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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

共 5239 条记录，以下是101-110 订阅

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Synchronous Online Abstract Dynamic Programming 18

Synchronous Online Abstract Dynamic Programming

引用

18th international conference on control Automation robotics and Vision

作者： Li, Xiuxian Meng, Min Xie, Lihua Tongji Univ Coll Elect & Informat Engn Shanghai Res Inst Intelligent Autonomous Syst Dept Control Sci & Engn Shanghai Peoples R China Tongji Univ Shanghai Inst Intelligent Sci & Technol Shanghai Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore

ISBN: (纸本)9798331518509;9798331518493

This paper addresses the abstract dynamic programming (DP) in the online scenario, where the abstract DP mapping is time-varying, instead of static. In this case, optimal costs and policies at different time instants are not the same in general, and the problem amounts to tracking time-varying optimal costs and policies, which is of interest to many practical problems. It is thus necessary to analyze the performance of classical value iteration (VI) and policy iteration (PI) algorithms in the online case. In doing so, this paper develops and provides the theoretical analysis for several online algorithms, including approximate online VI, online PI, approximate online PI, online optimistic PI, and approximate online optimistic PI algorithms. It is proved that the tracking error bounds for all algorithms critically depend upon the largest difference between any two consecutive abstract mappings. Meanwhile, examples are presented to illustrate the theoretical results.

关键词： Dynamic programming

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intelligent Obstacle Avoidance and Path Planning for Unmanned Vessels Based on an Improved Bug2 Algorithm 6

Intelligent Obstacle Avoidance and Path Planning for Unmanne...

引用

6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Zhou, Zhiquan Chen, Zhikuan Mao, Xinqian Wang, Bo Lou, Yi Weihai China

ISBN: (纸本)9798331541699

With the rapid development of artificial intelligence technology, the demand for intelligence in unmanned vessels is becoming increasingly prominent. One of the core problems in the process of automatic navigation of unmanned vessels is how to make effective collision avoidance decisions in time. In this paper, an improved Bug2 algorithm is proposed, which introduces angle determination and bypassing strategy in the traditional Bug2 algorithm, effectively solves the deficiencies of the conventional Bug2 algorithm in the fixed obstacle avoidance direction and timing of the movement, and significantly improves the dynamic obstacle avoidance performance of the algorithm. The dynamic obstacle simulation test verifies that the algorithm has high real-time and strong path planning ability. After that, the unmanned boat control system is designed, and in the physical test on the lake, the unmanned boat can rely on the improved Bug2 algorithm to plan the obstacle avoidance path in time when encountering obstacles, realizing the autonomous obstacle avoidance, which provides solid technical support for intelligent navigation in the complex sea area. © 2024 IEEE.

关键词： Motion planning

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From Project to Sea: the journey of the robot to the Mediterranean 22

From Project to Sea: the journey of the robot to the Mediter...

引用

22nd IFAC conference on Technology, Culture and international Stability (TECIS)

作者： Berry, Jason South East Technol Univ Dept Engn Technol Waterford Ireland

"It's all about the learning" One of the most important elements of lecturing in a third level Institution is how best to enable learning. In fact, it can be seen as a professional driving force. There are many types of students, teachers and institutions with multiple pedagogical and andragogical models. The one guiding light that connects us all is the pursuit of knowledge through learning. Amongst the learning models which promote this pursuit are Project Based Learning (PjBL) and the 4 Ps of Creative learning (Project, Peers, Passion and Play). Combining these learning models with the closed loop feedback control model, found in all fields of applied robotics, contributes to interesting projects, scalable team environments and useful applications which actively promote iterative learning. The paper reflects on SETU Applied robotics Lab PjBL project "The USV LIR" using the lens of the Four Ps of Creative learning: Copyright (C) 2024 The Authors.

关键词： Applied robotics Project Based Learning 4 Ps of Creative learning Education

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Lightweight Track surface defect detection method based on improved YOLOv5

Lightweight Track surface defect detection method based on i...

引用

2024 international conference on intelligent robotics and automatic control

作者： Zhang, Yujie Qiu, Xia Gao, Rong Liu, Xing Chengdu Technol Univ Sch Big Data & Artificial Intelligence Chengdu Peoples R China Chengdu Technol Univ Sch Foreign Languages Chengdu Peoples R China Chengdu Technol Univ Sch Intelligent Mfg Chengdu Peoples R China Yibin Univ Sch Elect Informat & Engn Yibin Peoples R China

ISBN: (纸本)9798350389814;9798350389807

The detection of small and clustered defects in railway track surfaces remains a challenge due to the limitations in real-time accuracy of current methods. To address this, we introduce Ghost-YOLOv5-Rail, a novel algorithm based on YOLOv5, for defect recognition. A new dataset Rail-2k was developed to overcome data scarcity. The CBS and C3 modules in the backbone were replaced with GhostNet, and the ECA module was integrated into the C3 module to replace the SE module, forming the ECA-C3Ghost module to mitigate dimensionality reduction issues. Additionally, a CBAM attention mechanism was introduced in the NECK to enhance feature extraction. Comparative experiments demonstrate a 58.6% reduction in FLOPs (from 109.1 to 45.2), a 3.16% increase in mean average precision, and a detection speed of 80.6 FPS. These results highlight the potential of Ghost-YOLOv5-Rail to advance real-time track defect detection accuracy and efficiency.

