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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901-910 订阅

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Pilot Misoperation control Based on L1 Adaptation and INDI Methods 16

Pilot Misoperation Control Based on L1 Adaptation and INDI M...

引用

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

作者： Wan, Jin Huang, Dan Song, Lei Ding, Lu Fu, Shan Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai Peoples R China Shanghai Jiao Tong Univ Sch Elect Informat & Elect Engn Shanghai Peoples R China

ISBN: (纸本)9781728177090

the pilot's error is one of the important factors affecting flight safety, which may cause serious consequences. this article mainly discusses the continuous operating deviation and sudden large-scale misoperation during the flight process. For the two types of error models, the controllers are designed to reduce the impact after the misoperation occurs, and simulation verification is performed. Simulation results show that the L1 adaptive controller can effectively suppress the impact of continuous operating deviation on control performance and improve flight comfort;the incremental nonlinear dynamic inverse controller can effectively reduce the impact of large misoperation and restore the original flight state.

关键词： controllers

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Autonomous Rearrangement Planning Using Object Similarity Learning

Autonomous Rearrangement Planning Using Object Similarity Le...

引用

RSI/ISM international conference on robotics and Mechatronics (ICROM)

作者： Parmida Jabari Zeynab Ezzati Babi Hamed Ghasemi Mehdi Tale Masouleh Ahmad Kalhor Human and Robot Interaction Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

this study investigates the integration of artificial intelligence in robotics assembly systems, focusing on enhancing flexibility and adaptability in dynamic environments where the robot might not be given the precise objects of the intended construction. To this end, a developed approach is presented which is based on object detection, similarity assessment, and sequence planning for autonomous construction tasks. the system utilizes a YOLOv8 model for object detection and a Siamese network architecture, which facilitates object replacement. It processes two input images, one representing the target structure and another showing the available objects, extracting attributes such as bounding boxes, centers, and orientations. An exact object-matching step is performed before a two-stage similarity assessment. the two-stage similarity assessment prioritizes single-object matches and employs a multi-object similarity network only when necessary. this multi-stage approach is designed to maintain high similarity to the intended design while minimizing possible object shortcomings. During the construction phase, motion planning is performed using a 3-degrees-of-freedom Delta parallel robot, and a 2-finger gripper is utilized for robotics grasping. the results of this study, conducted on wooden bricks of varying shapes and sizes, demonstrate the effectiveness of the YOLOv8 model for object detection, achieving over 80% accuracy across 18 classes with a classification loss of approximately 0.25. Additionally, the Siamese network performed robustly, with a loss of less than 0.01 for both single and multiple object comparisons.

关键词： Robotic assembly Parallel robots automation Autonomous systems Robot vision systems Warehousing Object detection Cameras Planning Grippers

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Transient Stability of Grid-Forming Inverters in Microgrids: Nonlinear Analysis 16

Transient Stability of Grid-Forming Inverters in Microgrids:...

引用

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

作者： Eskandari, Mohsen Savkin, Andrey, V Univ New South Wales Sch Elect Engn & Telecommun Sydney NSW Australia

ISBN: (纸本)9781728177090

A current limiting scheme is employed for Inverter-Interfaced Distributed Generation (IIDG) units, mostly in the control loops, to limit the current within the tolerable range and to facilitate the IIDG units being connected to the grid during the transient. However, current-limiting/saturation of the droop-controlled grid-forming inverters affects their transient stability and may make them unstable, which yet has not been explored in the literature in the context of autonomous microgrids (MGs). It is disclosed in this paper that the sharp phase angle variation and the arbitrary resistive output impedance of grid-forming inverters in the current limiting mode make the autonomous MGs unstable. Time-domain simulations prove the idea.

关键词： Current limiting Droop control Dynamic Stability Fault ride-through Inverter-interfaced distributed generation (DG) units Microgrid

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Voronoi-based Geometric Distributed Fleet control of a Multi-Robot System 16

Voronoi-based Geometric Distributed Fleet Control of a Multi...

