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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5313 条记录，以下是1101-1110 订阅

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A Novel Method Combining Leader-Following control and Reinforcement Learning for Pursuit Evasion Games of Multi-Agent Systems

A Novel Method Combining Leader-Following Control and Reinfo...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Zhe-Yang Zhu Cheng-Lin Liu Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education) Institute of Automation Jiangnan University Wuxi China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In the existing literature, many methods have been utilized in solving the pursuit evasion game. However, most of these methods have one thing in common: all pursuers have to know the evader's position. this paper presents a method combining the multi-agent leader-following control and reinforcement learning, which aims at addressing a pursuit evasion game only when partial pursuers have the knowledge of the position of the evader who moves randomly in two-dimensional grid space. through decomposing the team task, pursuers realize the encirclement of the evader. Simulation experiment validates the effectiveness of our method.

关键词： Task analysis Games Reinforcement learning Multi-agent systems Robot sensing systems Markov processes automation

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Calibration of a class of 3 DOF serial micro robotic systems through SEM vision : application to vertical AFM tip landing 4

Calibration of a class of 3 DOF serial micro robotic systems...

引用

4th international conference on Manipulation, automation and robotics at Small Scales (MARSS)

作者： Cailliez, Jonathan Boudaoud, Mokrane Regnier, Stephane Sorbonne Univ CNRS Inst Syst Intelligents & Robot ISIR F-75005 Paris France

ISBN: (纸本)9781728109480;9781728109497

When performing manipulation at small scales, the micro-robotic system and the vision system axes often aren't aligned, leading to low accuracy. To asses this issue it is possible to manually align the manipulator axes to the ones of the vision system or to calibrate the robot coordinate system with respect to the vision coordinate system. Manual alignment is a tedious procedure that requires no computation, however its performance is directly linked to the operator's experience. Calibration on the other end aims at compensating the misalignment by adjusting control laws or actuator references. In this paper a new methodology for the calibration of a class of 3 DOF serial micro-robots inside a Scanning Electron Microscope (SEM) is presented. this methodology presents the advantage of taking few assumptions about the robot, only requiring an imaging system performing an affine projection of the scene thus being applicable to a large class of systems. Moreover the proposed methodology allow the robot to move in a straight line orthogonal to the image plane, which can be used for peg-on-hole operations. the method is first tested in simulation and then is applied on a 3 DOF micromanipulator under a SEM for AFM tip landing on selected red blood cells. theory and practice provide accurate results even in the presence of significant misalignment between robot and vision axes. Finally, some conclusions are drawn.

关键词： Robot kinematics Calibration Scanning electron microscopy Numerical analysis End effectors

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Method of Electronic Component Location, Grasping and Inserting Based on Machine vision 16

Method of Electronic Component Location, Grasping and Insert...

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16th IEEE international Wireless Communications and Mobile Computing conference, IWCMC 2020

作者： Xue, Bin Sun, Chang Chu, Huihui Meng, Qingsen Jiao, Shuanben Engineering and Technology Rd Center of Mechanical and Electrical in Colleges of Shandong Qingdao Binhai University Shandong China Qingdao Zhongzhuang Vision Automation System Control Co. Ltd Shandong China

ISBN: (纸本)9781728131290

Aiming at the problems of low efficiency, high cost, missing or wrong insertion of labor in PCB production, a method of electronic component location, grabbing and inserting based on machine vision is proposed. By building the machine vision system, three industrial cameras cooperate with dome light sources to take images of the whole components, the pin features of components and the jack features of PCB board respectively. After image acquisition, image processing is carried out on visionPro 9.0 software platform, which mainly completes feature extraction of component pins and PCB board jacks, and coordinates positioning. then, coordinate transformation is carried out by nine-point calibration method to guide the manipulator to complete the work of location, grabbing and inserting. through the running test, the system has a fast grabbing speed and inserting speed. the error inserting rate, missing inserting rate, bad product rate and inserting precision all reach the standard, and the working efficiency is three times that of the manual. © 2020 IEEE.

