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

共 5311 条记录，以下是121-130 订阅

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Collision-Free Welding Torch Pose Determination through Imitation Learning with Expert Demonstrations 9

Collision-Free Welding Torch Pose Determination through Imit...

引用

9th international conference on control and robotics Engineering (ICCRE)

作者： Bhuiyan, Teham Flach, Huy Lambrecht, Jens Gasper, Stefan Funder, Jochen Bickendorf, Jobst Berlin Inst Technol Fac Elect Engn & Comp Sci Berlin Germany AUTOCAM Informat Tech GmbH Dortmund Germany

ISBN: (纸本)9798350372694;9798350372700

In collaboration with our industrial partners at Autocam [1], we developed this Deep Learning (DL) based assistance system for robotic welding. the system is tailored to address the challenges encountered in real-world industrial settings, where conventional programming methods face limitations, particularly in constrained spaces. Autocam provided us with authentic industrial datasets and 3D models. Our approach focuses on automating the identification of collision-free torch poses, crucial for navigating intricate environments commonly encountered in industrial robotic operations. To capture the intricacies of these environments, we utilize four virtual cameras, each strategically positioned to provide a unique perspective. this multi-perspective observation facilitates the development of a robust relationship between 3D space and collision dynamics. the DL model is trained using a combination of Imitation Learning and Deep Reinforcement Learning (DRL). this training process not only empowers the agent to autonomously learn collision-free poses but also allows for the assimilation of existing solutions derived from real-world industrial scenarios. By leveraging computer vision and combining the strengths of both imitation learning and DRL, our model aspires to offer a more adaptive and efficient solution for automation in challenging spatial configurations within industrial robotic operations.

关键词： robotic welding deep learning industrial robotics

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Practical Integration of IoT Sensor Data with Open-Source ERP: Optimizing Processes, Driving Insights, and Enabling Smart vision and Full Business automation 5

Practical Integration of IoT Sensor Data with Open-Source ER...

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5th international conference on Artificial Intelligence, robotics and control (AIRC)

作者： Lamey, Ahmed Abdelkader, Hatem Keshk, Arabi Eletriby, Sherif Minoufia Univ Fac Comp & Informat Comp Sci Dept Menoufia Egypt Minoufia Univ Informat Syst Dept Fac Comp & Informat Menoufia Egypt

ISBN: (纸本)9798350385083;9798350385076

the integration of Internet of things (IoT) sensor data with Enterprise Resource Planning (ERP) systems has emerged as a pivotal technology-driven initiative, offering vast potential for process optimization, enhanced data-driven decision-making, and profound business impact. this research endeavors to delve into this integration, comprehensively examining the implications for organizations, with a practical project serving as a proof of concept. the study scrutinizes the intricacies of IoT sensor integration with ERP systems, shedding light on the optimization of business processes and the extraction of valuable data insights. In addition, the research extends its focus towards "smart vision" technologies, aiming to achieve a higher level of automation and real-time decision support. the core of this research lies in the practical project, where a proof of concept is executed to integrate temperature sensors with the Odoo ERP system. this project serves as a real-world demonstration of the integration's applicability and the tangible benefits it brings. By bridging the gap between theoretical concepts and practical implementation through this proof of concept, the study aims to provide actionable insights for organizations looking to harness the power of IoT sensor data, smart vision, and automation within their ERP systems. the outcomes of this research not only contribute to the growing body of knowledge on IoT-ERP integration but also provide a roadmap for organizations to leverage these technologies effectively in the modern business landscape.

关键词： IoT Sensors ERP Systems Smart Technology Industrial automation Business Process Optimization Smart Manufacturing Industry 4.0 Smart Solutions

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Cooperative control Strategy of Dual Manipulators Based on Model Reference Adaptive Admittance control 9

Cooperative Control Strategy of Dual Manipulators Based on M...

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9th international conference on automation, control and robotics Engineering (CACRE)

作者： Wang, Hongmin Jiang, Meng Wu, Longhua Huang, Junlin Pan, Zengxi Li, Dagang Song, Yingying Huang, Hui Wuyi Univ Sch Mech & Automat Engn Inst Carbon Peaking & Carbon Neutralizat Jiang Men Peoples R China Wuyi Univ Sch Mech & Automat Engn Jiang Men Peoples R China Univ Wollongong Robot & Welding Automat Lab Wollongong NSW Australia Macau Univ Sci & Technol Sch Comp Sci & Engn Macau Peoples R China Wuyi Univ Fac Innovat & Entrepreneurship Jiang Men Peoples R China

ISBN: (纸本)9798350350319;9798350350302

this study aims to solve the dual robotic arm collaboration problem by proposing a method based on an adaptive conductivity control algorithm for nondestructive grasping and handling of unknown manipulated objects by dual robotic arms. the method is capable of dynamically tracking the intended force of the unknown entity while maintaining the desired trajectory and compensating for the error in the state of the unknown object. In this paper, adopting a two-arm collaborative robotic arm motion planning method oriented to the manipulated object, the kinematics of a singular appendage is calculated by closed-loop constraints. the collaborative control strategy of the dual robotic arms for the operated object is established, which facilitating the pursuit of the intended force and the rectification of the positional path deviation induced by external interference. through simulation and experimental verification, the method demonstrates satisfactory performance regarding the error in tracking position and the steady state deviation in force, offering a viable solution for attaining heightened precision in tracking both position and force.

