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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1461-1470 订阅

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Implementation of the hybrid technology for quadcopter motion control in a complex non-deterministic environment

Implementation of the hybrid technology for quadcopter motio...

引用

international conference on control, automation and Systems ( ICCAS)

作者： D. Devitt R. Morozov M. Medvedev I. Shapovalov G. Konovalov Research & Development Institute of Robotics and Control Systems Southern Federal University Taganrog Russian Federation

ISBN: (纸本)9781538670804;9788993215168

this paper represents the results of development and research of the autonomous control system for the UAV. Existing control systems do not provide flight performance necessary for successful operations in non-deterministic environments. So, we propose hybrid intelligent technology based on unstable modes and the conception ofa virtual goal. the main feature of our approach is the efficient integration of global and local path planning providing smooth and quick correction of trajectories for the avoidance of obstacles detected by the quadrotor vision system. Moreover, our local planning approach gives the tool for passing areas with complex obstacles where other local path planning algorithms fail. the hardware-software architecture of the control system based on client-server model with the loose coupling in ROS is presented. the results of simulation and real test flights confirming the efficiency of the proposed technology are shown. We used the commercially available quadcopter and flight controller. that proves absence of necessity in special hardware tools for autonomous flight in environments with uncertainties.

关键词： Planning Trajectory Mobile robots Laser radar

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Design of a 4-Finger End-Effector for paprika harvesting

Design of a 4-Finger End-Effector for paprika harvesting

引用

international conference on control, automation and Systems ( ICCAS)

作者： Sungwoo Cho Jong Pyo Jun Hie-yong Jeong Hyoung Il Son Hybrid Robotics Inc. Gwangju Korea Department of Robotics Design for Innovative Healthcare Osaka University Osaka Japna Department of Rural and Biosystems Engineering Chonnam National University Gwangju Korea

ISBN: (纸本)9781538670804;9788993215168

this study is part of research in the development of robots that can automatically harvest paprika in Protected Horticulture. We designed the mechanism of the end-effector which grasping the paprika and cutting the peduncle, and developed the control device. the end-effector has four fingers to grip, regardless of the size and shape of paprika, position. the end-effector also has a cutter to cut the peduncle of paprika and a blade disinfection system to prevent viruses during cutting. We will try to evaluate the performance through future experiments.

关键词： End effectors Blades Grippers Viruses (medical) Tools

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Deep Adversarial Imitation Learning of Locomotion Skills from One-shot Video Demonstration

Deep Adversarial Imitation Learning of Locomotion Skills fro...

引用

IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Huiwen Zhang Yuwang Liu Weijia Zhou University of Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

Traditional imitation learning approaches usually collect demonstrations by teleoperation, kinesthetic teaching or precisely calibrated motion capture devices. these teaching interfaces are cumbersome and subject to the constraints of the environment and robot structures. Learning from observation adopts the idea that the robot can learn skills by observing human's behaviors, which is more convenient and preferable. However, learning from observation shows great challenges since it involves understanding of the environment and human actions, as well as solving the retarget problem. this paper presents a way to learn locomotion skills from a single video demonstration. We first leverage a weak supervised method to extract the pose feature from the experts, and then learn a joint position controller trying to match this feature by using the general adversarial network (GAN). this approach avoids cumbersome demonstrations, and more importantly, GAN can generalize learned skills to different subjects. We evaluated our method on a walking task executed by a 56-degree-of-freedom (DOF) humanoid robot. the experiment demonstrate that the vision-based imitation learning algorithm can be applied to high-dimensional robot task and achieve comparable performance to methods by using finely calibrated motion capture data, which are of great significance for the research on human-robot interaction and robot skill acquisition.

关键词： Task analysis Gallium nitride Robots three-dimensional displays Generators Pose estimation Education

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Virtual Reality Teleoperation of a Humanoid Robot Using Markerless Human Upper Body Pose Imitation

Virtual Reality Teleoperation of a Humanoid Robot Using Mark...

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IEEE-RAS international conference on Humanoid Robots

作者： Matthias Hirschmanner Christiana Tsiourti Timothy Patten Markus Vincze Vision for Robotics Laboratory Automation and Control Institute TU Wien Vienna Austria

ISBN: (数字)9781538676301

ISBN: (纸本)9781538676318

Teleoperation of robots with traditional input devices (joysticks, keyboard, etc.) is often difficult and cumbersome especially for novice users. We introduce an intuitive virtual reality (VR) based teleoperation system for humanoid robots that imitates the user's upper body pose. We present an algorithm to directly calculate the robot's joint angles from the teleoperator's arm poses using the Leap Motion controller and a comfortable VR environment for visual feedback. the intuitiveness of the system is tested with 21 novice users performing two object manipulation tasks and compared with kinesthetic guidance which is a popular alternative to teleoperation for Learning from Demonstration (LfD). the majority of the users preferred our teleoperation system overall for both tasks, stating it was easier to learn. Users also showed objective performance improvement for one task in particular, exhibiting lower task duration. A video of the working system can be found at http://***/teleoperation.

