Braz / Araújo / Vieira Informatics in Control, Automation and Robotics I

2006
ISBN: 978-1-4020-4543-1
Verlag: Springer Netherland
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 290 Seiten, eBook

This is a collection of papers presented at the 1st International Conference on Informatics in Control, Automation and Robotics (ICINCO). The papers focus on real world applications, covering three main themes: Intelligent Control Systems, Optimization, Robotics and Automation, Signal Processing, Systems Modeling and Control. The book will interest professionals in the areas of control and robotics.

Zielgruppe

Research

Autoren/Hrsg.

Araújo, Helder

Braz, Jose

Encarnação, Bruno

Vieira, Alves

Braz, José

Inhaltsverzeichnis

Preface.- Conference Committee.- INVITED SPEAKERS.- ROBOT-HUMAN INTERACTION: PRACTICAL EXPERIMENTS WITH A CYBORG, Kevin Warwick.- INDUSTRIAL AND REAL WORLD APPLICATIONS OF ARTIFICIAL NEURAL

NETWORKS - Illusion or reality?, Kurosh Madani.- THE DIGITAL FACTORY - Planning and simulation of production lines in automotive industry, F. Wolfgang Arndt .- WHAT'S REAL IN 'REAL-TIME CONTROL SYSTEMS'? Applying formal verification methods and real-time rule-based systems to control systems and robotics, Albert M. K. Cheng.- SUFFICIENT CONDITIONS FOR THE STABILIZABILITY OF MULTI-SAFE UNCERTAIN SYSTEMS UNDER INFORMATION CONSTRAINTS, Nuno C. Martins, Munther A. Dahleh and Nicola Elia.- PART 1 – INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION.- DEVICE INTEGRATION INTO AUTOMATION SYSTEMS WITH CONFIGURABLE DEVICE HANDLER, Anton Scheibelmasser, Udo Traussnigg, Georg Schindin and Ivo Derado.- NON LINEAR SPECTRAL SDP METHOD FOR BMI-CONSTRAINED PROBLEMS: APPLICATIONS TO CONTROL DESIGN, Jean-Baptiste Thevenet, Dominikus Noll and Pierre Apkarian.- A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR

ROBOTIC MANIPULATORS, Taha Chettibi, Moussa Haddad, Samir Rebai and Abd Elfetah Hentout.- FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING, Paulo Jorge Sequeira Gonçalves, Luís Mendonça, João Sousa and João Caldas Pinto.- AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE - TIME OPTIMAL CONTROL WITH TERMINAL CONSTRAINTS, Yechiel Crispin. -A DISTURBANCE COMPENSATION CONTROL FOR AN ACTIVE MAGNETIC

BEARING SYSTEM BY A MULTIPLE FXLMS ALGORITHM, Min Sig Kang and Joon Lyou.- AN INTELLIGENT RECOMMENDATION SYSTEM BASED ON FUZZY LOGIC, Shi Xiaowei .- MODEL REFERENCE CONTROL IN INVENTORY AND SUPPLY CHAIN MANAGEMENT - The implementation of a more suitable cost function, Heikki Rasku, Juuso Rantala and Hannu Koivisto.- AN LMI OPTIMIZATION APPROACH FOR GUARANTEED COST CONTROL OF SYSTEMS WITH STATE AND INPUT DELAYS, Olga I. Kosmidou, Y. S. Boutalis and Ch.Hatzis.- USING A DISCRETE-EVENT SYSTEM FORMALISM FOR THE MULTI-AGENT

CONTROL OF MANUFACTURING SYSTEMS, Guido Maione and David Naso.- PART 2 – ROBOTICS AND AUTOMATION.- FORCE RIPPLE COMPENSATOR FOR A VECTOR CONTROLLED PM LINEAR SYNCHRONOUS MOTOR, Markus Hirvonen, Heikki Handroos and Olli Pyrhönen.- HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD TUNNELING MACHINE, Jelmer Braaksma, Ben Klaassens, Robert Babuska and Cees de Keizer.- MOCONT LOCATION MODULE: A CONTAINER LOCATION SYSTEM BASED ON DR/DGNSS INTEGRATION, Joseba Landaluze, Victoria del Río, Carlos F. Nicolás, José M. Ezkerra and Ana Martínez.- PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL

