Informatics in Control, Automation and Robotics

Name: Informatics in Control, Automation and Robotics | 17th International Conference, ICINCO 2020 Lieusaint - Paris, France, July 7-9, 2020, Revised Selected Papers
Brand: Springer
Price: 234.33 EUR
Availability: OnlineOnly

17th International Conference, ICINCO 2020 Lieusaint - Paris, France, July 7-9, 2020, Revised Selected Papers

Oleg Gusikhin Kurosh Madani Janan Zaytoon(Editor)

Springer (Publisher)

Published on 1. January 2022

XV, 632 pages

E-Book

PDF with digital watermarking

System requirements

978-3-030-92442-3 (ISBN)

€234.33incl. 7% vat

System requirements

for PDF with digital watermarking

E-Book Single Licence

Available for download

Description

More details

Other editions

Content

Intro
Preface
Organization
Conference Co-chairs
Program Chair
Program Committee
Additional Reviewers
Invited Speakers
Contents
Mini-Sym 4.0. a Novel Simulation Tool to Calculate Real-time Production Line Productivity
1 Introduction
2 From the Micro-term to the Long-term
3 Characterization of Mini-term Deterioration in a Real Welding Station
3.1 Pathologies Analysed
3.2 Experimental Test
4 Welding Line, Modelling and Simulation
5 Welding Line Simulation
5.1 Definition of the Simulation Tool
5.2 Definition of the Simulation Tool
5.3 Calculation of Engineering Running Rate for Each Model
5.4 Calculation of Engineering Running Rate Based on Production
5.5 Discussion
6 Conclusions and Future Works
References
Constrained Reachability Problems for a Planar Manipulator
1 Introduction
2 A General Optimal Control Problem for Constrainded Reachability
3 Exact and Approximated Distance Formulas for Obstacles
3.1 Distance Formulas from the Ellipse
3.2 Distance Function from General Obstacles
4 Optimal Control of a Class of Hyper-redundant Manipulators
4.1 The Model
4.2 Optimal Reachability with Obstacle Avoidance
5 Optimal Control of a Class of Soft Manipulators
5.1 The Model
5.2 Optimal Reachability with Obstacle Avoidance
References
Influence of Mechanical Failures of the Welding Gun on the Magnetic Field Generated in the Measurement of Misalignment
1 Introduction
2 Materials and Methods
3 Results and Discussion
3.1 Simulation 1: Magnetic Field Generated by Electrodes with Constant Geometry
3.2 Simulation 2: Variation of the Diameter of the Active Face of the Electrode
3.3 Simulation 3: Variation of Electrode Cone Height
3.4 Simulation 4: Inadequate Welding Gun Equalization - Bad Configuration of TCP
4 Conclusion
References
Alternating Implicit and Semi-implicit Iterations in the Periodic QZ Algorithm
1 Introduction
2 Applications
2.1 Periodic Dynamical Systems
2.2 Cyclic Matrices and Matrix Pencils
2.3 Skew-Hamiltonian/Hamiltonian Eigenvalue Problems
2.4 Quadratic Sector Bounds
3 Basics of the pQZ Algorithm
4 Semi-implicit Approach
4.1 Purely Semi-implicit Approach
4.2 Algorithmic Details
4.3 Convergence Issues
4.4 Alternating Implicit and Semi-implicit Iterations
5 Numerical Results
5.1 Summary of the Tests
5.2 Numerical Results Using the Combined Approach
6 Conclusions
References
A Multi-model Based Centralized MPC on the Quadruple-tank with Guaranteed Stability
1 Introduction
2 Preliminaries
2.1 System Dynamics
2.2 Multi-model System
2.3 Multi-controller Implementation
3 Control Policy
3.1 Model Predictive Controller
4 Quadruple-tank Benchmark
4.1 Description of the Benchmark
4.2 Multi-modeling of the Benchmark
5 Result
6 Conclusion
References
Control of COD Flow to a Waste Water Treatment Plant
1 Introduction
2 Case Study: Fredericia Sewer System
3 Control Concept for the Buffer Tank
4 Modelling The Sewer System
4.1 Tank Model
4.2 Estimation Of Industrial Inflow
5 Control of the Buffer Tank Output
6 Simulations
7 Conclusion
References
Towards Fully Automated Inspection of Large Components with UAVs: Offline Path Planning and View Angle Dependent Optimization Strategies
