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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1411-1420 订阅

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Integral Backstepping-based Nonlinear Flight control Strategy for Quadrotor Aerial Robot with Unknown Mass 18

Integral Backstepping-based Nonlinear Flight Control Strateg...

引用

3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine vision (ICRMV)

作者： Wang, Jin Fang, Zhou Zhao, Wenjie Zhejiang Univ Room 4165th Teaching Bldg38 Zheda Rd Hangzhou Zhejiang Peoples R China

ISBN: (纸本)9781450365307

this paper aims at obtaining a stable and rapid-responsive controller for quadrotor aerial robots with unknown or changeable mass. Based on Newton-Euler formula, integral backstepping method and fractional-order PI/PD control, an adaptive flight control strategy is carried out in Matlab with Lyapunov stability theorem to ensure its stability. the control strategy includes cascade fractional PI/PD control for rotational loop and integral backstepping control for translational loop. through the comparison with conventional PID flight controller, main criteria for performance as setting time, maximum overshoot and steady-error show its improvement. After validating the proposed control system and controller tuning with several meta-heuristic algorithms, results from non-linear simulation verify the effectiveness and robustness for hovering or near hovering (near quasi-stationary) flight of quadrotors.

关键词： Fractional-order PI/PD Integral backstepping Unknown mass quadrotor control

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Research on Reentry Vehicle control Method Based on Robust Enhancement Strategy 15

Research on Reentry Vehicle Control Method Based on Robust E...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Peicheng, Liu Rong, Ma Xianqiang, Li Di, Pan School of Automation Northwesten Polytechnical University Xian5710072 China Institute of Manned Space System Engineering China Academy of Space Technology Beijing100094 China State Grid Beijing Electric Power Company Beijing102300 China

ISBN: (纸本)9781538695821

In order to enhance the robustness of reentry vehicles and improve the security of its control system, a general robustness enhancement strategy based on variable structure control is designed in this paper. Improve super-twist sliding mode reaching law, design a new type fast super-twist sliding mode reaching law. Combining strategies and methods can make robust improvements to existing control methods, thereby avoiding the need to redesign the controller. © 2018 IEEE.

关键词： Variable structure control

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A Motion Planning Method Based vision Servo for Free-Flying Space Robot Capturing A Tumbling Satellite 8

A Motion Planning Method Based Vision Servo for Free-Flying ...

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8th IEEE Annual international conference on Cyber Technology in automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Jin, Minghe Yang, Guocai Liu, Yechao Zhao, Xiaoyu Liu, Hong Harbin Inst Technol State Key Lab Robot & Syst Harbin Heilongjiang Peoples R China

ISBN: (纸本)9781538670576

this paper presents a motion planning scheme for free-flying space robot capturing the tumbling target. And a tracking method of manipulator based vision servo is proposed. the target is in nutational motion. the pose of the target's docking ring can be measured by the manipulator's hand-eye cameras. the motion planning of manipulator in Cartesian Space is based on Euler Angle and Homogeneous matrix. It plans the motion arbitrarily and smoothly in six-axis. Compared with the classical position-based visual servo (PBVS) method, it's relatively simpler and can accomplish the capture within the specified time. the algorithm of visual measurement and the position-based inverse kinematics can avoid the singularities effectively. And the interpolation algorithm in the joint space is needed due to the different cycle, the visual measurement 100ms, the manipulator's controller 2ms. A detailed motion planning and control scheme of free-flying space robot is established. A set of numerical experiments by MSC ADAMS (R)/SIMULINK (R) co-simulation verify the validity and feasibility of the proposed approach.

关键词： aerospace robotics artificial satellites cameras interpolation manipulators matrix algebra path planning robot vision visual servoing free-flying space robot aerospace robotics Manipulators Visual servoing robot vision motion planning artificial satellite matrix algebra Cameras Path planning Interpolation Interpolation Arithmetic Barrel polishing

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Development of a Hybrid Autonomous Underwater Vehicle for Benthic Monitoring 4

Development of a Hybrid Autonomous Underwater Vehicle for Be...

