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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251-260 订阅

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Operational Modeling of Temporal Intervals for intelligent Systems 4th

Operational Modeling of Temporal Intervals for Intelligent S...

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4th international conference on robotics, Computer Vision and intelligent Systems (ROBOVIS)

作者： Olszewska, J. I. Univ West Scotland Sch Comp & Engn Paisley Renfrew Scotland

ISBN: (纸本)9783031590566;9783031590573

Time is a crucial notion for intelligent systems, such as robotic systems, cognitive systems, multi-agent systems, cyber-physical systems, or autonomous systems, since it is inherent to any real-world process and/or environment. Hence, in this paper, we present operational temporal logic notations for modeling the time aspect of intelligent systems in terms of temporal interval concepts. Their application to intelligent systems' application scenarios have demonstrated the usefulness and effectiveness of our developed approach.

关键词： intelligent systems Robotic systems Knowledge-based systems Cognitive systems Multi-agent systems System of systems Cyber-physical systems Autonomous systems intelligent control Temporal intervals Allen's temporal relations Description logic Unified modeling language Knowledge representation and reasoning Verification and validation Explainable Artificial intelligence

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Speed control of Permanent Magnet Synchronous Machines: ANFIS Design and Performance Evaluation 22

Speed Control of Permanent Magnet Synchronous Machines: ANFI...

引用

22nd international conference on Research and Education in Mechatronics

作者： Abulaila, Mohammad Al-Aubidy, Kasim M. Alsudi, Izziyyah M. Balqaa Appl Univ Amman Jordan Tishk Int Unevers Erbil Iraq

ISBN: (纸本)9798331505981;9798331505974

Permanent Magnet Synchronous Machines (PMSMs) are widely used in automation and robotics applications due to their high efficiency, low maintenance requirements, and favorable size-to-weight ratio compared to other motors. In many industrial applications, conventional microcontrollers like PID controllers are commonly employed, but their performance often suffers from variations in dynamic systems. To address these challenges, an intelligent controller based on artificial neural networks with fuzzy inference system (ANFIS) was developed for speed control of PMSMs. The performance of this smart controller was validated by comparing it with other control methods such as PID and fuzzy controllers. The results presented in this paper demonstrate the capability of the proposed intelligent controller to effectively regulate PMSM operation in applications where simplicity, reliability, and stability are crucial.

关键词： PMSM Brushless DC Motor intelligent control PID Fuzzy logic ANFIS

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Generalizing Trajectory Retiming to Quadratic Objective Functions

Generalizing Trajectory Retiming to Quadratic Objective Func...

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IEEE international conference on robotics and Automation (ICRA)

作者： Chen, Gerry Dellaert, Frank Hutchinson, Seth Georgia Inst Technol Inst Robot & Intelligent Machines IRIM Atlanta GA 30332 USA

ISBN: (纸本)9798350384581;9798350384574

Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a speed profile that satisfies kino-dynamic and other constraints. While trajectory retiming is most often formulated with the minimum-time objective (i.e. traverse the path as fast as possible), it is not always the most desirable objective, particularly when we seek to balance multiple objectives or when bang-bang control is unsuitable. In this paper, we present a novel algorithm based on factor graph variable elimination that can solve for the global optimum of the retiming problem with quadratic objectives as well (e.g. minimize control effort or match a nominal speed by minimizing squared error), which may extend to arbitrary objectives with iteration. Our work extends prior works, which find only solutions on the boundary of the feasible region, while maintaining the same linear time complexity from a single forward-backward pass. We experimentally demonstrate that (1) we achieve better real-world robot performance by using quadratic objectives in place of the minimum-time objective, and (2) our implementation is comparable or faster than state-of-the-art retiming algorithms.

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Temperature control for Thermal Vacuum Tests Based on Fuzzy control

Temperature Control for Thermal Vacuum Tests Based on Fuzzy ...