1 Introduction
2 Related Work
3 Concept
3.1 Point of Interest
3.2 Viewarea and Viewpoint
3.3 Viewpoint Optimization
3.4 Key-Viewpoints
3.5 Trajectory-Planning
4 Implementation
4.1 Software Architecture
4.2 Viewpoint-Planning
4.3 Trajectory-Planning
5 Evaluation
5.1 Viewarea and Viewpoint-Planning
5.2 Trajectory-Planning
5.3 Ant-Colony-System
6 Conclusion
References
A Novel Gradient Feature Importance Method for Neural Networks: An Application to Controller Gain Tuning for Mobile Robots
1 Introduction
2 Analysis Method
2.1 Preliminaries
2.2 Feature Importance Using Temporal Permutation
2.3 Feature Importance Using the Gradient
3 Experimental Setup
3.1 Robotic Model and Simulation
3.2 Gain Prediction Model and Training
3.3 Feature Importance for Robotic Control
4 Simulated Results
4.1 Baseline
4.2 Gain Adaptation
4.3 Improving Control Law
5 Analysis of a Gain Prediction Model for Real World Experiments
5.1 Gain Prediction Model
5.2 Experimental Results
5.3 Gradient Feature Importance
6 Conclusion
References
A Discrete-Time Adaptive Fault-Tolerant Control Allocation Schemes for Overactuated Vehicles
1 Introduction
2 Problem Statement
3 Proposed Scheme
4 Illustrative Examples
4.1 Marine Surface Vehicle (Examples 1-2)
4.2 Autonomous Underwater Vehicle (n=6,p=9) (Example 3)
4.3 Networked Pipeline (Example 4)
5 Conclusions
References
Task-Specific Loss: A Teacher-Centered Approach to Transfer Learning Between Distinctly Structured Robotic Agents
1 Introduction
2 Related Works
3 From CoachGAN to TSL
3.1 The CoachGAN Principle
3.2 Intermediate State Variable
3.3 CoachGAN Results and Analysis
4 The Task-Specific Loss Method
4.1 Learning in the TSL Framework
4.2 Transfer in the task specific loss framework
5 Experimental Setup
5.1 Tasks and Agents
5.2 Models
6 Results
6.1 Circle to Circle Contour Displacement
6.2 Tennis Task
6.3 Training Time and Assistive Aspects
7 Conclusion
References
Closing the Gap: Combining Task Specification and Reinforcement Learning for Compliant Vegetable Cutting
1 Introduction
2 Related Work
3 Approach
4 Evaluation
5 Conclusions
References
Evaluating the Robustness of New Holistic Description Methods in Position Estimation of Mobile Robots
1 Introduction
2 Related Work
3 Holistic Descriptors
3.1 Histogram of Oriented Gradients
3.2 Gist
3.3 Main Parameters That Impact on the Size of the Descriptor
4 Database
5 Experiments
5.1 Model of the Environment
5.2 Position Estimation
5.3 Computational Cost
6 Conclusions
References
A Localization Approach Based on Omnidirectional Vision and Deep Learning
1 Introduction
2 State of the Art
3 The Freiburg Dataset
4 Development of the CNN
5 Localization by Using the CNN
6 Experiments
6.1 Analyzing Holistic Descriptors
6.2 Use of a Hierarchical Localization Method
7 Conclusions and Future Works
References
Low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone
1 Introduction
2 Mathematical Formulation
2.1 Natural Frequencies and Mode Shape of Clamped-Free Boundary Conditions
3 Energy Analysis
3.1 Energy Accumulated By the Cantilever Beam Carrying a Point Mass
3.2 Energy Dissipated By the Damping Constant of the Cantilever Beam Carrying a Point Mass
4 Test Platform
4.1 Mechanical Design
4.2 Electronics
5 Control of the System
6 Experimental Results
7 Conclusions
References
Simulation Study of Electric Vehicles at Fuzzy PID Control of Braking Torque
1 Introduction
2 Review of Related Studies
3 Modelling of the Braking Vehicle
4 Estimation of Wheel Slip and Tire-Road Friction
5 Friction-Slip and Torque-Slip Gradient Control
6 Models of Drives
7 Torque Allocation Strategy
8 Design of a Fuzzy Logic Controller
9 Design of a Fuzzy PID Controller
10 Hardware-in-the-Loop Experimentation
11 Comparative Study of Simulation and Experimental Results
12 Conclusion
References
Virtual Adjustable Joint Stiffness Toward a Safer Human/Robot Interaction
1 Introduction
2 Modeling
