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

共 5310 条记录，以下是291-300 订阅

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DCBF-based Trajectory Planning for Mobile Manipulators in Complex and Dynamic Work Environments

DCBF-based Trajectory Planning for Mobile Manipulators in Co...

引用

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

作者： Lihao Xu Xiaogang Xiong Yunjiang Lou School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen P. R. China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Traditional trajectory planning methods are challenged by high-dimensional robot navigation, particularly in handling high-velocity obstacles and computation efficiency. this paper introduces a novel approach leveraging Dynamic control Barrier Functions (DCBF) to address these issues. the proposed method ensures safety and precise obstacle avoidance in dynamic environments, demonstrated through superior performance in mobile manipulator experiments. Key contributions include the design of efficient DCBF functions, real-time trajectory planning under dynamic conditions, and validation of the algorithm's effectiveness, offering a significant advancement for mobile manipulators in complex work settings.

关键词： State feedback Trajectory planning Navigation Shape Heuristic algorithms Real-time systems Robustness Safety State estimation Manipulator dynamics

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Model Identification and Path Following for an Inland Vessel Using IENC Data

Model Identification and Path Following for an Inland Vessel...

引用

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

作者： M. AmirReza Haqshenas Jan Swevers Peter Slaets Research and Development PERISKAL Wuustwezel Belgium Department of Mechanical Engineering KU Leuven Celestijnenlaan 300 Heverlee Belgium Department of Mechanical Engineering and Flanders Make@KU Leuven MECO Research Team Celestijnenlaan 300 Heverlee Belgium

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper presents a model and parameter estimation methods for an inland cargo catamaran. this model is used in an NMPC scheme to address the path following problem of the vessel in inland waterways. this NMPC scheme derives the control action by minimizing a cost function while meeting constraints. the path consists of waypoints that define safety contours that are derived from IENC. In Addition, circular geometries are used to define safety contours around obstacles along the fairway. the model and NMPC are validated through simulation of a section of Leuven canal.

关键词： Geometry Irrigation Parameter estimation automation Navigation Cost function Data models Safety Robots

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Mixed Guidance Law for Capturing a Reactive Target by Coordinated Multi-UAV

Mixed Guidance Law for Capturing a Reactive Target by Coordi...

引用

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

作者： Felipe Kataoka Ishikawa Sarah Aouiche Bojan Mavkov Guillaume Allibert Université Côte d'Azur CNRS I3S Nice France Université Côte d'Azur IUT Nice France

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

We present a pursuit law for capturing a moving target with multiple aerial drones in a bounded environment. the objective is to develop strategies to allow a set of drones to perform a mission cooperatively to complete the task. the presented method combines two established pursuit laws: Group Deviated Pure Pursuit (GDP) and Proportional Navigation Guidance (PNG), and the resulting control architecture is in a cascade form. the results were validated in simulation and experimentation on quadrotor aerial drones. the obtained results confirmed the efficacy of the group mixed pursuit strategy, especially in the case of an agile and faster target. A video of the experimentation result can be seen on: https://***/cRKRUOV-lV4.

关键词： automation Navigation Economic indicators Robot kinematics Drones Quadrotors

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Convolutional Neural Network System for Melanoma Identification

Convolutional Neural Network System for Melanoma Identificat...

引用

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

作者： Radu Marian Macovei Loretta Ichim Dan Popescu Faculty of Automatic Control and Computer Science National University of Science and Technology POLITEHNICA Bucharest Bucharest Romania “Stefan S. Nicolau” Institute of Virology Bucharest Romania

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Melanoma is a very dangerous type of skin cancer and its detection in the early stages is necessary for proper treatment. the article proposes an intelligent system, based on the fusion of the decisions of several neural networks to increase the performance in melanoma detection from dermatoscopic images. the system implementation method is based on the optimal choice of the number and type of neural networks involved by testing the possible combinations. According to the selection procedure, a system was implemented with four neural networks DenseNet 201, VGG 19, MobileNet, and EfficientNet. the results obtained on two different databases (ISIC 2019 - for learning, validation, and testing - and PH2 for testing) were better than those obtained on individual networks or in other works from literature.

