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

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Consideration of Constructing a Weed Detection Method for an Agricultural Robot in Perilla Fields 23

Consideration of Constructing a Weed Detection Method for an...

引用

23rd international conference on Machine Learning and Cybernetics, ICMLC 2024

作者： Sugie, Tatsuya Takagi, Noboru Motoyoshi, Tatsuo Sawai, Kei Masuta, Hiroyuki Graduate School of Intelligent Robotics Program Toyama Prefectural University Toyama Japan Toyama Prefectural University Department of Data Science Toyama Japan Toyama Prefectural University Department of Intelligent Robotics Toyama Japan

ISBN: (纸本)9798331528041

In recent years, the number of farmers in Japan has been decreasing, and the automation of agriculture using robots, AI, and IoT, known as 'smart agriculture,' is being promoted. In this context, Toyama city is promoting a project to build a robot for automatic weeding between plants in a perilla fields. In this research, we are in charge of the system part that detects weeding regions and informs the weeding mechanism. In the field, a wide variety of weeds form vegetation, and it is necessary to prevent food crops from being cut. Therefore, we detect crop regions and the rest of the area should be the weeding regions. In this study, we construct a system to detect crop regions by transfer learning the object detection model YOLO-v8, which is a convolutional neural network (CNN), and evaluate the system in terms of detection accuracy and processing speed. © 2024 IEEE.

关键词： Convolutional neural networks

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Energy-Consumption Optimization control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

引用

2024 IEEE international conference on control Science and Systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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Research on Environmental Perception of Smart Cane Based on Multi-Sensor Fusion 14

Research on Environmental Perception of Smart Cane Based on ...

引用

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

作者： Teng, Hao Shao, Haiyan Chen, Bin Chen, Bo Sun, Xuan Zhao, Zhen School of Mechanical Engineering University of Jinan Shandong Jinan China Shandong Youbaote Intelligent Robotics Co Ltd of Jinan Shandong Jinan China Linyi Lingong Intelligent Information Technology Co. Ltd Shandong China

ISBN: (纸本)9798331506056

The article addresses the issues encountered when using a single LiDAR or monocular camera for mapping in the indoor environment perception of smart canes. These issues include incomplete obstacle detection or suboptimal mapping effects and the problem of motion distortion in Lidar point clouds. Firstly, in the LiDAR preprocessing stage, we propose the IPL-ICP(IMU and Point to Line Iterative Closest Point) algorithm, which is a fusion of IMU and PL-ICP, to address the Lidar point cloud distortion caused by the rapid movement of the smart cane. This algorithm aims to correct the motion distortion of Lidar point clouds to improve matching accuracy and speed. Secondly, the Gmapping algorithm, which removes Lidar point cloud motion distortion, is employed for the Lidar range-finder, while the ORB-SLAM2 algorithm is utilized for the monocular camera to construct local grid maps. These maps are then mutually fused according to Bayesian estimation rules to build a global grid map. The indoor scene experiments indicate that this method not only obtains more complete and accurate environmental map information, but also achieves an approximately 35.2% improvement in mapping accuracy compared to traditional LiDAR and camera mapping methods. Furthermore, this method exhibits stronger environmental perception capabilities, meeting practical requirements. © 2024 IEEE.

关键词： Range finders

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Research on AGV integrated navigation technology for walking along the wall

Research on AGV integrated navigation technology for walking...

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2024 international conference on Automation control, Algorithm, and intelligent Bionics, ACAIB 2024

作者： Ma, Zhaoyang Sun, Xuan Chen, Bo Ai, Changsheng School of Mechanical Engineering University of Jinan Jinan China Linyi Lingong Intelligent Technology Co. Ltd. Linyi China

ISBN: (纸本)9781510682597

automatic guided vehicle (AGV) has important application value in the field of logistics and manufacturing. The stability and accuracy of its navigation system are crucial to realize intelligent production process. In this paper, an integrated navigation strategy combining laser ranging sensor and gyroscope positioning is used to realize the adaptive navigation of AGV along the wall in different environments. In the case of a wall, the distance from the wall is measured by a laser ranging sensor, and the position information and attitude Angle information of the AGV are obtained through operational processing. Through the double PID closed-loop control, the AGV position correction and the automatic calibration of gyroscope heading Angle are realized, and the navigation accuracy and stability are effectively improved. When the AGV encounters a wall-free area, the system automatically switches to gyroscopic inertial navigation mode to ensure navigation continuity and accuracy. © 2024 SPIE.