关键词： Track defects YOLOv5 GhostNet defect identification and location

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Trajectory Tracking control for Lane Change Maneuvers in Autonomous Vehicles 18

Trajectory Tracking Control for Lane Change Maneuvers in Aut...

引用

18th international conference on control Automation robotics and Vision

作者： Shahab, Muhammad Mysorewala, Muhammad Faizan King Fand Univ Petr & Minerals KFUPM Dept Control & Instrumentat Engn Dhahran Saudi Arabia King Fand Univ Petr & Minerals KFUPM Interdisciplinary Res Ctr Smart Mobil & Logist Interdisciplinary Res Ctr Intelligent Mfg & Robot Dept Control & Instrumentat Engn Dhahran Saudi Arabia

ISBN: (纸本)9798331518509;9798331518493

This research advances autonomous vehicle capabilities by developing novel trajectory planning and control techniques for lane changes using free-driving and vehicle-following modes. This study addresses the critical challenge of enhancing lane change precision to minimize accident risks on highways. A quintic polynomial is used for trajectory generation, and a PID controller is employed for trajectory tracking, integrating collision prevention strategies for safety assurance. The contributions of this work include the development of an efficient control scheme that adapts to dynamic traffic conditions and improves the robustness of lane-changing maneuvers. The proposed approach significantly enhances the accuracy and reliability of autonomous lane changes, providing a pathway for safer autonomous driving in complex highway scenarios.

关键词： Autonomous vehicles lane change trajectory generation and control

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A Hybrid Admittance control Algorithm for automatic Robotic Cranium-Milling

A Hybrid Admittance Control Algorithm for Automatic Robotic ...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Qian, Chen Li, Zhen Ye, Qiang Ge, Peicong Zhao, Jizong Bian, Gui-Bin Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Capital Med Univ Beijing Tiantan Hosp Beijing Peoples R China China Natl Clin Res Ctr Neurol Dis Beijing 100050 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Prior robot-assisted cranium-milling studies only considered controlling the force in the skull's vertical direction and neglected the milling cutter's feed force. Additionally, achieving stable force control in multiple directions is challenging for robots due to the uneven skull surface. Here a hybrid admittance control algorithm incorporating a model-free adaptive nonlinear force control and fuzzy control algorithms is proposed to accomplish effective automatic cranial-milling tasks. First, a pure data-driven model-free adaptive control method based on partial form dynamic linearization is used to control the feed force. Second, fuzzy control minimizes the total error of both the vertical and feed force by adaptively adjusting the milling cutter's velocity and position. 42 ex vivo animal skull-milling experiments conducted by the automatic robotic cranium-milling system indicate that when using the proposed control algorithm, the force error percentage can be maintained below 5.0% within 3 s and the maximal root mean square error percentages for vertical and feed force are 1.85% and 1.94%, respectively. Moreover, no instances of dura mater damage are observed and the robotic system exhibits a high level of autonomy as it performs the skull milling task with minimal human involvement throughout the entire experiment. The results suggest the potential for advancing the intelligence level of neurosurgery in the future.

关键词： Milling cutters

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Multi-Resolution Planar Region Extraction for Uneven Terrains

Multi-Resolution Planar Region Extraction for Uneven Terrain...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Sun, Yinghan Zheng, Linfang Chen, Hua Zhang, Wei Southern Univ Sci & Technol Sch Syst Design & Intelligent Mfg Shenzhen Key Lab Control Theory & Intelligent Sys Shenzhen 518055 Peoples R China Univ Birmingham Sch Comp Sci Birmingham W Midlands England

ISBN: (纸本)9798350384581;9798350384574

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing approaches have shown promising results in effectively extracting planar regions from the environment, they often suffer from issues such as low computational efficiency or loss of resolution. To address these issues, we propose a multi-resolution planar region extraction strategy in this paper that balances the accuracy in boundaries and computational efficiency. Our method begins with a pointwise classification preprocessing module, which categorizes all sampled points according to their local geometric properties to facilitate multi-resolution segmentation. Subsequently, we arrange the categorized points using an octree, followed by an in-depth analysis of nodes to finish multi-resolution plane segmentation. The efficiency and robustness of the proposed approach are verified via synthetic and real-world experiments, demonstrating our method's ability to generalize effectively across various uneven terrains while maintaining real-time performance, achieving frame rates exceeding 35 FPS.

关键词： Robot applications

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T-S Fuzzy-Model-Based Tracking control of Lower Limb Exoskeleton Rehabilitation Robot 11

T-S Fuzzy-Model-Based Tracking Control of Lower Limb Exoskel...

