Search results for "automatic"
showing 10 items of 730 documents
Off-line Programming and simulation for automatic robot control software generation
2007
In this paper an off-line programming approach for welding robots is presented. The approach is based on the integration of a software tool for robot simulation and an user-friendly interface for automatic generation of the control program. The user can graphically arrange the components in a robotic work-cell and simulate the movements and operations of robotic arms before converting motions and operating sequences in controller-specific tasks. This methodology guarantees high level of flexibility of the robotic system when high variety of work-pieces needs to be welded. The approach has been implemented and tested in a real welding work-cell.
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
Active Disturbance Rejection Control of Synchronous Reluctance Motors
2020
This paper describes how the ADRC (Active Disturbance Rejection Control) strategy can be successfully applied to SynRM (Synchronous Reluctance Motor) drives. The ADRC is an adaptive robust extension of the input-output Feedback Linearization Control (FLC). Its main feature is that the nonlinear transformation of the state is computed on-line and not by using the model. As a consequence, any unmodelled dynamics or uncertainty of the parameters can be addressed. The control strategy has been verified successfully with experimental tests confirming the high dynamic response of the drive.
Optimizing PolyACO Training with GPU-Based Parallelization
2016
A central part of Ant Colony Optimisation (ACO) is the function calculating the quality and cost of solutions, such as the distance of a potential ant route. This cost function is used to deposit an opportune amount of pheromones to achieve an apt convergence, and in an active ACO implementation a significant part of the runtime is spent in this part of the code. In some cases, the cost function accumulates up towards 94 % in its run time making it a performance bottle neck.
Fully automatic multispectral MR image segmentation of prostate gland based on the fuzzy C-means clustering algorithm
2017
Prostate imaging is a very critical issue in the clinical practice, especially for diagnosis, therapy, and staging of prostate cancer. Magnetic Resonance Imaging (MRI) can provide both morphologic and complementary functional information of tumor region. Manual detection and segmentation of prostate gland and carcinoma on multispectral MRI data is not easily practicable in the clinical routine because of the long times required by experienced radiologists to analyze several types of imaging data. In this paper, a fully automatic image segmentation method, exploiting an unsupervised Fuzzy C-Means (FCM) clustering technique for multispectral T1-weighted and T2-weighted MRI data processing, is…
Performance and Delay Analysis of Hybrid ARQ With Incremental Redundancy Over Double Rayleigh Fading Channels
2014
In this paper, we study the performance of hybrid automatic repeat request (HARQ) with incremental redundancy over double Rayleigh channels, a common model for the fading amplitude of vehicle-to-vehicle communication systems. We inves- tigate the performance of HARQ from an information theoretic perspective. Analytical expressions are derived for the -outage capacity, the average number of transmissions, and the average transmission rate of HARQ with incremental redundancy assum- ing a maximum number of HARQ rounds. Moreover, we evaluate the delay experienced by Poisson arriving packets for HARQ with incremental redundancy. We provide analytical expressions for the expected waiting time, th…
Localization Based on Parallel Robots Kinematics as an Alternative to Trilateration
2022
In this article, a new scheme for range-based localization is proposed. The main goal is to estimate the position of a mobile point based on distance measurements from fixed devices, called anchors, and on inertial measurements. Due to the nonlinear nature of the problem, an analytic relation to compute the position starting from these measurements does not exist, and often trilateration methods are used, generally based on least-square algorithms. The proposed scheme is based on the modeling of the localization process as a parallel robot, thereby methodologies and control algorithms used in the robotic area can be exploited. In particular, a closed-loop control system is designed for trac…
On-line Coordination in Complex Goal-directed Movements: a Matter of Interactions between Several Loops.
2012
International audience; Motor flexibility is the ability to rapidly modify behavior when unexpected perturbations occur. In goal directed movements, this process may be involved during the motor execution itself, by using on-line motor corrections, or off-line, on a trial-by-trial basis. A consensus has emerged to describe and unify these two dependant processes within the framework of the internal models theory in which the cerebellum is involved in error processing. However, this general framework may be incomplete to describe on-line motor corrections when complex motor coordination is involved in the task. In particular, interaction torques existing between different effectors limit the…
The role of the Access Point in Wi-Fi networks with selfish nodes
2009
In Wi-Fi networks, mobile nodes compete for accessing the shared channel by means of a random access protocol called Distributed Coordination Function (DCF), which is long term fair. But recent drivers allow users to configure protocol parameters differently from their standard values in order to break the protocol fairness and obtain a larger share of the available bandwidth at the expense of other users. This motivates a game theoretical analysis of DCF. Previous studies have already modeled access to a shared wireless channel in terms of non-cooperative games among the nodes, but they have mainly considered ad hoc mode operation. In this paper we consider the role of the Access Point (AP…
A contention-based multiple access protocol in cooperative wireless networks
2010
Cooperative communication has emerged as a promising technique to enhance system performance in wireless networks. This paper proposes a contention-based cooperative multiple medium access control protocol by means of multiple retransmissions of the same packet from different relay nodes. The proposed scheme exploits cooperative communication capability not only from time diversity derived from multiple temporal transmissions but also spatial diversity derived from distributed multiple relays. A Markov chain is introduced to analyze the throughput performance of the proposed cooperative scheme. The performance evaluation of the protocol is validated and compared with non-cooperative ARQ pro…