2.1 Building The Robot Model
2.2 Introducing Joint Flexibility
3 Torques and Forces Estimators
4 Control
5 Simulation Results
6 Comparative Discussions
6.1 Simulation
6.2 Application
6.3 Semi-flexible Medium
6.4 Phantom Medium
7 Conclusion
References
Equilibrium Configurations of Compliant Tensegrity Mechanism Based on Planar Dual-Triangles
1 Introduction
2 Analysis of a Single Segment Mechanism
2.1 Geometrical Model and Static Equilibrium Equation
2.2 Equilibrium Configurations and Their Stability
2.3 Controlling Mechanism Configurations
3 Analysis of a Two-Segment Mechanism
3.1 Stiffness Analysis of a Straight Configuration
3.2 Stiffness Analysis of Non-straight Configurations
3.3 Controlling Mechanism Configurations
4 Conclusion
References
Longitudinal and Lateral Control with a Global Estimation for a Convoy of Autonomous Vehicles in Urban Transport Areas
1 Introduction
2 Modeling
2.1 Dynamic Model
2.2 State Model
2.3 Convoy Motion
3 Longitudinal and Lateral Control
3.1 Longitudinal Control
3.2 Lateral Control
4 Estimation
4.1 Expression Of the Observer
4.2 Convergence Study
5 Validation
6 Conclusion
References
Learning-Based vs Model-Free Adaptive Control of a MAV Under Wind Gust
1 Introduction
2 Related Work
2.1 Model-Based Adaptive Control
2.2 Model-Free Adaptive Control
2.3 Learning-Based Adaptive Control
3 MAV Simulation, Modeling and Control
3.1 RotorS Package
3.2 MAV Model
3.3 Controller Parametrization
4 Methodology
4.1 Soft Actor-Critic
4.2 Experience Replay
4.3 Application to the Model-Free Controller
4.4 Application to the Learning-Based Controller
5 Results
6 Conclusions
References
Solution of the Forward Kinematics of Parallel Robots Based on Constraint Curves
1 Introduction
2 Forward Kinematics of the 3UPS-PU Robot
3 The Constraint Curves
3.1 Intersection with Vertical Lines (Constant )
3.2 Intersection with Horizontal Lines (Constant )
4 Scanning the Constraint Curves to Find Solutions
4.1 Step 1: Sampling the Constraint Curves
4.2 Step 2: Sorting the Point Cloud
4.3 Step 3: Searching Solutions
5 Example and Discussion: Real Solutions of 3UPS-PU
6 Extension to the Complex Domain
7 Example with Another Robot: 3RRR Parallel Robot
8 Conclusions and Future Work
References
Centimeter-Scaled Self-assembly of a Chessboard Pattern
1 Introduction
1.1 Theory of Tile-Based Self-assembly
1.2 Physical Realizations of Tile-Based Assembly Systems
1.3 Content
2 Contributions
3 Methodology
3.1 Our Theoretical Framework
3.2 Physical Realization of the Tile Assembly System
3.3 Design of Experiments
4 Results
4.1 Qualitative Analysis of Self-assembly Mechanisms
4.2 Quantitative Analysis
5 Conclusion
References
3D Sound Source Mapping Using Interval-Based Methods
1 Introduction
1.1 Motivation
1.2 Related Work
2 Mathematical Background
2.1 Introduction to Interval Analysis
2.2 Usage of Interval Analysis in SSM
3 Methodology
3.1 Problem Formulation
3.2 Sound Source Mapping Approach (IB-SSM)
3.3 Uncertainty of the Microphone Positions
3.4 Time Differences: Overview
3.5 Time Difference: Bases on Direction Measurement
3.6 Time Difference: Based on Acoustic Signals (InTiD)
4 Evaluation
4.1 Simulation Environment and Configuration
4.2 Simulation Evaluation: Time Differences
4.3 Simulation Evaluation: Feasibility Multiple Sound Sources
4.4 Simulation Evaluation: Influence Different Parameter
4.5 Experiment in a Real Environment
5 Conclusion
References
Satisfaction of Modeling Requirements for Intelligent Navigation Systems: Risk Management Context
1 Introduction
2 Modern ITS Architecture Complexity-Issued Challenges
3 Second Order Set-Membership TTC for Car-Following Scenario
4 Quantification of Communication Delays
4.1 Inter-vehicular Communication Delays
4.2 In-vehicular Communication Delays
5 Solving Quadratic Interval Polynomial
6 Correlation-Based Optimization Step
7 Simulation Results
7.1 Test Scenario and Simulation Setups
