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4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Zheng, Haoyue Wang, Zhiming Shanghai University School of Mechatronic Engineering and Automation China

ISBN: (纸本)9798331531225

Currently, upper limb exoskeleton rehabilitation robots provide the same level of assistance to different patients during active rehabilitation training, which prevents patients from fully utilizing their own initiative and thus affects the rehabilitation effect. To address this issue, this paper proposes an adaptive on-demand assistive control strategy based on impedance control for upper limbs. By establishing two modules of on-demand assistive control and trajectory tracking control, combined with methods of assessing limb movement state and on-demand control to adapt to the needs of patients at different stages of rehabilitation, the system achieves automatic adjustment of the assistive force size through synovial control, thereby maximizing the patient's moment of main force. The experimental results show that the adaptive assistive force system, compared with traditional methods, provides an average assistive force that is reduced by 41.9% under the same limb movement state coefficient, and can gradually reduce the assistive force provided according to the patient's recovery of motor ability. This indicates that the method is highly adaptable to different patients and can effectively enhance the patient's initiative in rehabilitation training, thereby improving the rehabilitation effect. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Human Activity Classification: A LSTM and MediaPipe Approach for intelligent Systems Application 6

Human Activity Classification: A LSTM and MediaPipe Approach...

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6th international conference on control and robotics, ICCR 2024

作者： Chen, Yi-An Yang, Pei-Ching Chang Jung Christian University Master Degree Program in Information and Design Tainan Taiwan Chang Jung Christian University Department of Computer Science and Information Engineering Tainan Taiwan Chang Jung Christian University Artificial Intelligence Research Center Tainan Taiwan

ISBN: (纸本)9798331518158

With advancements in artificial intelligence, computer vision technologies have seen significant progress, enabling applications like facial recognition, autonomous driving, and medical imaging. This study leverages the Multi-Camera Action Dataset (MCAD) and MediaPipe Pose to create a skeletal dataset for training a Long Short-Term Memory (LSTM) model to recognize 18 types of daily actions. Evaluation using confusion matrix and F1 score reveals that Action 16 (Object Carry) is often misclassified as Action 7 (Walk) due to similar leg movements, and Action 9 (Cell to Ear) as Action 1 (Wave) due to similar hand movements. Future work aims to enhance model accuracy and explore broader applications in physical activity and exercise analysis. © 2024 IEEE.

关键词： intelligent systems

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Research and Application of Engineering Interconnection Technology for intelligent Gateway of Power Distribution IoT 4

Research and Application of Engineering Interconnection Tech...

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4th IEEE international conference on Power, Electronics and Computer Applications, ICPECA 2024

作者： Xiao, Junyang Luo, Jinge Wu, Xin Cai, Zehan Shenzhen Power Supply Co. Ltd. China Southern Power Grid Shenzhen518028 China

ISBN: (纸本)9798350359589

intelligent gateway is an edge device in the architecture of distribution Internet of Things, and detection is an important means of quality control. At present, the research mainly focuses on the technology of access detection and arrival detection. As a link in the whole life cycle of intelligent gateway, there was no research of engineering joint inspection technology before installation. Therefore, this paper studies the technology of engineering interconnection technology for intelligent gateway. Firstly, according to the debugging requirements of intelligent gateway, the 'cloud + distributed' joint commissioning architecture is designed to provide a real environment for intelligent gateway project joint commissioning. Secondly, the process of automatic closed-loop joint debugging of intelligent gateway is described in detail, and the hardware and software of the test bench of intelligent gateway are designed to realize the automatic joint debugging of intelligent gateway. Finally, the feasibility of the intelligent gateway project combined with the application of the interconnection is verified to help the development of the distribution Internet of things. © 2024 IEEE.

关键词： automatic closed-loop test intelligent gateway Power Distribution Internet of Things Project joint investigation Test bench body

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Adaptive Observer-based Funnel Heading control of Surface Vessels with Rudder Actuator Nonlinearity 15

Adaptive Observer-based Funnel Heading Control of Surface Ve...

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

作者： Shahnazi, Reza Poursadegh, Adeleh Kurowski, Martin Jeinsch, Torsten University of Rostock Institute of Automation Germany University of Guilan Department of Electrical Engineering Iran

In this work, an adaptive state observer based on the strictly positive real (SPR) theory in combination with funnel control is proposed for heading control of surface vessels with uncertainty in the model and subject to rudder dead-zone actuator nonlinearity. The rudder command is designed to guarantee predetermined transient and steady-state tracking performances for both heading angle and filtered virtual control tracking errors. The unknown nonlinear function in the model is tackled using an adaptive neural network and an adaptive mechanism is proposed to cope with the unknown control gain. To further improve the performance, an adaptive continuous chattering-free robust structure is considered. Using SPR Lyapunov synthesis approach, not only all the adaptive laws are derived but also it is proved that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB). Simulation results validate the efficiency and applicability of the proposed method. © 2024 Elsevier B.V.. All rights reserved.

