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共 5296 条记录，以下是191-200 订阅

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Output-Feedback Model Predictive control Using Set of State Estimates 18th

Output-Feedback Model Predictive Control Using Set of State...

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18th international conference on Informatics in control, automation and robotics, ICINCO 2021

作者： Kuklišová Pavelková, Lenka Belda, Květoslav The Czech Academy of Sciences Institute of Information Theory and Automation Pod Vodárenskou věží 4 Prague 8182 00 Czech Republic

ISBN: (纸本)9783031264733

the paper deals with an algorithm of output-feedback model predictive control (MPC) where the required point state estimate is selected from the set of possible estimates. the involved state estimator is based on an approximate uniform Bayesian filter. In the paper, there are compared conservative mean and progressive composite state estimates. the proposed method is illustrated by the motion control of a specific robotic system. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Model predictive control

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Evaluation of a novel DSO-based Indoor Ceiling-vision Odometry System 17

Evaluation of a novel DSO-based Indoor Ceiling-Vision Odomet...

引用

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

作者： Bougouffa, Abdelhak Seignez, Emmanuel Bouaziz, Samir Gardes, Florian Univ Paris Saclay CNRS ENS Paris Saclay SATIE F-91190 Gif Sur Yvette France Ez Wheel F-16400 La Couronne France

ISBN: (纸本)9781665476874

Indoor localization for mobile industrial robots is a crucial step toward an autonomous system. A mobile robot needs a reliable and robust localization system to achieve its task autonomously. A reasonable estimate of the robot's state can be achieved through Visual Odometry (VO);however, with dynamic objects in the scene, classical VO approaches need to detect and filter these moving objects. Alternatively, we can use an up-facing camera to track the movement with respect to the ceiling, which represents a static and invariant space. this paper presents Ceiling-DSO: an indoor ceiling-vision (CV) system based on Direct Sparse Odometry (DSO). We take advantage of the generic formulation of DSO to avoid making assumptions about the observable shapes or landmarks on the ceiling, making the method generic and applicable to multiple ceiling types. We built a ceiling-vision dataset in a real-world scenario;we then used it to test our approach with different DSO parameters to identify the best fit for robot pose estimation. this paper provides a qualitative and quantitative analysis of the obtained results that showed an acceptable error rate compared to the ground truth.

关键词： Indoor ceiling-vision visual odometry state estimation industrial environment dynamic environment DSO

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Design of vision-guided Gripping System for 6DOF Robots Combined with Dexterous Hands 7

Design of Vision-guided Gripping System for 6DOF Robots Comb...

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7th international conference on robotics, control and automation Engineering, RCAE 2024

作者： Wang, Chengwen Wan, Guoyang Li, Hanqi Li, Xuna Zheng, Da Teng, Mingyao Anhui University of Engineering Dept. School of Electrical Engineering Wuhu China

ISBN: (纸本)9798350355642

In the robot application system incorporating dexterous hand, a vision-based robot grasping system is proposed to address the lack of robustness of dexterous hand in grasping fixed attitude objects. First, a 6DOF robot grasping system based on machine vision is constructed using dexterous hand, depth camera and 6DOF collaborative robot, which realizes accurate grasping under vision guidance;second, to solve the problem of vision system's poor localization accuracy due to the loss of image information and features caused by image noise, occlusion and complex background in the process of image processing, a pooling layer and attention mechanism to enhance the feature extraction ability;moreover, an optimized dexterous hand grasping strategy is proposed through exhaustive grasping action design and analysis, which effectively improves the robustness of the system. the experimental results show that the accuracy of the target detection model reaches 87% through the localization measurement of the experimental objects, which is 2.1% higher than the original method, and the grasping success rate of the robotic system equipped with dexterous hand and depth camera is improved by 3.5%. these results validate the feasibility of the robotic grasping system incorporating dexterous hands in practical applications and significantly enhance the robustness of the system. © 2024 IEEE.

关键词： Collaborative robots

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Image Processing for Robotic control in Life Science Laboratory automation 5

Image Processing for Robotic Control in Life Science Laborat...

