Informatics in Control, Automation and Robotics (eBook)

Preface 6
Organization 9
Contents 17
Part I Intelligent Control Systems and Optimization 19
Using Distance Graphs to Find Meaningful Levels of a Hierarchical Sequence Prior to Performing a Cluster Analysis 20
1 Introduction 20
2 Other Related Work 23
3 Noise Attenuation 24
4 Finding Meaningful Levels and Cluster Sets 28
5 Empirical Results 32
5.1 Structureless Pattern 32
5.2 Synthetic Data Sets--Nearly Ideal Circumstances 33
5.3 Motes Sensing Luminescence 34
6 Conclusion 37
References 37
Reconfigurable Priority Ceiling Protocol: A Safe Way to Real-Time Reconfiguration 39
1 Introduction 40
2 State of Art 41
3 Background 42
4 Case Study 43
5 Formalization 45
6 Contribution RPCP/RM 49
6.1 Virtual Processors 49
6.2 Appropriate Set of Periods 50
7 Simulation 55
8 Conclusions 56
References 57
Full Self-calibration of a Hand-Mounted Projector Using Structured Light 59
1 Introduction 59
2 Relative Pose Estimation 61
2.1 Establishing Correspondences 61
2.2 Determining the Rotation and the Direction of Translation 62
3 Calibration Method 63
3.1 Hand-Projector 63
3.2 Hand-Projector and Camera-Robot 65
3.3 Formulations with Known Scale 66
3.4 Solvability 66
3.5 Recover the Intrinsic Parameters 66
4 Experimental Results 67
4.1 Synthesized Data 67
4.2 Real Data 70
4.3 Full Calibration 71
5 Conclusions 73
References 74
Combinatorial Optimization Approach for Feasible Low-Power and Real-Time Flexible OS Tasks 75
1 Introduction 76
2 Related Works 77
3 Problem and Notations 78
4 Contribution: Flexible Reconfigurable Real-Time Scheduling with Deadline Adjustment 80
4.1 Mixed Integer Programming Model 80
4.2 Heuristic Approach 82
5 Numerical Results 88
6 Conclusions 91
References 92
Adaptive Tracking Approach of Flexible Cable Conduit-Actuated NOTES Systems for Early Gastric Cancer Treatments 94
1 Introduction 95
2 Materials and Methods 97
2.1 NOTES System and Cable-Conduit Mechanism 97
2.2 Motion Transmission Characteristics of the CCM 99
2.3 Dynamic Friction Characteristics of the CCM 100
2.4 Experimental Setup 101
2.5 Nonlinear and Adaptive Control 104
3 Experimental Validation and Comparisons 107
4 Conclusions 110
References 110
Collectives of Term Weighting Methods for Natural Language Call Routing 113
1 Introduction 113
2 Corpora Description 115
3 Term Weighting Methods 116
3.1 Inverse Document Frequency (IDF) 116
3.2 Gain Ratio (GR) 117
3.3 Confident Weights (CW) 117
3.4 TM2 (Second Moment of a Term) 118
3.5 Relevance Frequency (RF) 119
3.6 Term Relevance Ratio (TRR) 119
3.7 Novel Term Weighting (NTW) 119
4 Feature Extraction and Classification Algorithms 120
5 Results of Numerical Experiments 120
6 Conclusions and Future Directions 122
References 123
Evaluating Template Uniqueness in ECG Biometrics 125
1 Introduction 126
2 Background 127
3 Methodology 130
3.1 Database 130
3.2 ECG Biometric System 130
4 Results 132
5 Conclusions 135
References 136
Part II Robotics and Automation 138
Soil Identification and Control-Parameter Estimation for Optimal Driving of Wheeled Robots on Rough Terrain 139
1 Introduction 139
2 Parameter Modeling for Optimal Control 141
2.1 SRI-Based Parameter Model 141
2.2 OCP Model Derivation from Actual Soil-Wheel Interaction 142
3 Proprioceptive SRI Estimation for Prediction of Optimal Control Parameters 145
3.1 Estimation of Real Traction Coefficient 145
3.2 Numerical Method-Based Estimation of Surface Reaction Index 149
4 Experimental Verification of Soil Identification and OCP Estimation 150
5 Conclusions 156
References 157
Real-Time Implementation of Pursuit-Evasion Games Between Unmanned Aerial Vehicles 158
1 Introduction 158
2 Problem Statement and Solution Approach 160
2.1 Problem Statement 160
2.2 Solution Approach 160
3 System Description 160
3.1 Dynamical Model 160
3.2 Attitude and Velocity Control 163
4 Game-Theoretical Solution Approach 163
4.1 N-Player Discrete-Time Deterministic Dynamic Games 164
4.2 Saddle-Point Equilibrium 165
4.3 Discrete-Time Dynamic Zero-Sum Games 166
