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检索条件"任意字段=1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots"

共 61 条记录，以下是11-20 订阅

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MARVIN: Mobile autonomous Robot Vehicle for Investigation & Navigation

MARVIN: Mobile Autonomous Robot Vehicle for Investigation & ...

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international conference on Ubiquitous robots (UR)

作者： Luis Andrade Marcelo Fajardo Christian Tutiven Edwin Valarezo Angel Recalde Ricardo Cajo Francisco Yumbla Facultad de Ingeniería en Mecánica y Ciencias de la Pro-duccion Escuela Superior Politecnica del Litoral ESPOL Guayaquil Ecuador

ISBN: (数字)9798350361070

ISBN: (纸本)9798350361087

Self-driving vehicles are a rising field for investigation; both in the commercial and academic world, but most framework platforms currently are not designed for the Latin American infrastructure environment, especially in manufacturing costs and their implementation. Therefore, this project involves designing, building, and programming a scaled self-driving vehicle based on the ROS2 infrastructure to make a more economical alternative for this market. SLAM tools were implemented in the prototype so that it could map its environment in real-time and self-navigate through it. In addition, a 3D model and a Gazebo based simulation were developed as the real environment test, so that the user can test the prototype in a simulated. All this research including the list of the parts necessary for the development of the car and the open-source architecture are uploaded to a GitHub repository. The final cost is comparably lower than its competition, therefore, this product can be considered a viable alternative as a learning platform in the actual market maintaining the characteristics of autonomous vehicles.

关键词： Solid modeling Simultaneous localization and mapping Costs Three-dimensional displays Navigation Prototypes Real-time systems

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1st international Symposium on Systems Modelling and simulation, SMS 2024

1st International Symposium on Systems Modelling and Simulat...

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1st international Symposium on Systems Modelling and simulation, SMS 2024

ISBN: (纸本)9789819646128

The proceedings contain 27 papers. The special focus in this conference is on Systems Modelling and simulation. The topics include: A Spring-Pendulum Educational Device for Teaching Dynamics and Control Courses;3D Scene Reconstruction Using Lidar Point Clouds and Images;dissolved Oxygen Concentration Modelling Based on Nanobubble Technology in Recirculating Aquaculture System;analysis of Ultrasonic Signal Arrival Time in Concrete with Multiple Defects;predictive Maintenance in Aerospace: Leveraging Machine Learning for Optimized Filter Lifespan;safety Control with Conflict Resolution for Multi robots in Flexible Manufacturing System;investigating Interdisciplinary Research Impact: A Framework for Integrating Linguistic and Citation Information;identification and Control of Industrial Hydraulic Actuators with a Hammerstein-Wiener Model Approach;Machine Learning and NLP-Based Approach for Constraint Acquisition Problems;Improving Twitter Sentiment Analysis with a Hybrid BERT and Graph Neural Network Ensemble;autonomous Quadcopter UAV Waypoint Navigation: simulation in Mission Planner;emotions Divergence in Online Social Network During Pandemic: A Sentiment Analysis;modeling of Low Salinity Waterflooding Process in Laboratory Experiments;Multimodal Biometric Recognition Using Fuzzified BTC with a Novel Hybrid JSO-CSO Algorithm;Delayed Transitions in GPenSIM;Application Interface for GPenSIM;analyzing Production Line Schedules with Tecnomatix Plant simulation;modelling of Electrical Capacitance Tomography Sensor Array for Air-Wax Detection;modeling and simulation of an ECT Sensor for Non-invasive Agarwood Inspection;hardware Accelerator simulation for Colour Correction Algorithm;analysis of the Impact of Watermarking Technique in Neural Network Models to Predict Lung Diseases;Adaptive Genetic Algorithm Based LQR for Optimal Control of Nonlinear Double Pendulum Gantry Crane;performance Evaluation Customer Access Network Using Difference Modulation Technique.

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Behavioral modeling of knitted shape memory membrane 28

Behavioral modeling of knitted shape memory membrane

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28th international conference on Information, Communication and Automation Technologies, ICAT 2022

作者： Chafik, Ahmed Amine Gaber, Jaafar Tayane, Souad Ennaji, Mohamed Univ. Bourgogne Franche-Comté Utbm FEMTO-ST/DISC/OMNI Umr Cnrs 6174 Belfort France Hassan Ii University of Casablanca Laboratory of Complex Cyber-Physical Systems Lccps Ensam Casablanca Morocco

ISBN: (纸本)9781665466929

Programmable matter is a system of elements (e.g., smart matters, modular robots,...) that is programmed via user input or autonomous sensing to form a certain shape, by altering its physical characteristics. This paper presents a programmable and reusable device to be used, for example in 4D prototyping and Haptics, using the shapeshifting abilities of smart materials such as shape memory alloys to exhibit a certain behavior controlled by stimulus (heat energy). More precisely, these materials can be programmed and integrated into devices or systems to function according to suitable configurations and conditions (e.g., shape making), via stimuli control as programming means, and wherein the behavior can be modelized using appropriate equations. The programmable device presented in this paper is a shape memory membrane, that makes 3D forms out of a knitted architecture to match a target model, using the shape memory effect. simulation results using COMSOL are presented and analyzed to model the thermo-mechanical behavior and establish the device's programming model. © 2022 IEEE.