关键词： Dead zones

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Optimized Sliding Mode control via Genetic Algorithm for Quad Tilt-Wing UAVs 10

Optimized Sliding Mode Control via Genetic Algorithm for Qua...

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10th international conference on Artificial Intelligence and robotics, QICAR 2024

作者： Fatemi, Mir Mikael dept. Electrical and Electronic Engineering Department Ardabil Iran

ISBN: (纸本)9798350348873

In the ever-evolving landscape of unmanned aerial vehicles (UAVs), the focus of this paper is on enhancing the performance and control of a Quad-Titl wing UAV (QTW-UAV). QTW-UAV, an electric-powered aircraft, offers the unique capability of vertical takeoff and landing (VTOL) akin to helicopters, as well as extended-duration horizontal flight similar to conventional airplanes. Employing a full dynamical model derived from the Newton-Euler formulation, the paper elucidates the development of a comprehensive flight control system. Sliding Mode control (SMC) has been used on many different systems but the SMC gains are critical. On the other hand, the Genetic Algorithm (GA) is a good and optimum way to calculate hyperparameters. Our approach extends to SMC through the integration of GAs and the stabilities are proven with Lyapunov theory and for verification, the proposed controller is simulated. By bridging evolutionary computation with flight control, this research epitomizes the synergy between artificial intelligence and robotics, enhancing the applicability and robustness of quad tilt-wing UAVs in a dynamic and evolving landscape. This innovative work promises to significantly advance the field of UAV control systems and contribute to the development of intelligent, adaptable, and high-performance aerial vehicles. ©2024 IEEE.

关键词： Genetic algorithms

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Human robot collaborative control of live working robotic arm in substations based on deep learning 6

Human robot collaborative control of live working robotic ar...

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

作者： Wang, Kang Lu, Yi Gao, Yanfeng Zhang, Xu Yang, Xiaoxuan Huang, Xiaolong Fan, Shuochao Electric Power Science Research Institute State Grid Jibei Electric Power Co. Ltd Beijing China State Grid Jibei Electric Power Co. Ltd Beijing China

ISBN: (纸本)9798331541699

The conventional human-computer cooperative control model of manipulator for live working in substations is often set as basic cooperation, and the control areas often overlap, resulting in a large standard deviation of the final cooperative control. Therefore, the design and practical analysis of human robot collaborative control of live working robotic arm in substations based on deep learning is proposed. According to the current control demand, first calibrate the contact point of the manipulator and calculate the compensation value, set the space trajectory planning, combine the deep learning technology, eliminate the overlapping area at the control point, and build the deep learning substation live working manipulator human-machine cooperative control model, using the admittance collaborative processing to achieve control. The test results show that the standard deviation of collaborative control finally obtained from the in-depth learning of live working robot arm human-machine coordinated control method in this design is relatively small, which indicates that the effect of this design of substation live working robot arm human-machine coordinated control has been significantly improved, the control coverage is large, and has practical application value. © 2024 IEEE.

关键词： Manipulators

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Smart Home control and Implementation for Elderly People Living Alone Based on STM32 Microcontroller 6

Smart Home Control and Implementation for Elderly People Liv...

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

作者： Zhu, Delong Wang, Ye Shanghai DianJi University Shanghai China

ISBN: (纸本)9798331541699

With the acceleration of the aging process in my country, the number of elderly people living alone is increasing year by year, and the issue of home safety has gradually attracted widespread attention from the society. This paper designs a smart home system based on the STM32 microcontroller to improve the home safety and living convenience of elderly people living alone. The system integrates temperature and humidity, light, air quality and combustible gas sensors to collect real-time environmental data in the house and automatically control home appliances such as lights, air conditioners, humidifiers, etc. to maintain indoor comfort. When an abnormal situation (such as combustible gas leakage or high temperature) is detected, the system will automatically alarm and send an alarm SMS to the guardian through the GSM module. The hardware is based on STM32F103C8T6, and the software is developed based on Keil5 and STM32CubeMX, realizing the functions of environmental monitoring, equipment control and network communication. After simulation and debugging, the system shows that the design has good stability and reliability, can accurately collect environmental parameters and control equipment response, and provides effective assistance to the daily life of elderly people living alone. © 2024 IEEE.

