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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271-280 订阅

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Research on predictive control system for inspection robots based on digital twins 3

Research on predictive control system for inspection robots ...

引用

3rd international conference on robotics, Artificial Intelligence and intelligent control (RAIIC)

作者： Liu, Yu Liu, Hongwei Liu, Manlu Liu, Xin Southwest Univ Sci & Technol Sch Informat Engn Mianyang 621010 Sichuan Peoples R China Southwest Univ Sci & Technol Robot Technol Used Special Environm Key Lab Sichu Mianyang 621010 Sichuan Peoples R China

ISBN: (纸本)9798350352634;9798350352627

In order to improve the motion stability and monitorability of inspection robots, a digital twin predictive control system for inspection robots based on Unity3D and Robot Operating System (ROS) is proposed. Firstly, with the support of wireless communication technology and ROS system, the mapping of virtual-real space scene and robot state is carried out through TCP/IP protocol;secondly, considering the impact of data communication lag and signal loss on the control system, a predictive control model is constructed to control the robot's motion in order to reduce the reliance on real-time data, and the predictive control model is optimized by using Laguerre's function as well as filtering algorithm to optimize the control response and mitigate control oscillations in time;finally, in the virtual decision space, the physical robot is driven to follow the predicted trajectory in a synchronized mapping manner. The experimental results prove that the digital twin control system has good tracking performance and is stable and reliable. Compared with that before model optimization, the efficiency is improved by 50.93% and the error is reduced by 69.23%.

关键词： digital twin Unity 3D predictive control model laguerre function

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Trajectory Planning and Tracking control of intelligent Vehicles in Free Lane-Changing Scenarios 24

Trajectory Planning and Tracking Control of Intelligent Vehi...

引用

4th international conference on control and intelligent robotics, ICCIR 2024

作者： Wang, Jun Wang, Jialin School of Automobile and Transportation Tianjin University of Technology and Education Tianjin300222 China

ISBN: (纸本)9798400709937

This paper investigates lane-changing mechanisms for autonomous vehicles by employing a decision model based on fuzzy logic, trajectory planning via a quintic polynomial, and a hybrid PSO-LQR algorithm for tracking control. The efficacy of these methodologies was validated through an integrated simulation using Simulink and CarSim, thereby improving safety and efficiency in lane-changing maneuvers. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Autonomous vehicles

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Robust and Energy-Efficient control for Multi-task Aerial Manipulation with automatic Arm-switching

Robust and Energy-Efficient Control for Multi-task Aerial Ma...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Wu, Ying Zhou, Zida Wei, Mingxin Cheng, Hui Sun Yat Sen Univ Sch Comp Sci & Engn Guangzhou 510006 Peoples R China Sun Yat Sen Univ Sch Artificial Intelligence Guangzhou 511400 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Aerial manipulation has received increasing research interest with wide applications of drones. To perform specific tasks, robotic arms with various mechanical structures will be mounted on the drone. It results in sudden disturbances to the aerial manipulator when switching the robotic arm or interacting with the environment. Hence, it is challenging to design a generic and robust control strategy adapted to various robotic arms when achieving multi-task aerial manipulation. In this paper, we present a learning-based control algorithm that allows online trajectory optimization and tracking to accomplish various aerial interaction tasks without manual adjustment. The proposed energy-saved trajectory planning approach integrates coupled dynamics model with a single rigid body to generate the energy-efficient trajectory for the aerial manipulator. Addressing the challenges of precise control when performing aerial manipulation tasks, this paper presents a controller based on deep neural networks that classifies and learns accurate forces and moments caused by different robotic arms and interactions. Moreover, the forces arising from robotic arm motions are delicately used as part of the drone's power to save energy. Extensive real-world experiments demonstrate that the proposed method can adapt to various robotic arms and interactions when performing multi-task aerial manipulation.

关键词： Energy efficiency

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Application of PLC Dcs control System in Electronic control System of automatic Production Line

Application of PLC Dcs Control System in Electronic Control ...