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2024 international conference on Advanced robotics and intelligent Systems, ARIS 2024

作者： Lin, Chih-Jer Hung, Chao-Wei National Taipei University of Technology Graduate Institution of Automation Technology Taipei Taiwan

ISBN: (纸本)9798350362572

The purpose of this study is to use fuzzy logic to compensate for the temperature difference between the test object and the environment in the thermal vacuum test. By collecting and analyzing the temperature change data under different conditions, a fuzzy logic controller was designed. The input of the fuzzy controller is the temperature difference and the temperature change rate and the output is the adjusted temperature. The experimental results show that the proposed method can effectively reduce the temperature difference and ensure that the test object reaches the target temperature. © 2024 IEEE.

关键词： Fuzzy control

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Real-Time Path Generation and Alignment control for Autonomous Curb Following

Real-Time Path Generation and Alignment Control for Autonomo...

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2024 international conference on intelligent Robots and Systems

作者： Wang, Yuanzhe Dai, Yunxiang Wang, Danwei Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)9798350377712;9798350377705

Curb following is a key technology for autonomous road sweeping vehicles. Currently, existing implementations primarily involve pre-recording waypoints during human driving and subsequently retracing them autonomously. Moreover, existing research related to this topic predominately focuses on curb detection for driver assistance, yet the resultant curb detection outcomes remain underutilized in the development of autonomous curb following systems. To fill this gap, this paper proposes a real-time path generation and alignment control approach to facilitate autonomous curb following. Firstly, a segmented path generation algorithm is introduced that progressively generates reference path segments while ensuring the overall continuity of the reference path. Secondly, a parameterized alignment control algorithm is developed to accurately navigate the vehicle along the planned reference path with proved stability. Real public road experiments have been conducted to validate the proposed approach. The experimental results demonstrate the efficacy of the proposed methodologies across various curb following scenarios, including common concave, convex, and straight-concave curbs, thereby showcasing the practical viability of our methods in real-world applications.

关键词： Autonomous vehicles

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2024 international conference on Advanced robotics and intelligent Systems, ARIS 2024

2024 International Conference on Advanced Robotics and Intel...

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2024 international conference on Advanced robotics and intelligent Systems, ARIS 2024

ISBN: (纸本)9798350362572

The proceedings contain 34 papers. The topics discussed include: collision-free motion policy for manipulator with multi-constraint coordination in dynamic environment;integrating YOLO and DG-STGCN systems for enhanced human action recognition;temperature control for thermal vacuum tests based on fuzzy control;propeller angle trajectory analysis of wall-climbing robot with transition capability;tactile animal breathing motion reproducer with animal video viewing device that gives lifelike sensation of touching real animals;practical implementation of Q-learning and object detection for mobile robot path planning;a rigid-soft switchable lower body exosuit for lifting;human-robot collaboration in unmanned aerial vehicle river patrol application;and two-step hybridized algorithm of robust scheduling for dealing with uncertain processing time.

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Development of a Mobile Robot for Distribution of Medicine in Hospitals 22

Development of a Mobile Robot for Distribution of Medicine i...

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

作者： Stoev, Petko Ficherov, Rosen Georgiev, Momchil Bulgarian Acad Sci Inst Informat & Commun Technol Acad G Bonchev Str 2 Sofia 1113 Bulgaria Tech Univ Sofia 8 Kliment Ohridski blvd Sofia 1000 Bulgaria Bulgarian Acad Sci Space Res & Technol Acad G Bonchev Str 1 Sofia 1113 Bulgaria

Mobile robots are revolutionizing healthcare with their potential to streamline logistics, patient care, and facility maintenance in hospitals. This paper introduces a mobile robot designed for medicine distribution in patient rooms, detailing its mechanical design and working principle. A scenario demonstrating robot path planning for medicine distribution is presented. Future research directions are outlined. Copyright (C) 2024 The Authors.

关键词： Mobile Robots Path Planning Healthcare robotics Rapidly Exploring Random tree RRT Monte-Carlo simulation

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A Comparative Study for control of Semi-automatic Robotic-assisted Ultrasound System in Spine Surgery 21

A Comparative Study for Control of Semi-Automatic Robotic-as...

