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共 5296 条记录，以下是171-180 订阅

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Practical Fixed-time Distributed Average-tracking for Second-order Multiagent Systems 17

Practical Fixed-time Distributed Average-tracking for Second...

引用

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

作者： Yu, Yuan-Jun Liu, Cheng-Lin Jiangnan Univ Inst Automat Key Lab Adv Proc Control Light Ind Minist Educ Wuxi 214122 Jiangsu Peoples R China

ISBN: (纸本)9781665476874

In this article, the fixed-time distributed average tracking (DAT) problem of second-order multiagent systems (MASs) under the undirected topology is discussed. the DAT algorithm is composed of a distributed average estimator and an estimator-based decentralized tracking controller. the distributed average estimator guarantees that the agents estimate the average value of multiple time-varying reference signals (TVRSs) with bounded derivatives within a fixed time. then, through the back-stepping method, the estimator-based decentralized tracking controller is proposed to ensure that each agent reaches the average value of the multiple TVRSs within a fixed time. Finally, numerical simulation results verify the effectiveness of the proposed protocol.

关键词： Distributed average-tracking(DAT) fixed-time control second-order systems multi-agent system

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FMS:Features Motion Statistics for Incorrect Matched-pair Removal 17

FMS:Features Motion Statistics for Incorrect Matched-pair Re...

引用

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

作者： Shu, Hao Liu, Zhitao Su, Hongye Xia, Yue Zhejiang Univ Polytech Inst Hangzhou Peoples R China Zhejiang Univ State Key Lab Ind Control Technol Inst Cyber Syst & Control Hangzhou Peoples R China

ISBN: (纸本)9781665476874

the matching of incorrect pairs affects the precision of the SLAM/VO system. Because the calculation is complex and time-consuming, the various limitation methods struggle to meet the system's real-time requirements. FMS is a novel approach that adapts well to both sparse and dense mapping processes, allowing for the verification of matched pairs of features. By displacing features between two consecutive frames, the projection formula contacts motion patterns. this classifier's overall characteristics demonstrated that it was extremely effective at applying suitable matched pairings from mismatched features. the proposed algorithm outperformed the raw technique in terms of accuracy and stability when compared to the ORB-SLAM technique.

关键词： SLAM features matching

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Resilient practical time-varying formation tracking for multiagent systems with a leader of unknown input 17

Resilient practical time-varying formation tracking for mult...

引用

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

作者： Li, Jinsheng Yu, Jianglong Hua, Yongzhao Dong, Xiwang Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Beijing Peoples R China Beihang Univ Sci & Technol Aircraft Control Lab Beijing Peoples R China

ISBN: (纸本)9781665476874

this paper investigates practical time-varying formation tracking problems for high-order multiagent systems in an adversarial environment, where the leader's control input is unknown and the followers are prone to agent-attacks. To guarantee the remaining benign followers not suffering attacks still can track the leader's trajectory with an expected formation configuration, the resilient practical time-varying formation (RPTVF) tracking is examined in this work. Firstly, to avoid the influence of attacked follower agents, a security strategy is proposed, which is an enhanced version of the weighted mean-subsequence-reduced algorithm. Secondly, using relative information of neighbors, a resilient tracking protocol is designed for each benign follower to track the leader. then, it is proved that according to the above strategy and protocol, the multiagent systems with a leader of unknown input can reach convergence in a finite time. Finally, simulation examples are given to verify the theoretical results.

关键词： Multi agent systems

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A Scorewriter Application using Electrooculography-based Human-Computer Interface 17

A Scorewriter Application using Electrooculography-based Hum...

