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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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Nonovershooting Regulation of an Under-Sensed and Under-Actuated Linear Inverted Pendulum

Nonovershooting Regulation of an Under-Sensed and Under-Actu...

引用

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

作者： Chao Chen Di Zhao Li Qiu The Hong Kong University of Science and Technology Shenzhen Research Institute Shenzhen China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper studies a nonovershooting regulation problem of an under-sensed and under-actuated system using two-degree-of-freedom (2DOF) control. An under-sensed and under-actuated linear inverted pendulum, which only has a single position sensor unlike the standard set-up, is investigated. For this system, first we present a regulation task that comprises three requirements, namely a nonovershooting step response, the largest robust stability margin and a 2DOF controller of the minimum order. then we study the issue of controller design and develop a fourth-order 2DOF controller via the Youla-parameterization and the loop-shaping approaches. Finally, the proposed 2DOF controller is demonstrated to be effective.

关键词： Regulation Robust stability Robot sensing systems control systems Linear systems Games Standards

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Delay Margin for Containment control of Second-Order Multi-Agent Systems Over Directed Graphs*

Delay Margin for Containment Control of Second-Order Multi-A...

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

作者： Xueyan Ma Dan Ma College of Information Science and Engineering Northeastern University Shenyang China College of Information Science and Engineering State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, we mainly study the delay robustness on containment control of second-order multi-agent systems with uncertain communication delays over directed graphs. Our purpose is to find the maximal delay range that can be tolerated under which the multi-agent system can maintain containment robustly. We consider a second-order multi-agent system under position and velocity feedback protocols in which each agent has two unstable real poles. We derive the exact expression of the delay margin for multi-agent system containment. Furthermore, based on the analysis of the exact delay margin, we obtain its explicit upper bound. the results show that the position of poles and the network connectivity will affect the bound of delay margin. Finally, a numerical example is used to illustrate the effectiveness of the proposed theoretical results.

关键词： Delays Protocols Multi-agent systems Directed graphs Upper bound Topology Eigenvalues and eigenfunctions

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the Study of Positioning with High-precision by Single Camera based on P3P Algorithm

The Study of Positioning with High-precision by Single Camer...

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IEEE international conference on Industrial Informatics (INDIN)

作者： Jia. Qingxuan Zheng. Ping Sun. Hanxu Automation School Beijing University of Posts and Telecommunications Beijing China

Binocular method is always used in the object location of robot, but the matching problem of the control points in the images is not settled perfectly. this paper introduces a method of Real-time positioning with high-precision by single camera based on P3P algorithm. When the camera and the control points were set on specific spatial location, we could get the position of the object. the experiment results show that the technique is fit for the robot operation.

关键词： Cameras Robot vision systems Robot kinematics robotics and automation Optical control Sun Automatic control Telecommunication control Optical sensors Robot sensing systems

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STRUCTURE DESIGN OF INDUSTRIAL ROBOT FEEDING AND DETECTING WORKSTATION BASED ON vision MEASUREMENT PRINCIPLE 10

STRUCTURE DESIGN OF INDUSTRIAL ROBOT FEEDING AND DETECTING W...

引用

10th international Symposium on Test automation and Instrumentation, ISTAI 2024

作者： Zhi, Shan Pi, Jiahang Yu, Kunpeng Zhang, Feng Huang, Zhidong Tang, Jia Liaoning Institute of Science and Technology Benxi China Chongqing University Chongqing China

ISBN: (纸本)9781837242672

In order to reasonable plan the spatial layout of an industrial robot feeding and loading inspection production line based on visual measurement principles and improve the efficiency of industrial robot feeding and inspection, this paper proposes a structural design of an industrial robot feeding and loading inspection workstation based on visual measurement principles. the design content includes: designing the structure of the feeding robot arm, designing the wrist, lower arm, upper arm, lumbar seat, and base of the robotic arm, and selecting the end effector of the robotic arm. Analyze and design the overall plan of the feeding workstation, design the visual workstation, select the conveying mechanism, and select the three jaw chuck. On this basis, briefly describe the working principles of the feeding robot arm and the industrial robot loading inspection workstation. Finally, finite element analysis of stress and deformation of key components such as the upper arm, lower arm, and wrist was conducted using the 3D modeling software Solid Work. the experimental results showed that the industrial robot loading inspection workstation and robotic arm structure designed in this paper meet the design requirements. © the Institution of Engineering & Technology 2024.

