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

共 5264 条记录，以下是151-160 订阅

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An Efficient Multi-Modal Image Registration Method for intelligent Acupuncture Robot

An Efficient Multi-Modal Image Registration Method for Intel...

引用

2024 international conference on intelligent robotics and automatic control

作者： Liang, Hao He, Zhaoshui He, Zihang Lin, Zhijie Guo, Jing Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China

ISBN: (纸本)9798350389814;9798350389807

This invention presents a multimodal image registration method for intelligent acupuncture robots, equipped with imaging devices such as the ultrasound and optical tracker. These multimodal images provide distinct information in various formats, but bring challenges for acupuncturists in image interpretation and processing. To address this, a multimodal image registration method is developed based on acupoint structure and acupuncture planning, aiming to align images of different formats to produce comprehensive images of acupoints' epidermal surfaces. To enhance the accuracy of needle insertion monitoring and assessment, the proposed method employs rigid multimodal image registration, integrating ultrasound, optical tracking, and depth camera technologies. Given the point sets from ultrasound, optical tracker, and depth camera images, two rigid transformations map the ultrasound and optical tracker point sets onto the depth camera coordinate system. The rigid registration assumes a single transformation matrix for all points in the same image, optimizing alignment with the target point set. Since ultrasound provides 2D cross-sectional images and depth cameras and optical tracker yield 3D data. The method first positions the ultrasound's 2D cross-section in 3D space using the needle insertion point and robot needle tip coordinates. Feature extraction from ultrasound images is followed by real-time matching and registration. Upon successful registration, the needle tip position is tracked across all modalities.

关键词： acupuncture ultrasound imaging optical tracking depth imaging multi-modal rigid registration

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Practical Prescribed-Time Fault-Tolerant control for Robot Manipulators Involving Abrupt Actuator Faults and Position Error Constraints 9

Practical Prescribed-Time Fault-Tolerant Control for Robot M...

引用

9th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Yang, Pengxin Zhang, Shuang Yu, Xinbo He, Wei Univ Sci & Technol Beijing Beijing Adv Innovat Ctr Mat Genome Engn Sch Intelligence Sci & Technol Beijing 100083 Peoples R China Liaoning Acad Mat Inst Mat Intelligent Technol Shenyang 110004 Peoples R China Univ Sci & Technol Beijing Key Lab Intelligent Bion Unmanned Syst Minist Educ Beijing 100083 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

This paper presents a practical prescribed-time fault-tolerant control (PPTFTC) method for a manipulator system experiencing time-varying actuator faults, parameter uncertainties, and position error constraints. The proposed method offers several advantages, including explicitly specified settling time and tracking accuracy, bounded continuity of system state and internal signals, and stronger robustness against actuator faults and parameter uncertainties. To validate the effectiveness of the proposed algorithm, extensive simulations have been conducted, which demonstrate its superior performance.

关键词： Robot applications

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Approaches for Enhancement of Perception Through Snsor Design for Extreme Environment 11

Approaches for Enhancement of Perception Through Snsor Desig...

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

作者： Li, Jiguang Li, Nandu Holderbaum, William Yao, Wei Univ Salford North England Robot Innovat Ctr Salford Lancs England China Univ Geosci Wuhan Sch Mech Engn & Elect Informat Wuhan Peoples R China

ISBN: (纸本)9798350364200;9798350364194

The application of artificial intelligence (AI) and robotics in extreme environments, is crucial for addressing complex challenges and performing high risk tasks. We highlight the importance of multi-modal sensor redundancy to ensure system reliability and accuracy despite sensor failures caused by harsh environmental conditions. We propose design considerations for sensors in extreme environments, emphasizing both the hardware and software design. One method is the non-contact heart rate and temperature monitoring using RGB visible and infrared cameras. This method addresses the limitations of traditional visible light sensors under complex illumination conditions, enhancing data reliability through advanced data fusion techniques. Furthermore, we propose a panoramic sensor lens design with a 270-degree view for comprehensive environmental perception, reducing mechanical vulnerabilities. These designs demonstrate the effectiveness of combining infrared and visible light sensors for improved environmental perception and physiological monitoring.

关键词： Mechanisms Design and control Vision and Sensor-Based control Visual Perception and Learning

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An Improved Magnetic Field SLAM Algorithm Based on Iterative Extended Kalman Filter and Gaussian Process Regression 18

An Improved Magnetic Field SLAM Algorithm Based on Iterative...

