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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291-300 订阅

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Research on intelligent Diagnostic Techniques for Line Loss Based on Comprehensive Analysis Utilizing Machine Learning Methodologies 6

Research on Intelligent Diagnostic Techniques for Line Loss ...

引用

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

作者： Ju, Moxin Liu, Lijun Liu, Baoming Liu, Zhaorui Li, Yuan Hu, Sen State Grid Jilin Marketing Service Center Changchun China

ISBN: (纸本)9798331541699

In the context of the expanding power grid infrastructure and escalating electricity demand, the issue of line loss has emerged as a significant concern within the power industry. This paper endeavors to investigate an intelligent diagnostic technique for line loss, leveraging comprehensive analysis through machine learning methodologies, with the objective of enhancing the precision, flexibility, and adaptability of line loss diagnosis. By developing models for the classification of non-conforming characteristics of transformer districts, the analysis of primary factors contributing to non-compliant line loss, the examination of correlated anomaly causes, and the assessment of quantifiable impacts of anomalies, and by incorporating sophisticated machine learning paradigms such as the SHAP (SHapley Additive exPlanations) algorithm, Bayesian networks, deep learning, and reinforcement learning, this paper presents a comprehensive framework for the quantitative evaluation and optimal mitigation of anomalies in line loss within transformer districts. © 2024 IEEE.

关键词： Power distribution lines

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Sliding mode control for uncertain robot manipulators based on reinforcement learning 6

Sliding mode control for uncertain robot manipulators based ...

引用

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

作者： Li, Xuhong Zhao, Jifeng Wang, Anyi Huang, Yirun Xi'an University of Science and Technology Xi'an China Xi'an University of Posts & Telecommunications Xi'an China

ISBN: (纸本)9798331541699

This paper investigates a new method that combines sliding mode control with reinforcement learning to improve the robustness and adaptability of robot manipulators. Sliding mode control is renowned for its effectiveness in managing disturbances and ensuring stability;However, it typically requires a precise understanding of system dynamics, which may not always be available. By combining forward learning and a super-twisting algorithm observer to estimate the state and uncertainty of the system, our framework enables the robot system to learn the optimal control strategy through interaction with the environment, thereby reducing dependence on precise model parameters. Through theoretical analysis and simulation experiments, we have demonstrated that the proposed hybrid control method not only maintains robust performance in the face of uncertainty, but also can dynamically adapt to constantly changing conditions. Extensive simulations were conducted on a two degree of freedom robot system to validate the effectiveness of the proposed method. © 2024 IEEE.

关键词： Sliding mode control

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Low-Cost Air Hockey Robot Using a Five-Bar Linkage Mechanism Driven by Position-control Servomotors

Low-Cost Air Hockey Robot Using a Five-Bar Linkage Mechanism...

引用

2024 international conference on intelligent Robots and Systems

作者： Shinjo, Mirai Beltran-Hernandez, Cristian C. Hamaya, Masashi Tanaka, Kazutoshi OMRON SINIC X Corp Hongo 5-24-5Bunkyo Ku Tokyo Japan

ISBN: (纸本)9798350377712;9798350377705

In human-robot interaction (HRI) research, ball games pose significant challenges that demand robotic solutions that are both cost-effective and user-friendly for non-experts. Air hockey, characterized by safe, non-direct-contact play and a simplified state-action space, emerges as an ideal platform for such research. Despite the availability of various air hockey robots, their high cost and complexity have limited widespread use among researchers requiring robotics expertise. Addressing this gap, we introduce a low-cost, accessible air hockey robot designed to facilitate HRI studies. Featuring a lightweight five-bar linkage mechanism powered by low-cost servomotors for position control, this robot combines efficiency with ease of use. The complete robot's cost is estimated at $346.8, with the arm weighing a mere 19 grams. The robot precisely returns the puck by intermittently adjusting its target joint positions, achieving a play with an average return error of 42.6 mm. These characteristics affirm the robot's potential as a valuable tool for advancing HRI research.

