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Towards Sustainable Cyber-Physical Manufacturing Systems 22

Towards Sustainable Cyber-Physical Manufacturing Systems

引用

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

作者： Brennan, Robert W. Lyu, Guolin Univ Calgary Calgary AB T2N 1N4 Canada

We propose a self-managing services architecture for automated manufacturing systems to enable sustainable manufacturing operations. The architecture utilises both software agents and IEC 61499 function blocks to realise manufacturing systems that quickly respond to change while maintaining stable system operation and efficient use of available resources. To explore the system's ability to adapt to disturbances, a stochastic agent-based simulation of the automated manufacturing system with random equipment failures was developed. The results of the simulation demonstrate that the proposed self-managing services architecture is capable of rapidly reconfiguring part routings in order to reduce work in progress and maintain stable system operation. Copyright (C) 2024 The Authors.

关键词： Artificial Intelligence and Applications intelligent Systems and Applications Sustainable Design and control

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Lite-HRPE: A 6DoF Object Pose Estimation Method for Resource-limited Platforms 18

Lite-HRPE: A 6DoF Object Pose Estimation Method for Resource...

引用

IEEE 18th international conference on control and Automation (ICCA)

作者： Liu, Xin Guan, Qi Xue, Shibei Zhao, Dezong Shanghai Jiao Tong Univ 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 Univ Glasgow James Watt Sch Engn Glasgow G12 8QQ Lanark Scotland

ISBN: (纸本)9798350354416;9798350354409

Accurately estimating the six-degree-of-freedom pose of objects is essential for intelligent robotics. Although significant progress has been made in this area, most studies fail to account for specific hardware limitations for model deployment, which remains a major challenge for resource-constrained scenarios. To address this issue, we propose Lite-HRPE, a lightweight RGB-based pose estimation method, which leverages a multi-branch parallel structure to extract spatial and semantic information of key points for pose estimation. Additionally, Lite-HRPE adopts the G-block and G-neck modular structure and streamlines the original feature extraction network to realize a compact network structure. This allows Lite-HRPE to strike a balance between pose estimation accuracy, parameter count, computational load, and runtime speed. Our evaluation on public datasets shows that Lite-HRPE achieves a 95.7% accuracy with only 10.8% of the number of parameters and 11.8% of the FLOPs compared to Hybridpose.

关键词： Semantics

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A Method for Evaluating the Mechanical Performance of Serial Robots Based on Task Requirements 10

A Method for Evaluating the Mechanical Performance of Serial...

引用

10th international conference on Electrical Engineering, control and robotics (EECR)

作者： Feng, Shaoxiong Pi, Yufan Chen, Qi Wu, Kai South China Univ Technol Shien Ming Wu Sch Intelligent Engn Guangzhou Peoples R China

ISBN: (纸本)9798350370010;9798350370003

The evaluation of a robot's mechanical properties is crucial for optimizing its posture and trajectory during tasks. Traditional indexes and methods for evaluating robot mechanical properties often fall short in providing accurate and quantitative evaluations based on diverse task requirements. In this paper, we introduce a method for evaluating the mechanical performance of serial robots that takes into account specific task requirements. The Ur5e robot was employed to validate the accuracy of the evaluation results. To showcase the potential usability of the proposed mechanical performance evaluation method, we evaluated the feasibility of employing the Ur5e robot for ultrasound scanning tasks.

关键词： robot task requirements mechanical performance evaluation ultrasound robot

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A Review of Cooperative Adaptive Cruise control for Road Vehicles with Network Uncertainty 7

A Review of Cooperative Adaptive Cruise Control for Road Veh...

引用

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

作者： Cao, Wanke Wu, Rutao Lv, Haijun Guo, Shuxun Beijing Institute of Technology National Engineering Research Center of Electric Vehicles Shenzhen Automotive Research Institute Beijing100081 China Byd Auto Industry Company Limited Byd Company Limited Shenzhen518000 China

ISBN: (纸本)9798350352399

Cooperative adaptive cruise control (CACC) allows connected vehicles in a platoon to maintain smaller headway, which has the potential to enhance driving safety and traffic efficiency. However, various network uncertainty in internet of vehicles, such as communication delay, network attacks, packet loss, can seriously affect the performance of CACC. In this paper, we focus on the research progress of CACC for road vehicles with network uncertainty. Basic issues including information flow topology, inter-vehicle spacing policy, and string stability of platoon are systematically discussed. This paper comprehensively reviews three important aspects of CACC for road vehicles with network uncertainty: communication delay, network attacks and packet loss. Finally, the future research direction of CACC is summarized and prospected. © 2024 IEEE.

