Pub Date : 2022-01-01DOI: 10.5220/0011318200003271
Z. Gyenes, I. Mamaev, Dongxu Yang, Emese Szádeczky-Kardoss, B. Hein
{"title":"Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method","authors":"Z. Gyenes, I. Mamaev, Dongxu Yang, Emese Szádeczky-Kardoss, B. Hein","doi":"10.5220/0011318200003271","DOIUrl":"https://doi.org/10.5220/0011318200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"48 1","pages":"484-491"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74156664","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: 10.5220/0011298000003271
Yosuke Kawasaki, Masaki Takahashi
{"title":"World State-dependent Action Graph: A Representation of Action Possibility and Its Variations in Real Space based on World State","authors":"Yosuke Kawasaki, Masaki Takahashi","doi":"10.5220/0011298000003271","DOIUrl":"https://doi.org/10.5220/0011298000003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"93 1","pages":"459-466"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90421127","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: 10.5220/0011321600003271
Jeeangh Reyes-Montiel, A. Marín-Hernández, Sergio Hernandez-Mendez
: Partial liquid pouring is a very useful task in many environments; however, it is still a very challenging task for autonomous mobile robots. In this work, is presented a geometric approach to accurately partial pouring by autonomous robots. While diverse approaches propose to deal with this problem measuring liquid’s volume at destination container, in this work is analyzed the geometry and initial volume of liquid at pouring container, i.e., liquid’s volume and container characteristics are known. Then based on the transversal sections volumes’ is proposed to control pouring. Proposed approach computes the cross-section areas formed by liquid in the container when this is tilted an angle θ . The geometric analysis shows that an angle-based linear control does not guarantee a regular flow to perform an accurate liquid control, since cross-sectional volumes have not linear relation with the angle θ when tilted. As it is show in this work, these volumes increase and decrease according to the tilted angle and the container characteristics. To effectively obtain a regular flow those volumes should be considered in the control phase as here is proposed.
{"title":"A Geometric Approach for Partial Liquids' Pouring from a Regular Container by a Robotic Manipulator","authors":"Jeeangh Reyes-Montiel, A. Marín-Hernández, Sergio Hernandez-Mendez","doi":"10.5220/0011321600003271","DOIUrl":"https://doi.org/10.5220/0011321600003271","url":null,"abstract":": Partial liquid pouring is a very useful task in many environments; however, it is still a very challenging task for autonomous mobile robots. In this work, is presented a geometric approach to accurately partial pouring by autonomous robots. While diverse approaches propose to deal with this problem measuring liquid’s volume at destination container, in this work is analyzed the geometry and initial volume of liquid at pouring container, i.e., liquid’s volume and container characteristics are known. Then based on the transversal sections volumes’ is proposed to control pouring. Proposed approach computes the cross-section areas formed by liquid in the container when this is tilted an angle θ . The geometric analysis shows that an angle-based linear control does not guarantee a regular flow to perform an accurate liquid control, since cross-sectional volumes have not linear relation with the angle θ when tilted. As it is show in this work, these volumes increase and decrease according to the tilted angle and the container characteristics. To effectively obtain a regular flow those volumes should be considered in the control phase as here is proposed.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"119 1","pages":"688-694"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77223093","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: 10.5220/0011349200003271
K. Sekiné, I. Mizuuchi
{"title":"A Single Motor Driving and Steering Mechanism for a Transformable Bicycle","authors":"K. Sekiné, I. Mizuuchi","doi":"10.5220/0011349200003271","DOIUrl":"https://doi.org/10.5220/0011349200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"34 1","pages":"531-538"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75303892","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: 10.5220/0011191500003271
André Sewohl, Manuel Norberger, S. Sigg, H. Schlegel, M. Dix
: Production technology is characterized by the use of electromechanical feed axes, for which the concept of cascade control has become established. The concept is based on linear control engineering. It is not suitable for the control of process forces, which is associated with nonlinearities. Here, adaptive control algorithms from the field of higher control engineering represent a promising approach for improvements of manufacturing strategies and processes in terms of stability, quality, and efficiency. This can also ensure in reducing the number of parts rejected due to bad quality and thus aiding as a significant economic benefit. In this paper, the development of an adaptive control concept that automatically reacts to different and changing environmental conditions during the process is presented. The digital, parameter-adaptive controller consists of a recursive online parameter estimation unit, the controller design procedure, which is based on the setting rule for the symmetric optimum, and the control algorithm. The functionality of the adaptive control concept is demonstrated in simulation and validated by means of experiments on a test setup. It is real-time capable and implemented directly on the machine control together with all calculation algorithms.
{"title":"Design and Validation of an Adaptive Force Control Algorithm with Parameter Estimation Unit for Electromechanical Feed Axis","authors":"André Sewohl, Manuel Norberger, S. Sigg, H. Schlegel, M. Dix","doi":"10.5220/0011191500003271","DOIUrl":"https://doi.org/10.5220/0011191500003271","url":null,"abstract":": Production technology is characterized by the use of electromechanical feed axes, for which the concept of cascade control has become established. The concept is based on linear control engineering. It is not suitable for the control of process forces, which is associated with nonlinearities. Here, adaptive control algorithms from the field of higher control engineering represent a promising approach for improvements of manufacturing strategies and processes in terms of stability, quality, and efficiency. This can also ensure in reducing the number of parts rejected due to bad quality and thus aiding as a significant economic benefit. In this paper, the development of an adaptive control concept that automatically reacts to different and changing environmental conditions during the process is presented. The digital, parameter-adaptive controller consists of a recursive online parameter estimation unit, the controller design procedure, which is based on the setting rule for the symmetric optimum, and the control algorithm. The functionality of the adaptive control concept is demonstrated in simulation and validated by means of experiments on a test setup. It is real-time capable and implemented directly on the machine control together with all calculation algorithms.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"19 1","pages":"629-639"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89578484","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 : 2021-07-08DOI: 10.5220/0010554401710178
Vittorio Lippi, Cristian Camardella, Alessandro Filippeschi, Francesco Porcini
Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In order to provide a comfortable experience and maximize performance, the exoskeleton should be controlled smoothly and in a transparent way, which means respectively, minimizing the interaction forces with the user and jerky behavior due to transitions between different configurations. A previous study showed that a smooth control of the exoskeleton can be achieved using a gait phase segmentation based on joint kinematics. Such a segmentation system can be implemented as linear regression and should be personalized for the user after a calibration procedure. In this work, a nonlinear segmentation function based on neural networks is implemented and compared with linear regression. An on-line implementation is then proposed and tested with a subject.