引用

2024 IEEE international conference on Information Technology, Electronics and intelligent Communication Systems, ICITEICS 2024

作者： Wang, Qi Nanjng Polytechnic Institute Department of Electrical and Control Engineering Jiangsu Nanjing210044 China

ISBN: (纸本)9798350382693

The application of electronic control system is critical in the automatic production line, however it has an issue with erroneous performance positioning. The typical Embedded control is unable to address the production line control in automated production lines issue in the automatic production line, and the result is insufficient. As a result, a PLC type DCS control system-based application of PLC DCS control system in electronic control system of automatic production line is provided, and in electronic control system of automatic production line is assessed. To begin, the modern control theory is used to discover the influencing elements, and the indicators are split based on the application of electronic control system's needs to decrease interference factors in the application of electronic control system. The modern control theory is then used to create a PLC type DCS control system application of electronic control system scheme, and the outcomes of the application of electronic control system are thoroughly examined. The MATLAB simulation results reveal that, under particular evaluation conditions, the PLC type DCS control system outperforms the standard Embedded control in terms of application of electronic control system accuracy and time of influencing variables. © 2024 IEEE.

关键词： control theory

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Kolmogorov-Arnold Networks for Online Reinforcement Learning 24

Kolmogorov-Arnold Networks for Online Reinforcement Learning

引用

24th international conference on control, Automation and Systems

作者： Kich, Victor A. Bottega, Jair A. Steinmetz, Raul Grando, Ricardo B. Yorozu, Ayano Ohya, Akihisa Univ Tsukuba Intelligent Robot Lab Tsukuba Ibaraki Japan Univ Fed Santa Maria Technol Ctr Santa Maria RS Brazil Technol Univ Uruguay Robot & AI Lab Rivera Uruguay

ISBN: (纸本)9798331517939;9788993215380

Kolmogorov-Arnold Networks (KANs) have shown potential as an alternative to Multi-Layer Perceptrons (MLPs) in neural networks, providing universal function approximation with fewer parameters and reduced memory usage. In this paper, we explore the use of KANs as function approximators within the Proximal Policy Optimization (PPO) algorithm. We evaluate this approach by comparing its performance to the original MLP-based PPO using the DeepMind control Proprio robotics benchmark. Our results indicate that the KAN-based reinforcement learning algorithm can achieve comparable performance to its MLP-based counterpart, often with fewer parameters. These findings suggest that KANs may offer a more efficient option for reinforcement learning models. Our implementations can be found in the following link: https://***/victorkich/Kolmogorov-PPO.

关键词： Deep Reinforcement Learning robotics Kolmogorov-Arnold Networks

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Design of guidance law for hypersonic drone based on trajectory profile 6

Design of guidance law for hypersonic drone based on traject...

引用

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

作者： Zhang, Dong Li, Lei Zhang, Zhiqi Fang, Li Shanghai Aerospace Control Technology Research Institute Shanghai China

ISBN: (纸本)9798331541699

In this paper, longitudinal and transverse lateral guidance methods are proposed to solve the trajectory tracking problem of hypersonic drone during the return of the energy management segment. A three-degree-of-freedom particle model of a hypersonic drone was established, and the longitudinal and transverse lateral guidance laws were designed to guide the drone to track the longitudinal and transverse trajectory profiles, so that it could reach the landing window with the desired energy state. Finally, the three-degree-of-freedom model is used to simulate and analyze the guidance law. © 2024 IEEE.

关键词： Drones

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Precise motion control of omnidirectional mobile robots for nuclear power inspection 6

Precise motion control of omnidirectional mobile robots for ...