关键词： Adaptive cruise control

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Simulation Research on Active Power Filter Application Based on Auto Disturbance Rejection control 8

Simulation Research on Active Power Filter Application Based...

引用

8th international conference on robotics, control and Automation (ICRCA)

作者： Liu, Yang Xiong, Hejin Zou, Yancheng Hu, Gaofei Wuhan Univ Technol Sch Automat Whuan Peoples R China Wuhan Univ Technol Hubei Guanchi Smart Technol LTD Xianning Peoples R China

ISBN: (纸本)9798350344738;9798350344721

With the progress of science and technology and the improvement of living standards, the role of electricity in human life is becoming increasingly important, and a large number of nonlinear devices will also be connected to the power grid, which will cause harmonic pollution and seriously affect other electrical equipment in the power grid. To address this issue, active power filters have been proposed as one of the main methods for controlling harmonic pollution. However, active power filters can generate current and voltage surges during the startup process, which can pose a threat to the stability of the power system. Therefore, this article focuses on the starting process of parallel active power filters under three-phase three-wire system, and finally proposes a starting process based on auto-disturbance rejection control. Finally, simulation verifies that this control method is superior to PI control.

关键词： harmonic suppression power filtering active power filter automatic disturbance rejection control

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Effects of Prior Knowledge for Stair Climbing of Bipedal Robots Based on Reinforcement Learning 9

Effects of Prior Knowledge for Stair Climbing of Bipedal Rob...

引用

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

作者： Su, Mengya Jia, Yasen Huang, Yan Beijing Inst Technol Sch Mechantron Engn Beijing 100081 Peoples R China Minist Educ Key Lab Biomimet Robots & Syst Beijing 100081 Peoples R China Beijing Inst Technol Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

Bipedal robots with two legs are capable of traversing various terrains like level ground and staircases. Applying Reinforcement Learning (RL) based control can realize stable climbing stairs of bipedal robots. Prior knowledge of robots such as surrounding terrain information may improve the performance of climbing stairs. However, the impacts of prior knowledge on locomotion of bipedal robots across various terrains have not been systematically studied. In this work, we analyzed the effects of the amount of prior knowledge about terrain in front of the robot with RL-based control. Simulation results showed that introducing prior knowledge about terrain to bipedal robots can increase the maximum allowable ground height variation, realize smooth transition from level-ground walking to stair climbing, and improve disturbance rejection and energy efficiency. Prior knowledge is a trade-off between environmental information acquisition and computational complexity reduction. We find that there exists an optimal amount of prior knowledge for disturbance rejection and energy efficiency of stair climbing.

关键词： Adversarial machine learning

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LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees

LLM-BT: Performing Robotic Adaptive Tasks based on Large Lan...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Zhou, Haotian Lin, Yunhan Yan, Longwu Zhu, Jihong Min, Huasong Wuhan Univ Sci & Technol Inst Robot & Intelligent Syst Wuhan Peoples R China Univ York Sch Phys Engn & Technol York N Yorkshire England

ISBN: (纸本)9798350384581;9798350384574

Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks based on LLMs and Behavior Trees (BTs). It utilizes ChatGPT to reason the descriptive steps of tasks. In order to enable ChatGPT to understand the environment, semantic maps are constructed by an object recognition algorithm. Then, we design a Parser module based on Bidirectional Encoder Representations from Transformers (BERT) to parse these steps into initial BTs. Subsequently, a BTs Update algorithm is proposed to expand the initial BTs dynamically to control robots to perform adaptive tasks. Different from other LLM-based methods for complex robotic tasks, our method outputs variable BTs that can add and execute new actions according to environmental changes, which is robust to external disturbances. Our method is validated with simulation in different practical scenarios.

关键词： Semantics

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Design of a Rigid-flexible and Multi-legged Robot Based on a Scorpion Tail Structure 6

Design of a Rigid-flexible and Multi-legged Robot Based on a...

