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

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Comparision of different control algorithms for a knee exoskeleton

Comparision of different control algorithms for a knee exosk...

引用

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

作者： Yuhao Luo Can Wang Zheng Wang Yue Ma Xinyu Wu Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology

though the rapidly development in exoskeleton robot area, there are still some challenges, such as the safe and friendly human-machine interaction. In this paper, we proposed a novel knee exoskeleton driven by Series Elastic Actuator (SEA) which is a compliant actuator has the characteristic low output impedance, low friction, high quality force control and back-drivability. As for walking assistance, the force control is vital. Here, we mainly apply two control method to achieve the robust force control, one is the feedback control with enhanced disturbance observer, another is the Integral Sliding Mode control (ISM). We test both the stability and force tracking performance of the two controller. the result showed that both algorithms can achieve the satisfactory performance and the ISM algorithm obtained the slightly better result.

关键词： Exoskeletons Robots Springs Force control Man-machine systems Actuators Impedance

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Barrier Lyapunov Function Based Output-constrained control of Nonlinear Euler-Lagrange Systems

Barrier Lyapunov Function Based Output-constrained Control o...

引用

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

作者： Kapil Sachan Radhakant Padhi Department of Aerospace Engineering Indian Institute of Science Bangalore India Department of Aerospace Engineering Indian Institute of Science Bangalore India

An output-constrained nonlinear control design technique is presented in this paper for Euler-Lagrange type of systems. the controller is formulated to prevent both symmetric as well as asymmetric output constraint violations. the dynamic inversion control philosophy is used to formulate the controller. However, unlike dynamic inversion, error dependent gains are chosen in the proposed control formulation, which leads to a nonlinear closed loop error dynamics. the barrier Lyapunov function is used to prove the asymptotic stability of the closed loop error dynamics. It is shown that the system output will remain bounded by the chosen constraints and all other close loop states will also remain bounded. the effectiveness of the controller is illustrated through extensive simulation results.

关键词： control design Nonlinear dynamical systems Symmetric matrices Asymptotic stability Lyapunov methods MIMO communication

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Interactive Reinforcement Learning based Assistive Robot for the Emotional Support of Children

Interactive Reinforcement Learning based Assistive Robot for...

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international conference on control, automation and Systems ( ICCAS)

作者： Edwinn Gamborino Li-Chen Fu NTU Center for Artificial Intelligence & Advanced Robotics National Taiwan University Taipei Taiwan Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781538670804;9788993215168

In this work, we challenge the Interactive Reinforcement Learning paradigm by implementing an interactive action-planning module developed with the goal of exploring the feasibility of using a robot to socially engage with children and improve their mood. Facial features of the child are captured and processed, determining their emotional reaction to a behavior performed by the robot. then, these emotions are classified as affective states in a multi-dimensional model. Leveraging the expertise of a human trainer, the action-planning module interactively learns those actions that are the most appropriate to perform when the child subject is in a specific affective state. To validate the usefulness of the proposed methodology, we evaluated the impact of the robot on elementary school aged children. Our findings show that using this methodology, the robot is able not only to learn in real time from the human trainer through interactions, but also that performing these social actions a robot can improve the mood of children.

关键词： Robots Mood Pediatrics Hospitals Tools

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Parabolic Sliding Mode Filtering with Feed-Forward Compensation

Parabolic Sliding Mode Filtering with Feed-Forward Compensat...

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international conference on control, automation, robotics and vision

作者： Shanhai Jin Xiaodan Wang Yonggao Jin Xiaogang Xiong School of Engineering Yanbian University Yanji China School of Mechanical Engineering and Automation Shenzhen Graduate School Shenzhen China

In motion control systems, feedback signals are often corrupted by noise because of environmental disturbances and measurement errors. thus, filters are necessary to remove noise to obtain reliable signals. this paper proposes a new sliding mode filter that possesses a parabolic-shaped sliding surface. the proposed filter is an extension of a Jin et al.'s parabolic sliding mode filter by including feed-forward compensating terms for accelerating the tracking speed between the output and the input. Its discrete-time algorithm is developed by using the backward Euler discretization, and its discrete-time implementation does not produce chattering. A numerical example is executed for validating the effectiveness and advantage of the proposed filter.

关键词： Acceleration Trajectory Convergence Filtering Measurement errors Noise measurement

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throughput analysis for cyber-physical systems under the slotted ALOHA protocol

Throughput analysis for cyber-physical systems under the slo...

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

作者： Zhihui Li Zhongchang Liu Ge Guo Yuhuai Wang School of Control Science and Engineering Dalian University of Technology Dalian China College of Marine Electrical Engineering Dalian Maritime University Dalian China Jiangsu Automation Research Institute Lianyungang China

this paper investigates the effect of network throughput on the stability of a collection of cyber-physical systems (CPSs) which transmit their measurement information via a single communication channel. the slotted ALOHA access protocol is used for scheduling all CPSs, where time is divided into time slots and only one plant can access the channel at any time slot. By formulating the collection of cyber-physical systems into a switch system, we derive the relationship between the throughput and the attenuation rate using the average dwell time technique. Finally, a co-design algorithm is given to compute the controller gains. A numerical example illustrates the effectiveness of the proposed co-design procedure.

关键词： Protocols throughput Cyber-physical systems Integrated circuits Stability analysis Actuators Numerical stability

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Number Recognition of Parts Book Schematics using Convolutional Recurrent Neural Network

Number Recognition of Parts Book Schematics using Convolutio...