引用

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

作者： Bertrand, Sylvain Sarras, Ioannis Eudes, Alexandre Marzat, Julien Univ Paris Saclay ONERA Traitement Informat & Syst F-91123 Palaiseau France

ISBN: (纸本)9781728177090

A new distributed algorithm is presented for waypoint navigation of a multi-robot system. the proposed two-level architecture (reference generator and local controller) exploits Voronoi partitioning and purely geometric considerations to distributively generate references for each robot in order to ensure collision avoidance and convergence of the fleet to the waypoint. Flexibility in the obtained formation pattern is made possible by the algorithm, by not pre-fixing as usually done its geometric form. In addition, the gain tuning is easy and the setting allows to naturally obtain certain formation patterns and adjust the rigidity of the fleet. Moreover the distributed nature of the algorithm also allows robustness to online modification of the number of vehicles (in the fleet or within range of communication), also addressing the 2-robot scenario. Field experiments on ground mobile robots are provided to illustrate the performance of the algorithm.

关键词： Multipurpose robots

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Statistical and physiologically analysis of using a Duffing-van der Pol oscillator to modeled ictal signals 16

Statistical and physiologically analysis of using a Duffing-...

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

作者： Szuflitowska, Beata Orlowski, Przemyslaw West Pomeranian Univ Technol Dept Control & Measurements Szczecin Poland

ISBN: (纸本)9781728177090

Electroencephalography reflects the averaged electrical activity of neurons associated with physiological and neural disease processes, i.e., epilepsy. In this study, EEG signals recorded during a complex partial seizure are modeled using a coupled Duffing-van der Pol oscillator. the purpose of the paper is the statistical analysis of parameter variability during three phases of seizure: pre-, ictal, and post-ictal. In order to determine the impact of intra -variability on parameter values during seizure spread, in the study, signals from 10 patients are analyzed. Our data are reliable in terms of each patient's sex, age, and medical history. For the first time, the results of the optimal values model parameter are explained based on physiological phenomena. Non-linear models' parameters may be useful for pre-and post-ictal sequences differentiation.

关键词： Electroencephalography

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Inverse Kinematics Determination and Trajectory Tracking Algorithm Development of a Robot with 7 Joints 16

Inverse Kinematics Determination and Trajectory Tracking Alg...

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

作者： Kreft, Wojciech AGH Univ Sci & Technol Fac Elect Engn Automat Comp Sci & Biomed Engn Dept Automat Control & Robot Al Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (纸本)9781728177090

the analyzed robot has 7 actuators and therefore it is a redundant robot whose position and orientation of the end-effector can generally be set in an infinite number of ways. Determination of joint angles that implement a set position and orientation of the end-effector is difficult for this robot. the paper presents the method of determining analytical formulas for the inverse kinematics problem of the analyzed robot and presents the idea of selection a particular solution. the basic idea of the trajectory tracking algorithm is that a slight change in the position and orientation of the end-effector must also be associated with a slight change in angular positions on individual joints. the paper shows the operation of the tracking algorithm of an exemplary trajectory, both simulation and for real KINOVA (R) Gen3 Ultra lightweight robot.

关键词： End effectors

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Interpolating control Based Trajectory Tracking 16

Interpolating Control Based Trajectory Tracking

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

作者： Boucek, Zdenek Flidr, Miroslav Univ West Bohemia Fac Appl Sci European Ctr Excellence New Technol Informat Soc Plzen Czech Republic Univ West Bohemia Fac Appl Sci Dept Cybernet Plzen Czech Republic

ISBN: (纸本)9781728177090

the paper is dealing with a modification of Interpolating control (IC) for the employment in trajectory tracking problem with inherent constraints. First, the Optimal control Problem (OCP) with reference trajectory tracking is described. the OCP is hard to solve analytically, thus, two feasible approaches will be presented. the standard method for the trajectory tracking called Model Predictive control (MPC), and afterward, a more computationally efficient alternative, the IC will be described. Further, the modification of IC for the tracking of the reference trajectory is presented. Finally, the IC and MPC are compared on a simple example using OCP cost function and computational time.

