Informatics in Control, Automation and Robotics (eBook)

Selected Papers from the International Conference on Informatics in Control, Automation and Robotics 2008

Juan Andrade Cetto, Jean-Louis Ferrier, Joaquim Filipe (Herausgeber)

eBook Download: PDF

2009 | 2009
XV, 283 Seiten
Springer Berlin (Verlag)
978-3-642-00271-7 (ISBN)

Infos

The present book includes a set of selected papers from the Fifth International Conf- ence on Informatics in Control Automation and Robotics (ICINCO 2008), held in Funchal, Madeira - Portugal, from 11 to 15 May 2008. The conference was organized in three simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation, and Systems Modeling, Signal Processing and Control. The book is based on the same structure. ICINCO 2008 received 392 paper submissions, from more than 50 different co- tries in all continents. From these, after a blind review process, only 33 where - cepted as full papers, of which 18 were selected for inclusion in this book, based on the classifications provided by the Program Committee. The selected papers reflect the interdisciplinary nature of the conference. The diversity of topics is an important feature of this conference, enabling an overall perception of several important sci- tific and technological trends. These high quality standards will be maintained and reinforced at ICINCO 2009, to be held in Milan, Italy, and in future editions of this conference.

Joaquim B. Filipe is a Coordinator Professor in the Department of Systems and Informatics of the School of Technology of the Polytechnic Institute of Setúbal (EST-Setúbal), currently Head of Department and also the President of the Institute for Systems and Technologies of Information, Control and Communications (INSTICC - http://www.insticc.org).

He holds an M.Sc. degree awarded by the Technical University of Lisbon, Portugal, in 1984, an MBA degree, awarded by the New University of Lisbon in 1995, and a PhD degree, awarded by the School of Computing of Staffordshire University, UK, in 2001.

His main areas of research are situated in the Informatics field, especially in Artificial Intelligence and Multi-Agent System applications with an emphasis on the study of social issues in activity coordination, including agent-based organizational modeling and simulation, where he has been actively involved in several national and international R&D projects. He is also interested in applying Organizational Semiotics to the analysis and development of Information Systems, having participated in several projects for developing e-learning systems and web-based information systems.

Professor Filipe has published over 50 technical papers in the areas of Artificial Intelligence, Agents and Organizational Modeling. He has edited more than 20 books and he is a member of the editorial board of 7 journals. He has been an invited keynote speaker and also served as a member of the program committee, or as a member of the organizing committee, as conference chair or program chair, in more than 30 conferences.