关键词： Gyroscopes

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Mitigation of Power Oscillations in DC Microgrid Using Model Predictive control 10

Mitigation of Power Oscillations in DC Microgrid Using Model...

引用

10th international conference on Automation, robotics, and Applications, ICARA 2024

作者： Sharma, Rahul National Institute of Technology Kurukshetra Electrical Engineering Department Kurukshetra India

ISBN: (纸本)9798350394245

An MPC (Model Predictive control) technique is proposed to manage the adaptive control structure of the dc microgrid using boost converters to interface with common DC link bus voltage. MPC is an intelligent control method to predict the future behavior of the system using previous outputs and system state model by taking constraints into account. The dc microgrid model is taken into study which consists of a battery as energy storage device (BESS) and a PV used as generation unit (DGs). A boost converter has been incorporated to interface each DGs. A proposed method is utilized to reduce the ripple in output voltage and current fluctuations with better power quality for the loads as compared to other control techniques, maintaining DC link voltage constant. The effectiveness of the proposed control is shown using a comparative analysis between MPC and PID based control structures in the DC microgrid model. Also, a disturbance has been inserted by considering the variation in the load. The output of switching characteristics and results were analyzed and studied to draw the conclusion and reflect the effectiveness of the proposed MPC control scheme for achieving improved voltage regulation, stability and reliability. © 2024 IEEE.

关键词： Model predictive control

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A Locomotion control Method for Modular Robot Based on PPO Algorithm 17th

A Locomotion Control Method for Modular Robot Based on PPO A...

引用

17th international conference on intelligent robotics and Applications

作者： Zhang, Haoxiang Zhao, Sikai Wang, Ziqi Liu, Junchen Zhang, Qinghua Qi, Jian Zhao, Jie Zhu, Yanhe Harbin Inst Technol State Key Lab Robot & Syst Harbin 150000 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

Due to the complexity and variety of module robot, the classic planning method can hardly give out a general algorithm that fits most combination. In order to maintain the advantage of module robot's rapid deployment and avoid the problem of complex solution, this essay give out an automatic solution to easily generate certain combination from text description of a module robot combination. During the setup phase of the physical environment, different environmental parameters are studied and considered for their impact on the planning methods obtained by the algorithm, comparing the adaptability of different planning strategies to the environment, then start to train the combination to do various tasks like moving and posing with fixed hyper-parameter, the research focuses on designing observation functions and reward functions as evaluation mechanisms and using reinforcement learning to obtain corresponding planning models. After training complete under Isaac Gym, the network was stored in a library for fast fetch. By applying this method to minimize the time consumption for locomotion planning, managed to accomplish just-in-time planning for each module robot combination that has been given.

关键词： Modular Robot Reinforcement Learning Data Structure

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Investigation on the multi-solution problem of the kinetostatics of cable-driven continuum manipulators

Investigation on the multi-solution problem of the kinetosta...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Dai, Yicheng Li, Zuan Wang, Xin Yuan, Han Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Shenzhen 518055 Peoples R China Guangdong Prov Key Lab Intelligent Morphing Mech Shenzhen 518055 Peoples R China Key Univ Lab Space Mech & Robots Guangdong Shenzhen 518055 Peoples R China Shanghai Aerosp Control Technol Inst Aerosp Res & Dev Ctr Shanghai 201109 Peoples R China

ISBN: (纸本)9798350384581;9798350384574

Cable-driven continuum manipulators have gained considerable attention due to their high dexterity and inherent structural compliance, making them a popular research topic. However, previous studies have overlooked the kinetostatics of these manipulators, which can result in a multi-solution problem. This issue is critical as having multiple equilibrium states can lead to erroneous estimations of the manipulator's profile. To address this issue, the kinetostatic model is presented and simulations based on both the interval analysis method and the commonly used floating-point optimization algorithm are conducted under the same actuating forces and external loads. Results show that there are multiple solutions to the kinetostatics of cable-driven continuum manipulators with constant cross section or variable cross section. This paper fills a gap in the current literature and offers valuable insights for researchers in the field of cable-driven continuum manipulators.

