1. Selecciona un texto relacionado con tu area de interes.
la página 149
Identifica 3 palabras que no conoces.. agrega las abreviaciones.
1. stage: Etapa (n)2. henceforth: De ahora en adelante (Adv)
3. performance: Desempeño (n)
2. Idea principal del texto (en español)
Texto habla sobre sobre las recientes investigaciones realizadas en base a la teoría de control, en donde los sistemas de control lineal minimizan la integral de la función cuadrática a lo largo de los movimientos del sistema.
3. Categorias lexicales: (2 ejemplos por categoria)
- Palabras de contenido: (reserch, function)
- Palabras de Función: (in, on)
- Verbos: (give, be)
- Adverbio: (relatively, rigorously)
- Adjetivo: (recent, classical)
- Artículo: (the, a)
- Preposiciones: (about, in)
- Conjunción: (and, this)
- Cognados verdaderos: (classical, systems)
- cognados Falsos:
- Sufijo: (relatively, included)
- Prefijos: (inaccesible, )
B. Estructura de la oracion: (2 ejemplos)
Selecciona 2 oraciones completas de tu texto (las oraciones deben ir de punto a punto.. asegurate que no tienen comas)
Oracion 1:
This problem dates back in its moderm form to Wiener and Hall at about 1943.
Frase nominal: This problem dates back in its moderm form
Nucleo de la frase nominal: problem
Pre modificadores: This
Post modificadores: dates back in its moderm form
Frase verbal: This problem dates back in its moderm form
Nucleo de la frase verbal: dates back
Tiempo verbal: Presente.
Oracion 2:
The conventional theory of the regulator problem is based largely on Fourier and Laplace transforms.Frase nominal: The conventional theory of the regulator problem
Nucleo de la frase nominal: Theory
Pre modificadores: The conventional
Post modificadores: of the regulator problem
Nucleo de la frase nominal: Theory
Pre modificadores: The conventional
Post modificadores: of the regulator problem
Frase verbal: The conventional theory of the regulator problem is based largely on Fourier and Laplace transforms.
Nucleo de la frase verbal: based
Tiempo verbal: Pasado perfecto continuo
Nucleo de la frase verbal: based
Tiempo verbal: Pasado perfecto continuo
Unidad 3
C. Técnicas de lectura: predicción, scanning y skimming
Seleccione un texto que tenga una imagen.
Research and Results
We pursue research for a continuous-time optimal and adaptive control scheme for robot or vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm of Johansson [12]. The algorithm is optimal in the sense that it minimizes the state errors and the forces which contributes to the vehicle's kinetic energy that is spend to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping.
Quadratic Optimization of Impedance Control
Algorithms for continuous-time quadratic optimization of impedance control have been developed. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.
Feedback-supported Application Programming
One direction of research represents an enhanced use of sensor information in robotics as described and exemplified in [10]. The environment of robots are dynamic and must be observed by perceptional equipment. For adaptation of task realizations to the environment, the robot control system must have the ability to support and react to the observed information. An event based robot control system with these advantages is described, the event-based control system operating from a model description of the world and the task. In the world model all objects significant for the task in the robot work cell are represented and generated during a visual task oriented programming session. The task realization is managed by the control system in small parts or executable events. An executable event is fired and realized when its preconditions are fulfilled. Changes in the work cell are detected by sensors and the information is used to update the world model, which all events are founded upon. Sensor information has influence on both planning and control of motion and application processes. The main goal of this approach is to create the ability to autonomously manage task realizations in a flexible environment?[10].
Another focus is a task-oriented robot programming method and a discussion of the associated control system. The purpose of creating a new programming environment is to give reusability, maintainability and reliability to the robot program code, all key factors in efficient programming. The whole system is focused on objects corresponding to physical objects and processes in the environment. In the task-oriented programming system, tasks are described as states of objects and their dependencies. The assisting control system is event driven and operates with the objects as base for realization of events [8].
A Robot Playing SCRABBLE Using Visual Feedback
Johan Bengtsson (1), Anders Ahlstrand (2), Klas Nilsson (3), Anders Robertsson (1), Magnus Olsson (4), Anders Heyden (2), Rolf Johansson (1)
1 Department of Automatic Control
2 Centre for Mathematical Sciences
3 Department of Computer Science
4 Division of Robotics
Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line programming (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot Control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.
We pursue research for a continuous-time optimal and adaptive control scheme for robot or vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm of Johansson [12]. The algorithm is optimal in the sense that it minimizes the state errors and the forces which contributes to the vehicle's kinetic energy that is spend to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping.
Quadratic Optimization of Impedance Control
Algorithms for continuous-time quadratic optimization of impedance control have been developed. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.