关键词： End effectors

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Autonomous Docking for Underwater Drones Using ArUco Marker Based Localization

Autonomous Docking for Underwater Drones Using ArUco Marker ...

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robotics, automation and Artificial Intelligence (RAAI), IEEE international conference on

作者： Benaiah Saju Joseph Shasank Gunturu Sumukh Shrote S Sandosh School of Computer Science and Engineering Vellore Institute of Technology Chennai Chennai India

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

Autonomous docking for underwater drones is crucial for various marine applications. this paper introduces an approach to autonomous underwater vehicle (AUV) docking using ArUco marker-based localization, as demonstrated by Project MIRA, at the Tau Autonomy Center, Norway. the method combines a control system with dual-feed computer vision based perception to achieve autonomy. the control system is based on a cascaded PID controller fine-tuned using various external sensors and optimization techniques. the vision system utilizes ArUco markers for 3D positioning. Our method uses visual markers to help the drone navigate to a custom docking pad. We achieved stable and reliable docking by combining advanced control systems using visual-inertial sensors. this work highlights the potential of using visual markers and smart control systems for underwater drone operations.

关键词： Location awareness YOLO Visualization Computer vision Autonomous underwater vehicles Navigation 6-DOF Sensor systems Reliability Drones

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Design of a Leader-follower Formation Fying System Using Real Local Information

Design of a Leader-follower Formation Fying System Using Rea...

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international conference on robotics and automation Engineering (ICRAE)

作者： Koog-Hwan Oh Young-Cheol Choi Jae-Gyeong Lee Smart Electrics Research Center Korea Electronics Technology Institute Gwangju South Korea Korean Agency for Technology and Standards Chungcheongbuk-do South Korea Precision Control Research Center Korea Electrotechnology Research Institute Gyeongsangnam-do South Korea

this paper presents a leader-follower formation flying system using real local information. We propose a vision-based pan-tilt color tracking system and range sensor to obtain local information. Our approach relies on detecting color marker mounted on the leader UAV to measure the relative angles between two UAVs. We use the range sensor for measuring the relative distance based on the time of flight of radio signals. the UAV hardware platforms are developed to obtain the real local information using our approach. the controller and software system of the pan-tilt color tracking system are also designed. Based on obtained local information, which are measured by the designed hardware system, formation control law is designed for the leader-follower formation flying. Experimental results show that the designed system and controller are able to carry out the leader-follower formation flying using real local information.

关键词： Coordinate measuring machines Color Robot sensing systems control systems Software systems Formation control Hardware

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A Novel control Strategy of Energy Storage System Considering Prediction Errors of Photovoltaic Power

A Novel Control Strategy of Energy Storage System Considerin...

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

作者： Fang Liu Bo Hu Ranran Li Yong Li School of Information Science and Engineering Central South University Changsha Global Energy Interconnection Development and Coonertaion Orzanization Beijing China College of Electrical and Information Engineering Hunan University Changsha China

the photovoltaic (PV) energy, as clean and renewable energy, has become increasingly important. With energy storage system, the PV power can become schedulable and the use efficiency of PV power can be greatly improved. the tracking output is one of the running modes for energy storage to adjust the PV power generation. However, the research on the tracking output do not consider the fluctuation of PV power generation, the upper and lower limits of prediction errors, or only consider tracking the power curve. In this paper, a novel control method is proposed based on the super short-term prediction PV power and the prediction errors distribution law to obtain the charge and discharge strategy for energy storage ahead. In this control method, the objective function includes three parts, respectively the D-value between the planned output and actual output of PV power and energy storage system, the change of the state of charge (SOC) with different weight, the constraint condition considers the power demand, flexibility requirement and storage costs comprehensive. then the prediction errors distribution law can be obtained by analyzing prediction errors of the PV power, the proper errors correction parameters can be selected according to the law to get a more accurate predication range and make the energy storage scheduling strategy more flexible. the particle swarm optimization (PSO) algorithm is used to get the optimal charge and discharge power strategy in advance. With the data collected from typical PV power station as an example, the simulation results verify the feasibility and flexibility of the proposed strategy, it also provides effective reference scheme for day-ahead control of battery energy storage systems.

关键词： Forecasting Power generation Energy storage Discharges (electric) State of charge Computer aided software engineering Fluctuations

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Design of Autonomous Fire Hose Docking System for Intelligent Fire-Fighting Robots

Design of Autonomous Fire Hose Docking System for Intelligen...

