Informatics in Control, Automation and Robotics (eBook)

13th International Conference, ICINCO 2016 Lisbon, Portugal, 29-31 July, 2016

Kurosh Madani, Dimitri Peaucelle, Oleg Gusikhin (Herausgeber)

eBook Download: PDF

2017 | 1st ed. 2018
XVII, 441 Seiten
Springer International Publishing (Verlag)
978-3-319-55011-4 (ISBN)

Infos

The book addresses the latest advances in research and development in the field of informatics in control, robotics and automation. With more than twenty revised and extended articles covering the theoretical aspects as well as applications and their implementation, it offers a factual and well-balanced overview of the state of the art in the field. In addition, it highlights the trends in control of intelligent robots.

The book is an up-to-date source of information and inspiration for researchers, engineers and PhD students.

Inhalt

Preface 6
Organizing Committee 8
Contents 16
Intelligent Control Systems and Optimization 19
A Method for the Energy Optimization of a Multisource Elevator 20
1 Introduction 21
2 Formal Description of the Sourcing Problem 21
3 Related Work 24
4 Coupled Optimizer and Controller to Handle Different Time Scales 25
4.1 Data and Interactions 26
4.2 Strategic Optimizer 28
4.3 Local Controller 33
5 Results 36
5.1 A Typical Strategy 36
5.2 Strategic Controller Error Induced by Aggregating Periods 37
5.3 Local Controller Parametrizations 40
5.4 Interaction with an Aggregator, a Demand-Response Market Simulation 42
6 Conclusions 45
References 46
Visual Servoing Path-Planning with Elliptical Projections 47
1 Introduction 47
2 Background 49
2.1 Camera Frame 49
2.2 Elliptical Projections 50
2.3 Image Moments 51
3 Pose Estimation from Image Moments 52
4 Polynomial Minimization 54
4.1 Path Parametrization and Polynomial Model 54
4.2 Constraints and Limitations 57
4.3 Tracking the Planned Elliptical Projections 63
5 Evaluation Examples 64
5.1 Following a Straight Line with Two Circles 64
5.2 Occlusion Avoidance Among Three Spheres 67
6 Conclusions 70
References 70
Fractional Models of Lithium-Ion Batteries with Application to State of Charge and Ageing Estimation 72
1 Introduction 72
2 Electrochemical Model Considered 73
3 From the Electrochemical Model to a Fractional Dynamic Model 76
4 Parameters Estimation 77
4.1 Open Circuit Voltage Law Identification 78
4.2 Estimation of Parameter K2 78
4.3 Estimation of Parameter K1 79
4.4 Identification of Parameter c 80
5 Model Validation 80
6 State-of-Charge Estimation 81
7 Aging Monitoring Through Open Circuit Voltage (OCV) Curve Modelling and Adjustment 84
8 Model Parameter Adjustment as Ageing 85
9 Conclusion 87
References 87
Co-operation of Biology Related Algorithms for Solving Opinion Mining Problems by Using Different Term Weighting Schemes 90
1 Introduction 90
2 Co-Operation of Biology Related Algorithms 91
3 Data Mining Tools with Co-Operation of Biology Related Algorithms 94
3.1 Artificial Neural Networks 94
3.2 Support Vector Machines 95
3.3 Fuzzy Rule-Based Classifiers 95
4 Term Relevance Estimation 97
5 Experimental Results 98
6 Conclusions 105
References 106
Bifurcation Analysis and Active Control of Surge and Rotating Stall in Axial Flow Compressors via Passivity 108
1 Introduction 109
2 Axial Compressors Models 111
2.1 MG3 for CSACs 111
2.2 Surge and Rotating Stall Simulation 115
2.3 Bifurcation Analysis of MG3 116
2.4 MG3 Model Including CCV 119
3 Passivity-Based Control 122
4 PBC Design for MG3 124
5 Results and Discussion 126
6 Conclusion 131
References 131
Task Controller for Performing Remote Centre of Motion 134
1 Introduction 134
2 Control Design 136
2.1 Remote Center of Motion Constraints 136
2.2 3D Path Following 140
3 Validation 142
3.1 Implementation 142
3.2 Results 144
4 Conclusion 146
References 148
Toward an Automatic Fongbe Speech Recognition System: Hierarchical Mixtures of Algorithms for Phoneme Recognition 150
1 Introduction 150
2 Overview of the Proposed System 151
3 Speech Data 151
4 Continuous Speech Segmentation 153
5 Classification of the Detected Phonemes 157
6 Recognition of the Classified Phonemes 158
6.1 Formant Analysis of Vowels 159
6.2 Fongbe Consonant System 160
6.3 Baseline Phoneme Recognition System 162
7 Experiments Results 163
8 Conclusion 165
References 165
Robotics and Automation 167
Spatial Fusion of Different Imaging Technologies Using a Virtual Multimodal Camera 168