关键词： Shape-memory alloy

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autonomous wheeled mobile robot maneuvering in constraint environment. Trajectory tracking quality criteria

Autonomous wheeled mobile robot maneuvering in constraint en...

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international conference on Innovations, Physical studies and Digitalization in Mining Engineering 2020, IPDME 2020

作者： Shabanov, D.V. Kozlovich, A.V. Valiev, R.R. Kochneva, O.V. Peter the Great St. Petersburg Polytechnic University Polytekhnicheskaya st. 29 St. Petersburg195251 Russia

In this article the problem of control system synthesis for differential drive wheeled mobile robots operating within constraint environment is considered. The proposed approaches of solving trajectory tracking problem take into account the geometric features of both the robot and the transported cargo. The collision avoidance problem is solved at the controller level, without any changes to the planned trajectory. Three approaches are proposed: minimizing the distance to the trajectory, minimizing the distance to the reference position, and maximizing the distance to obstacles. In these approaches the constant analysis of position of each point of robot's body outline contour is used. Negative influence of the position of these points on qualitative trajectory pass is represented in vector form. For each of the approaches formalized tracking quality criteria are determined, methods of implementation of control systems and controllers taking into account these criteria are proposed. The part of the control signal responsible for taking into account geometry of the robot and avoiding collisions is defined via the force-moment vector representation. Results of simulation modeling prove the efficiency of the proposed approaches. A comparison of the proposed approaches is presented. Potential ways of more efficient use of these approaches are given. © Published under licence by IOP Publishing Ltd.

关键词： Mobile robots

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Level of Robot Autonomy and Information Aids in Human-Robot Interaction Affect Human Mental Workload - An Investigation in Virtual Reality 10th

Level of Robot Autonomy and Information Aids in Human-Robot ...

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10th international conference on Digital Human modeling and Applications in Health, Safety, Ergonomics and Risk Management (DHM) Held as Part of the 21st international conference on Human-Computer Interaction (HCII)

作者： Kaufeld, Mara Nickel, Peter Fraunhofer Inst Commun Informat Proc & Ergon FKIE Human Factors Bonn Germany German Social Accid Insurance IFA Inst Occupat Safety & Hlth Accid Prevent Prod Safety St Augustin Germany

ISBN: (纸本)9783030222154;9783030222161

In future work systems, humans may interact with scalable industrial robots. In a virtual reality simulation study, human mental workload effects were analyzed in human-robot interactions (HRI) with variations in design requirements regarding human factors and ergonomics (HFE) as well as occupational safety and health (OSH). Each of 20 participants performed his/her own task while interacting with two virtual robots in a manufacturing environment. Results on task performance indicated relative lower human mental workload when robots acted on lower level of robot autonomy (lower LORA) and the human operator was informed about upcoming HRI by multi-modal signaling (Information Aid 'on'). However, this pattern of workload reflected in performance measures, was not reflected in mental workload ratings. Hence, compensational adjustments in operator performance were assumed. It was concluded, that a combination of less autonomous robots and multi-modal feedback result in relatively less operator distraction from task performance and, thus, less impairment in operator workload. HFE and OSH may improve when HRI is audio-visually indicated and robot activities are adapted to human operator task requirements (low LORA). Therefore, results have the potential to inform future design of HRI regarding HFE and OSH at different workplaces in industry and services.

关键词： Human-robot interaction Work systems design Occupational safety and health Virtual reality Mental workload Human-automation interaction Human-system interaction

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modeling an Optimal Control Problem for the Navigation of Mobile robots in an Ocduded Environment Application to Unmanned Aerial Vehicles 19th

Modeling an Optimal Control Problem for the Navigation of Mo...

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19th international conference on Computational Science and Its Applications (ICCSA)

作者： Louadj, Kahina Marthon, Philippe Nemra, Abdelkrim Lab Concept & Conduites Syst Prod L2CSP Tizi Ouzou Algeria IRIT ENSEEIHT Toulouse France Ecole Mil Polytech Lab Robot & Prod Algiers Algeria

ISBN: (纸本)9783030242961

An optimal control problem of two Unmanned autonomous Vehicles to follow the trajectory and avoid the collision between them. The aim is to minimize energy, the distance between state and desired, and maximize the distance between the two drones. For this study, we used midpoint such discretization method, the simulation results ar given by Bocop software.

关键词： Navigation UAV Trajectory planning

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SYNCHRONO: An Open-Source Framework for Physics-Based simulation of Collaborating robots

SYNCHRONO: An Open-Source Framework for Physics-Based Simula...

