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

共 5263 条记录，以下是591-600 订阅

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Research on Smooth Movement control and Testing of a Wheeled-Legged Robot 21

Research on Smooth Movement Control and Testing of a Wheeled...

引用

21st IEEE international conference on Mechatronics and Automation (IEEE ICMA)

作者： Wang, Jingyu Li, Daming Zhao, Zhijun Jie, Wang Wang, Yaobing Sun, Junkai Beijing Inst Spacecraft Syst Engn Beijing Key Lab Intelligent Space Robot Syst Tech Beijing 100092 Peoples R China

ISBN: (纸本)9798350388084;9798350388077

This paper focuses on the application of wheeled-legged robots for extraterrestrial exploration. To address the stability and terrain adaptability issues during planetary surface exploration, a novel motion control strategy integrating body attitude control and support force control is proposed based on kinematic inverse solution. This strategy adjusts the body posture by dynamically regulating the length of each leg to ensure sufficient wheel-ground contact force while traversing rough terrains. The paper also conducts simulation and tests of the wheeled-legged robot in typical terrains. Results demonstrate that the proposed algorithm effectively overcomes terrain variations and enhances stability during the robot's movement.

关键词： Wheeled-legged robot Body stability control Terrain adaptability Exploration robotics

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Double Closed-Loop Trajectory Tracking control Strategy for Wheeled Mobile Robot 17th

Double Closed-Loop Trajectory Tracking Control Strategy for ...

引用

17th international conference on intelligent robotics and Applications

作者： Wang, Yateng Wei, Ziang Liu, Rui Wenhua Coll Dept Mech & Elect Engn Wuhan 430074 Peoples R China Wuhan Inst Technol Sch Elect & Informat Engn Wuhan 430205 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

The traditional control method of wheeled robot has the problem that system is unstable due to the inconsistency between the actual state and the target state. Therefore, this paper proposes a double closed-loop control strategy based on trajectory tracking considering global stability. Initially, a comprehensive kinematics model is formulated. Based on the kinematics model of the system, the controller is designed to ensure the Lipchitz condition of position tracking closed-loop system, so as to ensure that stability of the system. Subsequently, the stability of the controller is validated through the application of Lyapunov stability theory. Finally, the effectiveness of the control strategy is verified by simulations.

关键词： submission guidelines journal virtual worlds computer animation

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A Comparison of Different Hybrid Path Planning Algorithms for a Mobile Platform 4

A Comparison of Different Hybrid Path Planning Algorithms fo...

引用

4th international conference on Computer, control and robotics (ICCCR)

作者： Sulaiman, Shifa Sudheer, A. P. Magid, Evgeni Kazan Fed Univ Intelligent Robot Dept Kazan Russia Natl Inst Technol Dept Mech Engn Calicut Kerala India HSE Univ Sch Elect Engn Moscow Russia

ISBN: (纸本)9798350373141;9798350373158

Mobile robots with wheeled, legged and hybrid bases are currently used in industrial and service sectors for diverse applications. In this paper, a comparative study of various hybrid path planning algorithms for avoiding static obstacles were carried out for determining a most efficient path planning algorithm for a given task. A modified Probabilistic Road Map (PRM) approach was combined with different versions of A* algorithm to create different hybrid path planning algorithms. The nodes and connections were created using a PRM approach and optimal paths were constructed using different versions of the A* algorithm. This paper compared computational time, memory consumed and path length for determining a suitable hybrid algorithm for a given task. The selected hybrid algorithms were evaluated by simulating an obstacle avoidance task of a mobile robot in a structured environment.

关键词： path planning algorithm Probabilistic Road Map (PRM) A* algorithm mobile robot

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Real-Time control of intelligent Production Line for automatic Assembly of Aerospace Products 3

Real-Time Control of Intelligent Production Line for Automat...