引用

18th international conference on control Automation robotics and Vision

作者： Magad, Adeb Mysorewala, Muhammad King Fahad Univ Petr & Minerals Dept Control & Instrumentat Engn Dhahran 31261 Saudi Arabia King Fahad Univ Petr & Minerals Interdisciplinary Res Ctr Smart Mobil & Logist Dept Control & Instrumentat Engn Interdisciplinary Res Ctr Intelligent Mfg & Robot Dhahran 31261 Saudi Arabia

ISBN: (纸本)9798331518509;9798331518493

This paper introduces an approach for magnetic field simultaneous localization and mapping by leveraging Reduced-Rank Gaussian Process Regression. The proposed algorithm aims to improve the efficiency and accuracy of magnetic field-based localization in environments with spatial variations. The methodology involves representing the magnetic field potential as a sum of basis functions. The use of Reduced-Rank Gaussian Process Regression facilitates a streamlined representation, enabling faster computation and reduced storage requirements. Then, two estimation methods are designed: an Extended Kalman Filter and Iterative Extended Kalman Filter methods to estimate the states of the dynamic model. Simulation results have demonstrated the effectiveness of the proposed approaches in estimating the true dynamic states, with slight improvement of the Iterative Extended Kalman Filter accuracy at certain magnetic field length scales, compared to the Extended Kalman Filter design.

关键词： SLAM Magnetic field IEKF EKF GP

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Active Learning with Dual Model Predictive Path-Integral control for Interaction-Aware Autonomous Highway On-ramp Merging

Active Learning with Dual Model Predictive Path-Integral Con...

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IEEE international conference on robotics and Automation (ICRA)

作者： Knaup, Jacob D'sa, Jovin Chalaki, Behdad Naes, Tyler Mahjoub, Hossein Nourkhiz Moradi-Pari, Ehsan Tsiotras, Panagiotis Georgia Inst Technol Inst Robot & Intelligent Machines Atlanta GA 30332 USA Honda Res Inst USA San Jose CA USA

ISBN: (纸本)9798350384581;9798350384574

Merging into dense highway traffic for an autonomous vehicle is a complex decision-making task, wherein the vehicle must identify a potential gap and coordinate with surrounding human drivers, each of whom may exhibit diverse driving behaviors. Many existing methods consider other drivers to be dynamic obstacles and, as a result, they are incapable of capturing the full intent of the human drivers through this passive planning. In this paper, we propose a novel dual control framework based on Model Predictive Path-Integral control to generate interactive trajectories. This framework incorporates a Bayesian inference approach to actively learn the agents' parameters, i.e., other drivers' model parameters. The proposed framework employs a sampling-based approach that is suitable for real-time implementation through the utilization of GPUs. We illustrate the effectiveness of our proposed methodology through comprehensive numerical simulations conducted in both high and low-fidelity simulation scenarios focusing on autonomous on-ramp merging.

关键词： Active learning

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Disturbance-Aware Model Predictive control of Underactuated robotics Systems

Disturbance-Aware Model Predictive Control of Underactuated ...

引用

2024 international conference on intelligent Robots and Systems

作者： Kim, Jiwon Kim, Min Jun Korea Adv Inst Sci & Technol KAIST Intelligent Robot Syst Lab Daejeon South Korea

ISBN: (纸本)9798350377712;9798350377705

While robust model predictive control (MPC) has been studied extensively in recent decades, addressing unmatched disturbances in underactuated robotic systems is still challenging. In this paper, we propose a method to enhance the robustness of the MPC through the online estimation of disturbances using a nonlinear disturbance observer (NDOB). We call this method disturbance-aware MPC (DA-MPC), because the proposed method explicitly utilizes the estimated disturbance in the future prediction. We provide a performance analysis of the NDOB, establishing the boundedness between the predicted and real states. The main advantages of the DA-MPC include its applicability to real-time control and its compatibility with off-the-shelf optimal control problem (OCP) solvers. We demonstrate the application of the proposed method using an underactuated quadrotor system. The simulation validation shows the effectiveness of the proposed method compared to L-1-adaptive MPC, which is one of the state-of-the-art robust MPC methods.

关键词： Predictive control systems

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A Study of Force-Free control Framework for Industrial Manipulator Tasks Based on High-Pass Filter

A Study of Force-Free Control Framework for Industrial Manip...

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IEEE international conference on robotics and Automation (ICRA)

作者： He, Guanwei Feng, Guodong Ding, Beichen Sun Yat Sen Univ Sch Intelligent Syst Engn Shenzhen Campus Shenzhen Peoples R China Sun Yat Sen Univ Sch Adv Mfg Shenzhen Campus Shenzhen Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Force-free control (FFC) allows for flexible manipulator motion in response to external forces, making it a vital component of human-robot interaction (HRI). Manual intervention may cause uneven forces on the manipulator or frequencies close to the natural frequency, and mechanical resonance can occur due to the inertia of the manipulator and adjustable equivalent stiffness of the controller. This paper proposes an FFC approach for industrial manipulators using a six-axis force/torque sensor (F/T sensor), implemented through a three-layer control architecture, consisting of motion control layer, Admittance control layer and force decoupling layer. To mitigate the effects of mechanical resonance, a high-pass filter (HPF) is integrated with the F/T sensor and its impact is investigated. Experimental validation is conducted using both a simulation model and an industrial manipulator. Test results indicate that the proposed FFC architecture enables the manipulator not only to interact smoothly with external forces, but also to distinguish load forces at different frequencies and potentially address the issue of mechanical resonance between the manipulator and the applied load forces.