7.2 Quantification of Intra/Inter-vehicular Communication Delays
7.3 Simulation Results and Discussion
8 Conclusion
References
Model Free Error Compensation for Cable-Driven Robot Based on Deep Learning with Sim2real Transfer Learning
1 Introduction
2 System Overview
2.1 Cable-Driven Robot Description
2.2 Modelling Environment: Unity Robot Simulation
2.3 Sim2real Transfer Learning with Deep Learning
3 Implementation and Results
3.1 Unity Model Compensation
3.2 Unity Model Transfer Learning
3.3 Real Robot Compensation
3.4 Real Robot to Real Robot with Different Mass Compensation
3.5 Unity Simulation to Real Robot Transfer Learning
3.6 Environmentally Invariant Model
4 Conclusions
References
Non-linear MPC for Longitudinal and Lateral Control of Vehicle's Platoon with Insert and Exit Manoeuvres
1 Introduction
1.1 Vehicle's Platoon
2 Longitudinal and Lateral Control Model
2.1 Kinematic Model
2.2 Dynamical Model
3 Trajectory Planning
4 Non-Linear MPC (NLMPC)
5 Merge and Exit Manoeuvres
5.1 Merge
5.2 Exit
6 Simulations and Results
6.1 Simulation 1: Merge of a New Vehicle
6.2 Simulation 2: Exit of a Vehicle
7 Conclusions
References
Functional Model-Based Arbitration Strategies Between System Missions: An Application to the Electric Vehicle
1 Introduction
2 Modeling Methodology for Supervisor Architecture Design
2.1 Teleological Modeling
2.2 Functional Modeling
2.3 Multi-physical Modeling
2.4 Interconnections Between the Three Levels of Modeling
3 Application to Electric Vehicle
3.1 Motivations
3.2 System Description
3.3 Teleological Modeling for Energy Management
4 Simulation Results
4.1 Functional Model Simulation
4.2 Functional Model Driven by the Teleological Requirements
4.3 Energy Management of the Whole Electric Vehicle
5 Conclusion
References
Wide Operating Range Current Loop Stability Analysis of a VIENNA-type Three-Phase Rectifier for a Medical Imaging System Power Supply
1 Introduction
2 Rectifier Modelling and Control
2.1 Rectifier Topology
2.2 Rectifier Modelling
2.3 Rectifier Control
3 Model Validation
4 Current Loop Analysis
4.1 Monovariable Current Loop Stability
4.2 Current Loop Controllability
5 Current Loop Stability Analysis for All Operating Points
5.1 Monovariable Stability Analysis
5.2 Multivariable Stability Analysis
6 Frontier Between CCM and DCM
7 Conclusions
References
Algorithm for Robustness Estimation of Large Deviations in Linear Discrete-Time Systems
1 Introduction
2 Assessment of the Upper Bound of Large Deviations
3 Comparison of the Proposed Method and LMI Technique
4 Deviations in Discrete-Time Systems with Control Signal Delay
5 Robustness Estimation
6 Algorithm for the Robustness Estimation of the Upper Bound of Large Deviations
7 Robustness Estimation of Deviation Under Uncertainty of Delay in Control
8 Example
9 Conclusions
References
Sliding Modes and Lyapunov Functions for Differential Inclusions by Linear Programming
1 Introduction
2 Switched Systems and Differential Inclusions
3 Triangulations and CPA Functions
3.1 Triangulations
3.2 The System Considered
3.3 Estimates
4 The Algorithms
4.1 Computing Essential Neighbours
4.2 Parameterizing CPA Lyapunov Functions
5 Examples
5.1 Example 1
5.2 Example 2
5.3 Example 3
6 Conclusions
References
Automatic Domain Extension and Optimization Based on Set-Theory
1 Introduction
2 Related Work
3 Theoretical and Algorithmic Foundation
3.1 Declarative Knowledge
3.2 Procedural Knowledge
3.3 Hierarchical Planning Algorithm
4 Algorithmic Domain Optimization for Hierarchical Planning
4.1 Automatic Alignment of a Domain
4.2 Extended Unit Conversion and Reasoning for Data Fusion
5 Experiment
6 Conclusions
References
Author Index

System requirements

Save as PDF Copy link into clipboard

Schweitzer Fachinformationen

Informatics in Control, Automation and Robotics

Description

More details

Other editions

Additional editions

Content

System requirements