关键词： Servomotors

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Sensor-based Multi-Robot Coverage control with Spatial Separation in Unstructured Environments

Sensor-based Multi-Robot Coverage Control with Spatial Separ...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Wang, Xinyi Xu, Jiwen Gao, Chuanxiang Chen, Yizhou Zhang, Jihan Wang, Chenggang Ding, Yulong Chen, Ben M. Chinese Univ Hong Kong Dept Mech & Automat Engn Shatin Hong Kong Peoples R China Shanghai Jiao Tong Univ Dept Automat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Key Lab Syst Control & Informat Proc Minist Educ China Shanghai 200240 Peoples R China Tongji Univ Dept Control Sci & Engn Shanghai Peoples R China Minist Educ Frontiers Sci Ctr Intelligent Autonomous Syst Shanghai Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others.

关键词： Multipurpose robots

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Robust Interaction using Generalized Super-Twisting Impedance control 15

Robust Interaction using Generalized Super-Twisting Impedanc...

引用

15th IFAC conference on control Applications in Marine Systems, robotics and Vehicles, CAMS 2024

作者： Dyrhaug, Jan Inge Pettersen, Kristin Ytterstad Gravdahl, Jan Tommy Trondheim Norway

With the goal of performing robotic intervention tasks reliably with high accuracy under uncertainty and unknown disturbances, robust control methods such as sliding mode are appealing. However, contact forces cannot be considered as disturbances in this setting and compliance to the unknown contact geometry and forces is crucial. Impedance control and passivity-based techniques can guarantee closed-loop stability when interacting with passive environments, but at the loss of precision. In this paper, we use the generalized super-twisting algorithm to obtain a controller which achieves the desired impedance even with disturbances like ocean currents and model errors. Global asymptotic stability is proved under perturbations with a bounded time derivative. The performance of the proposed super-twisting impedance control law is demonstrated in simulations of an underwater vehicle. It is compared with pure impedance control and first-order sliding mode and achieves the desired impedance with respect to the contact force despite model errors and ocean currents, with a continuous control input. © 2024 Elsevier B.V.. All rights reserved.

关键词： Robust control

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automatic Vehicle Speed control System

Automatic Vehicle Speed Control System

引用

2024 international conference on Innovative Computing, intelligent Communication and Smart Electrical Systems, ICSES 2024

作者： Gowrishankar, R. Senthilkumar, B. Prakash, N. Balasubramaniyan, D. Pandiyan, M. Dinesh Sasidharan, S.D. Kalaignarkarunanidhi Institute of Technology Dept of Electronics and Communication Engineering Tamilnadu India

ISBN: (纸本)9798331543617

The automatic vehicle speed control system (AVSCS) is a cutting-edge automotive innovation designed to enhance road safety and driving comfort. Integrating advanced sensor technology, AVSCS enables real-time monitoring of vehicle speed and distance from surrounding vehicles, automatically adjusting the throttle and brake to maintain a safe following distance. By leveraging intelligent algorithms and control mechanisms, [1] AVSCS optimizes driving efficiency and minimizes the risk of collisions, contributing significantly to accident prevention and overall road safety. This project aims to explore the potential of AVSCS in revolutionizing modern transportation, providing a foundation for the development of future intelligent driving systems. © 2024 IEEE.

关键词： Advanced vehicle control systems

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Finite-Time Sliding Mode Fault-Tolerant Secure control for Cyber-Physical Systems Under Periodic DoS Jamming Attacks and Packet dropouts 18

Finite-Time Sliding Mode Fault-Tolerant Secure Control for C...

引用

18th international conference on control Automation robotics and Vision

作者： Guan, Xinyu Hu, Yanyan Peng, Kaixiang Univ Sci & Technol Beijing Sch Intelligence Sci & Technol Beijing 100083 Peoples R China Univ Sci & Technol Beijing Key Lab Intelligent Bion Unmanned Syst Minist Educ Beijing 100083 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

This paper investigates the finite-time sliding mode fault-tolerant secure control issue for cyber-physical systems under period denial-of-service (DoS) jamming attacks and packet dropouts. The considered cyber attacks are periodic DoS attacks which are modeled by a kind of periodic jamming signals that cause data dropouts on the sensor-to-observer channel. Additionally, an update rule is proposed to characterize packet dropouts caused by intrinsic factors and periodic DoS jamming attacks of wireless channels. Based on the update rule, an observer is presented to obtain the unknown state and fault information. Then, a sliding mode fault-tolerant secure controller is designed using estimated information to ensure the estimated state reaches the sliding surface within a finite time, entering the quasi-sliding mode domain. Moreover, sufficient conditions are provided to guarantee the stochastic finite-time boundedness of the closed-loop system during the whole phase, even in the presence of packet dropouts and DoS jamming attacks. Finally, a simulation result validates the effectiveness and superiority of the proposed method.