关键词： Feature extraction

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Smooth Adaptive Leader-Following Consensus control for Uncertain Fractional-Order Nonlinear Multi-Agent Systems with Time-Varying Reference

Smooth Adaptive Leader-Following Consensus Control for Uncer...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Xinyao Li Changyun Wen Xiaolei Li School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, the leader-following consensus control problem is studied for fractional-order nonlinear multiagent systems in the presence of system uncertainties and unknown external disturbances. An adaptive distributed control scheme is proposed for each agent with a local controller that contains a filter and estimators for estimating the bounds of the fractional-order derivatives of desired trajectory. All the control signals resulted from the control scheme are smooth and they are still able to achieve asymptotic output consensus tracking while ensuring global boundedness of all the closed-loop signals. Simulation results are provided to illustrate the effectiveness of the proposed control protocol and verify the obtained results.

关键词： Multi-agent systems Trajectory Uncertainty Topology Time-varying systems Stability analysis Protocols

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Iterative learning control for distributed parameter systems using sensor-actuator network

Iterative learning control for distributed parameter systems...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Maciej Patan Kamil Klimkowicz Krzysztof Patan Institute of Control and Computation Engineering University of Zielona Góra Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the paper discusses an effective approach to iterative learning control synthesis for an important class of distributed parameter systems described by partial differential equations of diffusion-advection type. Such systems are frequently encountered in mathematical modelling of numerous physical processes. the optimal tracking problem is formulated in the spirit of the optimum experimental design theory for a measuring procedure provided with a sensor network over the multidimensional spatial domain. For such a general experimental setup, the convergence of the iterative control law is provided and decentralized control synthesis discussed as well. the study is illustrated with the application of the developed numerical scheme to the process of laser heating of a silicon wafers example.

关键词： Mathematical model Convergence control design Robot sensing systems Atmospheric measurements Trajectory Task analysis

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A Geometrical Criterion for the Synchronization of Dynamic Networks with Input Saturation

A Geometrical Criterion for the Synchronization of Dynamic N...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Juncen Ye Haoyi Que Longhua Ma Ming Xu Hongye Su Polytechnic institute Zhe-jiang University Ningbo Campus Ningbo Zhejiang PR China Institute of Intelligence Science and Engineering Shenzhen Polytechnic Shenzhen Guangdong PR China Institute of automation and electrical engineeringZhejiang University Ningbo Institute of Technology Ningbo Zhejiang PR China National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang PR China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the paper investigated the global synchronization control problem of dynamic networks with discrete-time communications and input saturation. Based on a geometrical criterion of certain non-linear non-autonomous systems, we proposed a sufficient condition for stability of saturating linear control for a linear networked system. the stability could be ensured simply from a range of gains rather than a complex Lyapunov function. A numerical example is offered to show the effectiveness and the relative analysis.

关键词： Synchronization Sun Sufficient conditions Stability criteria Neural networks Motion control Vehicle dynamics

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Nonblocking Supervisory control Synthesis of Timed Automata using Abstractions and Forcible Events

Nonblocking Supervisory Control Synthesis of Timed Automata ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Aida Rashidinejad Patrick van der Graaf Michel Reniers Eindhoven University of Technology The Netherlands

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Conventional supervisory control synthesis techniques are not adequate for timed automata (TA) due to their infinite state space. this paper presents a supervisory control synthesis technique for TA with the objective of satisfying controllability and nonblockingness. the synthesis method consists of three steps. First, a TA is abstracted to a finite automaton (FA). the event set of the FA includes the discrete events of the TA as well as an event representing the passage of a significant amount of time. Time passage is considered to be preemptable by events from a given set of forcible events. Second, an algorithm is presented to synthesize a controllable and nonblocking supervisor for the FA. Finally, a time-refinement technique is proposed to convert the supervisor to a TA.