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international conference on control, automation and Systems

作者： Erdal Genc Hee Ran Shin Jang Sik Park Department of Electrical and Electronic Engineering Kyunsung University 48434. 309 Suyeong-ro Nam-gu Busan Republic of Korea

ISBN: (纸本)9781538670804;9788993215168

OCR (Optical Character Recognition) has been becoming a vital method to recognize digits, letters, symbols and so on. the main idea is basically the conversion of data files which consists of handwritten or machine-written digits or characters into a type to let the machine make edits and read. this way, it lets computers read articles or books. they can also read images and make the conversion to a text file by using OCR. there are two important benefits of OCR. First, is the enhancement of the device to operate more productively even if the number of employees is decreased. Secondly, is the increase in the efficiency of the storage. this paper compares two state-of-the-art OCR algorithms in a simulated environment by using modified dataset. Simulation results are shown in part 4.

关键词： OCR MLP Deep learning Computer vision RNN LSTM Image processing

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Efficient Human-Robot Interaction using Deep Learning with Mask R-CNN: Detection, Recognition, Tracking and Segmentation

Efficient Human-Robot Interaction using Deep Learning with M...

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

作者： than D. Le Dang T. Huynh Huy V. Pham University of Bordeaux Axon Enterprise Ton Duc Thang University

We address social human-robot interaction problem by proposing an integration of deep neural network with mechanical robotic system to make it robust for human-robot interactive activities. Mask R-CNN, a neural network for object detection, can effectively help localize human faces which can be manipulated to instruct movement of the robot head. Our approach is not only suitable for detection and segmentation tasks but able to integrate as well with the mechanism of parallel mini-manipulator representing the 3D dimensions, in position and orientation of workspace. It can also solve the object segmentation problem which appears to be one of the most challenging issues in computer vision nowadays.

关键词： Training Neural networks Feature extraction Cameras Robot vision systems Human-robot interaction

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Artificial Neural Network-Based controllers for A Continuous Stirred Tank Heater Process

Artificial Neural Network-Based Controllers for A Continuous...

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international conference on control, automation, robotics and vision

作者： Guang Jun Nicholas Ang Lingzhang Huang Choo Min Lim Ngee Ann Polytechnic School of Engineering Singapore

Two linear Artificial Neural Network (ANN)-based controllers for the control of a nonlinear system are presented. the optimization and pole placement control design strategies are used. For both strategies, linear ANNs are used to model a Continuous Stirred Tank Heater (CSth) process. third-order discrete-time models or Adaline ANNs are used whose parameters are updated at every sampling time to provide adaptability to the controllers. Simulation tests show that the linear ANN-based controllers can overcome strong nonlinear coupling effects, reject step disturbances, and provide adequate damping to the subsystem interactions. Both ANN-based control design strategies are shown to be interchangeable with each other for the control of the CSth process.

关键词： control design Optimization Process control Damping Adaptation models Temperature Artificial neural networks

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Robust Online Obstacle Detection and Tracking for Collision-Free Navigation of Multirotor UAVs in Complex Environments

Robust Online Obstacle Detection and Tracking for Collision-...

引用

international conference on control, automation, robotics and vision

作者： Min Wang Holger Voos Daobilige Su Automation and Robotics Research Group University of Luxembourg Luxembourg Australian Center for Field Robotics (ACFR) University of Sydney Australia

Object detection and tracking is a challenging task, especially for unmanned aerial robots in complex environments where both static and dynamic objects are present. It is, however, essential for ensuring safety of the robot during navigation in such environments. In this work we present a practical online approach which is based on a 2D LIDAR. Unlike common approaches in the literature of modeling the environment as 2D or 3D occupancy grids, our approach offers a fast and robust method to represent the objects in the environment in a compact form, which is significantly more efficient in terms of both memory and computation in comparison with the former. Our approach is also capable of classifying objects into categories such as static and dynamic, and tracking dynamic objects as well as estimating their velocities with reasonable accuracy.

关键词： Laser radar Two dimensional displays Radar tracking Robots Computational modeling Cameras Shape measurement

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A Tendon-Driven Mechanism of the Bending Joints Based on Differential Gears

A Tendon-Driven Mechanism of the Bending Joints Based on Dif...

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international conference on control, automation and Systems

作者： Ki-Young Kim Jung-Wook Suh Hyun-Soo Woo Laboratory of Medical Assistant Robotics Korea Institute of Machinery & Materials Daegu South Korea Laboratory of Medical IT Convergence Electronics and Telecommunication Research Institute Daegu South Korea

ISBN: (纸本)9781538670804;9788993215168

In minimally invasive surgery, surgeons use a variety of techniques to operate with less damage to the body than with open surgery. Minimally invasive surgery is associated with less pain, a shorter hospital stay and fewer complications. the da Vinci Surgical System is a robotic surgical system made by the American company Intuitive Surgical. Approved by the Food and Drug Administration (FDA) in 2000, it is designed to facilitate complex surgery using a minimally invasive approach, and is controlled by a surgeon from a master console. the da Vinci System has been designed to improve upon conventional laparoscopy, in which the surgeon operates while standing, using hand-held, long-shafted instruments, which have no wrist joints. By providing surgeons with enhanced dexterity, the da Vinci Surgical System makes it possible for more surgeons to perform minimally invasive procedures.

关键词： Bending joint Tendon actuation Differential gears Surgical robot Minimally invasive surgery

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