关键词： High pass filters

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An Embodied Collaborative Search Strategy for Multi-Scale Visual Feature Targets

An Embodied Collaborative Search Strategy for Multi-Scale Vi...

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2024 international conference on intelligent robotics and automatic control

作者： Chen, Yucheng Zhu, Yanze Guan, Chunxing Zheng, Jilong Criminal Invest Police Univ China Coll Police Canine Technol Shenyang Peoples R China Northwestern Polytech Univ Sch Automat Xian Peoples R China Criminal Invest Police Univ China Coll Narcot Control & Publ Order Management Shenyang Peoples R China

ISBN: (纸本)9798350389814;9798350389807

Compared to canines, quadruped robots offer significant advantages, including lower training costs, ease of large-scale deployment, and reduced maintenance burdens. As quadruped robot technology has gradually matured, most studies have focused on the kinematics and navigation of quadruped robots with limited research on collaborative search tasks involving canines and biomimetic robots. To develop a quadruped robot guidance system that enhances search success rates, this study addresses the demand for collaborative operations between canines and quadruped robots. This study proposes a multi-scale visual target perception mechanism, which is based on confidence region estimation. This mechanism strengthens adaptability to target scale variations in complex scenes, enabling more accurate target recognition. Inspired by traditional tracking dog training methods, we propose an embodied collaborative and efficient search strategy. We evaluate the strategy by testing the success rates of target search tasks in both daytime and nighttime indoor environments. The embodied collaborative search strategy improves, recognition speed by approximately 62.5% in dark environments and 35.3% in illuminated environments, compared to traditional single canine search tasks and the overall task completion rate is also improved. This was shown in a number of different experimental scenarios that took place in different spatiotemporal settings.

关键词： Quadruped Robots Target Perception Embodied Collaborative

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Anisotropic body compliance facilitates robotic sidewinding in complex environments

Anisotropic body compliance facilitates robotic sidewinding ...

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IEEE international conference on robotics and Automation (ICRA)

作者： Kojouharov, Velin Wang, Tianyu Fernandez, Matthew Maeng, Jiyeon Goldman, Daniel, I Georgia Inst Technol Atlanta GA 30332 USA

ISBN: (纸本)9798350384581;9798350384574

Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully implemented by limbless robotic systems for effective movement across diverse terrestrial terrains. However, the integration of compliant mechanisms into sidewinding limbless robots remains less explored, posing challenges for navigation in complex, rheologically diverse environments. Inspired by a notable control simplification via mechanical intelligence in lateral undulation [1], which offloads feedback control to passive body mechanics and interactions with the environment, we present an innovative design of a mechanically intelligent limbless robot for sidewinding. This robot features a decentralized bilateral cable actuation system that resembles organismal muscle actuation mechanisms. We develop a feedforward controller that incorporates programmable body compliance into the sidewinding gait template. Our experimental results highlight the emergence of mechanical intelligence when the robot is equipped with an appropriate level of body compliance. This allows the robot to 1) locomote more energetically efficiently, as evidenced by a reduced cost of transport, and 2) navigate through terrain heterogeneities, all achieved in an open-loop manner, without the need for environmental awareness.

关键词： Feedback control

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Integrated intelligent Educational Environment - Opportunities for STEM Education 22

Integrated Intelligent Educational Environment - Opportuniti...

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

作者： Terzieva, Valentina Ilchev, Svetozar Djambazova, Edita Bulgarian Acad Sci Inst Informat & Commun Technol Bl 2 Acad G Bonchev St Sofia 1113 Bulgaria

The paper reviews the technology integration in STEM education within the scope of an Integrated intelligent Educational Environment (IIEE). A conceptual model of such an environment is suggested. The model consists of an intelligent Educational System that communicates through a gateway with sensors and actuators within the integrated environment. A possible usage of different technology devices within IIEE regarding STEM education is proposed. A common information model for both sensors and actuators is presented. A custom packet-based communication protocol is designed to support multiple wired and wireless communication media. IIEEs that include various technological devices provide an explorative and engaging context for STEM education. Toolkits for projects on engineering and technology can be prepared and play an active role in STEM classrooms. Copyright (C) 2024 The Authors.

关键词： intelligent educational environment STEM education Sensor networks ICT Digitalization

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