Informatics in Control, Automation and Robotics : Revised and Selected Papers From the International Conference on Informatics in Control, Automation and Robotics 2010

The present book includes a set of selected papers from the seventh "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2010), held in Madeira, Portugal, from 15 to 18 June 2010. The conference was organized in three simultaneous tracks: "Intelligent Control Systems and Optimization", "Robotics and Automation" and "Signal Processing, Systems Modeling and Control". The book is based on the same structure. ICINCO received 320 paper submissions, not including those of workshops or special sessions, from 57 countries, in all continents. After a double blind paper review performed by the Program Committee only 27 submissions were accepted as full papers and thus selected for oral presentation, leading to a full paper acceptance ratio of 8%. Additional papers were accepted as short papers and posters. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2010. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions of this conference, including not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, workshops and logistics. Cover......Page 1 Front Matter......Page 2 Position Calculation......Page 4 Assumptions......Page 5 Stability Analysis......Page 6 Power Consumption......Page 8 Non-uniform Motion......Page 9 Simulations......Page 10 Temporal Regularisation......Page 11 Conclusions......Page 12 Invited Papers......Page 13 Description of Closed Loop Structure......Page 15 References......Page 16 Introduction......Page 17 Problem Formulation......Page 3 Discussion......Page 7 Geometric Description of Tree Structure Robots......Page 14 Computation of the Direct Dynamic Model......Page 19 Direct Dynamics of Systems with Flexible Joints Using Recursive NE......Page 23 General Form of the Dynamic Model......Page 25 Inverse Dynamic Modeling of Robots with Elastic Joints......Page 22 Calculation of the Inverse Dynamics Using Recursive NE Algorithm......Page 18 Inverse Dynamic Modeling of Parallel Robots......Page 21 Dynamic Modeling of Robots with a Mobile Base......Page 24 Recursive NE Calculation of the Inverse Dynamic Model......Page 26 Recursive Direct Dynamic Model......Page 28 Conclusions......Page 29 References......Page 30 Introduction......Page 32 EDAS Architecture......Page 34 Avatar as an Advanced HMI......Page 35 Emotive Spoken Dialogue System......Page 38 Cloud-Based Infotainment and Decision Support......Page 40 Conclusions......Page 44 References......Page 45 Introduction......Page 48 Calibration Procedure......Page 50 Data Analysis......Page 51 Registration......Page 52 Prediction Model......Page 55 Model Validation......Page 56 Conclusions......Page 58 Part I: Intelligent Control Systems and Optimization......Page 60 Introduction......Page 61 Structure of the Morphing Wing System......Page 63 Control Design and Numerical Simulation......Page 64 Experimental Validation of the SMA Actuators Control for Open Loop Architecture of the Morphing System......Page 73 SMA Actuators Control Bench Test Validation......Page 74 SMA Actuators Control Validation in Wind Tunnel Tests......Page 76 Wind Tunnel Experimental Validation of the SMA Actuators Control for Closed Loop Architecture of the Morphing System......Page 79 Conclusions......Page 83 References......Page 85 Introduction......Page 87 Model of the System......Page 88 Parameter Adaptation Algorithm......Page 90 Determination of γ......Page 92 FH vs. Linear Models in the Presence of Organic Heat......Page 94 FH vs. Linear Models in the Absence of Organic Heat......Page 95 Noise Robustness......Page 96 Software Bundle Implementation and Energy Consumption Measurements......Page 97 Conclusions......Page 98 References......Page 99 Introduction......Page 101 Protocol Composition......Page 102 Self-parametrising Systems......Page 103 Organic Network Control......Page 104 Application to Mobile Ad-Hoc Networks......Page 105 Evaluation......Page 107 The Collaboration Mechanism......Page 110 Evaluation......Page 111 References......Page 113 Introduction......Page 115 Related Work......Page 116 EM Algorithm: The Original Formulation......Page 117 EM Algorithm: Application to a Gaussians Mixture......Page 118 FASTGMM Formulation......Page 119 Parameters Initialization......Page 121 Updating Decision Thresholds......Page 122 Computational Complexity Evaluation......Page 123 Colored Real Images......Page 124 Synthetic Data......Page 125 Colored Real Images......Page 128 Limitation of the Proposed Algorithm......Page 129 References......Page 130 Introduction......Page 131 Related Work......Page 132 Observer Technique......Page 133 Structured English......Page 134 Observation Patterns Basis......Page 135 Transformation Idea......Page 136 Time Annotations......Page 137 Verification Process......Page 138 Case Study