COMPONENTS, Santiago Salamanca Miño, Carlos Cerrada Somolinos, Antonio Adán Oliver and Miguel Adán Oliver .- TOWARDS A CONCEPTUAL FRAMEWORK- BASED ARCHITECTURE FOR UNMANNED SYSTEMS, Norbert Oswald .- A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR

HUMANOID ROBOTS, Koshiro Noritake, Shohei Kato and Hidenori Itoh.- REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT
FRICTION, Ronald G. K. M. Aarts, Ben J. B. Jonker and Rob R. Waiboer.- A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC HOVER-CAPABLE AUV, Robert Damus, Samuel Desset, James Morash, Victor Polidoro, Franz Hover, Chrys Chryssostomidis, Jerome Vaganay and Scott Willcox.- DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS, Jordi Artigas, Detlef Reintsema, Carsten Preusche and Gerhard Hirzinger.- PART 3 – SIGNAL PROCESSINGM SYSTEMS MODELING AND CONTROL.- ON MODELING AND CONTROL OF DISCRETE TIMED EVENT GRAPHS WITH MULTIPLIERS USING (MIN, +) ALGEBRA, Samir Hamaci, Jean-Louis Boimond and Sébastien Lahaye.- MODEL PREDICTIVE CONTROL FOR HYBRID SYSTEMS UNDER A STATE PARTITION BASED MLD APPROACH (SPMLD), Jean Thomas, Didier Dumur, Jean Buisson and Herve Guéguen.- EFFICIENT SYSTEM IDENTIFICATION FOR MODEL PREDICTIVE CONTROL

WITH

Leseproben

ROBOT-HUMAN INTERACTION (p. 3)

Practical experiments with a cyborg

Kevin Warwick
Department of Cybernetics, University of Reading,
Whiteknights, Reading, RG6 6AY, UK
Abstract: This paper presents results to indicate the potential applications of a direct connection between the human nervous system and a computer network. Actual experimental results obtained from a human subject study are given, with emphasis placed on the direct interaction between the human nervous system and possible extra-sensory input.

An brief overview of the general state of neural implants is given, as well as a range of application areas considered. An overall view is also taken as to what may be possible with implant technology as a general purpose human-computer interface for the future.

1 INTRODUCTION

There are a number of ways in which biological signals can be recorded and subsequently acted upon to bring about the control or manipulation of an item of technology, (Penny et al., 2000, Roberts et al., 1999). Conversely it may be desired simply to monitor the signals occurring for either medical or scientific purposes.

In most cases, these signals are collected externally to the body and, whilst this is positive from the viewpoint of non-intrusion into the body with its potential medical side-effects such as infection, it does present enormous problems in deciphering and understanding the signals observed (Wolpaw et al., 1991, Kubler et al., 1999).

Noise can be a particular problem in this domain and indeed it can override all other signals, especially when compound/collective signals are all that can be recorded, as is invariably the case with external recordings which include neural signals.

A critical issue becomes that of selecting exactly which signals contain useful information and which are noise, and this is something which may not be reliably achieved. Additionally, when specific, targeted stimulation of the nervous system is required, this is not possible in a meaningful way for control purposes merely with external connections.

The main reason for this is the strength of signal required, which makes stimulation of unique or even small subpopulations of sensory receptor or motor unit channels unachievable by such a method.

A number of research groups have concentrated on animal (non-human) studies, and these have certainly provided results that contribute generally to the knowledge base in the field. Unfortunately actual human studies involving implants are relatively limited in number, although it could be said that research into wearable computers has provided some evidence of what can be done technically with bio-signals.

We have to be honest and say that projects which involve augmenting shoes and glasses with microcomputers (Thorp, 1997) are perhaps not directly useful for our studies, however monitoring indications of stress or alertness by this means can be helpful in that it can give us an idea of what might be subsequently achievable by means of an implant.

Of relevance here are though studies in which a miniature computer screen was fitted onto a standard pair of glasses.