引用

3rd international Symposium on Aerospace Engineering and Systems, ISAES 2024

作者： Song, Hailong Yang, Shengluo Yin, Shuoxin Wang, Junyi Xu, Zhigang Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai200093 China

ISBN: (纸本)9798350350418

Due to the wide variety and small number of aerospace products, the assembly process of related products becomes very complicated. In order to achieve the production requirements of safer, more efficient, better production quality and higher resource utilization, we integrate the control system into the assembly line of aerospace products to make it automated. In order to further verify the feasibility of the system, we use 3D virtual reality visualization to design the onsite real-time operation system scheme. © 2024 IEEE.

关键词： Smart manufacturing

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Enhancing Safety and Reliability of LNG Receiving Terminals through Data Security Monitoring Platform 7

Enhancing Safety and Reliability of LNG Receiving Terminals ...

引用

7th international conference on robotics, control and Automation Engineering, RCAE 2024

作者： Chang, Lulu Dong, Jing Zhang, Quanling Wang, Cunsong Wang, Pengkai Nanjing Tech University Institute of Intelligent Manufacturing Nanjing China

ISBN: (纸本)9798350355642

This article presents a comprehensive analysis of the safety issues associated with LNG receiving terminals, which play a crucial role in the natural gas supply chain. Given the rapid growth of the LNG industry, ensuring the safe operation of these terminals has become a matter of paramount importance. The paper begins by introducing the process flow and highlighting existing safety concerns related to LNG receiving terminals. Subsequently, it proposes the implementation of a data security monitoring platform specifically designed for LNG receiving terminals, and explores key technologies for digital monitoring and intelligent operation and maintenance. Notably, this study focuses on equipment prediction maintenance technology and rollover prognosis technology, both of which contribute to the safe and stable operation of LNG receiving terminals. The findings presented in this paper are expected to significantly enhance safety, reduce accidents, and improve the overall efficiency of LNG receiving terminals. © 2024 IEEE.

关键词： Predictive maintenance

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Next-Generation Diabetes Care: Robust Adaptive Optimal Glucose control Using Machine Learning, Wearable Integration and Microwave Sensors 4

Next-Generation Diabetes Care: Robust Adaptive Optimal Gluco...

引用

4th international conference on robotics, Automation, and Artificial Intelligence, RAAI 2024

作者： Mobayen, Saleh Rouhani, Seyed Hossein Ke, Ming-Ta Anvari, Shabnam Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Yunlin Douliou Taiwan National Kaohsiung University of Science and Technology Department of Electrical Engineering Kaohsiung City Taiwan Graduate School of Artificial Intelligence National Yunlin University of Science and Technology Yunlin Douliou640301 Taiwan

ISBN: (纸本)9798331520038

Managing diabetes effectively is vital to prevent complications such as heart disease, nerve damage, and kidney issues. This research shows that weight control and tailored interventions can improve blood sugar and metabolic health. This paper reviews the microwave sensor for continuous, real-time glucose monitoring, designed for wearables like smartwatches. By integrating type-2 fuzzy-logic and machine learning, the sensors can offer accurate glucose readings and monitor additional physiological markers, optimizing personalized interventions for type-1 diabetes. This innovation will aim to advance diabetes management with reliable, user-friendly health monitoring. © 2024 IEEE.

关键词： Microwave sensors

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Proceedings of 2024 2nd international conference on robotics, control and Vision Engineering, RCVE 2024

Proceedings of 2024 2nd International Conference on Robotics...

引用

2024 2nd international conference on robotics, control and Vision Engineering, RCVE 2024

ISBN: (纸本)9798400716706

The proceedings contain 8 papers. The topics discussed include: intelligent robotic chess system;study on the mechanical system of a docking robot with fork-holding of two sides for palletized goods on a conveyor line;3D printed myoelectric hand orthosis with force control;development and control of a 5-DOF robotic arm using forward kinematics and IoT integration;creating trustworthy patrol robot with an ethical design approach;research on detection strategy for EL defects in PV module based on YOLOv5 and improved multi-NMS;detection of osseous metastasis from bone scintigrams using a combined global and local patch-based deep learning model;and a weighted ensemble domain generalization method via multi-level invariant feature learning for rotating machinery fault diagnosis.