Description......Page 139 Using Patterns......Page 140 Verification......Page 142 References......Page 143 Introduction......Page 145 Preliminaries......Page 146 Agent Model......Page 147 Network Model......Page 148 Passivity of the Networked System......Page 151 Steady-State Analysis, n-gon Establishment, and Output Synchronization......Page 153 Evaluation......Page 155 Conclusions......Page 157 References......Page 158 Part II Robotics and Automation......Page 160 Introduction......Page 161 Related Work......Page 162 Regression......Page 163 Classification......Page 164 Position Estimation......Page 165 Terrain Classification......Page 167 Naive Approaches......Page 169 Dynamic Approaches......Page 172 Conclusions and Future Work......Page 175 References......Page 176 Introduction......Page 178 Nonholonomic Constraints for Wheeled Mobile Platform......Page 179 Nonholonomic Constraints for Manipulator......Page 180 Dynamics of Doubly Nonholonomic Mobile Manipulator......Page 181 Control Problem Statement......Page 182 Path Following with Desired Orientation......Page 183 Path Following without Desired Orientation......Page 187 Simulations......Page 188 References......Page 190 Introduction......Page 192 Two-Layered Imitation System......Page 194 Canonical Dynamical System Based on Fourier Series......Page 195 Simulation......Page 197 Application to Robotic Yo-Yo......Page 198 Conclusions......Page 202 References......Page 203 Introduction......Page 204 Problem Statement......Page 205 Control Design......Page 206 Description of Model Dynamics......Page 207 Stability Analysis......Page 208 An Illustrative Example......Page 215 References......Page 216 Introduction......Page 218 Methods for Reactive Grasping......Page 219 DMP Based Attractor Field......Page 220 ECVD Based Detractor Fields......Page 221 High Level DMP Controller for Grasping......Page 222 Grasping Experiments......Page 224 Grasping Experiment Procedure......Page 225 Experimental Results......Page 226 Conclusions......Page 227 Introduction......Page 231 Tracking Control of a Unicycle Robot......Page 232 State Estimator and Controller Design......Page 234 Stability Analysis......Page 236 Experimental Results......Page 239 Data Exchange over the Internet......Page 240 Experiments......Page 241 Discussion......Page 243 Introduction......Page 245 Experimental Setup and Testing......Page 247 Performance of the Drive System......Page 248 Flow Characteristics of Valve......Page 249 Static Model......Page 250 Dynamic Model......Page 251 Valve Control......Page 253 The Valve Prototype......Page 256 Conclusions and Future Developments......Page 257 Introduction......Page 259 Related Work......Page 260 Individual Learning of Concepts......Page 261 Feature Extraction and Individual Training......Page 262 Pre-analysis of Individual Concepts......Page 263 Analysis and Fusion of Individual Concepts......Page 264 Concept Acquisition and Testing......Page 266 Accuracy of the Individual and Collective Concepts......Page 269 Conclusions and Future Work......Page 270 References......Page 271 Introduction......Page 272 Feature Selection and Tracking......Page 274 Evaluation of a Background Model......Page 276 Filtering False Dynamic Points by Estimated Camera Motion......Page 277 Merging Groups......Page 278 Border Object Initialization and Tracking......Page 279 Occupancy Map......Page 280 Experimental Results and Discussions......Page 282 Conclusions......Page 284 Part III Signal Processing, Systems Modeling and Control......Page 286 Context and Motivation......Page 287 Model Description......Page 288 A Practical Suboptimal Strategy......Page 293 Linearizing Control Strategy......Page 294 A Classical Adaptive Strategy......Page 295 A Robust Strategy......Page 296 Numerical Results......Page 299 Conclusions......Page 308 Introduction......Page 310 Approach......Page 312 Optimal Control Formulation......Page 313 Optimality System......Page 314 Solution of the Optimality System......Page 315 Algorithm......Page 316 Control - Force......Page 317 Non-uniform Motion......Page 318 Temporal Regularisation......Page 320 Conclusions......Page 321 References......Page 322 Introduction......Page 324 Preliminary......Page 325 Pole Placement of Linear Time-Varying Discrete Systems......Page 326 State Observer......Page 330 Conclusions......Page 336 Introduction......Page 337 ISS Systems and Signals with Low Moving Average......Page 338 Spacecraft Models......Page 340 Controller and Observer Design......Page 341 Robustness of the Overall Formation......Page 342 Simulations......Page 346 References......Page 349 Introduction......Page 350 Problem Formulation......Page 352 Position Calculation......Page 353 Assumptions......Page 354 Stability Analysis......Page 355 Discussion......Page 356 Power Consumption......Page 357 Conclusions......Page 362 References......Page 363 Back Matter......Page 364