引用

IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Negrut, Dan Serban, Radu Elmquist, Asher Hatch, Dylan Univ Wisconsin Dept Mech Engn Madison WI 53706 USA

ISBN: (纸本)9781538659748

We present an open-source framework called SYNCHRONO that enables one to use physics-based simulation to gauge how collaborating robots work together in a variety of environments. Building on top of the CHRONO dynamics engine [1], the framework provides early support for simulation of robots operating in off-road conditions, underwater, city environments, etc. In this contribution we focus on autonomous vehicles (AVs), which represent but one of the many identities that a "robot" can assume. In this context, SYNCHRONO draws on a template-based vehicle library to enable the simulation of shared-road scenarios involving wheeled and/or tracked vehicles. SYNCHRONO has early support for sensing simulation, communication simulation, and virtual environment generation for rapid prototyping of virtual scenarios;i.e., virtual worlds. Although the distributed computing paradigm embraced in SYNCHRONO allows the simulation in soft real-time of nontrivial many-robot scenarios, its strength lies in the multi-physics simulation support that enables the analysis of complex scenarios that involve rigid-body dynamics, deformable bodies, and fluid-solid interaction. The caveat is that in computationally demanding cases, e.g., mobility on granular terrain, under-water robotics, etc., SYNCHRONO does not run in real-time, which in such cases prevents its hardware-in-the-loop/human-in-the-loop use.

关键词： Robot sensing systems Vehicle dynamics Mathematical model Computational modeling Emulation

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Self-Controlled Walking Robot with Gyro Sensor Network for stable Movement on Non-Smooth Surfaces

Self-Controlled Walking Robot with Gyro Sensor Network for S...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Dutta, S. Maiti, T. K. Ochi, Y. Miura-Mattausch, M. Bhattacharya, S. Navarro, D. Yorino, N. Mattausch, H. J. Hiroshima Univ Grad Sch Engn 1-4-1 Kagamiyama Higashihiroshima 7398527 Japan Hiroshima Univ Res Inst Nanodevice & Bio Syst Higashihiroshima 7398527 Japan Hiroshima Univ HiSIM Res Ctr Higashihiroshima 7398530 Japan

ISBN: (纸本)9781538659748

In this paper a gyro-sensor control for improved walking-robot stability is presented, which applies a new control algorithm to drive the servo motors in response to the transmitted signals from the gyro sensor. Modelling of gyro-sensor and servo-motor for electro-mechanical system simulation is undertaken to facilitate improvements of the walking robot's gyro-sensor-driven self-controlled balancing. The robot's pitch motion on non-smooth ground surfaces is verified experimentally and also theoretically with use of the developed system simulation tool.

关键词： Robot sensing systems Legged locomotion Servomotors Angular velocity Integrated circuit modeling Hip

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Broadening Applicability of Swarm-Robotic Foraging Through Constraint Relaxation

Broadening Applicability of Swarm-Robotic Foraging Through C...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Harwell, John Gini, Maria Univ Minnesota Dept Comp Sci & Engn Minneapolis MN 55455 USA

ISBN: (纸本)9781538659748

Swarm robotics (SR) offers promising solutions to real-world problems that can be modeled as foraging tasks, e.g. disaster/trash cleanup or object gathering for construction. Yet current SR foraging approaches make limiting assumptions that restrict their applicability to selected real-world environments. We propose an improved self-organized task allocation method based on task partitioning that removes restrictions such as: (1) a priori knowledge of foraging environment, and (2) strict limitations on intermediate drop/pickup site behavior. With experiments in simulation, we show that under the proposed constraint relaxation, our approach still provides performance increases when compared to an unpartitioned strategy within some combinations of swarm sizes, robot capabilities, and environmental conditions. This work broadens the applicability of SR foraging approaches, showing that they can be effective under ideal conditions while continuing to perform robustly in more volatile/challenging environments.

关键词： Task analysis Robustness Resource management Collision avoidance Robot sensing systems Computer science

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Dynamics simulation for an Upper-Limb Human-Exoskeleton Assistance System in a Latent-Space Controlled Tool Manipulation Task

Dynamics Simulation for an Upper-Limb Human-Exoskeleton Assi...

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IEEE international conference on simulation, modeling, and programming for autonomous robots (SIMPAR)

作者： Kuehn, Johannes Hu, Tingli Schappler, Moritz Haddadin, Sami Leibniz Univ Hannover Inst Regelungstech Fak Elektrotech Appelstr 11 D-30617 Hannover Germany

ISBN: (纸本)9781538659748

This paper introduces a more complete and complex dynamics simulation tool for an exoskeletal human upper limb assistant system. This heterogeneous simulation model couples the articulated dynamics of a 6 degree-of-freedom (DoF) wearable exoskeleton with an upper-limb human neuromechanics model of 12 skeletal and 42 muscular DoFs with corresponding controls. Furthermore, the process forces of tool-mediated manipulation tasks can be fed into the overall system. This simulation tool can be used for various purposes such as 1) design and evaluation of human-centered exoskeleton controllers 2) evaluating human motor control hypotheses during exoskeleton use and 3) investigating various properties and the performance on exoskeleton systems and manipulation tasks. This framework is used exemplary in designing and implementing a human kinematic latent-space controller for a power drilling manipulation task under exoskeletal assistance.

关键词： Exoskeletons Couplings Task analysis Kinematics Muscles Tools

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