引用

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

作者： Maaoso, Carolina de Madrid, Angel P. Romero, Miguel Perez-Roa, Enrique M. UNED Dept Control & Commun Syst Madrid Spain

ISBN: (纸本)9781665476874

At present, many projects are being developed with human-computer interfaces in different areas but few are related to music. In this work we present a scorewriter application that uses electrooculography as input interface. For one side, the hardware used to record the electrooculogram consists mainly of a low-cost Arduino based microcontroller board that will receive the signal from the electrodes, collect it and send it via USB to the computer. On the other hand, we use free software to implement the application running on the computer. this application is in charge of processing, classifying (using a neural network) and translating the signal into commands to finally build the song and play it. the modularity of the application allows it to be easily modified for other tasks using the same interface. Due to the nature of the application it is very suitable for entertainment. Furthermore, due to the characteristics of its interface it is also suitable for people with reduced mobility who want to easily perform simple music composition tasks.

关键词： Application programs

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vision-Based Fast Parameter Identification in Cell Membrane Force Model for Microinjection Micro-force Sensing 7

Vision-Based Fast Parameter Identification in Cell Membrane ...

引用

7th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Chen, Zhong Gao, Xinyi Liang, Zengsheng Zhang, Xianmin South China Uni vers Technolog Provinve Key Lab Precis Equipment & Mfg Technol Guangzhou Peoples R China South China Univ Technol Sch Mech & Automot Engn Guangzhou Peoples R China

ISBN: (纸本)9798350376814;9798350376807

Cell microinjection is of great significance to human biomedicine. Due to the high fragility of cells and micropipettes, excessive injection force may damage cells and micropipettes. therefore, the key to automating cell microinjections is to accurately detect and control the force exerted on cells by the micropipette during microinjection in real time. the difficulty of real-time visual force measurement lies in the parameter identification of the force measurement model. therefore, based on the cell membrane point-load visual force model, a parameter identification method of this model during cell microinjection is proposed in this paper. the proposed real-time parameter identification for micro-force sensing in microinjection is evaluated in Matlab and further gives its feasibility analysis of algorithm transferability on FPGA.

关键词： Cell membranes

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MATLAB Toolbox for fractional-variable-order closed loop systems with a digital controller 17

MATLAB Toolbox for fractional-variable-order closed loop sys...

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

作者： Oziablo, Piotr Mozyrska, Dorota Matusiak, Mariusz Bialystok Tech Univ Fac Comp Sci Wiejska 45A Bialystok Poland Lodz Univ Technol Fac Elect Elect Comp Sci & Control Engn Stefana Zeromskiego 116 Lodz Poland

ISBN: (纸本)9781665476874

In the paper, there is presented a MATLAB Toolbox that allows simulation and parameter tuning of closed-loop systems with fractional-variable-order digital PID (FVOPID) controllers. the proposed toolbox provides MATLAB Simulink blocks of FVOPID based on two different implementations of Grunwald-Letnikov fractional-variable-order operator. An additional part of the toolbox is an application with a GUI interface which primary purpose is to simulate and find the optimal tuning parameters of FVOPID for a given closed-loop system. the tuning process, in this case, can be performed employing different optimization methods set to minimize an objective function according to the selected integral criterion. the paper describes the internal architecture (design) of the toolbox and its functionalities.

关键词： Closed loop systems

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2024 2nd international conference on Mechatronics, control and robotics, ICMCR 2024

2024 2nd International Conference on Mechatronics, Control a...

引用

2nd international conference on Mechatronics, control and robotics, ICMCR 2024

ISBN: (纸本)9798350396096

the proceedings contain 18 papers. the topics discussed include: advancements in spasticity management: a design framework with PID integration for upper limb spasticity training device (ULSTraD);parameter identification and optimal speed controller design for BLDC motor using the genetic algorithm;ULSMeD: assisted measurement device for quantitative evaluation of upper limb spasticity;vision and laser-based mobile robot following and mapping;design concept of a magnetic levitation multi-function mechanical testing device;predefined-time tracking control of second-order multi-agent systems with state constraints;collision classification for unmanned surface vehicle using inertial measurement unit data;and nested optimized adaptive linear control.