关键词： Dual robotic arms adaptive conductance control collaborative control force tracking

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Visual Feedback control of Print Trajectory in FDMType 3D Printing Process 8

Visual Feedback Control of Print Trajectory in FDMType 3D Pr...

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8th international conference on control and robotics Engineering (ICCRE)

作者： Ishikawa, Shinichi Tasaki, Ryosuke Aoyama Gakuin Univ Dept Mech Engn Sagamihara Japan

ISBN: (纸本)9798350345650

In recent years, additive manufacturing of FDM: Fused Deposition Modeling type 3D printing has been rapidly developed. However, failures in molding are inevitable, leading to loss of time and materials. In this study, we propose a motion control method that suppresses failures during the build process by using visual feedback control with an RGB camera. A camera installed near the nozzle detects the molding line and generates a new path from the coordinates obtained by the camera, thereby realizing path modification in real-time. In this paper, we conducted experiments to verify the effectiveness of the proposed path modification method and evaluated the tracking and modification effects. Moreover, we conducted a modeling experiment with visual feedback and confirmed the effectiveness of the vision-based path modification method to suppress failures beforehand. this vision-based compensation system is expected to contribute to automation and quality improvement of the additive manufacturing process and the production system.

关键词： 3D printing visual feedback path planning

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Research on Borehole Identification under Tunnel Blasting Based on Yolov5 8

Research on Borehole Identification under Tunnel Blasting Ba...

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8th international conference on robotics, control and automation (ICRCA)

作者： Guo, Aolun Li, Han Zuo, Zhijiang Zhang, Qingxin Jianghan Univ State Key Lab Percis Blasting Wuhan Peoples R China

ISBN: (纸本)9798350344738;9798350344721

In the context of tunnel blasting, a significant amount of manual labor is required for borehole explosive filling. Given the challenges posed by harsh blasting conditions, the high precision required for filling operations, and the vast number of fillings, a specialized explosive-filling robot has been designed. Utilizing the YOLOv5 object detection framework and integrating machine vision technology, an automated tunnel borehole identification method rooted in YOLOv5 has been proposed, aiming to enhance the efficiency and safety of tunnel blasting procedures. through the collection and annotation of a vast number of tunnel blasting project images, a borehole dataset was established. With the deployment of the YOLOv5 deep learning object detection framework for training, coupled with machine vision and deep learning techniques, this methodology can autonomously identify and locate boreholes in intricate subterranean settings. Experimental findings indicate that this approach exhibits stellar performance even in complex tunnel situations, boasting an accuracy rate exceeding 80% in borehole detection. the system displays exceptional real-time performance, making it viable for practical applications in tunnel blasting operations, thus elevating the efficiency and safety of engineering tasks.

关键词： tunnel blasting YOLOv5 machine vision borehole detection identification and localization

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Development of a massage robot based on vision-tactile fusion and adaptive force control 6

Development of a massage robot based on vision-tactile fusio...

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6th international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2024

作者： Yang, Hongyu Zhang, Wen Si, Haojun Sun, Teng School of Mechatronic Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9798331541699

With the rapid advancement of robotics, robotic massage systems have shown great potential in ensuring consistent massage effectiveness and providing personalized treatments. However, accurately controlling the force applied during the massage, especially given the variation in muscle stiffness and tissue properties across different body regions, remains a significant challenge. Traditional force control methods typically rely on predefined trajectories or basic feedback systems, which are insufficient in adapting to these variations, often resulting in discomfort or suboptimal therapeutic outcomes. To address this, this paper proposes a robotic massage system with adaptive force control, integrating both vision and tactile sensing. the system combines computer vision-based skeletal recognition with real-time feedback from a six-dimensional force sensor to dynamically adjust the applied force based on variations in tissue stiffness across different body areas. Experimental results demonstrate that this approach optimizes force application, significantly enhancing both the effectiveness and comfort of the massage. this study introduces a vision-tactile fusion approach, offering new insights into overcoming the challenges of diversity and adaptability in current robotic massage systems. © 2024 IEEE.

关键词： Adaptive control systems

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Utilizing Cloud Solutions for Object Recognition in the Context of Industrial robotics Sorting Tasks 18

Utilizing Cloud Solutions for Object Recognition in the Cont...

