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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1171-1180 订阅

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Robust Adaptive Fault-Tolerant Coordinated control for Biaxial Gantry System with Friction Compensation

Robust Adaptive Fault-Tolerant Coordinated Control for Biaxi...

引用

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

作者： Kangjun Wang Xiangbin Liu Hongye Su School of Electronics and Information Engineering Beijing Jiaotong University Beijing P. R. China Cyber-System and Control Zhejiang University Hangzhou Zhejiang P. R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, a novel robust adaptive fault-tolerant coordinated control is proposed for the contour tracking problem of unknown biaxial linear-motor-driven gantry system subject to time-varying actuator faults. Firstly, the dynamic model of the contour error is established by coordinate transformation. the time-varying actuator faults including loss of effectiveness and bias faults with unknown failure time are considered in controller design. the robust adaption law with smooth projection modification is developed to handle for the effect of parametric uncertainties on the system. the proposed control scheme can guarantee that all the signals in the closed-loop system are ultimately bounded even if time-varying actuator faults of the gantry system occur. Finally, two numerical simulations are conducted to show the effectiveness of the proposed control method.

关键词： Actuators Friction Task analysis Adaptation models Fault tolerant systems Fault tolerance Uncertainty

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An application of deep neural networks in industrial robotics for detection of humans 28

An application of deep neural networks in industrial robotic...

引用

28th international Scientific conference Electronics, ET 2019 - Proceedings

作者： Stankov, Stanko Ivanov, Stefan Todorov, Todor Department of Automation Information and Control Systems Technical University of Gabrovo 4 Hadji Dimitar str. Gabrovo5300 Bulgaria

ISBN: (纸本)9781728125749

Current paper presents an application of Deep Neural Networks in the field of industrial robotics for detection of people in the operational area of industrial robot. Using machine vision, combined with Deep Neural Network makes possible to improve the safety and collaborative work of standard industrial robots in wide areas of production processes. © 2019 IEEE.

关键词： Deep neural networks

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Robust Iterative Learning control for ladder circuits with mixed uncertainties

Robust Iterative Learning Control for ladder circuits with m...

引用

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

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Eric Rogers Anton Kummert Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland School of Electronics and Computer Science University of Southampton Southampton UK Faculty of Electrical Information and Media Engineering University of Wuppertal Wuppertal Germany

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper develops iterative learning control laws for a subclass of uncertain spatially interconnected systems. Model uncertainties appear both in the state (represented by the norm bounded description) and the output equation (represented by a polytopic description) of the dynamics modeled in the 2D systems setting. A particular example of an RLC ladder circuit provides an example to motivate the analysis. the first stage is to write the dynamics in 2D model form and then to apply the stability theory for a distinct class of 2D systems known as repetitive processes is used to develop the ILC law in the case of differential dynamics. this results in a design algorithm that considers the mixed uncertainties in the model and can be applied using linear matrix inequalities.

关键词： Uncertainty Mathematical model Two dimensional displays RLC circuits Interconnected systems Integrated circuit modeling Iterative learning control

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PCB Defect Recognition and Elimination Based on Secondary Error and Statistical Histogram 16

PCB Defect Recognition and Elimination Based on Secondary Er...

引用

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

作者： Li, Rui Xue, Bin Zhao, Kun Chu, Huihui Jiao, Benshuang School of Mechanical and Electrical Engineering Qingdao Binhai University Shandong China Qingdao Zhongzhuang Vision Automation System Control Co. Ltd. Shandong China

ISBN: (纸本)9781728131290

Aiming at the difficulty of missing, wrong and reverse detection in PCB component detection, the paper proposes a new PCB defect detection and elimination based on visual recognition technology and computer-aided system, it can find out target more efficiently by visual inspection technology in the non-stop line. the target region was marked through secondary error matching algorithm, the threshold segmentation graph of original images were investigated in the marked region. the recognition capability for missing and wrong detection was enhanced. the component matching compatibility was analyzed by mask operation and statistical histogram algorithm. the recognition capability for polarity detection was enhanced. the results were judged by computer aided evaluation system that was carried out under the environment of vision Pro and Visual Studio. the dynamic position of defective component was calculated by PLC. the operation results showed that through the proposed method, the recognition rate was 100%, and the false alarm rate was about 3% in the detection of anti logic, color components, pins and capacitance, and meet the needs of real-time detection and elimination. © 2020 IEEE.

关键词： Polychlorinated biphenyls

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Research on automatic cleaning method for hole work-piece in rail transit by intelligent robot

Research on automatic cleaning method for hole work-piece in...

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automation, control and robotics Engineering (CACRE), international conference on

作者： Ronghua Li Zhidong Wang Jingshan Yang Qi Lu School of mechanical engineering DaLian JiaoTong University School of vehicle engineering DaLian JiaoTong University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

With the rapid development of rail transit in China, there is a great demand for the manufacturing capacity of intelligent equipment. Facing the demand of efficient cleaning of work-piece in rail transit, this paper proposes the automatic cleaning of assembly work-piece of railway vehicle by intelligent *** industrial robots are used to wash and deburr the work-piece in the intelligent processing. the main cleaning parts are fasteners, rods and valve bodies. the main technology is clean and deburr the work-piece with holes and deep holes. Binocular vision is used to identify the coarse positioning and fine positioning of the work-piece with holes, and different types of work-pieces are stored in memory, which is convenient for the robot to quickly clean and deburr. According to the coordinates of image processing holes, the robot can automatically optimize the path and complete the cleaning work.