关键词： Trajectory Tracking Interpolating control Model Predictive control Constrained control

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A Two-stage Improving Scheme on Intelligent Aircraft Trajectory Optimization 16

A Two-stage Improving Scheme on Intelligent Aircraft Traject...

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

作者： Wang, Hui Li, Feng Chen, Xiaojing Tian, Le Song, Dongdong Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing 100044 Peoples R China Beijing Jiaotong Univ Inst Transportat Syst Sci & Engn Beijing 100044 Peoples R China

ISBN: (纸本)9781728177090

this paper focuses on the Intelligent Aircraft Trajectory Optimization (IATO) problem. A two-stage mixed integer programming model is proposed to minimize the travel route of the aircraft and the number of visited correction points. Two strategies called SP-MNCP and MNCP-SP are presented to reflect the actual engineering requirements in the intelligent aircraft controlling. the trade-off between the shortest path and the minimum correction points is investigated in detail based on the numerical experiments in the real-world scenarios.

关键词： Aircraft

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Onboard Real-Time Object Detection for UAV with Embedded NPU 11

Onboard Real-Time Object Detection for UAV with Embedded NPU

引用

11th IEEE Annual international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2021

作者： Chen, Long Hu, Jingyi Li, Xuanfu Quan, Fengyu Chen, Haoyao School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Huawei Technology Co. Ltd Department of HiSilicon Research China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China

ISBN: (纸本)9781665425278

Unmanned aerial vehicles (UAVs) endowed with the function of computer vision are widely applied. there is an urgent need to implement real-Time object detection. However, the limited memory and computing capacity of current embedded devices prevent the deployment of deep learning on UAVs. therefore, this paper proposes an efficient onboard object detection system based on an embedded NPU device. It can be deployed on a UAV to perform real-Time scenario analysis. Firstly, a deep-learning network structure based on YOLOV3-Tiny is designed for object detection. then it is compressed by a novel pruning strategy to obtain a 'slim' object detector. Finally, a detection-reinitialization mechanism is introduced to realize the robust output of detection. the experimental results demonstrate that our model and algorithm achieve efficient performance of detection compared to the unoptimized benchmark. the proposed model achieves up to 0.591 mAP with a 6M parameter size. the complete system is tested in both simulation and real environments of the aerial manipulator grasping task. the effective detection frame ratio reaches 90%, and FPS achieves about 25. © 2021 IEEE.

关键词： Object detection

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Adaptive Affine Formation Maneuver control of Second-Order Multi-Agent Systems with Disturbances 16

Adaptive Affine Formation Maneuver Control of Second-Order M...

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

作者： Luo, Zhengxin Zhang, Pengyu Ding, Xiangjun Tang, Zezhi Wang, Chunyan Wang, Jianan Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China China Aerosp Sci & Technol Corp Sci & Technol Space Phys Lab Beijing 100000 Peoples R China Guangdong Bozhilin Robot Foshan Peoples R China

ISBN: (纸本)9781728177090

this paper studies adaptive affine formation maneuver control problem in the presence of external disturbances. the proposed control algorithm consists of a component for disturbances estimating and a component for formation tracking. To address the disturbances, an adaptive control strategy is designed for each follower to estimate external disturbances. then, a formation control law is adopted to achieve desired formation maneuvers, such as translation, scaling and rotation with the external disturbances compensated. Sufficient conditions for stability of the proposed control algorithm are identified using Lyapunov method. Finally, simulations are presented to demonstrate the effectiveness of the theoretical results.

关键词： Multi-agent systems affine formation maneuver control adaptive control external disturbances

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