关键词： automation Databases Melanoma Performance analysis Convolutional neural networks Intelligent systems System implementation Robots Testing

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3D Object Reconstruction Using Quadruped Robots with Fisheye Cameras and Neural Radiance Fields

3D Object Reconstruction Using Quadruped Robots with Fisheye...

引用

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

作者： Yuxin Huang Tianqi Wei School of Artificial Intelligence Sun Yat-sen University Zhuhai Guandong China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Legged robots can navigate through narrow spaces with obstacles on the ground, making them ideal for indoor rescue tasks. In such scenarios, high-quality 3D reconstruction of suspicious items helps in decision-making with humans in the loop. For 3D reconstruction with binoc-ular fisheye cameras on a quadruped robot, we developed a pipeline with strategies for scanning an object on the ground and integrated it with a neural-radiance-fields-based approach for fast, realistic rendering. the pipeline allows the robot to maintain an optimal distance from an object specified by a user, capture images from multiple angles for comprehensive views, and reconstruct and render the object on a control-end server.

关键词： three-dimensional displays Pipelines Robot vision systems Reinforcement learning Cameras Rendering (computer graphics) Real-time systems Quadrupedal robots Robots Image reconstruction

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Design and Implementation of Automatic Palletizing System with vision Based Algorithms for Quality control 5

Design and Implementation of Automatic Palletizing System wi...

引用

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

作者： Arce, Diego Pérez-Zuñiga, Gustavo Flores, Edelfre Cuellar, Francisco Jimenez, Victor Engineering Department Pontificia Universidad Católica del Perú Lima Peru Calificaciones e Innovaciones en Ingeniería Instituto Quimioterápico S.A. Lima Peru

ISBN: (纸本)9798350326369

In recent years, the pharmaceutical industry has been implementing automatic systems in their manufacturing and packaging processes. this has led to reduced risks, increased productivity, lower costs, and improved competitiveness. the adoption of Industry 4.0 principles and technologies has played a key role in automating processes and optimizing results. therefore, this paper presents the design, implementation, and preliminary validation of an automatic palletizing and quality control system implemented in the solid drug production line. the proposed system incorporates two main technologies: intelligent computer vision and collaborative robotics, which are complemented with industrial-grade equipment and instruments. the computer vision system performs quality control on pallet boxes by detecting defects, tears, stains, and taping faults on each side of the boxes, as well as recognizing the text characters of the labels for subsequent processing. Additionally, a weight-based quality control is implemented to ensure that all boxes contain the exact number of solid drugs. through preliminary validation tests, the viability of using this automated mechatronic system for the handling and quality control of boxes was demonstrated. the handling process was carried out using a robot, and it was determined that the robot can complete palletizing and quality control of a pallet of 21 boxes in a total of 11 minutes and 33 seconds. this innovative solution represents a successful application of Industry 4.0 principles and technologies in the pharmaceutical industry, enabling companies to further optimize their processes and remain competitive in the market. © 2023 IEEE.

关键词： Computer vision

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Tribological Processes in TPU and HIPS 3D Printing Materials

Tribological Processes in TPU and HIPS 3D Printing Materials

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

作者： Gabriela Kotseva Nikolay Stoimenov Stanislav Gyoshev Vanya Georgieva Institute of Information and Communication Technologies at the Bulgarian Academy of Sciences Technical University of Sofia Bulgaria

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

this paper discusses two types of 3D printed materials and their tribological properties in terms of coefficients of sliding friction, rolling friction and coefficient of restitution. the coefficients have been measured experimentally under laboratory conditions and it is compared to other 3D printed materials. After the experiments, a simulation models have been created to verify the data obtained. the data obtained will be used to create simulation models in which the interaction between the grinding bodies and the grinding media takes place in order to increase the accuracy of the simulation models.

关键词： Analytical models Solid modeling Accuracy Friction Simulation Process control three-dimensional printing Data models Robots Tribology

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Developing of Automatic Gasket Gluing Robot for a Tractor Company 9

Developing of Automatic Gasket Gluing Robot for a Tractor Co...