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4th international conference on control, automation and robotics (ICCAR)

作者： Cadena, A. Teran, P. Reyes, G. Lino, J. Yaselga, V. Vera, S. Univ Estatal Peninsula Santa Elena UPSE Marine Sci Fac La Libertad Ecuador Univ Estatal Peninsula Santa Elena UPSE Telecommun & Syst Fac La Libertad Ecuador

ISBN: (纸本)9781538663387

this paper reports the initial development of a man-portable hybrid autonomous underwater vehicle that combines the best characteristic of AUV and ROV, good hydrodynamics and high stability in the water column. this architecture allows navigation close to the sea bed to get images and benthic samples. the electronics is based on FPGA and ARM processor development boards. the algorithms for Guidance, Navigation, control, Computer vision, Bayesian Networks and Deep Neural Networks were coded by VHDL blocks and C/C++ scripts that run on a Linux Embedded System. the Inertial Navigation System complemented by GPS is implemented by an Extended Kalman Filter described by VHDL blocks working with 64 bit arithmetic floating point and CORDIC algorithm. the main purpose of this hardware-software architecture is to allow the execution of some ROV complex tasks with human operators like identify sites of scientific interest and make parking strategies to collect underwater samples. Experimental results from sea trials are shown.

关键词： Autonomous Underwater Vehicles (AUV) Remotely Operated Vehicle (ROV) Field Programmable Gate Array (FPGA) Guidance, Navigation and control (GNC) Deep Neural Networks (DNN)

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Short Text Classification with A Convolutional Neural Networks Based Method 15

Short Text Classification with A Convolutional Neural Networ...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Hu, Yibo Yi, Yang Yang, Tao Pan, Quan Northwestern Polytechnical University School of Automation Xi'an710072 China

ISBN: (纸本)9781538695821

the traditional machine learning algorithms are easily affected by datasets in short text classification tasks, so they have weak generalization ability when confronted with new situations. this paper presents a new method SVMCNN by combining Convolutional Neural Networks and Support Vector Machine. Training the SVMCNN model with labeled datasets, and using the collected Twitter data for classification test. the results show that the SVMCNN, especially pre-trained SVMCNN has good performance in short text classification, which gets the high Precision rate, Recall rate and F1-measure. © 2018 IEEE.

关键词： Neural networks

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18th IFAC conference on Technology, Culture and international Stability, TECIS 2018 - Proceedings

18th IFAC Conference on Technology, Culture and Internationa...

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18th IFAC conference on Technology, Culture and international Stability, TECIS 2018

the proceedings contain 95 papers. the topics discussed include: noise control of the beginning of accidents in automatic control systems;role of satellite observation and geospatial technologies for the maintenance and mitigation of risks to critical energy infrastructure of the Caspian Sea;forecasting of improved straightforward valves technical condition using fuzzy inference models;numerical solution of inverse problem on determination of leakage for unsteady flow in a pipeline network;identification of heterogeneous stratum parameters in gas-condensate mixture filtration;development trends in cost oriented production automation;cost oriented maintenance management systems for manufacturing processes;towards a sophisticated approach to cost oriented automation and intelligent metrology in the advanced manufacturing;and in-flight verification of attitude control system for a land-survey satellite at a final of its manufacturing.

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vision-based Leader-Follower Mobile Robots for Cooperative Object Handling

Vision-based Leader-Follower Mobile Robots for Cooperative O...

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international conference on control, automation and Systems ( ICCAS)