关键词： Smart homes

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PLC-based automatic control System for Small Sewage Treatment Station 24

PLC-based Automatic Control System for Small Sewage Treatmen...

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2024 international conference on Image Processing, intelligent control and Computer Engineering, IPICE 2024

作者： Zhao, Qi Li, Liying Bian, Hongning Shandong Polytechnic College China Jinan Vocational College China

ISBN: (纸本)9798400710285

The efficiency of sewage treatment can be significantly enhanced through the implementation of an automatic control system. This paper focuses on the development of an automatic control system based on PLC to meet the requirements for the advanced treatment of arsenic-containing wastewater at a company’s sewage treatment facility. The paper outlines the system’s construction, control mode, hardware design, PLC programming, and control system interface. Emphasizing the unique characteristics of the sewage treatment process, such as non-linearity, significant inertia, time delays, and the challenge of establishing precise mathematical models, this paper introduces fuzzy PID control technology. This technology is utilized to enhance the stability of the sewage treatment system, particularly in the context of controlling the pH value of the wastewater. © 2024 Copyright held by the owner/author(s).

关键词： Sewage treatment plants

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A CAM-UNet for pose determination of supercapacitor cell module assembly based on monocular vision

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INDUSTRIAL ROBOT-THE international JOURNAL OF robotics RESEARCH AND APPLICATION 2025年第3期52卷 343-352页

作者： Wu, Zhichao Shu, Weijing Song, Limei Zhu, Xinjun Yang, Yangang Tianjin Key Lab Intelligent Control Elect Equipmen Tianjin Peoples R China Tiangong Univ Sch Control Sci & Engn Tianjin Peoples R China Tiangong Univ Tianjin Key Lab Intelligent Control Elect Equipmen Tianjin Peoples R China Tiangong Univ Tianjin Peoples R China Tianjin Univ Technol & Educ Sch Mech Engn Tianjin Peoples R China

PurposeThis paper aims to solve the problems of low stacking efficiency and long production time in the supercapacitor module assembly process, a stacking system based on monocular vision is proposed, including bracket visual positioning, grasping and stacking, and it is applied in actual ***/methodology/approachTo enhance the robustness of the workpiece location method and improve the location accuracy, the improved U-Net network and image processing algorithms are used to segment the collected images. In addition, for the extracted feature points, the objective function that can be globally optimized is obtained by parameterizing the rotation matrix to construct a polynomial equation system and, finally, the equation system is solved to obtain the final pose estimation, which could improve the accuracy of workpiece *** result indicates that the proposed method is successfully performed on the manipulator. Besides, this method can well solve the problem of object reflection on the conveyor belt. The Intersection over Union of the image segmentation of the object is 0.9948, and the Pixel Accuracy is 0.9973, which has a high segmentation accuracy for the image. The error range between the method proposed in this paper and the pose estimation is within 2 mm, and the qualified rate of supercapacitor module stacking products is over 99.8%.Originality/valueThis paper proposes a method of accurately extracting feature points by integrating an improved U-Net network and image processing and uses the workpiece positioning algorithm of the optimal solution PnP problem algorithm. The calculation results show that the algorithm improves the positioning accuracy of the workpiece, realizes the assembly of stacked supercapacitor modules and is applied in industrial production.

关键词： automatic robotic grasping Monocular vision U-Net Pose estimation

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intelligent patrol wheeled robot based on image recognition 3

Intelligent patrol wheeled robot based on image recognition

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3rd international conference on Machine Vision, automatic Identification, and Detection, MVAID 2024

作者： Wu, Wei Lv, Xinyue Pei, Zeyu An, Changying Ning, Jixiang Gao, Zhenzhen College of Engineering China University of Petroleum-Beijing at Karamay Karamay834000 China

ISBN: (纸本)9781510681880

In recent years, with the development of artificial intelligence technology, intelligent robots are more and more widely used in many fields. In this paper, an intelligent patrol wheeled robot based on image recognition is designed and implemented. The robot utilizes Raspberry PI as its core control unit and integrates sensing equipment such as cameras and ultrasonic sensors. The functions of autonomous navigation, intelligent obstacle avoidance and path tracking are improved through computer vision and machine learning technology. The main technologies include OpenCV for image processing, HOG feature extraction and SVM algorithm for traffic sign recognition, and traffic light detection system based on color recognition. In addition, this paper also discusses the use of positional PID control algorithm to achieve visual lane keeping scheme. Through detailed system design and experimental verification, this paper shows the performance benefits of the intelligent robot in practical applications, and provides a new idea for the future research of intelligent robots. It is expected that the robot has a wide range of application potential in intelligent transportation, public safety and other fields. © 2024 SPIE.

关键词： intelligent robots

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