Pub Date : 2022-01-01DOI: 10.5220/0011338700003271
Volker Smits, O. Nelles
{"title":"Space-filling Optimization of Excitation Signals for Nonlinear System Identification","authors":"Volker Smits, O. Nelles","doi":"10.5220/0011338700003271","DOIUrl":"https://doi.org/10.5220/0011338700003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"29 1","pages":"255-262"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87270760","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: 10.5220/0011352200003271
Matteo Melchiorre, L. Scimmi, Stefano Mauro, S. Pastorelli
{"title":"A Novel Constrained Trajectory Planner for Safe Human-robot Collaboration","authors":"Matteo Melchiorre, L. Scimmi, Stefano Mauro, S. Pastorelli","doi":"10.5220/0011352200003271","DOIUrl":"https://doi.org/10.5220/0011352200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"26 1","pages":"539-548"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81294551","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: 10.5220/0011335600003271
M. Chodnicki, Wojciech Stecz, Wojciech Giernacki, S. Stępień
{"title":"Coupled PID-SDRE Controller of a Quadrotor: Positioning and Stabilization of UAV Flight","authors":"M. Chodnicki, Wojciech Stecz, Wojciech Giernacki, S. Stępień","doi":"10.5220/0011335600003271","DOIUrl":"https://doi.org/10.5220/0011335600003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"27 1","pages":"524-530"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81774035","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: 10.5220/0011318800003271
Hugo Perier, E. Matheson, M. D. Castro
{"title":"Web based User Interface Solution for Remote Robotic Control and Monitoring Autonomous System","authors":"Hugo Perier, E. Matheson, M. D. Castro","doi":"10.5220/0011318800003271","DOIUrl":"https://doi.org/10.5220/0011318800003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"1 1","pages":"680-687"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74508328","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: 10.5220/0011340200003271
M. A. Khanesar, S. Piano, David T. Branson
: Precision positioning of industrial robots is a vital requirement on the factory floor. Robot end effector positioning using joint angle readings from joint encoders and industrial robot forward kinematics (FKs) is a common practice. However, mechanical wear, manufacturing and assembly tolerances, and errors in robot dimension measurement result in parameter uncertainties in the robot FK model. Uncertainties in robot FK result in inaccurate position measurement. In this paper, we use a multi-output least squares support vector regression (MLS-SVR) method to improve the positioning accuracies of industrial robots using a highly accurate laser tracker system, Leica AT960-MR. This equipment is a non-contact metrology one capable of performing measurements with error of less than 3(cid:2020)(cid:1865)/(cid:1865) . To perform this task, industrial robot FK is formulated as a regression problem whose unknown parameters are tuned using laser tracker position data as target values. MLS-SVR algorithm is used to estimate the industrial robot FK parameters. It is observed that using the proposed approach, the accuracy of industrial robot FKs in terms of mean absolute errors of static and near-static motion in all three dimensions decreases from its measured value: from 71.9(cid:2020)(cid:1865) to 20.9(cid:2020)(cid:1865) (71% decrease).
{"title":"Improving the Positional Accuracy of Industrial Robots by Forward Kinematic Calibration using Laser Tracker System","authors":"M. A. Khanesar, S. Piano, David T. Branson","doi":"10.5220/0011340200003271","DOIUrl":"https://doi.org/10.5220/0011340200003271","url":null,"abstract":": Precision positioning of industrial robots is a vital requirement on the factory floor. Robot end effector positioning using joint angle readings from joint encoders and industrial robot forward kinematics (FKs) is a common practice. However, mechanical wear, manufacturing and assembly tolerances, and errors in robot dimension measurement result in parameter uncertainties in the robot FK model. Uncertainties in robot FK result in inaccurate position measurement. In this paper, we use a multi-output least squares support vector regression (MLS-SVR) method to improve the positioning accuracies of industrial robots using a highly accurate laser tracker system, Leica AT960-MR. This equipment is a non-contact metrology one capable of performing measurements with error of less than 3(cid:2020)(cid:1865)/(cid:1865) . To perform this task, industrial robot FK is formulated as a regression problem whose unknown parameters are tuned using laser tracker position data as target values. MLS-SVR algorithm is used to estimate the industrial robot FK parameters. It is observed that using the proposed approach, the accuracy of industrial robot FKs in terms of mean absolute errors of static and near-static motion in all three dimensions decreases from its measured value: from 71.9(cid:2020)(cid:1865) to 20.9(cid:2020)(cid:1865) (71% decrease).","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"4 1","pages":"263-270"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74522051","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: 10.5220/0011277500003271
P. D. Giamberardino, D. Iacoviello
In the paper an optimal control solution is provided for the containment of the number of infected individuals in COVID-19 pandemic under vaccination campaign. The possibility to dynamically change the cost of the controls according to the ongoing evolution within the design procedure allows to get great efforts in presence of very serious disease conditions, saving resources otherwise. The different contribution of vaccinated and unvaccinated individuals to the epidemic spread is investigated, optimising the controls which describe the individual contact restrictions separately for the two classes and showing that it would have been possible to reduce all the social limitations introduced by many governments for the vaccinated individuals since the beginning of the vaccination campaign.