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Reservoir modeling of distributed-parameter systems 17

Reservoir modeling of distributed-parameter systems

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

作者： Patan, Krzysztof Patan, Maciej Univ Zielona Gora Inst Control & Computat Engn Zielona Gora Poland

ISBN: (纸本)9781665476874

We investigate possibilities of effective modeling the distributed-parameter systems using reservoir computing in such a way as to properly reconstruct the spatio-temporal dynamics defined in a given multidimensional domain. the setting examined here corresponds to situations where the locations of sensors and actuators are fixed allowing to delegate the complex system dynamics to a reservoir-based neural network which is trained based on the available measurement data. the proposed approach consists in imposing a proper partitioning of the spatial domain, then a specific structure of an echo state network is used to form the reservoir capable to follow not only temporal but also spatial dynamics of the system. As a result, an extremely effective approximator of the distributed system is obtained with relatively simple training procedure to deliver readout of the system state. Contrary to the classical numerical methods for solving distributed-parameter systems characterized by a large-scale we are able to reduce the dimesionality and computational-cost useful for state prediction and/or estimation in the real-time. the performance of the proposed approach is evaluated by numerical experiments on the transient displacements of the clamped plate.

关键词： Numerical methods

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Uncertainty-Aware Feature Mixing and Cross-Decoupled Pseudo Supervision for Semi-Supervised Semantic Segmentation 17

Uncertainty-Aware Feature Mixing and Cross-Decoupled Pseudo ...

引用

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

作者： Chen, Xiangbo Guo, Yafeng Song, Mengxuan Wang, Xiaonian Tongji Univ Dept Control Sci & Engn Shanghai 201804 Peoples R China

ISBN: (纸本)9781665476874

Semi-supervised semantic segmentation aims to maximize the training performance for a limited annotation cost. Existing methods such as cross pseudo supervision have shown excellent performance, yet ignore potential information interactions between labeled and unlabeled data, and suffer from misleading incorrect pseudo labels. this paper takes two ways to improve each of these shortcomings. Firstly, we perform feature-level mixing and cross-decoupling using labeled and unlabeled data to establish potential interactions between the two types of data. Secondly, an uncertainty-aware loss re-weighting method based on information entropy is used to mitigate the negative effects of incorrect pseudo labels. Experimentally, our method further improves the previous cross pseudo supervision method with competitive performance on PASCAL VOC 2012 dataset under various data partition protocols.

关键词： Semantic Segmentation

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Color Sorting System Using YOLOv5 for Robotic Mobile Applications 6

Color Sorting System Using YOLOv5 for Robotic Mobile Applica...

引用

6th international conference on robotics and Computer vision, ICRCV 2024

作者： Pena, Samuel Pilco, Andrea Moya, Viviana Chamorro, William Vasconez, Juan Pablo Zuniga, Jose Andres Universidad Internacional del Ecuador Facultad de Ciencias Técnicas Quito Ecuador Escuela Politecnica Nacional Departamento de Automatización y Control Industrial Quito Ecuador Universidad Andres Bello Energy Transformation Center Faculty of Engineering Santiago Chile

ISBN: (纸本)9798331527426

the integration of mobile robots and computer vision has revolutionized industrial tasks by enabling precise and efficient automation processes. this work proposes a mobile platform for sorting Petri dishes using advanced deep-learning techniques. We utilize the YOLOv5 framework for real-time color detection and a 6-bar mechanism with a gripper for dynamic sample sorting. the implementation enhances logistics and reduces operational errors through accurate color classification. Our methodology includes creating a training dataset of over one thousand labeled RGB images and validating the system's performance. the trained network achieved over 90% accuracy during validation and testing, demonstrating precise robot positioning and effective Petri dish manipulation. this research successfully addresses automation challenges in industrial settings, offering improved efficiency and accuracy. © 2024 IEEE.

关键词： Deep learning

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