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

共 5313 条记录，以下是781-790 订阅

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Integrating Augmented Reality within Digital Twins for Smart Robotic Manufacturing Systems

Integrating Augmented Reality within Digital Twins for Smart...

引用

international conference on Emerging Technologies and Factory automation (ETFA)

作者： Toméš Jochman Václav Voltr Václav Kubáček Ondřej Švec Pavel Burget Václav Hlaváč Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

this paper explores the integration of augmented reality into robotic manufacturing systems, emphasizing the enhancement of connectivity, real-time data processing, and interactive visual interfaces. Utilizing Hololens 2 headsets equipped with OPC UA clients, the system establishes a direct interface between operators and the digital and physical components of the manufacturing environment. the architecture employs augmented reality to facilitate sophisticated operational control and visualization, ranging from robotic additive manufacturing to complex tasks like robotic sanding and screwing with integrated camera systems. this integration showcases significant advancements in manufacturing processes, allowing operators to engage interactively with the systems, optimize workflows, and improve overall precision and efficiency in a smart factory setting.

关键词： Visualization Manufacturing processes Robot vision systems Cameras Real-time systems User experience Manufacturing Workstations Robots Augmented reality

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Optimal sensor selection for prediction-based iterative learning control of distributed parameter systems

Optimal sensor selection for prediction-based iterative lear...

引用

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

作者： Maciej Patan Kamil Klimkowicz Krzysztof Patan Institute of Control and Computation Engineering University of Zielona Góra Poland Institute of Control Electronic and Electric Engineering University of Zielona Góra Poland

ISBN: (纸本)9781665476881

the purpose of this study is to develop an effective computational scheme to solve the optimal tracking control problem for repeated trials in distributed parameter system where quantity under control cannot be observed directly. In such situations, the reliability of model predictions is of crucial importance as the ultimate objective in model-based control becomes the accurate forecast of the system states. Particularly, given a finite number of possible spatial locations at which sensors may reside, we select gaged sites so as to maximize the prediction accuracy. For that purpose, a suitable output criterion is proposed as a measure of the prediction quality, then the sensor selection problem is formulated in terms of optimization task and effecively solved with dedicated algorithm. the optimal measurement schedule is further incorporated into the iterative learning control scheme for effective solution of the underlying tracking control problem for the friction welding process.

关键词： Welding Friction Computational modeling Process control Predictive models Sensor systems Sensors

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Enhancing Manipulator Flexibility: Real-time Positional control for Variable Assembly Environments using AprilTag Markers and Edge Detection

Enhancing Manipulator Flexibility: Real-time Positional Cont...

引用

IEEE international conference on automation Science and Engineering (CASE)

作者： Kamogelo Teddy theodore Moyo Jose Victorio Salazar Luces Ankit A. Ravankar Yasuhisa Hirata Morozumi Shota Department of Robotics Graduate School of Engineering Tohoku University Sendai Japan Seiko Epson Corporation

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Most current industrial manipulators are commonly utilized to execute repeated tasks, in which changes in the task require programming of the robot which can be time-consuming. To address this, we provide a method that relays the positional information of the assembly goal position in real-time to a manipulator robot to allow for an assembly process in a variable environment. Our method utilizes AprilTag markers and an edge detection system for high precision location of the assembly goal position in the workspace via sensor integration of 4 RGB cameras. the method also incorporates human-robot interaction mechanism in the form of a digital twin, created in an Isaac Sim environment, to allow for error checking and increase in safety.

关键词： Visualization Service robots Image edge detection Robot vision systems Manipulators Real-time systems Safety Digital twins Relays Assembly

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MultiVR: Digital Twin and Virtual Reality Based System for Multi-people Remote control Unmanned Aerial Vehicles

MultiVR: Digital Twin and Virtual Reality Based System for M...

引用

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

作者： Haodong Chen Fen Liu Yuanlin Yang Wei Meng Guangdong Provincial Key Laboratory of Intelligent Decision and Cooperative Control School of Automation Guangdong University of Technology Guangzhou China

ISBN: (纸本)9781665476881

the remote control of Unmanned Aerial Vehicles (UAVs) in emergency rescues, large-scale search, e-commerce and other fields is still a hot topic. the majority of current remote human-computer interaction techniques, such as joy-sticks, monitoring interfaces, or gesture control, lack flexibility, have weak immersion, and have poor interaction. the study proposes the development of a novel system for controlling multiple UAVs using virtual reality (VR). A virtual system and a physical system make up the control system. A VR application uses a head-mounted display (HMD) to show the user a digital twin environment of a drone and a faraway location. the operators pilot the quadcopters with a set of virtual reality handles. control data is translated directly from VR to the real UAV in realtime. the experimental results showed a stable and convenient method of manipulation by the VR scene. With the support of the proposed system, ultra-remote control is possible, and immersive maneuvering makes controlling multiple drones easier.