{"title":"Optimal Social Limitation Reduction under Vaccination and Booster Doses","authors":"P. D. Giamberardino, D. Iacoviello","doi":"10.5220/0011277500003271","DOIUrl":"https://doi.org/10.5220/0011277500003271","url":null,"abstract":"In the paper an optimal control solution is provided for the containment of the number of infected individuals in COVID-19 pandemic under vaccination campaign. The possibility to dynamically change the cost of the controls according to the ongoing evolution within the design procedure allows to get great efforts in presence of very serious disease conditions, saving resources otherwise. The different contribution of vaccinated and unvaccinated individuals to the epidemic spread is investigated, optimising the controls which describe the individual contact restrictions separately for the two classes and showing that it would have been possible to reduce all the social limitations introduced by many governments for the vaccinated individuals since the beginning of the vaccination campaign.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"97 1","pages":"38-48"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77312119","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: 10.5220/0011124200003271
J. Jiménez-López, R. M. Fernández-Alcalá, J. Navarro-Moreno, J. C. Ruiz-Molina
: In this paper, the optimal one-stage prediction problem of tessarine signals from multi-sensor uncertain observations is approached. At each instant of time, there exists a non-null probability that the observation tessarine component coming from each sensor, contains the corresponding signal component, or only noise. To model the uncertainty, multiplicative noises modeled by Bernoulli random variables are included in the observation equations. Under correlation hypotheses between the signal and observation additive noises, a recursive algorithm to calculate the optimal least-squares linear predictor of the signal and its mean-squared error is proposed, derived by using an innovation approach. The theoretical results are illustrated by means of a numerical simulation example, in which the performance of the proposed estimator is evaluated under different uncertainty probabilities.
{"title":"Optimal Prediction of Tessarine Signals from Multi-sensor Uncertain Observations under Tk-Properness Conditions","authors":"J. Jiménez-López, R. M. Fernández-Alcalá, J. Navarro-Moreno, J. C. Ruiz-Molina","doi":"10.5220/0011124200003271","DOIUrl":"https://doi.org/10.5220/0011124200003271","url":null,"abstract":": In this paper, the optimal one-stage prediction problem of tessarine signals from multi-sensor uncertain observations is approached. At each instant of time, there exists a non-null probability that the observation tessarine component coming from each sensor, contains the corresponding signal component, or only noise. To model the uncertainty, multiplicative noises modeled by Bernoulli random variables are included in the observation equations. Under correlation hypotheses between the signal and observation additive noises, a recursive algorithm to calculate the optimal least-squares linear predictor of the signal and its mean-squared error is proposed, derived by using an innovation approach. The theoretical results are illustrated by means of a numerical simulation example, in which the performance of the proposed estimator is evaluated under different uncertainty probabilities.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"67 1","pages":"577-584"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79474786","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: 10.5220/0011312100003271
Milton Souza, E.A. Lima, J. Cerqueira
: P etri nets have been widely used as a tool to model, monitor and control several kind of systems. In this paper, P etri nets are used to model, monitor and control Electrical Power Systems (EPS). The electric power model will be expanded through a linear transformation. The restrictions imposed for that expansion specialize the new places with attributes that allow to monitor or control the dynamics of the original P etri net.
{"title":"Electric Power System Operation: A Technique to Modelling, Monitoring and Control via Petri Nets","authors":"Milton Souza, E.A. Lima, J. Cerqueira","doi":"10.5220/0011312100003271","DOIUrl":"https://doi.org/10.5220/0011312100003271","url":null,"abstract":": P etri nets have been widely used as a tool to model, monitor and control several kind of systems. In this paper, P etri nets are used to model, monitor and control Electrical Power Systems (EPS). The electric power model will be expanded through a linear transformation. The restrictions imposed for that expansion specialize the new places with attributes that allow to monitor or control the dynamics of the original P etri net.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"25 1","pages":"649-657"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82070029","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: 10.5220/0011319200003271
Chrystian Edmundo Pool Yuca Huanca, G. P. Incremona, Roderich Groß, P. Colaneri
{"title":"Design of a Switched Control Lyapunov Function for Mobile Robots Aggregation","authors":"Chrystian Edmundo Pool Yuca Huanca, G. P. Incremona, Roderich Groß, P. Colaneri","doi":"10.5220/0011319200003271","DOIUrl":"https://doi.org/10.5220/0011319200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"C-31 1","pages":"492-499"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84441550","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: 10.5220/0011300100003271
Jan Ivan, Michal Sustr, Ondrej Pekar, L. Potuzák
: The article deals with the currently realized research of a new survey vehicle of the Czech field artillery, which task will be support of the activity of autonomous and non-autonomous artillery weapon systems. The article describes the basic aspects of artillery survey together with the current progress of the project. Baseline for the article is description of current status of Czech artillery survey and the way it supports the artillery operations. The individual chapters then present the identified variants of the functionality of the gun navigation system and the resulting requirements for the capability of the unmanned artillery survey vehicle. Main focus of the article is to present specific approach which Czech armed forces have in terms of artillery use under degraded and GPS denied operations. All these proposals are presented according to current status of Czech artillery which transitions from non-autonomous 152mm howitzers to the new, NATO standard 155mm autonomous weapon systems.
{"title":"Prospects for the Use of Unmanned Ground Vehicles in Artillery Survey","authors":"Jan Ivan, Michal Sustr, Ondrej Pekar, L. Potuzák","doi":"10.5220/0011300100003271","DOIUrl":"https://doi.org/10.5220/0011300100003271","url":null,"abstract":": The article deals with the currently realized research of a new survey vehicle of the Czech field artillery, which task will be support of the activity of autonomous and non-autonomous artillery weapon systems. The article describes the basic aspects of artillery survey together with the current progress of the project. Baseline for the article is description of current status of Czech artillery survey and the way it supports the artillery operations. The individual chapters then present the identified variants of the functionality of the gun navigation system and the resulting requirements for the capability of the unmanned artillery survey vehicle. Main focus of the article is to present specific approach which Czech armed forces have in terms of artillery use under degraded and GPS denied operations. All these proposals are presented according to current status of Czech artillery which transitions from non-autonomous 152mm howitzers to the new, NATO standard 155mm autonomous weapon systems.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"1 1","pages":"467-475"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88160364","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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