Inhalt

Title page 2
Preface 5
Organization 6
Contents 11
Invited Papers 14
Distributed Technology for Global Control 15
Introduction 15
The World Processing Paradigm 15
The World Processing Language (WPL) 17
Elementary Examples 19
Setting Global Dominance 19
Creating Infrastructures in the Distributed Space 20
Finding Patterns in the Infrastructure 21
WPL Interpreter 22
Emergency Management 23
Sensor Networks 24
Directed Energy Systems 26
Electronic Warfare 28
Avionics 29
Distributed Objects Tracking 30
Collective Behavior 31
Conclusions 35
References 35
Dealing with Uncertainty in the Hybrid World 37
Introduction 37
System Description 39
Interacting Multiple Model Estimation 43
Unconstrained Filter Bank 44
Constrained Filter Bank 44
Discrete Mode Sequence Estimator 46
Computational Issues 47
Uncertainty Analysis 49
Experimental Application 50
Estimation of the Fault in Valve V$_{13}$ 52
Conclusions 56
References 57
Part I Intelligent Control Systems and Optimization 58
Adaptive Fuzzy Controller for Output Power Maximization of Induction Generators 59
Introduction 59
Efficiency Optimization 62
Search Control 62
The Rosenbrock Method 63
The Proposed System 63
The Fuzzy Efficiency Controller 65
Simulation Results 67
Conclusions 69
References 69
Architectural Approach for the Implementation of a Position Control System for a Boat-Like Inspection Robot 71
Introduction 71
Related Work 73
Data Acquisition and Processing 73
Data Processing and Data Flow 73
Implementation of Position Determination 75
Self-tuning Controller 75
Controller Design 75
Implementation 79
Dynamic Quality of Service 79
System Behavior under Real-World Conditions 81
Conclusions 82
References 82
Fast and Compact Encoding of Numerical Controllers Using OBDDs 84
Introduction 84
Ordered Binary Decision Diagrams 86
Boolean Encoding of Numerical Controllers 87
Boolean Encoding of the Controller Table 88
Algorithm for the Logic Encoding of Numerical Controllers 89
Querying the Encoded Controller 89
BDD into C Code Translation 90
Experimental Results 91
Inverted Pendulum Controller 92
Truck and Trailer Obstacles Avoiding Controller 93
Inverted Pendulum on a Cart Controller 94
Conclusions 94
References 95
Part II Robotics and Automation 97
Dynamic-Based Simulation for Humanoid Robot Walking Using Walking Support System 98
Introduction 98
Dynamic Simulation 100
Modeling 101
Controlling 101
Running 101
Walking with Walking Assist Machine 102
Force Sensor 102
Velocity Control 103
Simulation Result 104
Conclusions and Future Work 106
References 107
People Tracking and Identification Using Laser Features and Colour Distributions 108
Introduction 108
TheMethod 110
The Cluster Sorting Algorithm 110
Colour-Based Identity Assignment 113
Experiments 115
Conclusions 118
References 118
Robotic Wheelchair Trajectory Control Considering User Comfort 120
Introduction 120
Control of Wheeled Mobile Robots 121
Kinematic Model of a Unicycle-TypeMobile Robot 121
Trajectory Tracking Model 122
Trajectory Planner 122
Sliding-Mode Controller 123
Human Head-Neck Complex Model and Evaluation of Comfort 125
Model of Head-Neck Complex 125
Time-Domain Calculations 126
Frequency-Domain Calculations 127
Experimental Results 127
Conclusions 131
References 132
Calibration and Comparison of Visual Tracking on the Ground for Multi Camera Tracking 133
Introduction 133
From Image to the Ground 134
Computing the Transformation to Calibrate the Camera 134
Automatic Camera Re-calibration 135
Tracking on the Ground 136
Detection and Tracking 136
Uncertainty Transformation 137
Tuning in Practice 138
Experiments 138
Description 138
Comparative Analysis 139
Using in Practice 141
Conclusions 143
References 144
Mobile Robot Teleoperation via Wireless Multihop Networks - Parameter Tuning of Protocols and Real World Application Scenarios 145
Introduction 145
Hardware and Test Setup 147
Hardware 147
Test Setup 148
Ad-Hoc Routing and Teleoperation 148
Investigated Protocols 148
Rerouting Time and Packet Loss with Standard Parameter Settings 150
Parameter Tuning 152
Variable Protocol Parameters 152
OLSR 152
BATMAN 153
AODV 154
Application Layer 155
Conclusions 156
References 157
Safe Test Flights for Small Rotorcrafts 159
Introduction 159
Experimental Test Bed 160
Helicopter Flying Stand 161
Helicopter and Avionics 162
