CDC2000 Coordinating Robot Systems

Coordinating Robot Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Stability Analysis For A Teleoperation System With Time Delay And Force Feedback Authors: Cecilia Elisabet Garcia, Beatriz del Carmen Morales, Ricardo Oscar Carelli, Jose Francisco Postigo, Volume: 1, Page 3453 Paper number 1931 Abstract: The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The non-linearity arises in the remote robot's model. Force and position data are backfed from the local to the remote station. The time delay between both stations is fixed and known. A model of the human operator is incorporated into the dynamics of the local station, while a model of the environment is incorporated into the dynamics of the remote station. The analysis, based on operators theory, ensures that system signals remain within a small bounded region. The validity of the theoretical results are verified by simulation. CD001931.PDF (From Author) TOP An Optimal Scheduling Technique for Dual-Arm Robots in Cluster Tools with Residency Constraints Authors: Shadi Rostami, Babak Hamidzadeh, Dan Camporese, Volume: 1, Page 3459 Paper number 2020 Abstract: This paper discusses a scheduling technique, for cluster tools, that addresses post-processing residency constraints and throughput requirements. The residency constraints impose a limit on the post-processing time that a material unit spends in a processing module. The technique searches in the time and resource domains for a feasible schedule with a maximum throughput. Several heuristics are designed and added to reduce the complexity of the scheduling algorithm. The resulting schedules are deadlock free, since resources are scheduled according to the times that they are available. Analytical and experimental analyses demonstrate the correctness and efficiency of our proposed technique. CD002020.PDF (From Author) TOP Impedance Control for Multi-Arm Manipulation Authors: Fabrizio Caccavale, Luigi Villani, Volume: 1, Page 3465 Paper number 1691 Abstract: In this paper a geometrically consistent impedance concept is applied to control a multi-arm system. The case of a common rigid object rigidly grasped by the manipulators in the system is considered. A six-DOF impedance behaviour is enforced at the object level so as to keep limited the force/moment due to the interaction with an external environment. Moreover, in order to avoid large internal forces, a six-DOF impedance behaviour is imposed at each end-effector. The adoption of the unit quaternion to describe object frame orientation ensures consistency with the task geometry. The overall control scheme is of inverse dynamics type with an inner motion loop which provides robustness to unmodeled dynamics and disturbances. CD001691.PDF (From Author) TOP Hand Over Control Of Unstable Object Using Manipulators - An Approach Of Continuously Switching Of Controllers Authors: Napoleon Nazir, Tasuku Hoshino, Katsuhisa Furuta, Volume: 1, Page 3471 Paper number 1896 Abstract: This paper presents a new hand over method of unstable object using robot manipulators by an approach of continuously switching of controllers. Each of robot manipulator can be considered as a controller to stabilize the object. It is needed to switch from one controller to another one so that the input of the system does not exceed the value which is required to stabilize the object. However, it is known that if the controller switches at unsuitable time, the system may become unstable. The idea of a new method that is presented here is to make a switching of the controllers based on Double Bracket Flow. It will be shown that even if switching time is done at any time, the system remains stable. Experimental results using two Puma-like 6 D.O.F. robot to hand over an inverted pendulum from one robot to another are included. CD001896.PDF (From Author) TOP Synergetic Localization for Groups of Mobile Robots Authors: Stergios I. Roumeliotis, George A. Bekey, Volume: 1, Page 3477 Paper number 96 Abstract: In this paper we present a new approach to the problem of simultaneously localizing a group of mobile robots capable of sensing each other. Each of the robots collects sensor data regarding its own motion and shares this information with the rest of the team during the update cycles. A single estimator, in the form of a Kalman filter, processes the available positioning information from all the members of the team and produces a pose estimate for each of them. The equations for this centralized estimator can be written in a decentralized form therefore allowing this single Kalman filter to be decomposed into a number of smaller communicating filters each of them processing local (regarding the particular host robot) data for most of the time. The resulting decentralized estimation scheme constitutes a unique mean for fusing measurements collected from a variety of sensors with minimal communication and processing requirements. The distributed localization algorithm is applied to a group of 3 robots and the improvement in localization accuracy is presented. Finally, a comparison to the equivalent distributed information filter is provided. CD000096.PDF (From Author) TOP A Strategy For Controlling Autonomous Robot Platoons Authors: Daniel J. Stilwell, Bradley E. Bishop, Volume: 1, Page 3483 Paper number 2119 Abstract: Development of decentralized control systems for platoons of robotic vehicles often requires direct communication between vehicles. Using basic tools from the field of decentralized control, we develop a framework from which existence of vehicle controllers can be assessed for a given communication structure. This approach to control design allows us to investigate minimum inter-vehicle communication solutions. Simulation results are presented for a platoon of autonomous underwater vehicles. CD002119.PDF (From Author) TOP