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

共 5267 条记录，以下是371-380 订阅

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Enhanced the security of path planning for mobile robots on uneven terrain based on multi-factor inspiration adaptive ant colony algorithm 3

Enhanced the security of path planning for mobile robots on ...

引用

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

作者： Yao, Zheng Khalil, Fahad Khan Hubei Key Lab Automot Power Train & Elect Control Shiyan 442002 Peoples R China Hubei Univ Automot Technol Sch Elect & Informat Engn Shiyan Peoples R China

ISBN: (纸本)9798350352634;9798350352627

To further enhance the security of path planning for mobile robots on uneven terrain, we propose a new multi-factor inspiration adaptive ant colony algorithm (MIAACO). First, to improve the safety of the path, we introduce the factor of smoothness, and stability into the state transition probability to reconstruct the multi-factor heuristic function. And then, to improve the global searching capability, the information update strategy of the maximum and minimum the ant system is introduced based on pheromone optimization selection. Finally, to accelerate the convergence of the algorithm, we adopt the dynamic global adaptive strategy involving the pheromone heuristic factor, expected heuristic factor, and pheromone volatility coefficient. To reflect the performance of the proposed method effectively, experiments are carried out under two kinds of grid maps and compared with the other improved ant colony algorithm methods proposed by others. Experimental results show that the proposed method can enhance the efficiently global searching ability and convergence speed.

关键词： path planning ant colony algorithm multi-factor heuristic function global adaptive strategy

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Design and Application of Fully automatic Cement Conveying control System 6

Design and Application of Fully Automatic Cement Conveying C...

引用

6th international conference on intelligent control, Measurement and Signal Processing, ICMSP 2024

作者： Hou, Lin Jiang, Rongxing Geng, Yanfeng Wang, Ping College of Control Science and Engineering Qingdao China China Oilfield Services Limited Langfang China

ISBN: (纸本)9798331516550

The cement conveying unit is a key component of well cementing operation equipment in the petroleum industry. However, it generally adopts the manual control strategy, thereby leading to large fluctuations in cement supply and even pipeline blockage. To overcome this shortcoming, this paper presents a fully automatic control system for stable cement conveying operation. This control system involves two tanks of the storage tank and the constant pressure tank and consists of four pressure control modules and two inventory control modules. For each control module, the control structure diagram is designed and the corresponding controller is constructed by using the proportional-integral control strategy. In order to validate the performance of the proposed control system, an industrial-scale pneumatic conveying experimental platform is built. The testing results on this platform show that the proposed fully automatic control system can effectively ensure the stable and controllable dense phase conveying of cement powder. © 2024 IEEE.

关键词： Petroleum industry

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Efficient Traversability Mapping for Enhanced Robotic Firefighting Operations 24

Efficient Traversability Mapping for Enhanced Robotic Firefi...

引用

24th international conference on control, Automation and Systems

作者： Choi, Youngjoo Lee, Hanwool Hoon, Hwang Jung Park, Mincheol Korea Elect Technol Inst Intelligent Robot Res Ctr Bucheon 14502 South Korea

ISBN: (纸本)9798331517939;9788993215380

This paper addresses the critical need for safer firefighting practices, highlighted by the increase in firefighter injuries and fatalities reported in the 2023 Fire Service Statistical Yearbook. With 239 injuries and three fatalities in 2022, the study underscores the urgency of integrating robotics into firefighting operations to enhance safety. Our focus is on rapidly generating accurate traversability maps. We employ advanced techniques, such as Inpaint and Smoothing Filters, to effectively process raw elevation data, ensuring continuous and reliable traversability calculations. Validation through LiDAR data from a Unitree Go1 robot in various environments demonstrates the effectiveness of our approach. Moreover, our Traversability Filter Model processes grid_map messages to produce probabilistic traversability values, offering improved granularity for training. Comparative results highlight the success of our method in enhancing traversability estimation, thereby optimizing robotic firefighting operations.

关键词： Artificial intelligent Systems Autonomous Vehicle Systems

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A Spectral Clustering Algorithm for Similar Matrix Reconstruction based on Adaptive Neighborhood Standard Deviation 6

A Spectral Clustering Algorithm for Similar Matrix Reconstru...