Feedback-supported Application Programming
One direction of research represents an enhanced use of sensor information in robotics as described and exemplified in [10]. The environment of robots are dynamic and must be observed by perceptional equipment. For adaptation of task realizations to the environment, the robot control system must have the ability to support and react to the observed information. An event based robot control system with these advantages is described, the event-based control system operating from a model description of the world and the task. In the world model all objects significant for the task in the robot work cell are represented and generated during a visual task oriented programming session. The task realization is managed by the control system in small parts or executable events. An executable event is fired and realized when its preconditions are fulfilled. Changes in the work cell are detected by sensors and the information is used to update the world model, which all events are founded upon. Sensor information has influence on both planning and control of motion and application processes. The main goal of this approach is to create the ability to autonomously manage task realizations in a flexible environment?[10].
Another focus is a task-oriented robot programming method and a discussion of the associated control system. The purpose of creating a new programming environment is to give reusability, maintainability and reliability to the robot program code, all key factors in efficient programming. The whole system is focused on objects corresponding to physical objects and processes in the environment. In the task-oriented programming system, tasks are described as states of objects and their dependencies. The assisting control system is event driven and operates with the objects as base for realization of events [8].
A Robot Playing SCRABBLE Using Visual Feedback
Johan Bengtsson (1), Anders Ahlstrand (2), Klas Nilsson (3), Anders Robertsson (1), Magnus Olsson (4), Anders Heyden (2), Rolf Johansson (1)
1 Department of Automatic Control
2 Centre for Mathematical Sciences
3 Department of Computer Science
4 Division of Robotics
Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line programming (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot Control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.
Observe la imagen y conteste las siguientes preguntas.
De acuerdo al título y la imagen: ¿cuál cree usted que es el tópico que está a punto de leer?
Yo creo que voy a leer acerca de un brazo robótico que puede cortar láminas para hacer figuras de formas regulares.
Luego lea el texto
¿Cuál es la idea general del texto?
¿Cuál es la idea general del texto?
El texto habla sobre el establecimiento de un sistema de control en tiempo continuo, adaptado a los vehículos y robots. Igualmente, es óptimo pues se busca minimizar el error en la variable de salida.
¿Que palabras se repiten?
Algorithm, continuous, control, system, robot.
¿Que palabras se parecen al español?
Continuous, control, robot, vehicles, extension, algorithm, optimal, error, proportional, matrices, described, sensor, information, programming, industrial.
¿Cuales son las palabras en negrita, el titulo, subtitulo o gráficos que te ayudan a entender el texto?
· Productive robotics
· Research and Results
· A Robot Playing SCRABBLE Using Visual Feedback
¿De qué trata el texto? Lee el primer párrafo y el último o la ultimas ideas del último párrafo.
El texto habla sobre la programación de sistemas de control óptimo a través tareas asignadas a un robot
Unidad 4
Patrones de Organización de un Párrafo
A. Seleccione un texto relacionado con su área de experticia.
Optimal control deals with the problem of finding a control law for a given system such that a certain optimality criterion is achieved. A control problem includes a cost functional that is a function of state and control variables. An optimal control is a set of differential equations describing the paths of the control variables that minimize the cost functional. The optimal control can be derived using Pontryagin's maximum principle (a necessary condition also known as Pontryagin's minimum principle or simply Pontryagin's Principle[2]), or by solving the Hamilton-Jacobi-Bellman equation (a sufficient condition).
We begin with a simple example. Consider a car traveling on a straight line through a hilly road. The question is, how should the driver press the accelerator pedal in order to minimize the total traveling time? Clearly in this example, the term control law refers specifically to the way in which the driver presses the accelerator and shifts the gears. The "system" consists of both the car and the road, and the optimality criterion is the minimization of the total traveling time. Control problems usually include ancillary constraints. For example the amount of available fuel might be limited, the accelerator pedal cannot be pushed through the floor of the car, speed limits, etc.
A proper cost functional is a mathematical expression giving the traveling time as a function of the speed, geometrical considerations, and initial conditions of the system. It is often the case that the constraints are interchangeable with the cost functional.
Another optimal control problem is to find the way to drive the car so as to minimize its fuel consumption, given that it must complete a given course in a time not exceeding some amount. Yet another control problem is to minimize the total monetary cost of completing the trip, given assumed monetary prices for time and fuel.
Escriba cual es la idea general del párrafo
El texto habla sobre la definición del control óptimo a través de ejemplos para obtener un mejor entendimiento del mismo.
Lea el texto y extraiga los marcadores de definición.
such that, is, refers specifically to, known as, for example.
B. Seleccione otro texto relacionado con su área de experticia y extraiga las palabras de secuencia u Ordenamiento del tiempo.
Numerical Examples. The optimality system consists of the state system, adjoint system, initial and final time conditions, and the control characterization. We solve the optimality system by an iterative method with forward solving of the state system followed by backward solving of the adjoint system. We start with an initial guess for the control at the first iteration and then before the next iteration, we update the control by using the characterization. We continued until convergence of successive iterates is achieved.
Marcadores de Tiempo
the first, then, next, We continued until.