1 Introduction 168
2 Related Work 170
3 Notation 172
4 Virtual Multimodal Camera 173
4.1 Preprocessing 174
4.2 Intermodal Calibration 175
4.3 Time Synchronization 177
4.4 Mapping 178
4.5 Reprojection 178
5 Parallelization 179
6 Experiments 180
6.1 Experimental Setup 180
6.2 Intrinsic and Extrinsic Calibration 181
7 Results 181
7.1 Calibration 182
7.2 Processing Time 183
7.3 Virtual Multimodal Camera 184
7.4 Limitations 185
8 Conclusion and Further Work 187
References 187
Fusing LiDAR and Radar Data to Perform SLAM in Harsh Environments 190
1 Introduction 190
2 Methods 191
2.1 The MPR - A 2D FMCW Radar Scanner 191
2.2 Comparing the MPR 193
2.3 SLAM Based on Features with LiDAR and Radar 194
2.4 SLAM Based on Scan Registration 197
3 Experiments 199
4 Results and Discussion 200
5 Conclusion 202
References 203
On Redundancy Resolution in Minimum-Time Trajectory Planning of Robotic Manipulators Along Predefined End-Effector Paths 205
1 Introduction 205
2 Problem Description 206
2.1 Kinematically Redundant Manipulators 206
2.2 Optimal Trajectory Planning for Prescribed End-Effector Paths 207
3 Path Following 208
3.1 Differential Inverse Kinematics 208
3.2 Optimal Nullspace Basis Scaling 210
3.3 Joint Space Decomposition 211
4 Example 212
4.1 Kinematic and Dynamic Model 212
4.2 Error Stabilization, Jacobian Regularization 213
4.3 Task 214
4.4 Direct Multiple Shooting Trajectory Optimization 214
4.5 Results 217
5 Conclusion 220
References 220
Parameter Identification and Model-Based Control of Redundantly Actuated, Non-holonomic, Omnidirectional Vehicles 222
1 Introduction 222
2 Platform Kinematics 224
3 Dynamic Modeling 226
3.1 Redundantly Parametrized Equations of Motion 226
3.2 Elimination of Constraint Forces 228
4 Model-Based Control 231
4.1 Inverse Dynamics and Redundancy Resolution 231
4.2 Augmented PD-Control 232
5 Parameter Identification 233
5.1 Parameter Specification and Model Reformulation 234
5.2 Base Parameters and Trajectory Optimization 235
5.3 Estimation Experiment 236
6 Experimental Results 239
7 Summary and Outlook 242
References 243
Passivity-Based Control Design and Experiments for a Rolling-Balancing System 245
1 Introduction 245
2 Port-Hamiltonian Systems 247
2.1 Hamiltonian Models 247
2.2 Energy Shaping and Damping Assignment 247
3 Control Design for the Disk-on-Disk 248
3.1 Dynamic Model 248
3.2 Energy Shaping and Damping Assignment Control 250
3.3 Effect of Input Disturbances 252
3.4 Robust Energy Shaping 252
4 Simulations and Experiments 255
4.1 Standard IDA-PBC 256
4.2 IDA-PBC Plus IA 257
4.3 IDA-PBC Plus NLPI 258
4.4 IDA-PBC Plus NLPID1 260
4.5 IDA-PBC Plus NLPID2 261
4.6 Tracking Angle Ramp References for the Disk 1 263
4.7 Discussion 265
5 Conclusion 268
References 269
Time-Optimal Paths for a Robotic Batting Task 271
1 Introduction 271
1.1 Overview and Outline of the Paper 272
2 State of the Art About the Robotic Batting Primitive 273
3 Hybrid Dynamic Equations of the System 274
4 Time-Optimal Prediction 276
4.1 Workflow of the Algorithm 276
4.2 Stage 1: Prediction of the Impacting Time, Position and Velocities of the Ball 278
4.3 Stage 2: Desired Configuration of the Paddle at Impact 280
5 Minimum Acceleration Path in SE(3) 280
5.1 Brief Background About Differential Geometry 281
5.2 Optimized Path Planning in SE(3) 282
6 Simulations 283
6.1 Evaluation of the Batting Motion Planner with a Predefined Impact Time 284
6.2 Evaluation of the Optimal Impact Time Prediction 285
6.3 Discussion on the Minimum Acceleration Planner 288
7 Conclusions and Future Work 288
References 289
An Adaptive Terminal Sliding Mode Guidance Law for Head Pursuit Interception with Impact Angle Considered 292
1 Introduction 292
2 Related Work 293
3 Overview of Head Pursuit Interception 295
3.1 Head Pursuit Interception Principles 295
3.2 Hp Kinematic Equation 296
4 The Stage of Approach 298
4.1 Dynamics 298
4.2 Sliding Mode Surface Design 298
4.3 Guidance Law Design 299
4.4 Stability Proof 300
5 Numerical Simulations and Their Analysis 301
6 Conclusions 305
References 306
Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion 308
1 Introduction 308
2 Problem Statement 310
3 Kinematic Approach 311
3.1 Dynamic Programming Method for Swing Leg Trajectory Optimization 311
3.2 Trapezoidal Angular Velocity Profile Method 322
4 Dynamic Approach 324