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robotics, Intelligent control and Artificial Intelligence (RICAI), international conference on

作者： Zhiwei Yang Fei Zhang Weiwei Shang Chenyu Chaoxia Department of Automation University of Science and Technology of China Hefei China

Although existing fire-fighting robots have been able to extinguish fires, the docking task of fire hoses has always been the key obstacle to achieving autonomous fire extinguishing functions for fire-fighting robots. therefore, it is crucial to enable robots to autonomously dock fire hoses to fire hydrants. To solve this problem, we design a new multi-DOF docking mechanism and develop a vision-guided autonomous fire hose docking system based on a robot operating system. When the robot detects the fire, the camera mounted on it can guide the docking system to complete the docking of the fire hose, laying the foundation for the robot to achieve autonomous fire extinguishing.

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Driving-PASS: An Automatic Driving Performance Assessment System for Stroke Drivers Based on ANN and SVM

Driving-PASS: An Automatic Driving Performance Assessment Sy...

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international conference on control, automation, robotics and vision

作者： Sanghoon Jeon Joonwoo Son Myoungouk Park Bawul Kim Sang Hyuk Son Yongsoon Eun Department of Information and Communication Engineering DGIST Republic of Korea HumanLab DGIST Republic of Korea

Although many stroke survivors are not fully capable of driving, they drive again without any formal assessment due to an absence of valid screening tools. this leads to an elevated risk of accidents. Although an on-road test is considered a standard assessment method for items relevant to actual driving, it may be dangerous to evaluate all stroke drivers with the on-road test. For safe pre-screening of unsuitable stroke drivers, we propose an automatic Driving Performance Assessment System for Stroke drivers (Driving-PASS). Driving-PASS aims to provide not only information about problematic driving assessment items but also a decision about fitness to drive. the problematic driving items are classified by abnormal classifiers while the decision item is determined by a decision classifier in Driving-PASS. For designing the system, we firstly propose a subjective assessment method consisting of ten assessment items and one decision item. And then, we propose an automated method of the subjective assessment method with a machine learning approach (i.e., ANN and SVM) by using assessment criteria from five expert's judgments. Evaluation results demonstrate that Driving-PASS automatically assess not only the ten assessment items (total average Accuracy of 90% and F1-score of 88%) but also the decision item (Accuracy of 93% and F1-score of 92%). We expect Driving-PASS provides analytical assessment results that can be used in driving rehabilitation programs and contributes to reducing the risk of vehicle accidents by pre-screening unsuitable stroke drivers with high accuracy and reliability.

关键词： Vehicles Velocity control Machine learning Measurement Standards Road transportation

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Circuit Tolerance Design Using an Improved Genetic Algorithm

Circuit Tolerance Design Using an Improved Genetic Algorithm

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

作者： Jinn-Tsong Tsai Jyh-Horng Chou Department of Computer Science National Ping Tung University of Education Ping Tung Taiwan Institute of System Information and Control National Kaohsiung First University of Science and Technology Kaohsiung Taiwan

In this paper, we present an improved genetic algorithm to solve the worst-case circuit tolerance design problem, which has many design parameters and constraints. the evolutionary design approach, which is called a quality-engineering-based genetic algorithm (QEGA), with a penalty function is proposed for solving the constrained optimization problem. the QEGA approach is able to explore a wide design parameter space without any prior knowledge about position and size of the region of acceptability. the QEGA approach is a method of combining the traditional genetic algorithm (TGA), which has a powerful global exploration capability, with the quality engineering method, which can exploit the optimum offspring. the quality engineering method is inserted between crossover and mutation operations of the TGA. then, the systematic reasoning ability of the quality engineering method is incorporated in the crossover operations to select the better genes to achieve crossover, and consequently enhance the genetic algorithms. therefore, the QEGA approach can be more robust and quickly convergent. In the worst-case circuit tolerance design problem, the vertex analysis has been used to check the feasibility of any candidate tolerance region. For this reason, if, as for a large part of cases, the region of acceptability is convex and simply connected, the QEGA approach ensures an optimal design with 100% yield. the proposed QEGA approach with a penalty function is effectively applied to solve the worst-case circuit tolerance design problem. the computational experiments also show that the presented QEGA approach can obtain better results than previous design methods

关键词： Circuits Algorithm design and analysis Genetic algorithms Power engineering and energy Genetic engineering Constraint optimization Design optimization Genetic mutations Robustness Design methodology

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