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5th international conference on robotics and Computer vision, ICRCV 2023

作者： Yu, Haoying Møller, Vilhelm Krarup Frandsen, Rasmus John Normand Mansourvar, Marjan Department of Electrical Engineering Technical University of Denmark Copenhagen Denmark Department of Biotechnology and Biomedicine Technical University of Denmark Copenhagen Denmark

ISBN: (纸本)9798350326369

In the contemporary age of advanced technology, image processing plays a vital role as an efficient and indispensable tool across industries, enterprises, monitoring systems, and various applications. this study focuses on employing image processing techniques with an Opentrons industrial robot to ensure quality control during production. By leveraging the YOLOv5 model, the robot adeptly recognizes diverse pipette tip types, identifies liquids by their colors, and accurately measures liquid levels to estimate volume percentages within each tip. these detection results then guide a programmable robot, enabling it to perform specific actions on the tips based on predetermined parameters. this paper provides a comprehensive description of the methodology, implementation, and evaluation of our integrated control-robotic system, highlighting its potential to significantly enhance efficiency and precision in laboratory settings. © 2023 IEEE.

关键词： Quality control

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MR Meets robotics: A Review of Mixed Reality Technology in robotics 6

MR Meets Robotics: A Review of Mixed Reality Technology in R...

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6th international conference on robotics, control and automation (ICRCA)

作者： Yu, Jiawei Wang, Tengyue Shi, Yunze Yang, Liangjing Zhejiang Univ Zhejiang Univ Univ Illinois Urbana Champaign Inst Haining Peoples R China

ISBN: (纸本)9781665481748

the rising interest in Mixed Reality (MR) technology in robotics and the lack of prior work in the literature of this subject motivate this review paper. Our purpose is to discuss current research and the advancement of MR applications in the context of robotics. Development in modern robots towards a more human-centric role is driven largely by enabling technology including, but not limited to, machine vision, cobots, virtual reality, and more recently, MR technology. the scope encompasses MR technology in various aspects of robotics, namely, robot vision, control and planning, human-robot interaction, multi-user collaborations, and swarm robotics. through discussions of the benefits and knowledge gaps in contemporary development, the review is expected to provide readers with an in-depth appreciation of the state-of-the-art technology and the possibility of MR technology in robotics.

关键词： mixed reality robotics visualization teleoperation and control

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Engagement Analysis Using DAiSEE Dataset 17

Engagement Analysis Using DAiSEE Dataset

引用

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

作者： Solanki, Naman Mandal, Souraj

ISBN: (纸本)9781665476874

With the world moving towards online communication, the video datastore has exploded in the past few years. Consequently, it has become crucial to analyse participant's engagement level in online communication videos. Engagement prediction of people in videos can be useful in many domains, like education, client meetings, dating, etc. Video-level or framelevel prediction of engagement for a user involves development of robust models that can capture facial micro-emotions efficiently. For the development of an Engagement prediction model, it is necessary to have a widely-accepted standard dataset for engagement analysis. DAiSEE is one of the datasets which consist of in-the-wild data and have a gold standard annotation for engagement prediction. Earlier research done using DAiSEE dataset involved training and testing standard models like CNN based models, but the results were not satisfactory according to industry standards. In this paper, a multi-level classification approach has been introduced to create a more robust model for engagement analysis using DAiSEE dataset. this approach has recorded testing accuracies of 0.638, 0.7728, 0.8195 and 0.866 for predicting boredom level, engagement level, confusion level and frustration level respectively.

关键词： Computer vision Online Communication Engagement Confusion Frustration Boredom Neural Networks

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Understanding Properties of DriveBay Electromagnetic Tracker for Use in Soft Robot Experiments 28th

Understanding Properties of DriveBay Electromagnetic Tracker...