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Kinematic Modelling, Workspace Analysis and Static Structural Analysis of a 3 DoF Manipulator for an Elevator Automation 4

Kinematic Modelling, Workspace Analysis and Static Structura...

引用

4th international conference on Computer, control and robotics (ICCCR)

作者： Sulaiman, Shifa Pillai, Anoop Eryomin, Alexander Tsoy, Tatyana Magid, Evgeni Kazan Fed Univ Intelligent Robot Dept Kazan Russia Natl Inst Technol Dept Mech Engn Calicut Kerala India HSE Univ Sch Elect Engn Moscow Russia

ISBN: (纸本)9798350373141;9798350373158

Manipulators are used extensively in industrial and service sectors due to their capability to carry out a task effectively. This paper presents a kinematic modelling, a workspace analysis, a static structural analysis and a simulation study of a simple 3 degrees-of-freedom (DoF) Cartesian manipulator developed for pressing buttons of an elevator. Denavit-Hartenberg approach was used for determining kinematic equations, which allowed constructing a manipulator workspace. A static structural analysis in ABAQUS determined stresses and deformations acting at manipulator links. The dimensions and material for fabricating the manipulator were selected using static structural analysis. Simulations with virtual human models from LIRS-HMLG library were carried out in Gazebo to study motion capabilities and range of the manipulator, and evaluate its performance in a human-robot interaction scenario.

关键词： manipulators kinematic analysis workspace analysis simulation Gazebo

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Attitude Balance control of a Wheeled Quadruped Robot for Unilateral Obstacle Scenarios 6

Attitude Balance Control of a Wheeled Quadruped Robot for Un...

引用

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

作者： Li, Xiyuan Li, Yunsong Zhang, Xuxu Zhao, Jiacheng School of Electromechanical and Automotive Engineering Yantai University Yantai China School of Information Science and Technology Beijing University of Technology Beijing China

ISBN: (纸本)9798331541699

This study explores an attitude balance control method for a Wheeled Quadruped Robot (WQR) traversing unilateral obstacle scenarios with varying slopes. By incorporating a force feedback mechanism, this method enables real-time adjustment of the WQR's hip and knee joint angles based on the kinematics model, facilitating effective navigation across different inclines of unilateral obstacles. The research begins with an analysis of potential attitude imbalance issues that the WQR may encounter when facing unilateral obstacles, highlighting the essential role of force sensors in detecting ground reaction forces and providing feedback. Subsequently, an attitude balance control algorithm is designed, based on feedback from in-wheel force sensors, which adjusts the WQR's motion posture in real-time to ensure stability in such scenarios. Simulation results have validated the effectiveness and robustness of the proposed method, demonstrating that by utilizing feedback information from in-wheel force sensors, the WQR can accurately perceive obstacles and make corresponding adjustments, thereby effectively preventing attitude imbalances. This research not only supports the stable movement of WQRs in complex environments but also provides valuable insights for future research in the field of robot attitude control. © 2024 IEEE.

关键词： Multipurpose robots

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Data-driven Adaptive Dynamic Programming for Servomechanisms 24

Data-driven Adaptive Dynamic Programming for Servomechanisms

引用

4th international conference on control and intelligent robotics, ICCIR 2024

作者： Zhang, Chi Cai, Cheng Liu, Xijun Xiao, Shuai Liang, Jingjing Beijing Institute of Control Engineering Beijing100190 China

ISBN: (纸本)9798400709937

In this paper, a novel data-driven optimal control approach is proposed for servomechanisms with unknown models. At first, an adaptive state error feedback control policy is designed by recurrence formula with data to make the servomechanism converge to the desired state. Then policy iteration adaptive dynamic programming approach is adopted to approach the optimal control policy step by step. The approach only makes use of sample data to accomplish optimal control for the unknown servomechanism and its convergence is analyzed. Finally, simulation indicates that the optimal control policy can be approximated through the approach effectively. © 2024 held by the owner/author(s).

关键词： Servomechanisms

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