关键词： Cable-driven continuum manipulator Kinetostatics Multi-solution problem Interval analysis

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Perception-Based intelligent control of Merging Car-following and Lane-Changing Behavior 10

Perception-Based Intelligent Control of Merging Car-followin...

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10th international conference on Signal Processing and intelligent Systems, ICSPIS 2024

作者： Tajdari, Farzam Rezasoltani, Amin Mechanical Engineering Delft University of Technology Delft Netherlands Ava and Nima Social Robotics Dr. Robot Company Tehran Iran

ISBN: (纸本)9798331532543

Recent research has paid little attention to complex driving behaviors, namely merging car-following and lanechanging behavior, and how lane-changing affects algorithms designed to model and control a car-following vehicle. During the merging behavior, the Follower Vehicle (FV) might significantly diverge from typical car-following models. Thus, this paper aims to control the FV witnessing lane-changing behavior based on anticipation, perception, preparation, and relaxation states defined by a novel measurable human perception index. Data from human drivers are utilized to create a perception-based fuzzy controller for the behavior vehicle's route guidance, taking into account the opacity of human driving judgments. We illustrate the efficacy of the established technique using simulated trials and data from actual drivers, focusing on the benefits of the increased comfort, safety, and uniformity of traffic flow and the decreased of wait time and motion sickness this brings about. © 2024 IEEE.

关键词： Fuzzy control

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WAVE: An open-source underWater Arm-Vehicle Emulator

WAVE: An open-source underWater Arm-Vehicle Emulator

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IEEE international conference on robotics and Automation (ICRA)

作者： Rosette, Marcus Kolano, Hannah Holm, Chris Hollinger, Geoffrey A. Marburg, Aaron Pickett, Madison Davidson, Joseph R. Oregon State Univ Collaborat Robot & Intelligent Syst CoRIS Inst Corvallis OR 97331 USA Univ Washington Appl Phys Lab Seattle WA 98105 USA

ISBN: (纸本)9798350384581;9798350384574

Underwater vehicle manipulator systems (UVMS) are increasingly popular platforms for performing subsea operations that require precision manipulation. While there is high demand for fully autonomous or even semi-autonomous systems, most UVMS still require human support teams. Developing new hardware and algorithms for autonomous underwater manipulation is challenging. Simulations do not capture the full complexity of the underwater environment, and deploying a UVMS at sea for testing/validation is resource-intensive and expensive. In this paper, we present a physical testbed for underwater manipulation that bridges the gap between simulation and full field trials. The underWater Arm-Vehicle Emulator (WAVE) is a 10-degree of freedom system designed to replicate an inspection-class UVMS. WAVE includes an underwater perception sensor and has 2 operating modes: rigid or passive-mode. In passive-mode, the ROV body can pitch similar to how a dynamically-coupled underactuated UVMS without pitch control would rotate during manipulation tasks. To validate the overall design and passive pitch concept, we evaluated the testbed during underwater experiments in energetic conditions at a wave basin. To support continued research and development in underwater robotics, we make the design open-access and freely available to the community.

关键词： Autonomous underwater vehicles

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An Improved Ant Colony Optimization Algorithm for Multi-robot Path Planning under Complex Tasks 7

An Improved Ant Colony Optimization Algorithm for Multi-robo...

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

作者： Yuan, Shilong He, Zhou He, Pengyang Tang, Wei Shaanxi University of Science & Technology College of Electrical and Control Engineering Xi'an China Shaanxi University of Science & Technology College of Mechanical and Electrical Engineering Xi'an China

ISBN: (纸本)9798350352399

In this work, we study path planning for multi-robot systems under complex tasks, which are given by global high-level specifications represented as Boolean formulas. This paper proposes a path planning method based on an improved ant colony optimization algorithm to compute the trajectory of each robot, ensuring that the total trajectories of the team fulfill the Boolean specifications while minimizing the total motion cost. The algorithm introduces a neighborhood search mechanism to enhance the neighborhood search capability. In addition, it incorporates an elite strategy to improve the qualities of the offspring populations and algorithm convergence speed. Simulation results show that compared with the Boolean specification-based multi-robot system path planning method using simulated annealing, the improved algorithm reduces the convergence time and minimizes the cost of the team. The solution time is shorter and the solution quality is higher, demonstrating the effectiveness of the proposed algorithm in solving the path planning problem for complex multi-robot tasks. © 2024 IEEE.

关键词： Ant colony optimization

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