作者： D.U. Jayarathne H.A.K.R. Vidumal S.M.A. Senevirathne P.G. Jayasekara T.D. Lalitharatne Robotics and Control Systems Laboratory University of Moratuwa Katubadda Sri Lanka University of Moratuwa Katubadda Sri Lanka

this paper has addressed the problem of transporting a long object from a given starting location to an end location using leader-follower robot formation in an environment filled with obstacles. Only the leader robot has the authority to make decisions. It possesses the main controller and is capable of navigating through an unknown environment using the data provided by on-board sensors. In the proposed system, a vision-based feedback method is combined with an explicit control method that oversights the virtual trailer between the leader and the follower. the parameters required to maintain a constant distance between the two robots are computed by the leader and transmitted to the follower directly. A fiducial marker is mounted on the front of the follower robot and is captured by a camera attached to the leader robot. Information exchanging methods based only on impedance control can be expensive because of the need of high-level controllers and force/torque sensors for both robots. Furthermore, the visual response scheme adds robustness to the system by reducing the limitations of sole explicit control methods. the proposed control algorithm is implemented on the developed mobile robots. the experimental results suggest that the vision-based feedback method is more effective in cooperate object carrying tasks.

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\boldsymbol{H}-{\infty} Filtering for Delta Operator Networked Systems with Random Delays and Limited Communication 15

\boldsymbol{H}-{\infty} Filtering for Delta Operator Network...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Zhang, Duanjin Zhang, Yinshuang Gao, Xiaobei School of Information Engineering Zhengzhou University Zhengzhou450001 China

ISBN: (纸本)9781538695821

this paper is concerned with the problem of H∞ filtering for networked control systems. A Bernoulli distributed is used to represent random time-delays and a switched sequence to illustrate limited communication in the considered system. Sufficient conditions that make the filtering error system to be exponentially stable with \boldsymbol{H}-{\infty} performance, are proposed in terms of linear matrix inequalities (LMI) and Lya-punov-Krasovskii functional in delta domain. the parameters of the designed \boldsymbol{H}-{\infty} filter are also developed. A numerical example is provided to show the effectiveness of the presented method. © 2018 IEEE.

关键词： Networked control systems

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Multi-Robotic Arms Automated Production Line 4

Multi-Robotic Arms Automated Production Line

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4th international conference on control, automation and robotics (ICCAR)

作者： Lee, Jeng-Dao Li, Wei-Chuan Shen, Jyun-Han Chuang, Ching-Wei Natl Formosa Univ Dept Automat Engn Huwei Yunlin County Taiwan

ISBN: (纸本)9781538663387

In response to the booming industrial automation, three commonly used industrial robots including one parallel type robot, one gantry type robot, and two six-axis serial robots will be self-developed in this study. the six-axis robot arm can be controlled by using Kinematics method. Furthermore, a fifth-order-polynomials method is used to limit accelerations and velocity on each joint to achieve continuity. Arc path of the robotic arm can be achieved by the three-points-arc interpolation. therefore, trajectories for gluing path planning will be successfully generated. Moreover, vision devices are used to inspect the work pieces after the laser engraving. In addition, the storage system provides storage of unassembled and finished workpieces. Finally, the system integration of all equipment will be completed to achieve a customized multifunction gluing and assembly line by self-developed robotic arms.

关键词： automation robotic arm interpolation forward and inverse kinematics

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6D Pose Estimation Using an Improved Method Based on Point Pair Features

6D Pose Estimation Using an Improved Method Based on Point P...

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4th international conference on control, automation and robotics (ICCAR)

作者： Vidal, Joel Lin, Chyi-Yeu Marti, Robert Natl Taiwan Univ Sci & Technol Dept Mech Engn Taipei Taiwan Univ Girona Comp Vis & Robot Grp Girona Spain

ISBN: (纸本)9781538663387

the Point Pair Feature [4] has been one of the most successful 6D pose estimation method among model-based approaches as an efficient, integrated and compromise alternative to the traditional local and global pipelines. During the last years, several variations of the algorithm have been proposed. Among these extensions, the solution introduced by Hinterstoisser et al. [6] is a major contribution. this work presents a variation of this PPF method applied to the SIXD Challenge datasets presented at the 3rd international Workshop on Recovering 6D Object Pose held at the ICCV 2017. We report an average recall of 0.77 for all datasets and overall recall of 0.82, 0.67, 0.85, 0.37, 0.97 and 0.96 for hinterstoisser, tless, tudlight, rutgers, tejani and doumanoglou datasets, respectively.

关键词： 6D pose estimation 3D object recognition object detection 3D computer vision robotics range image

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