引用

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

作者： Yang, Xiaonuo Cheng, Junhan Xu, Guangyu Li, Dongmin School of Intelligent Equipment Shandong University of Science and Technology Taian China

ISBN: (纸本)9798331541699

In the past few decades, multi-legged robots have been widely used in agriculture, construction, rescue and other fields for their excellent flexibility and good adaptability. However, for most multi-legged robots, due to the limitation of their materials and layout, they can only complete some simple tasks. According to the physical characteristics of scorpions, this paper studies a rigid-flexible hexapod soft robot, which uses traditional rigid materials as the main trunk and six walking feet. The scorpion tail bionic structure is also used as the end pneumatic soft actuator to adapt to different situations and realize the overall rigid-flexible combination. The robot uses a triangular gait algorithm combined with fuzzy PID for motion control. The Lora module aims to upload the information in the camera module, barometer module and self-developed circuit module to the cloud platform. Meanwhile, issue commands through the cloud platform. Such a structural design innovation enables the robot to have stronger adaptability and flexibility in grasping operation, which provides new insights for their subsequent development. © 2024 IEEE.

关键词： Machine design

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Path Tracking for intelligent Vehicle Considering Steering Delay Characteristic 4

Path Tracking for Intelligent Vehicle Considering Steering D...

引用

4th international conference on Industrial Automation, robotics and control Engineering, IARCE 2024

作者： Huang, Haiyang Yue, Xiaomei Guo, Guanghui Sun, Mingchen Guo, Guicun Faw -Volkswagen Co. Ltd. Intelligent Driving Development Department Changchun China

ISBN: (纸本)9798350380323

As a crucial process in autonomous driving systems, path tracking control determines the safety and ride comfort of intelligent vehicles. However, the response delay of the steering actuator is commonly not considered in control tracking algorithms. The steering delay may directly impact the control accuracy, particularly when the target path curvature changed rapidly. This may lead to lower control precision and system oscillations, resulting in vehicle instability. Therefore, this paper proposed a Linear Quadratic Regulator (LQR) control algorithm considering steering delay characteristic that can avoid such problems. Firstly, the response delay characteristics of steering actuator is modelled as first order delay model and the model parameter is identified. Secondly, the actuator model is integrated into the vehicle model, and the optimization objective function of the discrete LQR in the infinite time domain is constructed. Then the optimal control feedback can be solved from the Riccati equation. Next, by designing the control feedforward item, the steady lateral error can be eliminated, and realizing the path tracking control considering steering delay characteristic. Finally, in the simulation environment, the control accuracy of the proposed steering delay LQR method, is compared with the original LQR and MPC algorithm under various test conditions to validate the effectiveness of the proposed approach. © 2024 IEEE.

关键词： Riccati equations

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Visual-Tactile Based Manipulation control for Complex Robot Manipulation Process via Geometric and Contact State Modeling 9

Visual-Tactile Based Manipulation Control for Complex Robot ...

引用

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

作者： Wang, Gaozhao Liu, Xing Liu, Zhengxiong Zhang, Yizhai Huang, Panfeng Northwestern Polytech Univ Res Ctr Intelligent Robot Sch Astronaut Xian 710072 Peoples R China Northwestern Polytech Univ Natl Key Lab Aerosp Flight Dynam Xian 710072 Peoples R China

ISBN: (纸本)9798350385731;9798350385724

The accurate representation of object shape, pose, and tool-object contact states is of paramount importance in complex robot tool manipulation tasks. These facets are comprehensively modeled using tactile sensors, which provide a wealth of information. The tactile-based manipulation control framework presented here consists of three core components: the explorer, modeler, and controller. In the context of contact state modeling, we collect the moving trend between the grasped object and the visual-tactile sensor, which could be used for estimating the contact state. Addressing the challenge of precise object modeling, including both shape and pose, we employ the visual-tactile joint exploration and geometric modeling approach introduced in this study. The controller leverages the modeled object's shape and pose while estimating contact states through the contact state classifier. In scenarios where contact states exhibit uncertainty, the robot autonomously engages in exploration, returning to its established contact mode to successfully conclude the manipulation. Peg-hole-insertion experiments featuring pegs and holes of varying shapes have been conducted to empirically validate the efficacy of the presented manipulation control framework.

关键词： Microrobots

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