关键词： Automata Clocks Supervisory control Semantics Aerospace electronics Delays Transforms

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Event-triggered Optimal Adaptive control for Robot Trajectory Tracking

Event-triggered Optimal Adaptive Control for Robot Trajector...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Shuo Chen Yuan Fan Yuchao Guo Mingjian Zhu Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, an event-triggered optimal adaptive control is developed for robot trajectory tracking system. Due to the nonlinearity of Hamilton function, we apply the actor-critic neural network structure to solve it. Firstly, the critic network is used to estimate the cost function and the actor network is used to estimate the optimal event-triggered control law. Due to the advantage of event-triggered method, the weight update rate of actor-critic neural network only occurs when the triggering condition is violated, which save a lot of communication resources. then, the event-triggered robot trajectory tracking system is ultimately bounded by Lyapunov stability analysis. Finally, the simulation show that the proposed method is effective.

关键词： Mobile robots Robots Optimal control Neural networks Mathematical model Cost function Trajectory tracking

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Semi-Autonomous Tongue control of an Assistive Robotic Arm for Individuals with Quadriplegia 16

Semi-Autonomous Tongue Control of an Assistive Robotic Arm f...

引用

16th IEEE international conference on Rehabilitation robotics (ICORR)

作者： Hildebrand, Max Bonde, Frederik Kobborg, Rasmus Vedel Nonboe Andersen, Christian Norman, Andreas Flem thogersen, Mikkel Bengtson, Stefan Hein Dosen, Strahinja Struijk, Lotte N. S. Andreasen Aalborg Univ Dept Elect Syst Aalborg Denmark Aalborg Univ Dept Architecture Design & Media Technol Aalborg Denmark Aalborg Univ Dept Hlth Sci & Technol Aalborg Denmark

ISBN: (纸本)9781728127552

Individuals suffering from quadriplegia can achieve increased independence by using an assistive robotic manipulator (ARM). However, due to their disability, the interfaces that can be used to operate such devices become limited. A versatile intraoral tongue control interface (ITCI) has previously been develop for this user group, as the tongue is usually spared from disability. A previous study has shown that the ITCI can provide direct and continuous control of 6-7 degrees of freedom (DoE) of an ARM, due to a high number of provided inputs (18). In the present pilot study we investigated whether semi-automation might further improve the efficiency of the ITCI, when controlling an ARM. this was achieved by adding a camera to the end effector of the ARM and using computer vision algorithms to guide the ARM to grasp a target object. three ITCI and one joystick control scheme were tested and compared: 1) manual Cartesian control with a base frame reference point, 2) manual Cartesian control with an end effector reference point 3) manual Cartesian control with an end effector reference point and an autonomous grasp function 4) regular JACO(2) joystick control. the results indicated that end effector control was superior to the base frame control in total task time, number of commands issued and path efficiency. the addition of the automatic grasp function did not improve the performance, but resulted in fewer collisions/displacements of the target object when grasping.

关键词： End effectors Cameras Coils Sensors three-dimensional displays Tongue

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2019 4th international conference on robotics and automation Engineering, ICRAE 2019

2019 4th International Conference on Robotics and Automation...

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4th international conference on robotics and automation Engineering, ICRAE 2019

ISBN: (纸本)9781728147406

the proceedings contain 39 papers. the topics discussed include: EEG motion artifacts removal for robotic motion control using brain computer interface;encoding topology information for deep reinforcement learning with continuous action space;an experimental ferromagnetic wall climbing and paint fixing robot control by an upper computer with color discrimination and its development prospect;method combining machine vision and machine learning for reed positioning in automatic aerophone manufacturing;automatic GTAW robot arc length control based on particle filter;comparative assessment of reinforcement learning algorithms in the task of robotic manipulation of deformable linear objects;automation of quality control measurement of deformable object formed by translation of closed planar curve along an elliptical path;and aerodynamic investigation on a novel paper-folding micro annular aerial robot.

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