Search results for "UI"
showing 10 items of 43725 documents
Adaptive Control of Quantized Uncertain Nonlinear Systems
2017
Abstract This paper proposes a new adaptive controller for uncertain nonlinear systems in presence of quantized input signal and unknown external disturbance. A hysteresis quantizer is incorporated to reduce chattering phenomenon. By proposing a new transformation of the final control signal, using the sector-bound property of the quantizer and introducing a hyperbolic tangent function, the effects from input quantization and external disturbance are effectively compensated and the Lipschitz condition required for the nonlinear functions in the systems is removed. Besides showing global stability, tracking error performance is also established and can be adjusted by tuning certain design pa…
UJI RobInLab's approach to the Amazon Robotics Challenge 2017
2017
This paper describes the approach taken by the team from the Robotic Intelligence Laboratory at Jaume I University to the Amazon Robotics Challenge 2017. The goal of the challenge is to automate pick and place operations in unstructured environments, specifically the shelves in an Amazon warehouse. RobInLab's approach is based on a Baxter Research robot and a customized storage system. The system's modular architecture, based on ROS, allows communication between two computers, two Arduinos and the Baxter. It integrates 9 hardware components along with 10 different algorithms to accomplish the pick and stow tasks. We describe the main components and pipelines of the system, along with some e…
Optimality Conditions for Non-Qualified Parabolic Control Problems
1994
We consider parabolic state constrained optimal control problems where the usual Slater condition is not necessarily satisfied. Instead, a weaker interiority property is assumed. Optimality conditions with a Lagrange multiplier are given. As an application we present an augmented Lagrangian algorithm. Numerical test results are included.
Teleoperation of industrial robot manipulators based on augmented reality
2020
[EN] This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant…
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
2020
Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedb…
Accelerated bearing life-Time test rig development for low speed data acquisition
2017
Condition monitoring plays an important role in rotating machinery to ensure reliability of the equipment, and to detect fault conditions at an early stage. Although health monitoring methodologies have been thoroughly developed for rotating machinery, low-speed conditions often pose a challenge due to the low signal-to-noise ratio. To this aim, sophisticated algorithms that reduce noise and highlight the bearing faults are necessary to accurately diagnose machines undergoing this condition. In the development phase, sensor data from a healthy and damaged bearing rotating at low-speed is required to verify the performance of such algorithms. A test rig for performing accelerated life-time t…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
A methodology for evaluating the flexibility potential of domestic air-conditioning systems
2020
The paper presents a methodology for quantifying the electrical flexibility potential of air-conditioning systems (ACS) installed in residential buildings according to the building envelope characteristics and the ACS performance. In order to provide a thorough analysis of the issue, the ACS baseline consumption referred to the indoor temperature of 24°C has been computed for three typical residential buildings built in the South of Italy over different periods. The baseline consumption was used as a reference to estimate the effect of the set point temperature change on the ACS power profile. The results showed that increasing the set-point temperature of ACS by 2°C and 4°C leads to a redu…
Anti-swing control of a hydraulic loader crane with a hanging load
2021
Abstract In this paper, anti-swing control for a hydraulic loader crane is presented. The difference between hydraulic and electric cranes are discussed to show the challenges associated with hydraulic actuation. The hanging load dynamics and relevant kinematics of the crane are derived to create the 2-DOF anti-swing controller. The anti-swing controller is added to the electro-hydraulic motion controller via feedforward. A dynamic simulation model of the crane is made, and the control system is evaluated in simulations with a path controller in actuator space. Simulation results show significant reduction in the load swing angle during motion. Experiments are carried out to verify the perf…
Body Gestures and Spoken Sentences: A Novel Approach for Revealing User’s Emotions
2017
In the last decade, there has been a growing interest in emotion analysis research, which has been applied in several areas of computer science. Many authors have con- tributed to the development of emotion recognition algorithms, considering textual or non verbal data as input, such as facial expressions, gestures or, in the case of multi-modal emotion recognition, a combination of them. In this paper, we describe a method to detect emotions from gestures using the skeletal data obtained from Kinect-like devices as input, as well as a textual description of their meaning. The experimental results show that the correlation existing between body movements and spoken user sentence(s) can be u…