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18th international conference on Innovations in Intelligent Systems and Applications (INISTA)

作者： Stefan, Ioana Livia Mateescu, Andrei Vlasceanu, Ioana Miruna Popescu, Dragos Constantin Sacala, Ioan Stefan Univ Politehn Bucuresti Fac Automat Control & Comp Automat Control & Syst Engn Dept Splaiul Independentei 313 Bucharest 060042 Romania Extreme Light Infrastruct ELI NP Str Reactorului 30 Bucharest 077125 Magurele Romania Horia Hulubei Natl Inst R&D Phys & Nucl Engn IFIN Str Reactorului 30 Bucharest 077125 Magurele Romania

ISBN: (纸本)9798350368130

the rapid advancements in sectors such as Internet of things (IoT), Artificial Intelligence (AI), Machine Learning (ML), networking and cloud computing are opening the opportunity for integrating these techniques with robots from the manufacturing field, with the promising perspective of improved performance at reduced costs, inspiring the new field of cloud robotics. In this paper, we propose an architecture for integrating industrial robots with Cloud AI object recognition services. For our proposed solution, we explore the results obtained by simulating a sorting task in RobotStudio, communicating with Microsoft Azure Custom vision API by sending the web service calls from a computer running a Python script. We present the cycle time added by the communication with the cloud service and test the robustness of the system by comparing the results obtained with four sets of images: unaltered, altered with gaussian noise, barrel distortion and both.

关键词： RobotStudio industrial robots Cloud object recognition Azure Custom vision computer vision

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Optimized Unmanned Aerial Vehicle (UAV) Localization and Autonomous Navigation Stack for Tightly Closed Industrial Spaces 18

Optimized Unmanned Aerial Vehicle (UAV) Localization and Aut...

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18th Annual IEEE international Systems conference (SysCon)

作者： Havas, Robin Noori, Nadia Saad Auby, Christian Cenkeramaddi, Linga Reddy Applica Consulting AS Lindesnes Norway Univ Agder Dept Informat & Commun Technol Grimstad Norway

ISBN: (纸本)9798350358810;9798350358803

Inspection automation of industrial infrastructure and surveillance became an integrated part of the new industrial environments in the age of the fourth industrial revolution and digital transformation;thus, the need to remove manual labor from such processes to improve efficiency and reduce costs became necessary. Recent advances in sensor technology, edge devices, and unmanned aerial vehicle (UAV) control systems have made it possible to develop systems with such capabilities using off-the-shelf components and integrated platforms. this research work aims to identify and develop a navigation stack for localization and navigation in the absence of global positioning system (GPS) signals. Furthermore, industrial environments are frequently complex in terms of navigation space;thus, such systems must have a high precision rate for pose estimation. Tanks and pipes for storage and transport, which require inspections for safety and are usually costly and risky, are also common in an industrial environment. As a result, UAVs can offer a safe and profitable alternative solution in addition to precision and speed. A working prototype is developed for a navigation system that enables autonomous navigation for a UAV in a simulated industrial environment using a local path planning module with estimated pose data from a localization module using visual odometry sensor data. the results show an average error rate of 10-30 cm, which is promising for navigation within complex spaces with a range of 1.5-8.5 m. the developed stack can serve as the foundation for future development to improve pose estimation precision and performance while also increasing the stability of the local path planning algorithm. Furthermore, the developed system represents a one-way communication channel between the localization module and the local path planning module. However, bi-directional communication to provide feedback from the local path planning module to the localization module can improve

关键词： UAV Navigation UAV localization inspection automation robotics autonomous systems

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Robust Output Servo of a General Class of Uncertain Systems 17

Robust Output Servo of a General Class of Uncertain Systems

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17th international conference on control, automation, robotics and vision (ICARCV)

作者： Cao, WenJun Seagate Technol Seagate Res Grp Singapore Singapore

ISBN: (纸本)9781665476874

this paper first presents a general integraltype sliding mode control design for output servo of nonlinear uncertain system, second customizes a sliding surface suitable for output servo tasks of uncertain systems with linear-time-invariant (LTI) nominal plants and matched uncertainties. Interestingly, as applications, this paper applies the proposed sliding surface design to minimumphase and nonminimum- phase LTI systems and obtains the same form of sliding surface as a previous paper [1]. this highlights the usability of the proposed general sliding surface design.

关键词： servo robust control sliding mode Integral-type sliding mode minimum-phase nonminimum-phase

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vision-Based High-Precision Assembly with Force Feedback 9

Vision-Based High-Precision Assembly with Force Feedback

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9th international conference on control, automation and robotics (ICCAR)

作者： Chen, Yurou Yu, Jiyang Shen, Liancheng Lin, Zhenyang Liu, Zhiyong Chinese Acad Sci Inst Automat Beijing Peoples R China China Acad Space Technol Beijing Inst Spacecraft Syst Engn Beijing Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing Peoples R China

ISBN: (纸本)9798350322514

Assembling objects in unstructured scenarios requires accurate 3D position estimation, which presents a significant challenge in achieving high-precision manipulation. this paper proposes a method to reduce positioning errors in high-precision assembly problems by combining visual and force feedback. Our approach leverages the strengths of both sensors by analyzing visual positioning characteristics and using force feedback to locate the target position during inaccuracies. We evaluate our approach through experiments of inserting a nut onto a screw without threading, conducted in both simulation and real-world scenarios. Our results demonstrate an improvement in the assembly success rate compared to previous methods.

关键词： Nut and screw assembly 3D position estimation high-precision manipulation

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