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21st international conference on Advanced robotics (ICAR)

作者： Davoodi, Ayoob Li, Ruixuan Cai, Yuyu Niu, Kenan Borghesan, Gianni Poorten, Emmanuel Vander Katholieke Univ Leuven Dept Mech Engn Leuven Belgium Univ Twente Dept Robot & Mech Enschede Netherlands

ISBN: (纸本)9798350342291

Ultrasound (US) imaging has been widely applied in different clinical scenarios thanks to its low-cost and nonradiative nature. Recently, robotic US has increasingly been investigated to produce 3D US reconstructions for navigation during surgical interventions. robotics is considered of interest to address variable skills among human sonographers. Dedicated control strategies are needed to ensure high-quality robotic US reconstructions that are comparable or superior to those generated by human experts. The robot controller ought to establish human-like scanning maneuvers while maintaining tight skin contact and ensuring essential safety. In essence, this means that at all times, the robot should ensure contact while avoiding the application of excessive force on the patient. To acquire an improved understanding of what is an optimal control method, a comparative study on several admittancebased controllers was conducted while a semi-automatic path planning approach was used to realize automatic US scanning. The developed system was validated by scanning a synthetic phantom, compared with position and admittance control. The robotic US system with the proposed control applied a force lower than 3.83 +/- 0.31 N while ensuring continuous US imaging. By defining the successful rate as a US image has more than 90% of soft tissue (i.e., ligament) length, the velocity-based admittance controller has more than 80% successful US imaging. Such an approach could contribute to the further development and uptake of robotic US systems in spine surgery or applications.

关键词： admittance control ultrasound reconstruction robot-assisted system

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Model-based Policy Optimization using Symbolic World Model

Model-based Policy Optimization using Symbolic World Model

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2024 international conference on intelligent Robots and Systems

作者： Gorodetskiy, Andrey Mironov, Konstantin Panov, Aleksandr Moscow Inst Phys & Technol Ctr Cognit Modeling Dolgoprudnyi 141701 Russia Artificial Intelligence Res Inst Moscow 105064 Russia Russian Acad Sci Fed Res Ctr Comp Sci & Control Moscow 117312 Russia

ISBN: (纸本)9798350377712;9798350377705

The application of learning-based control methods in robotics presents significant challenges. One is that model-free reinforcement learning algorithms use observation data with low sample efficiency. To address this challenge, a prevalent approach is model-based reinforcement learning, which involves employing an environment dynamics model. We suggest approximating transition dynamics with symbolic expressions, which are generated via symbolic regression. Approximation of a mechanical system with a symbolic model has fewer parameters than approximation with neural networks, which can potentially lead to higher accuracy and quality of extrapolation. We use a symbolic dynamics model to generate trajectories in model-based policy optimization to improve the sample efficiency of the learning algorithm. We evaluate our approach across various tasks within simulated environments. Our method demonstrates superior sample efficiency in these tasks compared to model-free and model-based baseline methods.

关键词： Adversarial machine learning

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A Tactile Lightweight Exoskeleton for Teleoperation: Design and control Performance

A Tactile Lightweight Exoskeleton for Teleoperation: Design ...

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2024 international conference on intelligent Robots and Systems

作者： Forouhar, Moein Sadeghian, Hamid Suay, Daniel Perez Naceri, Abdeldjallil Haddadin, Sam Tech Univ Munich Munich Inst Robot & Machine Intelligence D-80992 Munich Germany Univ Isfahan Fac Engn Esfahan *** Iran

ISBN: (纸本)9798350377712;9798350377705

In this work, an upgraded exoskeleton design is presented with enhanced trajectory tracking and mechanical transparency. Compared to the first version, the design features a 3-DoF actuated shoulder joint and a mechanism to regulate the pretension of Bowden cables. Force/torque sensors are installed to directly measure the interaction forces between the human arm and the exoskeleton at the connecting points. Three control strategies were evaluated to follow a desired trajectory;A PD controller, a PD controller with friction observer, and an adaptive controller based on Radial Basis Function (RBF). These strategies also form the basis for an admittance control, aimed at improving the exoskeleton's mechanical transparency during interaction with the human arm. Simulations and experimental results demonstrate that the PD control, supported by friction estimation via a momentum observer, achieves superior tracking performance. Moreover, the system's mechanical transparency is enhanced using the admittance RBF-based controller, showing marginally superior results.

关键词： Exoskeleton (robotics)

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