4.1 Walking Gait Parametrization 325
4.2 Inverse Kinematics 326
4.3 Inverse Dynamics 326
4.4 Motion Stability 327
4.5 Gait Optimization 327
4.6 Optimization Results 328
5 Conclusions 331
References 332
Signal Processing, Sensors, Systems Modelling and Control 336
Identification and Control of the Waelz Process Using Infrared Image Processing 337
1 Introduction 337
2 Camera Based Temperature Measurement 339
3 Image Processing 340
4 Camera Based Process Identification 343
4.1 Model Structure 344
4.2 Parameter Estimation 346
4.3 Model Validation 348
5 Camera Based Slag Temperature Control 349
5.1 Model Based Controller Design 349
5.2 Controller Parameter Optimization 351
5.3 Industrial Controller Validation 354
6 Conclusion 354
References 355
Modeling and Calibrating Triangulation Lidars for Indoor Applications 356
1 Introduction 356
2 Triangulation Lidar Range Sensors 359
3 Modelling the Lidar Measurements Under the Hypothesis of Flat and Perpendicularly Aligned Obstacles 360
3.1 Motivating the Nonlinear term f() in Model (1) 361
3.2 Motivating the Multiplicative Term f(dk)2 in Model (1) 362
3.3 Calibrating Model (1) 363
3.4 An Approximate Procedure for Calibrating Model (1) 364
3.5 Using the Calibrated Model (1) to Estimate dk 365
4 Extending Model (1) to Account for Non-null Incident Angles Effects 366
4.1 Verifying if the Sensor Measurement Process Is Influenced by Incidence Angle Effects 366
4.2 Extending Model (1) 367
4.3 Training Model (23) 368
4.4 Testing Model (23) 370
5 Numerical Experiments 373
5.1 Calibration and Testing Under Null Incidence Angles Hypotheses 373
5.2 Calibration and Testing Under No Hypotheses on the Incidence Angles 374
6 Conclusions 377
References 378
A Comparison of Discretization Methods for Parameter Estimation of Nonlinear Mechanical Systems Using Extended Kalman Filter: Symplectic versus Classical Approaches 381
1 Introduction 381
2 Methods 383
2.1 Extended Kalman Filter 383
2.2 Discretization Methods 384
3 Testbed and Modeling 386
4 Results 390
4.1 Comparison of Continuous- and Discrete-Time Model 390
4.2 Parameter Estimation 394
5 Conclusion 396
References 397
Dynamics Calibration and Real-Time State Estimation of a Redundant Flexible Joint Robot Based on Encoders and Gyroscopes 399
1 Introduction 399
1.1 System 400
1.2 Problem Statement 401
1.3 Contribution 402
2 Related Work 402
3 Model 403
3.1 Kinematics 403
3.2 Dynamics - Elastic Joint Model 403
3.3 Extended Model 405
4 Measurement Functions 406
4.1 Calibration Parameters 406
4.2 Measurements 407
4.3 Extended Calibration 409
5 Evaluation 410
5.1 Initial Guess 412
5.2 Verification 413
6 State Estimation 417
6.1 Evaluation 420
6.2 Ball Batting Example 422
7 Conclusion 422
References 423
Mathematical Model for the Output Signal's Energy of an Ideal DAC in the Presence of Clock Jitter 424
1 Introduction 424
2 Signal's Energy at the Output of a d-dimensional Ideal DAC 426
3 Applications of ``Annihilate Operators'' to the Ideal DAC Model 428
4 Conclusions 434
References 435
Stochastic Integration Filter with Improved State Estimate Mean-Square Error Computation 437
1 Introduction 437
2 State Estimation 438
2.1 Formulation of Nonlinear State Estimation Problem 439
2.2 General Solution to State Estimation and State Estimation Methods 439
2.3 Gaussian Filters 440
3 Stochastic Integration Filter 441
3.1 Stochastic Integration Rule 441
3.2 Stochastic Integration Rule of Third and Fifth Degree 441
3.3 Properties of SIR 442
3.4 Algorithm of SIF 444
4 Improved Calculation of MSE by SIF 444
4.1 Theoretical Values of the MSE 444
4.2 Evaluation of Error Terms 447
5 Numerical Illustrations 448
5.1 Scalar Example 448
5.2 Bearing-Only Tracking Example 449
6 Conclusions 452
References 453
Appendix Author Index 454
Index 454

Produkt-Details

• Erscheint lt. Verlag: 2.11.2017
• Reihe/Serie: Lecture Notes in Electrical Engineering
• Zusatzinfo: XVII, 441 p. 206 illus., 164 illus. in color.
• Verlagsort: Cham
• Sprache: englisch
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• Schlagworte: Industrial Engineering, Production and Management • Informatics in Control, Automation and Robotics • Intelligent Control Systems and Optimization • Robotics and Automation • Signal Processing, Sensors, Systems Modelling and Control
• ISBN-10: 3-319-55011-X / 331955011X
• ISBN-13: 978-3-319-55011-4 / 9783319550114