引用

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

作者： Gao, Xuwen Su, Xinyan Yao, Jinjie Shanxi Provincial Key Laboratory of Intelligent Detection Technology and Equipment North University of China Taiyuan China

ISBN: (纸本)9798331541699

In view of the shortcomings of the classical spectral clustering algorithm in the artificial setting of scale parameters and the accuracy of the similar matrix construction, which leads to the low accuracy of the clustering results, a similar matrix reconstruction spectral clustering algorithm based on adaptive neighborhood standard deviation is proposed. The algorithm uses the inverse of the sample neighborhood standard deviation as a parameter to measure the local density of the sample. It constructs an adaptive scale parameter by incorporating a multi-region density adjustment strategy. Additionally, a nonlinear Sigmoid function is introduced to design the scale difference adjustment term, and the similarity matrix is reconstructed by integrating global density. The experimental results demonstrate that the proposed algorithm achieves good clustering performance on both synthetic datasets and real UCI datasets, with more stable clustering results. © 2024 IEEE.

关键词： Clustering algorithms

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Time Series Fusion Model for Predicting Electric power tools and equipment 6

Time Series Fusion Model for Predicting Electric power tools...

引用

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

作者： Xue, Liang Ling, Xinghong Yang, Lei Yang, Yang Computing Science and Artificial Intelligence College Suzhou City University Suzhou China College of Computer Science and Software Engineering Hohai University Nanjing China Suzhou Key Lab of Multi-modal Data Fusion and Intelligent Healthcare Suzhou City University Suzhou China

ISBN: (纸本)9798331541699

To effectively address the issue of inadequate accuracy and timeliness in industrial data classification, this paper proposes a fusion classification model based on time series (DT-RF-MLP) for loss prediction of electrical work equipment. Firstly, data information is extracted from the dataset and features are constructed based on the data information to enhance the diversity of data features. Secondly, redundant and highly correlated features are removed by quantifying the correlation degree between the features to simplify the model inputs. On this basis, a fusion classification model is constructed and comparative experiments are conducted with a single model to validate the advantages of the fusion model in terms of prediction performance. The experimental results demonstrate that the model markedly enhances prediction accuracy while concurrently reducing the duration of the model run. © 2024 IEEE.

关键词： Prediction models

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An Optimal control Approach with Decoupled Space Constraints for the Magnetic-Assisted Surgical Robot 9

An Optimal Control Approach with Decoupled Space Constraints...

引用

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

作者： Wang, Tieru Cao, Xiaolei Wang, Xingfang Xue, Shuqi Huang, Xiao Li, Hui Jiang, Zhihong Beijing Inst Technol Sch Mechatron Engn Natl Key Lab Autonomous Intelligent Unmanned Syst Key Lab Biomimet Robots & SystChinese Minist Edu Beijing 100081 Peoples R China China Astronaut Res & Training Ctr Natl Key Lab Human Factors Engn Beijing 100094 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

Magnetic-assisted surgical robots represent an innovative direction within the field of medical robotics, due to their significant potential in addressing the instrument interference challenge during the single-port laparoscopic surgery. This paper proposes an optimal control approach for controlling the magnetic-assisted surgical manipulator translating and rotating in the single-dimensional space to execute specific surgical procedure. Firstly, we delineate the manipulator tasks and describe how to utilize a medical foot pedal to control it. Secondly, we model the tasks as an optimization problem, taking manipulator kinematics, task constraints, and safety requirements into consideration. Thirdly, in order to map foot pedal control commands to end-effector movements and achieve precise motion control in single-dimensional space, we propose Decoupled Space Constraints (DSCs) and use the Differential Dynamic Programming (DDP) to solve the optimization problem. Finally, simulation experiments are conducted on a 7-DOF manipulator and the result shows that our approach effectively improves trajectory planning accuracy in single-dimensional space and demonstrates reliable performance in addressing multiple constraints for the magnetic-assisted surgical robot.

关键词： Medical robotics

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Flying robotics Art: ROS-based Drone Draws the Record-Breaking Mural

Flying Robotics Art: ROS-based Drone Draws the Record-Breaki...

引用

2024 international conference on intelligent Robots and Systems

作者： Korigodskii, Andrei A. Kalachev, Oleg D. Vasiunyk, Artem E. Urvantsev, Matvei, V Bondar, Georgii E. Lomonosov Moscow State Univ Moscow Russia Sverk Ltd Moscow Russia Copter Express Technol Ltd Moscow Russia Cognit Pilot Ltd Moscow Russia

ISBN: (纸本)9798350377712;9798350377705

This paper presents the innovative design and successful deployment of a pioneering autonomous unmanned aerial system developed for executing the world's largest mural painted by a drone. Addressing the dual challenges of maintaining artistic precision and operational reliability under adverse outdoor conditions such as wind and direct sunlight, our work introduces a robust system capable of navigating and painting outdoors with unprecedented accuracy. Key to our approach is a novel navigation system that combines an infrared (IR) motion capture camera and LiDAR technology, enabling precise location tracking tailored specifically for large-scale artistic applications. We employ a unique control architecture that uses different regulation in tangential and normal directions relative to the planned path, enabling precise trajectory tracking and stable line rendering. We also present algorithms for trajectory planning and path optimization, allowing for complex curve drawing and area filling. The system includes a custom-designed paint spraying mechanism, specifically engineered to function effectively amidst the turbulent airflow generated by the drone's propellers, which also protects the drone's critical components from paint-related damage, ensuring longevity and consistent performance. Experimental results demonstrate the system's robustness and precision in varied conditions, showcasing its potential for autonomous large-scale art creation and expanding the functional applications of robotics in creative fields.