关键词： Virtual reality Resists control systems Autonomous aerial vehicles Digital twins Remote control Robots

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Optimal RTGC controller using Robust PID H∞ Integral-Backstepping under Payload Mass and Rope Length Uncertainties

Optimal RTGC Controller using Robust PID H∞ Integral-Backst...

引用

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

作者： Steven Bandong Yul Yunazwin Nazaruddin Endra Joelianto Engineering Physics Doctoral Program Faculty of Industrial Technology Institut Teknologi Bandung Indonesia Instrumentation and Control Research Group Faculty of Industrial Technology Institut Teknologi Bandung Indonesia National Center for Sustainable Transportation Technology Institut Teknologi Bandung Indonesia

ISBN: (纸本)9781665476881

the increase in goods traffic between countries and islands requires the availability of port automation so that the distribution of goods is faster and the quality is guaranteed. One of the control problems for automating the port is controlling the position and sway angle of the container on the Rubber Tyred Gantry Crane (RTGC). However, the RTGC system's model is often uncertain because of the uncertainty in the mass of the payload and the length of the hauling rope when operating. this paper proposes a robust PID controller based on $H$ ∞ integral backstepping to overcome this problem. Particle Swarm Optimization (PSO), Simulated Annealing (SA) and Genetic Algorithms (GA) are used to optimize the parameter of $H$ ∞ integral backstepping so that the system response follows the desired trajectory. the results show that the control system designed can provide a satisfactory solution to variations in the mass and length of the rope. PSO and SA give better optimal and robust performance than GA.

关键词： Backstepping Uncertainty automation Simulated annealing control systems Robustness Trajectory

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Development and Integration of an Autonomous In-House Manipulator Arm for Enhanced Object Interaction in Rescue robotics

Development and Integration of an Autonomous In-House Manipu...

引用

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

作者： thoranin Oonariya Jiraphan Inthiam Jedsadakorn Chainarapipat Noppadol Pudchuen Department of Instrumentation and Electronics Engineering King Mongkut's University of Technology North Bangkok Bangkok Thailand Department of Mechanical and Aerospace Engineering King Mongkut's University of Technology North Bangkok Bangkok Thailand

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

Manipulator arms in rescue robots remain a challenge in both competitions and real-life situations. In this paper, we present an autonomous in-house manipulator system specifically engineered to enrich object interaction in rescue robotics for the RoboCup Rescue Robot Competition 2024 as a contestant under the iRAP Robot Team. the manipulator is equipped with an RGB-D camera, providing pose estimation of objects by leveraging 3D models generated through prior scanning. YOLOv8 2D object detection is employed to identify objects in the scene, and cropped depth images are used to subsequently generate object point clouds. Iterative Closest Point (ICP) techniques, including point-to-plane, point-to-point, and color registration, are utilized in conjunction to provide accurate alignment between the object's point cloud and the pre-scanned 3D models. these techniques work together to minimize Root Mean Square Error (RMSE) during the alignment process, ensuring reliability of pose estimation before executing robotic movement actions. the system also uses IMU data from the RGB-D camera for manipulator impact detection. the entire system is developed within the Robot Operating System (ROS) framework, utilizing MoveIt for motion planning and control. the methodologies and innovations introduced in this work are adapted for deployment in the challenging and unexpected environments of the RoboCup Rescue Robot Competition.

关键词： Point cloud compression Solid modeling three-dimensional displays Operating systems Robot vision systems Pose estimation Manipulators Cameras Planning Rescue robots

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Inter-vehicle Distance Aided Multi-vehicle Cooperative Localization using Split CIF

Inter-vehicle Distance Aided Multi-vehicle Cooperative Local...

引用

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

作者： Wenhao Li Susu Fang Hao Li Ecole d'Ingenieurs SJTU-ParisTech (SPEIT) Shanghai China Department of Automation Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665476881

In autonomous driving, localization is very important to ensure the accuracy of all the other tasks, and multi- vehicle cooperative localization is a popular research direction in recent years for its improvement on state estimation. However, due to the complex environment, complete information about relative pose for cooperative localization could sometimes be hard to be obtained. Since the inter-vehicle distance is easily measured, the use of inter-vehicle distance for multi-vehicle cooperative localization has become a meaningful topic. In this paper, we propose a general decentralized framework for the inter-vehicle distance aided cooperative localization. In order to fuse the inter-vehicle distance with the state estimation of ego-vehicle, the split covariance intersection filter (Split CIF) is used as the data fusion method. then, we verify the advantages of the proposed method through simulation-based experiments, demonstrate its applicable conditions and provide its practical application scenarios.