5 Pursuit-Evasion Game Formulation 166
6 Implementation 168
6.1 Embedded Computer 168
6.2 Algorithm for N-Player Nash-Equilibrium in Mixed Strategies 169
7 Simulation Results 170
8 Conclusions 172
References 173
Design of a Stable Controller for the Climbing Robot CREA 175
1 Introduction 175
2 Suction System of CREA 177
3 Controller Design for Suction System 178
3.1 Pneumatic Model 178
3.2 Control Strategy 180
3.3 Controller and Stability Analysis 182
4 Implementation Results 184
5 Conclusion 187
References 188
Hierarchic Interactive Path Planning in Virtual Reality 189
1 Introduction 190
2 State of the Art 191
2.1 Automatic Path Planning 191
2.2 Control Sharing 191
2.3 Interactive Path Planning 192
3 Proposed Interactive Planner 193
3.1 Environment Representation 194
3.2 Planning Aspects 195
3.3 Process Monitoring 197
3.4 Control Sharing Aspects 198
3.5 Interactive Path Planning Simulation 202
4 Implementation 203
4.1 Environment Representation Built 203
4.2 Planner Implementation 203
5 Simulations and Results 205
5.1 Semantic Control and Control Sharing Application 205
5.2 Shape as Semantic Information 208
6 Conclusions 211
References 212
Short-Term Map Based Detection and Tracking of Moving Objects with 3D Laser on a Vehicle 214
1 Introduction 215
2 Moving Objects Detection 217
3 Moving Objects Tracking 221
3.1 Data Association 222
3.2 Kalman JPDA Filter 224
3.3 Track Management 225
4 Experimental Results 227
5 Conclusions 229
References 230
On the Usage of General-Purpose Compression Techniques for the Optimization of Inter-robot Communication 232
1 Introduction 232
1.1 Related Work 234
2 Free and Open Source Software Data Compression Techniques 237
3 Benchmarking Methodology 238
3.1 Datasets 239
4 Benchmarking Results 241
5 Real-World Application: Preliminary Results 246
6 Conclusions 247
References 248
Proxy-Based Sliding Mode Control of Compliant Joint Manipulators 250
1 Introduction 251
2 Dynamic Modeling 252
3 Control 253
3.1 Position Control 254
3.2 Proxy-Based Sliding Mode Control 255
3.3 Torque Control 257
4 System Description 259
5 Simulation Results 260
5.1 Step Response 260
5.2 Sinusoidal Trajectory Tracking 261
6 Conclusions 263
References 264
Part III Signal Processing, Sensors, Systems Modelling and Control 267
Contactless Torque/Speed Sensing Module with Digital Signal Processing Circuit 268
1 Introduction 269
2 Design of Contactless Thin-Layered Torque Sensor 270
2.1 Thin and Flexible Mechanical Structure 270
2.2 Computer Simulations of Orange-Slice-Alike Flexible Body Subject to Torque 272
2.3 Optical Grating and Light Receiver 273
3 Fully-Digital Signal-Processing Circuit 276
3.1 Flaw #1: Missed Count Due to Overlap of Two Pulse Sequences 276
3.2 Flaw #2: The Count Numbers Are Running Too Fast to Be Instantly Picked Up 278
3.3 Computer Simulations of Fully-Digital Signal Processing Circuit 278
4 Experimental Results 279
5 Conclusions 281
References 282
Bio-inspired Technical Vibrissae for Quasi-static Profile Scanning 283
1 Introduction 283
2 State of the Art 284
3 Scheme of the Profile Scanning 285
4 Modeling 286
4.1 Assumptions 286
4.2 Model 287
5 Step 1---Generation of Observables 288
5.1 Phase A: Contact at the Tip 288
5.2 Phase B: Tangential Contact 292
6 Simulations 294
7 Step 2---Reconstruction of the Profile 295
7.1 Analysis 295
7.2 Numerics 297
7.3 Reconstruction Under Uncertainties 297
8 Conclusion 299
References 301
Design of Time-Varying Sliding Mode Controller for a Trajectory Tracking Problem of Nonlinear Systems 302
1 Introduction 302
2 Preliminaries 303
3 Pole Placement Controller Design Procedure 305
4 Time-Varying Sliding Mode Control 309
5 Trajectory Tracking Controller for Nonlinear Systems 312
6 Simulation Result of the Practical Example 317
7 Conclusions 320
References 321
18 Erratum to: Informatics in Control, Automation and Robotics 322
Erratum to: J. Filipe et al. (eds.), Informatics in Control, Automation and Robotics, Lecture Notes in Electrical Engineering 370, DOI 10.1007/978-3-319-26453-0 322
Author Index 323