关键词： Cyber attacks

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A Novel Fingertip Tactile Sensory System for Humanoid Full-Hand Robotic Grasping 9

A Novel Fingertip Tactile Sensory System for Humanoid Full-H...

引用

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

作者： Wang, Xiaoyu Meng, Fanchang Li, Ke Shandong Univ Sch Control Sci & Engn Inst Intelligent Med Engn Jinan 250000 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

The humanoid robotic hand is a highly intelligent device capable of providing effective object grasping. A challenging issue is to integrate the tactile perception and adjust the grasping force according to object physical properties or environmental conditions during manipulative tasks. This study collects grasp data from healthy individuals to obtain a pre-grasp dataset and motion trajectories, and introduces a novel fingertip tactile sensory system for humanoid full-hand robotic grasping. A resistive force-sensitive sensor (FSR) signal acquisition system was designed and developed following Anderson loop, and the real-time contact forces between the fingertips and the object was acquired. A feedback control was designed and applied to modulate the fingertip forces for object grasping. The movement trajectories of the robotic hand were planned according to Dynamic movement primitives (DMP) based on human demonstrations captured using a motion capture system (Mocap). A Gaussian mixture regression model (GMM-GMR) was employed to establish a pre-grasping dataset for the manipulator. Results showed that the robotic hand could grasp three types of objects with distinct shapes. The success rate of grasping with the novel tactile system reached up to 85.2%. The study provides the feasibility of the system in humanoid full-hand grasping and may play role in a variety of object grasping and manipulation.

关键词： Humanoid full-fand robotic grasping tactile FSR signal acquisition system force feedback

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control For Tractor-trailer Trajectory Tracking With Unknown Parameters

K-BMPC: Derivative-based Koopman Bilinear Model Predictive C...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Wang, Zehao Zhang, Han Wang, Jingchuan Shanghai Jiao Tong Univ Inst Med Robot Dept Automat Shanghai 200240 Peoples R China Minist Educ China Key Lab Syst Control & Informat Proc Shanghai 200240 Peoples R China Shanghai Engn Res Ctr Intelligent Control & Manag Shanghai 200240 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC.

关键词： Koopman operator tractor-trailer trajectory tracking model predictive control

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Research on trajectory tracking of wheeled mobile robots using fuzzy PID based on TD3 5

Research on trajectory tracking of wheeled mobile robots usi...

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2024 5th international conference on Electrical Technology and automatic control, ICETAC 2024

作者： Wang, Kai Deng, Sanpeng Zhang, Xiangling Cao, Yucong Zhang, Shiping Institute of Robotics and Intelligent Equipment Tianjin University of Technology and Education Tianjin300222 China Tianjin Key Laboratory of Intelligent Robot Technology and Application Tianjin300350 China Tianjin Bonus Robotics Technology Co. Ltd. Tianjin300350 China

This study addresses the issues and limitations of trajectory tracking for Non-holonomic wheeled mobile robot (NWMR) under traditional PID control, including low accuracy, high response delay, poor robustness, and stability concerns. We propose a strategy that combines the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm with fuzzy PID control to optimize PID parameter tuning for more precise robot trajectory tracking. Fuzzy logic is introduced to adjust the PID controller parameters, making them more adaptive and robust. The bidirectional long short-term memory (BiLSTM) network enhances the time series processing capability of the Actor-Critic network, improving the system's state representation and prediction abilities. A curiosity-driven exploration method is employed to increase policy diversity and avoid premature convergence. Simulation experiments using the ROS Noetic and Gazebo platforms demonstrate that this method significantly outperforms traditional PID and TD3 algorithms in terms of trajectory alignment, training time, accuracy, and stability. © Published under licence by IOP Publishing Ltd.

关键词： Three term control systems

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