/0011267100003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"3 1","pages":"138-145"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73068420","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 : 2022-01-01DOI: 10.5220/0011266000003271
A. Lamm, Janusz Piotrowski, A. Hahn
{"title":"Shore based Control Center Architecture for Teleoperation of Highly Automated Inland Waterway Vessels in Urban Environments","authors":"A. Lamm, Janusz Piotrowski, A. Hahn","doi":"10.5220/0011266000003271","DOIUrl":"https://doi.org/10.5220/0011266000003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"21 1","pages":"17-28"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75190407","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 : 2022-01-01DOI: 10.5220/0011316500003271
Sarah Braun, Sebastian Albrecht, S. Lucia
: With the growing share of renewable energy sources, the uncertainty in power supply is increasing, on the one hand because of fluctuations in the renewables, but on the other hand also due to the threat of deliberate malicious attacks, which may become more prevalent due to the growing number of distributed generation units. It is thus essential that local microgrids are controlled in a robust manner in order to ensure stability and supply security even in the event of disturbances. To this end, we introduce a mathematical model for interconnected, physically coupled microgrids with renewable generation that are exposed to the risk of attacks. For optimal energy management and control, we present a resilient framework that combines a model-based method to identify occurring attacks and a model predictive control scheme to compute robust control inputs. We demonstrate the efficiency of the method for microgrid control in numerical experiments.
{"title":"Resilient Control of Interconnected Microgrids Under Attack by Robust Nonlinear MPC","authors":"Sarah Braun, Sebastian Albrecht, S. Lucia","doi":"10.5220/0011316500003271","DOIUrl":"https://doi.org/10.5220/0011316500003271","url":null,"abstract":": With the growing share of renewable energy sources, the uncertainty in power supply is increasing, on the one hand because of fluctuations in the renewables, but on the other hand also due to the threat of deliberate malicious attacks, which may become more prevalent due to the growing number of distributed generation units. It is thus essential that local microgrids are controlled in a robust manner in order to ensure stability and supply security even in the event of disturbances. To this end, we introduce a mathematical model for interconnected, physically coupled microgrids with renewable generation that are exposed to the risk of attacks. For optimal energy management and control, we present a resilient framework that combines a model-based method to identify occurring attacks and a model predictive control scheme to compute robust control inputs. We demonstrate the efficiency of the method for microgrid control in numerical experiments.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"17 1","pages":"58-66"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75194747","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 : 2022-01-01DOI: 10.5220/0011286000003271
Seong-Se Cho, Jae Hong Lee, Chan Park
: In this paper, unscented Kalman filter (UKF) based on maximum correntropy criterion (MCC) instead of minimum mean square error (MMSE) criterion, and it is applied to tightly coupled integration of inertial navigation system (INS) and ultra wide-band (UWB). UWB can measure distance with an accuracy of less than 30cm in line-of-sight environment, but provides distance measurement with various types of non-Gaussian uncertainty noise in non-line-of-sight environment. In this case, if the INS/UWB system is configured with the existing MMSE-based filter, a large error occurs. To solve this problem, in this paper, UKF is designed based on MCC. Through simulation analysis, it is confirmed that the proposed filter has robust characteristics against UWB uncertainty and enables stable INS/UWB integration.
{"title":"Maximum Correntropy Criterion-based UKF for Tightly Coupling INS and UWB with non-Gaussian Uncertainty Noise","authors":"Seong-Se Cho, Jae Hong Lee, Chan Park","doi":"10.5220/0011286000003271","DOIUrl":"https://doi.org/10.5220/0011286000003271","url":null,"abstract":": In this paper, unscented Kalman filter (UKF) based on maximum correntropy criterion (MCC) instead of minimum mean square error (MMSE) criterion, and it is applied to tightly coupled integration of inertial navigation system (INS) and ultra wide-band (UWB). UWB can measure distance with an accuracy of less than 30cm in line-of-sight environment, but provides distance measurement with various types of non-Gaussian uncertainty noise in non-line-of-sight environment. In this case, if the INS/UWB system is configured with the existing MMSE-based filter, a large error occurs. To solve this problem, in this paper, UKF is designed based on MCC. Through simulation analysis, it is confirmed that the proposed filter has robust characteristics against UWB uncertainty and enables stable INS/UWB integration.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"11 1","pages":"209-213"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73090344","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 : 2022-01-01DOI: 10.5220/0011352900003271
Gabriel Karasek, Krystian Erwiński
: This paper presents a concept of a computationally efficient feedrate planning algorithm for parallel kinematics machine in a linear delta configuration. Non-Uniform Rational B-Spline (NURBS) polynomial curve is used for toolpath definition which provides a smooth trajectory. The feedrate profile is defined as a jerk limited S-Curve which takes into account limitations stemming from the toolpath curvature and the machine kinematics. The article presents the outline of the method, structure of the experimental station including the real-time control system and preliminary experimental results. Further direction of the research is also described. The proposed method can provide a smooth motion trajectory obtained in real-time with small computational requirements.
{"title":"Feedrate Planning for a Delta Parallel Kinematics Numerically Controlled Machine using NURBS Toolpaths","authors":"Gabriel Karasek, Krystian Erwiński","doi":"10.5220/0011352900003271","DOIUrl":"https://doi.org/10.5220/0011352900003271","url":null,"abstract":": This paper presents a concept of a computationally efficient feedrate planning algorithm for parallel kinematics machine in a linear delta configuration. Non-Uniform Rational B-Spline (NURBS) polynomial curve is used for toolpath definition which provides a smooth trajectory. The feedrate profile is defined as a jerk limited S-Curve which takes into account limitations stemming from the toolpath curvature and the machine kinematics. The article presents the outline of the method, structure of the experimental station including the real-time control system and preliminary experimental results. Further direction of the research is also described. The proposed method can provide a smooth motion trajectory obtained in real-time with small computational requirements.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"357 1","pages":"743-749"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76335608","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 : 2022-01-01DOI: 10.5220/0011314400003271
Milton Souza, E.A. Lima, J. Cerqueira
{"title":"Power System Operation Modeling, Monitoring and Control using Petri Nets","authors":"Milton Souza, E.A. Lima, J. Cerqueira","doi":"10.5220/0011314400003271","DOIUrl":"https://doi.org/10.5220/0011314400003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"31 1","pages":"658-667"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82268825","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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