关键词： Location awareness automation Fuses Data integration Taylor series State estimation Task analysis

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Robust Model Predictive control for Markovian Jump Systems with All Unstable Modes 16

Robust Model Predictive Control for Markovian Jump Systems w...

引用

16th IEEE international conference on control, automation, robotics and vision (ICARCV)

作者： Zhang, Bin Song, Yan Univ Shanghai Sci & Technol Dept Control Sci & Engn Shanghai 200093 Peoples R China

ISBN: (纸本)9781728177090

In this paper, robust model predictive control (RMPC) problem is investigated for a class of Markovian jump systems with unstable modes under polytopic uncertainties and hard constraints. the transition probability matrix and a mode-dependent control strategy in the framework of RMPC are co-designed. Moreover, in order to design a switching rule for the mean-square stability of the jump system, an off-line design scheme is first proposed to guarantee the on-line mode-dependent model predictive controller design. For the "on-line" part, a set of mode-dependent state feedback controllers is designed to minimize an upper bound of the worst-case infinite horizon cost function in terms of the solutions to a series of linear matrix inequalities. Finally, an simulation example regarding the economic system is implemented to verify the effectiveness of the proposed design scheme.

关键词： Robust model predictive control Markovian jump systems polytopic uncertainties hard constrain transition probability mean-square stability

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Inference of Melt Pool Visual Characteristics in Laser Additive Manufacturing Using Acoustic Signal Features and Robotic Motion Data

Inference of Melt Pool Visual Characteristics in Laser Addit...

引用

international conference on control, automation and robotics (ICCAR)

作者： Lequn Chen Youxiang Chew Wenhe Feng Seung Ki Moon Advanced Remanufacturing and Technology Centre (ARTC) Nanyang Technological University (NTU) Singapore Advanced Remanufacturing and Technology Centre (ARTC) Agency for Science Technology and Research (A*STAR) Singapore Singapore Institute of Manufacturing Technology Agency for Science Technology and Research (A*STAR) Singapore School of Mechanical and Aerospace Engineering (MAE) Nanyang Technological University (NTU) Singapore

ISBN: (数字)9798350373172

ISBN: (纸本)9798350373189

Laser additive manufacturing (LAM) demands robust real-time monitoring to identify defects and ensure product quality. Traditional methods, mainly reliant on coaxial cameras, lacks placement flexibility. Further complexities arise from the inherent variability in melt pool geometries and the high computational demands of image processing, hindering effective real-time monitoring. this research proposes a novel technique to directly infer melt pool visual characteristics in LAM by synergizing acoustic signal features with robotic tool-center-point (TCP) motion data. Acoustic monitoring has shown great promise in tasks typically reliant on vision sensors. In addition, the dynamics of the LAM process and defect occurrences are spatially dependent, primarily due to heat accumulation. By combining acoustic signals with spatial data from robot TCP motion, our method tracks melt pool variations with an R2 score above 0.7. An ablation study demonstrated that the proposed method outperforms the acoustic-only models. the findings suggest that the integration of a simple microphone sensor with robot motion information emerges as a flexible, cost-effective alternative for capturing dynamic melt pool behavior. It presents new prospects for closed-loop control in the LAM process.

关键词： Robot motion Visualization Dynamics Process control Laser feedback three-dimensional printing Laser modes

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(r, Q) Inventory control in Multi-Modal Distribution Systems with Flexible Channel Allocation

(r, Q) Inventory Control in Multi-Modal Distribution Systems...

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

作者： Przemysław Ignaciuk Institute of Information Technology Lodz University of Technology Łódź Poland

ISBN: (纸本)9781665476881

In order to improve supply system robustness, or gain cost advantage, multiple delivery modes may be used. In this work, the (r, Q) inventory policy is formally investigated as a tool to control the resupply process of a remote depot that answers uncertain market demand. In the considered scenario, the goods are relocated using multiple channels with diverse properties concerning transportation delay, lot size, and quality, e.g., trucks, or trains. the lot partitioning strategy is adapted on the fly to the current channel characteristics. A dynamic model of the supplier-depot interaction is built and used to evaluate the policy properties in a robust control framework. Using the constructed framework, it is explicitly shown how to select the policy parameters to obtain full demand realization, thus eliminating backorders, irrespective of the pattern of delay and demand fluctuations. It is also discussed how to assign the warehouse space at the depot so that emergency storage will not be required even though, as a result of channel disruptions, deliveries from a few periods arrive simultaneously, or out of order.

关键词： Robust control Fluctuations Transportation Process control Channel allocation Dynamic scheduling Robustness

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