关键词： Robot sensing systems Headphones Robot kinematics Task analysis Cameras Tracking

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Speed Tracking of Brushless DC Motors with Load Disturbance

Speed Tracking of Brushless DC Motors with Load Disturbance

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international conference on control, automation, robotics and vision

作者： Nan Zhang Guofeng Chen School of Automation Nanjing University of Science and Technology Nanjing China

this work considers speed tracking control of a simplified Brushless DC (BLDC) motor system with load disturbance. A dynamic error feedback controller is developed to achieve robust speed tracking with load disturbanc... 详细信息

关键词： Brushless DC motors Mathematical model Adaptive control Adaptation models Load modeling

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Autonomous Landing of UAV Using vision Based Approach and PID controller Based Outer Loop

Autonomous Landing of UAV Using Vision Based Approach and PI...

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international conference on control, automation and Systems

作者： Taemin Shim Hyochoong Bang Department of Aerospace Engineering KAIST Daejeon Korea

ISBN: (纸本)9781538670804;9788993215168

In this paper, a control system for autonomous landing of UAV at a desired position using vision system is constructed and verified through flight experiments. In the UAV, a camera mounted on the gimbal takes image of the direct under of the UAV's position. this image is processed in real time on the onboard GPU to generate the pixel coordinates of the helipad in the image. the generated pixel coordinates are transferred to the onboard FCC to generate an outer loop controller command, which is input to a commercial controller that performs attitude control. As a result, we confirmed that UAV can be successfully landed on the helipad, which is the desired landing position, by using the system constructed through the flight experiment.

关键词： Autonomous landing UAV system PID controller Onboard GPU

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Cooperative Output Regulation of Linear Multi-agent Systems with a Switched Exosystem by Output Feedback control

Cooperative Output Regulation of Linear Multi-agent Systems ...

引用

international conference on control, automation, robotics and vision

作者： He Cai School of Automation Science and Engineering South China University of Technology Guangzhou China

this paper considers the cooperative output regulation problem of linear multi-agent systems with a switched exosystem. the switched exosystem can generate reference signals with different types over time which are more useful in practice. In contrast to the existing state feedback control law, in this paper, an output feedback control law is proposed.

关键词： Switches Multi-agent systems Observers Output feedback Power system stability Closed loop systems

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Machine vision Based Weight Prediction for Flatfish

Machine Vision Based Weight Prediction for Flatfish

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international conference on control, automation and Systems

作者： K. H. Hwang J. W. Choi School of Mechanical Engineering Pusan National University Busan Korea

ISBN: (纸本)9781538670804;9788993215168

In fisheries industry, flatfish accounts for about half of the domestic fish production and is a specie with active aquaculture activities. As flatfish grows, classification according to the size should be periodically carried out for efficient growth. In this paper, the correlation between area and weight of flatfish required for classification algorithms using machine vision is derived. 120 simulations are performed using flatfish models and the area is obtained through image processing. In image processing process, the area of flatfish model is calculated using a reference square known in size. the weight of actual fish corresponding to the length of the model is obtained using the reference equation. then, regression analysis is performed to derive the interpolation of linear and power equations which show correlation between area and weight of the flatfish.

关键词： Machine vision Regression analysis Parameter estimation Image processing

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Large Size Painting with Infraless vision-aided Mobile Robot

Large Size Painting with Infraless Vision-aided Mobile Robot

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international conference on control, automation and Systems ( ICCAS)

作者： Hyeonseong Kim Dongwoo Ko Byungkwan Jung Minji Lee SungPyo Lee Department of Mechanical Engineering KAIST Daejeon Korea NAVER LABS Gyeonggi-do South Korea Department of Electrical and Computer Engineering Seoul National University Seoul Korea Department of Mechanical and Aerospace Engineering Seoul National University Seoul Korea

ISBN: (纸本)9781538670804;9788993215168

this paper presents two design principles for developing LSP-Bot (large size painting mobile robot); visual error compensation and wide marker system. Localization error is compensated by vision to enhance the precision of wheel odometry and IMU sensors. the robot corrects the accumulated local error in position using downward-facing camera and sets the global alignment using another backward-facing camera. In order to compensate visual error robustly in lots of tests, a wide marker system is developed. Implementing these technologies, the robot can draw larger and more well-drawn painting without any infra or frame structures.

关键词： Painting Mobile robots Ink Visualization Cameras Robot vision systems

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Optimal control for Remote and Local controllers with Packet Dropout and Input Delay

Optimal Control for Remote and Local Controllers with Packet...

引用

international conference on control, automation, robotics and vision

作者： Xiao Liang Huanshui Zhang Juanjuan Xu Xiao Lu Haixia Wang College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao Shandong P.R. China School of Control Science and Engineering Shandong University Jinan Shandong P.R. China

We investigate the optimal control problem for networked control systems consisting of a linear plant controlled by a remote controller and a local controller. By virtue of the maximum principle, we establish a non-homogeneous relationship between the state and the costate of this class of systems. Based on this relationship, the optimal controllers are derived in terms of the two Riccati equations.

关键词： Delays Optimal control Cost function Algebra Random variables automation Riccati equations

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