关键词： work-piece cleaning with holes machine vision image processing path optimization

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Supervisor Synthesis for Networked Discrete Event Systems with Delays against Non-FIFO Communication Channels

Supervisor Synthesis for Networked Discrete Event Systems wi...

引用

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

作者： Yuting Zhu Liyong Lin Ruochen Tai Rong Su School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this work, we study the problem of supervisory synthesis for networked discrete event systems against non-FIFO communication channels with bounded delays. Both the observation and control communication channels are represented by finite state automata under the assumption that all communication delays are bounded, the resilient networked supervisor synthesis problem is then reduced to supervisor synthesis for non-deterministic automata. We firstly analyze the structure of networked discrete-event systems with delays, and then describe the message transmission process through the communication channels which connect the plant and the supervisor. the assumption of the networked discrete event systems: 1)the buffer size of the communication channels is limited; 2)there is a maximum delay boundary for each event in the communication channel; 3)the number of multiple copies of the same event in the communication channel is limited. the content of the observation and control channel will be represented by the timed finite state automata. Finally, an example will illustrate how the networked resilient supervisor will be synthesized.

关键词： Delays Automata Communication channels Supervisory control Observability Discrete-event systems controllability

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SRG3: Speech-driven Robot Gesture Generation with GAN

SRG3: Speech-driven Robot Gesture Generation with GAN

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

作者： Chuang Yu Adriana Tapus Autonomous System and Robotics Lab/U2IS ENSTA Paris Institut Polytechnique de Paris Palaiseau France

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the human gestures occur spontaneously and usually they are aligned with speech, which leads to a natural and expressive interaction. Speech-driven gesture generation is important in order to enable a social robot to exhibit social cues and conduct a successful human-robot interaction. In this paper, the generation process involves mapping acoustic speech representation to the corresponding gestures for a humanoid robot. the paper proposes a new GAN (Generative Adversarial Network) architecture for speech to gesture generation. Instead of the fixed mapping from one speech to one gesture pattern, our end-to-end GAN structure can generate multiple mapped gestures patterns from one speech (with multiple noises) just like humans do. the generated gestures can be applied to social robots with arms. the evaluation result shows the effectiveness of our generative model for speech-driven robot gesture generation.

关键词： Robots Gallium nitride three-dimensional displays Generative adversarial networks Generators Decoding Speech processing

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A Machine vision Framework for Autonomous Inspection of Drilled Holes in CFRP Panels

A Machine Vision Framework for Autonomous Inspection of Dril...

引用

international conference on control, automation and robotics (ICCAR)

作者： Alejandro Hernandez Ali Maghami Matt Khoshdarregi Technological Institute of Veracruz Veracruz Mexico Intelligent Digital Manufacturing Lab University of Manitoba Winnipeg Canada

ISBN: (数字)9781728161396

ISBN: (纸本)9781728161402

this paper presents a fully autonomous framework for the inspection of drilled holes in planar carbon fiber composite panels used in the aerospace and automotive industries. the proposed framework can automatically recognize a part and extract the geometrical information from an existing library of DXF files. It then determines the location and orientation of the part with respect to the motion platform without a need for explicit programming of the part coordinate system. Visual servoing and optimal motion planning techniques are used to autonomously move the end-effector's camera to each hole to capture high resolution images. Image processing techniques are used to determine the geometrical errors and delamination factors for each hole. All of the proposed computer vision modules have been implemented in Python and OpenCV, which are open source and thus readily available to the industry. Experimental results prove that the proposed framework can efficiently and autonomously inspect drilled holes in composite panels with minimal programming required of the end-user.

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Mobile Robot Localization Using Soft Sensor

Mobile Robot Localization Using Soft Sensor

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automation, control and robotics Engineering (CACRE), international conference on

作者： Xiao Li Dan Wang Yancheng Liu Zhouhua Peng Marine Electrical Engineering College Dalian Maritime University Marine Engineering College Dalian Maritime University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

this paper presents a new approach to fuse information in special form. To determine the position and heading of mobile robot, the information from fixation vision geometric constraint must be exploited. However, geometric constraint is not measurement data from sensor, cannot be fused directly. therefore the concept of "soft sensor" is adopted. Its application to mobile robot localization is shown with simulation in this paper.

关键词： Information fusion Soft sensor Fixation vision geometric constraint Mobile robots

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Towards Drowsiness Driving Detection Based on Multi-Feature Fusion and LSTM Networks

Towards Drowsiness Driving Detection Based on Multi-Feature ...

引用

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

作者： Lin Hong Xin Wang School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Drowsiness driving poses a huge threat to the traffic safety. In this paper, a novel drowsiness driving detection method based on multi-feature fusion and long short-term memory (LSTM) recurrent neural networks is proposed to reduce traffic accidents caused by drowsiness driving. Firstly, we collect steering wheel angles (SWAs) of vehicles and facial videos of drivers by a driving simulator. Secondly, the drowsiness driving-related steering features and facial expression features are respectively extracted from the collected SWAs and facial videos by the One Way ANOVA method and the FEFENet network, and then they are fused by concatenation operation. Considering that the generation of drowsiness is a long-term dynamic process and the degree of drowsiness accumulates over time, we design LSTM networks to cope with the fused feature sequence in a fixed duration, thereby establishing a effective drowsiness driving detection model. Some experiments are conducted to validate the performance of the proposed method, and the results demonstrate that our method can get robust and high accuracy performance in many challenging driving scenarios.

关键词： Feature extraction Vehicles Videos Safety Vehicle dynamics Task analysis Accidents

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