引用

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

作者： Ma, Chao Tan, Yi Hu, Jianqiang Tang, Bo CGN Inspection Technology Co. Ltd. Jiangsu Suzhou China National Engineering Research Center for Nuclear Power Plant Safety & Reliability Jiangsu Suzhou China Harbin Engineering University Heilongjiang Harbin China China Nuclear Power Operations Co. Ltd. Guangdong Shenzhen China

ISBN: (纸本)9798331541699

To increase the motion stability and accuracy of omnidirectional mobile robots for nuclear power inspection, an improved PID controller based on a fuzzy immune algorithm is proposed. Firstly, a kinematic model with velocity coupling constraints was developed according to structural analysis of the inspection robot. Secondly, fuzzy logic was used to adjust the three parameters of the PID controller adaptively, and an artificial immune algorithm was integrated to perform secondary optimization of the proportional gain in the design of a fuzzy immune PID controller. Simulation results demonstrated that the proposed controller reduces velocity overshoot and enhances the motion control precision and stability of the robot. © 2024 IEEE.

关键词： Mobile robots

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Theoretical principles and simulation analysis of an intelligent corrosion sensor based on fiber Bragg grating 11

Theoretical principles and simulation analysis of an intelli...

引用

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

作者： Gong, Yongjian Guo, Yongxing Xiong, Li Wuhan Univ Sci & Technol Key Lab Met Equipment & Control Technol Minist Educ Wuhan Peoples R China Wuhan Univ Sci & Technol Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan Peoples R China

ISBN: (纸本)9798350364200;9798350364194

Corrosion of reinforcing bars is a major factor affecting the durability of reinforced concrete structures. The volume of corroded reinforcement expands and the protective layer gradually cracks, which in turn reduces the serviceability of the structure. In this study, a fibre optic intelligent corrosion monitoring device based on magnetic sensing is investigated. A new type of magnetic probe is designed for sensing the corrosion of steel reinforcement, and strain sensing is carried out by utilizing high elasticity diaphragm and fibre optic grating structure. A finite element method is utilized to simulate the sensitivity and linearity of the device under different magnetic forces. The experimental results show that the sensor has good mechanical response effect and the fibre optic diaphragm stress sensing structure has good linearity, which can achieve longterm high-precision non-destructive monitoring of rebar corrosion.

关键词： Reinforcement corrosion FBG Sensor Monitoring

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Impedance control for Human-robot Interactions Based on a Sliding-mode Disturbance Observer 7

Impedance Control for Human-robot Interactions Based on a Sl...

引用

7th international conference on intelligent robotics and control Engineering, IRCE 2024

作者： Shen, Shaobo Song, Aiguo Changzhou University School of Microelectronics and Control Engineering Changzhou China Southeast University School of Instrument Science and Engineering Nanjing China

ISBN: (纸本)9798350352399

This paper presents an impedance control approach for human-robot interaction (HRI) systems without using torque sensors. A sliding-mode disturbance observer based on super-twisting algorithm is proposed to estimate the input torque of human applied to the end-effector of robot. Based on a Lyapunov approach, sufficient conditions are obtained to make sure that the estimation errors can converge to 0 in finite time through selecting proper gains of the observer. The impedance controller is proposed by using the estimation results of human torque. Simulation studies are performed on a robotic system, which shows the effectiveness of both disturbance observer and impedance controller. © 2024 IEEE.

关键词： Human robot interaction

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automatic Volume control Using Image Processing and Deep Learning Techniques: A Review

Automatic Volume Control Using Image Processing and Deep Lea...

引用

2024 international conference on intelligent Systems for Cybersecurity, ISCS 2024

作者： Theraja, Kinshuk Gupta, Sakshi Gupta, Deepak Kumar Amity Institute of Information and Technology Amity University Noida India

ISBN: (纸本)9798350375237

This paper presents an innovative approach to automatic volume control using image processing and deep learning techniques. The ability to automatically adjust volume levels based on environmental factors and user preferences has significant implications for various audio applications, including teleconferencing systems, smart devices, and public address systems. By combining image processing algorithms with deep learning models, this paper aims to develop a robust and adaptive volume control system capable of accurately adjusting audio levels in real-time. The paper discusses the theoretical foundations, technical implementation, experimental results, and potential applications of the proposed automatic volume control system. © 2024 IEEE.

关键词： Image processing

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