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9th international conference on Mechatronics and robotics Engineering (ICMRE)

作者： Plengkham, Suphanut Busyakanistha, Natchapon Promsuwan, Nathanicha Santiudommongkol, Nattanan Chancharoen, Ratchatin Chulalongkorn Univ Dept Mech Engn Bangkok Thailand Chulalongkorn Univ Fac Engn Dept Mech Engn Bangkok Thailand

ISBN: (纸本)9781665463263

Humans are still the primary laborer to apply gasket glue on the brake cases and inspect the tractor's assembly quality in the tractor factory, Siam Kubota Corporation Company Limited. Because working with manual labor still has human errors, the researchers desire to improve the process by using image processing technology and automation to build a machine vision to control the gluing quality on the brake cases and the assembly inspection. For the automatic glue extrusion, a cartesian robot was chosen. the image processing technology was also used to indicate an initial point to start applying glue, and G-code was used to control the robot to move along the designed path on the brake case. then the glue extrusion robot was tested with two experiments: applying the glue on the sample, which has a surface like the real brake case called Sample 1, to evaluate the performance of the image processing and using the glue on the printed image of the brake case called Sample 2 to determine the performance of the robot in terms of accuracy and precision. this has resulted in the deviation of the gluing distance error process at a 95% confidence interval got;the mean dimension on the actual surface Sample 1 is 0.73 +/- 0.04 mm width and 0.72 +/- 0.27 height, and the performance of the robot within the exact surface dimension Sample 2 has a mean distance of 1.04 +/- 0.1 width and 1.06 +/- 0.20 height.

关键词： machine vision image processing automatic glue extrusion G-code vision sensor cartesian robot

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A Multi-objective Optimization Approach for Trajectory Planning in a Safe and Ergonomic Human-Robot Collaboration 18

A Multi-objective Optimization Approach for Trajectory Plann...

引用

IEEE 18th international conference on automation Science and Engineering (IEEE CASE)

作者： Proia, Silvia Cavone, Graziana Carli, Raffaele Dotoli, Mariagrazia Polytech Bari Dept Elect & Informat Engn Bari Italy

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

In today's manufacturing companies that rely on Human-Robot Collaboration (HRC), ensuring a safe and ergonomic workplace is becoming of pivotal importance. In a collaborative assembly scenario, this paper aims at planning the trajectory of a collaborative robotic arm, guaranteeing safety and ergonomics for the operator without neglecting production requirements. In particular, a multi-objective optimization approach for the trajectory planning in safe and ergonomic HRC is defined, with the aim of finding the best trade-off between the total traversal time of the trajectory for the robot and ergonomics for the human worker, while respecting safety requirements. the proposed approach consists of three main steps. First, the Rapid Upper Limb Assessment (RULA) ergonomic index is evaluated on a manikin designed on a dedicated software. the aim is to ensure a high quality of work in the considered HRC scenario with a consequent decrease of the musculoskeletal disorders associated with highly repetitive and dangerous activities. Second, a time-optimal and safety-constrained trajectory planning problem is defined as a second-order cone programming problem. Finally, a multi-objective control problem is formulated and solved to compute the trajectory that ensures the best compromise between time end ergonomics. the method is tested on numerical simulations and the obtained results are discussed, proving the effectiveness of the approach.

关键词： Human-Robot Collaboration (HRC) collaborative robotics cobots safety ergonomics time-optimal trajectory planning

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Multivariable Dynamic Performance Seeking control of Civil Turbofan Engine*

Multivariable Dynamic Performance Seeking Control of Civil T...

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

作者： Kai Peng Zhaorong Zhang Hongxia Wang Huanshui Zhang The School of Power and Energy Northwestern Polytechnical University Xi'an China The School of Computer Science and Technology Shandong University Qingdao China The College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China The School of Control Science and Engineering Shandong University Jinan Shandong China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

As regards gas turbine engine control, how to achieve the optimal performance of engine within multiple control and physical constraints in real time is a sticky problem to be solved. A novel multivariable optimal control architecture is proposed to compensate engine into a pseudo-linear system by using the nonlinear dynamic inverse and the constrained optimization, and then linear feedback controller is used for control synthesis. At each sampling instant, a real-time linearized model of engine is applied to reduce computational complexity. the simulation results show the resultant control system of civil turbofan engine has good decoupling and tracking response.

关键词： Simulation Optimal control Computer architecture Aerodynamics Real-time systems Adaptive control Engines Optimization Turbines Robots

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