{"title":"Identification of Gait Phases with Neural Networks for Smooth Transparent Control of a Lower Limb Exoskeleton","authors":"Vittorio Lippi, Cristian Camardella, Alessandro Filippeschi, Francesco Porcini","doi":"10.5220/0010554401710178","DOIUrl":"https://doi.org/10.5220/0010554401710178","url":null,"abstract":"Lower limbs exoskeletons provide assistance during standing, squatting, and walking. Gait dynamics, in particular, implies a change in the configuration of the device in terms of contact points, actuation, and system dynamics in general. In order to provide a comfortable experience and maximize performance, the exoskeleton should be controlled smoothly and in a transparent way, which means respectively, minimizing the interaction forces with the user and jerky behavior due to transitions between different configurations. A previous study showed that a smooth control of the exoskeleton can be achieved using a gait phase segmentation based on joint kinematics. Such a segmentation system can be implemented as linear regression and should be personalized for the user after a calibration procedure. In this work, a nonlinear segmentation function based on neural networks is implemented and compared with linear regression. An on-line implementation is then proposed and tested with a subject.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"73 1","pages":"171-178"},"PeriodicalIF":0.0,"publicationDate":"2021-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90818814","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 : 2021-01-29DOI: 10.1007/978-3-030-92442-3_19
Thomas Chaffre, J. Moras, Adrien Chan-Hon-Tong, J. Marzat, K. Sammut, G. Chenadec, B. Clement
{"title":"Learning-based vs Model-free Adaptive Control of a MAV under Wind Gust","authors":"Thomas Chaffre, J. Moras, Adrien Chan-Hon-Tong, J. Marzat, K. Sammut, G. Chenadec, B. Clement","doi":"10.1007/978-3-030-92442-3_19","DOIUrl":"https://doi.org/10.1007/978-3-030-92442-3_19","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"62 1","pages":"362-385"},"PeriodicalIF":0.0,"publicationDate":"2021-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89489978","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 : 2021-01-20DOI: 10.1007/978-3-030-92442-3_2
S. Cacace, A. C. Lai, P. Loreti
{"title":"Constrained Reachability Problems for a Planar Manipulator","authors":"S. Cacace, A. C. Lai, P. Loreti","doi":"10.1007/978-3-030-92442-3_2","DOIUrl":"https://doi.org/10.1007/978-3-030-92442-3_2","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"45 1","pages":"17-31"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85970183","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 : 2021-01-01DOI: 10.5220/0010604202160223
C. Schneider, M. Seizmeir, T. Suchanek, M. Hutter-Mironovová, M. Bdiwi, M. Putz
: In this paper, a suitable measurement setup is presented and applied to conduct force and pressure measurements for transient contact cases with the shoulder at the example of lathe machine tending. Empirical measurements were executed on a selected collaborative robot’s behavior regarding allowable operating speeds under consideration of sensor sensitivity, robot collision geometry, and damping materials. Comparisons between the theoretic calculations proposed in ISO/TS 15066 and the practical measurement results present a basis for future research. With the created database, preliminary risk assessment and economic assessment procedures of collaborative machine tending cells can be facilitated.
{"title":"Empirical Analysis of the Impact of Additional Padding on the Collaborative Robot Velocity Behavior in Transient Contact Cases","authors":"C. Schneider, M. Seizmeir, T. Suchanek, M. Hutter-Mironovová, M. Bdiwi, M. Putz","doi":"10.5220/0010604202160223","DOIUrl":"https://doi.org/10.5220/0010604202160223","url":null,"abstract":": In this paper, a suitable measurement setup is presented and applied to conduct force and pressure measurements for transient contact cases with the shoulder at the example of lathe machine tending. Empirical measurements were executed on a selected collaborative robot’s behavior regarding allowable operating speeds under consideration of sensor sensitivity, robot collision geometry, and damping materials. Comparisons between the theoretic calculations proposed in ISO/TS 15066 and the practical measurement results present a basis for future research. With the created database, preliminary risk assessment and economic assessment procedures of collaborative machine tending cells can be facilitated.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"18 1","pages":"216-223"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75372795","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 : 2021-01-01DOI: 10.5220/0010544200490059
Doris Antensteiner, Vincent Dietrich, Michael Fiegert
Engineering efforts are one of the major cost factors in today’s industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. Through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. These processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.
{"title":"The Furtherance of Autonomous Engineering via Reinforcement Learning","authors":"Doris Antensteiner, Vincent Dietrich, Michael Fiegert","doi":"10.5220/0010544200490059","DOIUrl":"https://doi.org/10.5220/0010544200490059","url":null,"abstract":"Engineering efforts are one of the major cost factors in today’s industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. Through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. These processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"88 1","pages":"49-59"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76582594","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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