Ground Control Station 164
Safety 164
Altitude and Hovering Control 165
Fuzzy Controller 165
Control Rules 168
Experimental Results 169
Conclusions 171
References 172
Particle Filter with Temporal Smoothing for Mobile Robot Vision-Based Localization 173
Introduction 173
The Platform 173
RelatedWork 174
Particle Filters 174
Sampling from Observations: The Kidnapped Robot Problem 176
Temporal Smoothing Particle Filter 176
Sensor Smoothing 177
Reducing Incorrect Correlations 178
“Lazy” Resampling 179
Experiments and Results 181
Test Environment 181
Experiments 184
Future Work 186
References 186
Oscillatory Controllers with Recurrent Neural Networks 187
Introduction 187
Vehicle Model 188
Design of the Oscillatory Controller 189
The Oscillatory Recurrent Neural Network Torque Controller 189
Feedback Design of the System 191
Results 193
Conclusions and Discussion 195
References 196
Concept and Design of the Intellwheels Platform for Developing Intelligent Wheelchairs 197
Introduction 197
Related Work 198
Hardware Design 199
User Inputs 200
Sensors 201
Hardware Devices 201
Software Design 202
Control Architecture 203
Experiments and Results 205
Discussion and Conclusions 208
References 208
Part III Signal Processing, Systems Modeling and Control 210
Hybrid Controller for Tracking Systems 211
Introduction 211
System Components 212
Magnetic Actuator 213
Quadrant Diode 213
Modeling of the Plant 213
Modeling of the Block Actuator 214
Modeling of the Block Diode 215
Modeling of the Block Light Path 216
Controller Design 217
Practical Considerations 221
Conclusions 223
References 224
Modeling the Buoyancy System of a Wave Energy Power Plant 225
Introduction 225
Dynamic Model of the Buoyancy System 226
One Chamber Dynamic Model 228
Five-Chamber Dynamic Model 230
Simulation 232
Conclusions 234
References 234
Outbreaks Detection at the Beginning of Monitoring Process: The CUSUM Test Modification 235
Introduction 235
Standard BDE CUSUM Test 236
Modified CUSUM Test 237
“Penalized” CUSUM Test (PCUSUM) 237
PCUSUM Test Boundaries 239
Monte Carlo Study 240
Conclusions 242
References 243
A NovelWearable Instrumentation System for Bomb Disposal Suits 244
Introduction 244
Related Work 245
Body Sensor Networks—Platforms 246
Instrumenting First Responders 247
OtherWork on EOD Suits 247
System Design and Architecture 248
Sensor Packages and Sensor Positioning 249
Processing and Actuation Nodes 250
Remote Monitoring 250
Prototype Evaluation 251
Experimental Setup 251
Evaluation Results 252
Data Analysis 254
Conclusions and Future Work 255
References 256
Hybrid Modeling for Set-Membership State Estimation with Uncertain Nonlinear Continuous-Time Systems 257
Introduction 257
Problem Statement 258
Some Definitions of Interval Analysis 258
Context of Set-Membership State Estimation 259
Principle: Prediction-CorrectionMethod 259
M/"{u}ller’s Theorem 261
Hybrid Bracketing System 262
Application 263
Model 263
Building Hybrid Bracketing System 264
Results of Simulation 266
Conclusions 267
References 268
An Embedded Attitude and Heading Reference System Based on a Nonlinear Filter 269
Introduction 269
The Physical System 270
Motion Equations 270
Measurements 270
The Model 271
The Nonlinear Observer 271
Invariance of the System Equations 271
The General Invariant Observer 272
The Invariant Error System 273
Design of $L,M,N,O$ 274
Local Design 274
Global Design 276
Effects of Disturbances 277
Experimental Validation 278
Comparison with a Commercial Device (Fig. 1(a)–1(d)) 279
Influence of the Observer Correction Terms (Fig. 1(e)) 279
Acceleration Disturbance: $/ V /neq$ (Fig. 1(f)) 281
Implementation on an 8-Bit Microcontroller 281
Appendix: Quaternions 281
References 283
Author Index 284

Produkt-Details

• Erscheint lt. Verlag: 1.4.2009
• Reihe/Serie: Lecture Notes in Electrical Engineering
• Zusatzinfo: XV, 283 p.
• Verlagsort: Berlin
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Informatik
• Themenwelt: Mathematik / Informatik ► Mathematik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: Automation • Control • Fuzzy Control • Fuzzy Controller • Informatics • Mobile Robot • Modeling • neural network • Optimization • robot • Robotics • Robot vision • Simulation • Wave Fields
• ISBN-10: 3-642-00271-4 / 3642002714
• ISBN-13: 978-3-642-00271-7 / 9783642002717