引用

11th IEEE international conference on Cybernetics and intelligent Systems (CIS) / 11th IEEE international conference on robotics, Automation and Mechatronics (RAM)

作者： Chen, Ming Liu, Huaqing Luo, Xingzhou Mo, Yibo Wang, Xifeng Zhejiang Univ Technol Binjiang Inst Artificial Intelligence Hangzhou Peoples R China Zhejiang Univ Technol Coll Informat Engn Hangzhou Peoples R China

ISBN: (纸本)9798350364200;9798350364194

This paper focuses on the tracking control design of the lower limb exoskeleton rehabilitation robot. A Takagi-Sugeno (T-S) fuzzy model of the lower limb exoskeleton rehabilitation robot is constructed. Then, a T-S fuzzy-model-based tracking control system can be formed by the T-S fuzzy model, a reference model and a tracking controller. The stability analysis of the T-S fuzzy-model-based tracking control system is performed on the basis of the Lyapunov stability theory, and stability conditions in terms of linear matrix inequalities (LMIs) are developed. Finally, the simulation results on a lower limb exoskeleton robot demonstrate the effectiveness of the proposed method.

关键词： lower limb rehabilitation robot fuzzy model tracking control stability analysis

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PLM-YOLOv5: Improved YOLOv5 for Pig Detection in Livestock Monitoring

PLM-YOLOv5: Improved YOLOv5 for Pig Detection in Livestock M...

引用

2024 international conference on intelligent robotics and automatic control

作者： Peng, Ni Li, Fang Luo, Xiaonan Guilin Univ Elect Technol Sch Comp Sci & Informat Secur Guilin 541004 Peoples R China Ctr Appl Math Guangxi GUET Guilin 541004 Peoples R China Guangxi Key Lab Image & Graph Intelligent Proc Guilin 541004 Peoples R China

ISBN: (纸本)9798350389814;9798350389807

With the rapid development of smart agriculture, the demand for pig monitoring has been increasing, particularly in disease prevention and behavioral analysis. Real-time monitoring of pig behavior is essential for improving farming efficiency and ensuring animal welfare. However, challenges such as pigs' varying body sizes, movement, and complex environments make accurate detection and tracking difficult. To address these issues, this paper proposes an improved YOLOv5 model, named PLM-YOLOv5, specifically designed for pig detection in livestock monitoring. First, we add an additional detection head to enhance the model's capability to detect smaller pigs effectively. Next, we integrate the Convolutional Block Attention Module (CBAM) to enhance feature extraction, particularly in handling complex backgrounds. Finally, we utilize a self-collected dataset of over 1,400 images for model training and validation, ensuring the model adapts to real-world livestock environments. Experimental results show that PLM-YOLOv5 achieves significant improvements in pig detection tasks, with the mean Average Precision (mAP) increasing by approximately 9% compared to the original YOLOv5. Additionally, training and validation loss curves demonstrate the model's stability and convergence. These results confirm the effectiveness and reliability of PLM-YOLOv5 for real-world applications, offering a robust solution for smart agriculture.

关键词： YOLOv5 Livestock Monitoring Smart Agriculture CBAM Pig Detection

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Optimization of control Laws for Performance Maintenance of Turboshaft Engines

Optimization of Control Laws for Performance Maintenance of ...

引用

2024 international conference on intelligent robotics and automatic control

作者： Zhang, Haosheng Deng, Haomin Cong, Jingmei Zhang, Chenyang Wu, Jichang Zhou, Wenxiang Nanjing Univ Aeronaut & Astronaut Dept Control Engn NUAA Nanjing Peoples R China Aero Engine Acad China Beijing Peoples R China AECC Hunan Aviat Powerplant Res Inst Zhuzhou Peoples R China Nanjing Univ Aeronaut & Astronaut NUAA Nanjing Peoples R China

ISBN: (纸本)9798350389814;9798350389807

In order to address the issue of engine performance degradation resulting from component deterioration during the operational lifespan of turboshaft engines, this paper conducts an in-depth study on the analysis of turboshaft engine performance degradation and the optimization of performance maintenance control strategies. Firstly, utilizing the component-level model of the turboshaft engine, the study investigates the impact of various online controllable parameters, including the adjustable guide vane angle of the compressor, the gas generator speed, and the power turbine speed, on the overall engine performance. Subsequently, an optimized control strategy for the combination of these online controllable parameters is devised. The primary objective of this strategy is to ensure that the total temperature at the power turbine inlet remains within safe limits, that the gas generator speed and power turbine speed do not exceed their respective maximum rpm values, while simultaneously maintaining the engine's output power. The effectiveness of this control strategy is rigorously verified through simulation. The simulation results demonstrate that the optimized control strategy is capable of effectively sustaining the turboshaft engine's output power during emergency conditions, resulting in a remarkable extension of engine life by 111.4%.

关键词： Turboshaft Engine Performance Degration control Strategy Optimization Online controllable Parameters

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