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2024 international conference automation

作者： Smaz, Tomasz Zubrycki, Igor Lodz Univ Technol Inst Automat Control Stefanowskiego 18 PL-90537 Lodz Poland

ISBN: (纸本)9783031782657;9783031782664

Soft robotics experiments necessitate advanced measurement techniques to track robot pose and deformations accurately. Electromagnetic tracking systems provide substantial benefits over vision-based systems, especially in capturing both the position and orientation of a robot's surface without occlusion issues. However, these systems are typically designed for applications in controlled environments, with multiple guidelines stated by the producers, necessitating an evaluation of their effectiveness in different contexts. this paper presents a series of foundational experiments to assess the capabilities and limitations of such a system in Soft robotics. We investigate the impact of distance from the base station, resistance to environmental interference, effects of metallic elements, and the accuracy of rotational measurements. the results demonstrate a significant influence of positional accuracy relative to the distance from the transmitter, with a tenfold decrease in accuracy observed. Additionally, the presence of metallic objects in close proximity (less than 20mm) to the probes adversely affects accuracy, as do large metallic elements such as construction materials. this effect is particularly pronounced when the sampling frequency of the system aligns with multiples of the electrical network frequency, resulting in more than a tenfold reduction in accuracy.

关键词： Soft robotics Electromagnetic Tracking Sensor Accuracy robotics Measurement Systems Environmental Interference in robotics

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A Hybrid Deep learning Based Anomaly Detection Framework dedicated for big research infrastructures 17

A Hybrid Deep learning Based Anomaly Detection Framework ded...

引用

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

作者： Piekarski, Michal Jaworek-Korjakowska, Joanna Wawrzyniak, Adriana AGH Univ Sci & Technol Dept Automat Control & Robot Krakow Poland Jagiellonian Univ Natl Synchrotron Radiat Ctr Solaris Krakow Poland

ISBN: (纸本)9781665476874

Anomaly detection has been an active artificial intelligence area in research and industrial communities with many unique problem complexities and challenges that require advanced approaches. In this research we concentrate on the analysis of anomalies occurring in big research infrastructures including signal measurement analysis as well as X-ray radiation images classification. the proposed hybrid end-to-end anomaly score learning framework consists of two deep learning based approached for anomaly detection dedicated for two different sources of high-dimensional data. the aim of the system is to identify abnormal status of sensors in certain time steps. In this study, we deploy two transfer learning architectures by examining pre-trained VGG-16, VGG-19, InceptionV3, Xception, as well as EfficientNet CNN models with an adjusted densely-connected classifiers. the system achieved overall accuracy of 94%, what is a state-of-the-art result in such research infrastructures.

关键词： Anomaly detection

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Youla Parameterized control Against Line Spectrum Vibration with an Adaptive Forgetting Factor Improved by a Genetic Algorithm 9

Youla Parameterized Control Against Line Spectrum Vibration ...

引用

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

作者： Li, Qimin Li, Mengjing Li, Zhentan Zhu, Jiahao Zhao, Jinglei Bai, Ruqing Li, Xueping Luo, Jun Pu, Huayan Yuan, Shujin Chongqing Univ State Key Lab Mech Transmiss Chongqing Peoples R China

ISBN: (纸本)9798350322514

Line spectrum vibration produced by rotating machinery exists widely in mechanical systems, which leads to a decrease in equipment machining measurement accuracy. the adaptive Q parametric controller is an effective line spectrum control method, that uses the RLS (recursive least squares) algorithm to adjust Q parameters online to adapt to external excitation. However, the fixed forgetting factor has an inherent contradiction between the steady-state error and the tracking speed. In this paper, the optimal combination of forgetting factors at every moment is selected through genetic algorithm (GA) training and the adaptive law between residual error and the forgetting factor is summarized. Simulation results show that the improved controller can track and suppress the spectra of five changing lines. Moreover, compared with other adaptive laws, this method not only reduces the steady-state error, but also improves the tracking speed, which demonstrates the advantage of this optimization method.

关键词： line spectrum vibration Q parametric controller recursive least squares genetic algorithm

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Motion primitives-based and Two-phase Motion Planning for Fixed-wing UAV 17

Motion primitives-based and Two-phase Motion Planning for Fi...

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

作者： Tan, Zheng Lyu, Yang Lu, Hanchen Pan, Quan Northwestern Polytech Univ Fac Automat Xian 710114 Peoples R China Beijing Electromech Engn Inst Sci & Technol Complex Syst Control & Intelligent Beijing 100074 Peoples R China

ISBN: (纸本)9781665476874

We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstaclefree path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.

关键词： Fixed wings

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