关键词： Drones

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Recovery control of USV Based on DRL and LADRC under Environmental Disturbances 7

Recovery Control of USV Based on DRL and LADRC under Environ...

引用

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

作者： Li, Zihao Shi, Yuling Xie, Wenhao Cheng, Zhiqiang Tang, Guoyuan Huazhong University of Science and Technology School of Naval Architecture and Ocean Engineering Wuhan China

ISBN: (纸本)9798350352399

A novel control approach merging deep reinforcement learning (DRL) and linear active disturbance rejection control (LADRC) is proposed to improve the recovery success rate of underactuated unmanned surface vehicles (USVs) under environmental disturbances. Firstly, the USV's three degree-of-freedom model and models of environmental disturbances are established. Aiming at recovery guidance for underactuated USVs, an improved line-of-sight (LOS) guidance law is adopted to calculate the desired heading angle and surge speed. Then, LADRC is used to stabilize the tracking errors of heading angle and surge speed, with the twin delayed deep deterministic policy gradient (TD3) algorithm adjusting its parameters in real time. Simulation results validate that the proposed approach is efficient in the recovery control of the USV and superior to conventional LADRC, even in the presence of complex environmental disturbances. © 2024 IEEE.

关键词： Deep reinforcement learning

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PID Path-Planning Robot Optimized by Genetic Algorithm 7

PID Path-Planning Robot Optimized by Genetic Algorithm

引用

7th international conference on Automation Electronics and Electrical Engineering

作者： Sun, Juntao Xinjiang Univ Intelligent Mfg Modern Ind Urumqi Peoples R China

ISBN: (纸本)9798350377040;9798350377033

With the rapid development of automation and intelligent technology, path planning and control technology has become an important part of robotics and has important applications in industrial production and intelligent systems. Although there are abundant algorithm optimization methods for path planning, the research on PID control strategy optimization in robot path planning is limited. The purpose of this paper is to study the application of a genetic algorithm in PID parameter optimization and to evaluate its performance in terms of stability and rapidity. Experimental results show that the PID controller optimized by genetic algorithm can significantly improve the path planning accuracy and dynamic response speed of the robot. In addition, this paper also discusses the application challenges and future research directions of genetic algorithms in path planning, including algorithm parameter selection, computational efficiency improvement, and multi-objective optimization. Finally, this paper concludes that the method of optimizing PID control strategy based on genetic algorithm not only performs well in existing applications but also has a wide range of development prospects and application potential, which is worthy of further exploration and research.

关键词： Path-planning robots genetic algorithms PID

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Collaborative Teaching with Attention Distillation for Multiple Cross-Domain Few-Shot Learning 14

Collaborative Teaching with Attention Distillation for Multi...

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14th IEEE international conference on Cyber Technology in Automation, control, and intelligent Systems, CYBER 2024

作者： Shang, Zhenduo Liu, Xiyao Xie, Xing Han, Zhi State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences The Institutes for Robotics and Intelligent Manufacturing The University of Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences The Institutes for Robotics and Intelligent Manufacturing State Key Laboratory of Robotics China

ISBN: (纸本)9798331506056

Multiple Cross-Domain Few-Shot Learning (MCD-FSL) aims to improve the generalization ability of the model across unseen domains by utilizing the diverse knowledge of different teacher networks. Knowledge transferring among multiple domains is complex and difficult due to significantly different data distributions. In current tasks, effectively utilizing knowledge from multiple domains to improve model generalization in an unseen domain remains challenging. Therefore, we propose Collaborative Teaching with Attention Distillation (CTAD-Net), exploring a collaborative strategy among multiple teacher networks of teachers to address this issue. Specifically, we introduce a weight allocation (WA) module and a deep fusion (DF) module for distilling knowledge from the teacher networks to a single student network. Additionally, our CTAD-Net combines attention mechanisms and employs both response-based and relation-based knowledge distillation to transfer more comprehensive and effective knowledge. The experimental results on four fine-grained datasets have demonstrated the effectiveness of our proposed CTAD-Net approach. © 2024 IEEE.

关键词： Collaborative learning

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