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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651-660 订阅

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Foggy Road Scene Detection Based on Improved Yolov8n 7

Foggy Road Scene Detection Based on Improved Yolov8n

引用

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

作者： Shao, Ziqiang Liu, Xiaohui Wei, Lisheng Wu, Tao Anhui Polytechnic University School of Electrical Engineering Wuhu China Shanghai Oushuo Intelligent Packaging Technology Co. Ltd Shanghai China Anhui Polytechnic University Wuhu China

ISBN: (纸本)9798350355642

In response to the target detection of intelligent systems under foggy conditions, which faces the problem of reduced detection accuracy due to reduced contrast of captured images, color shift and loss of details, a foggy road scene detection method based on improved Yolov8n is investigated. Firstly, the DehazeNet algorithm is combined with the target detection algorithm for defogging to obtain relatively clear images in order to reduce the interference of fog on target detection;Secondly, the Dilation-wise Residual (DWR) module is added to a portion of the C2f module of the backbone network, which enables the network to flexibly adapt to features at different scales to improve the detection accuracy;Finally, the proposed method is tested on the real fog-containing road scene dataset RTTS, and the mAP@50 is improved by 2 percentage points compared with the original model, which validates the feasibility and effectiveness of the design ideas and the proposed method in this paper. © 2024 IEEE.

关键词： intelligent systems

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A Bimanual Teleoperation System of Humanoid Robots for Dexterous Manipulation

A Bimanual Teleoperation System of Humanoid Robots for Dexte...

引用

2024 IEEE international conference on robotics and Biomimetics, ROBIO 2024

作者： Wu, Kunpeng Lu, Zhenghong Chen, Xiaoqi Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (纸本)9781665481090

Remote control of robots is usually used to accomplish complex tasks in unstructured environments that are inaccessible or hazardous for humans (e.g., disaster recovery). Teleoperaton of humanoid robots is commonly achieved by employing motion tracking, which simplifies the complexity of manually controlling by reducing the degrees of freedom (DOF). High-quality demonstrations are also crucial for robot learning. Despite significant research in this field, dexterous manipulation tasks remain challenging due to the complexity of control. By combining off-the-shelf techniques, we present BTO, a low-cost and intuitive bimamual teleoperation system composed of HTC Vive Trackers and data gloves to remotely control a humanoid robot. Compared with previous teleoperation systems, our approach enables operators to perform a wide range of dexterous grasping and manipulation tasks that go beyond simple pick-and-place operations. The results of experiments showcase the effectiveness and intuitiveness of our approach for remotely operating humanoid robot and collecting high-quality demonstrations, which are useful to learn visuomotor policies for fine-manipulation and dexterity tasks. © 2024 IEEE.

关键词： Anthropomorphic robots

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2024 international conference on Industrial robotics and Advanced Manufacturing Technology, IRAMT 2024

2024 International Conference on Industrial Robotics and Adv...

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2024 international conference on Industrial robotics and Advanced Manufacturing Technology, IRAMT 2024

The proceedings contain 17 papers. The topics discussed include: Pomelo fruit-picking robot for unstructured environments;design and kinematics simulation of tower climbing robot;trajectory-tracking control based on backstepping hyperbolic tangent sliding mode control for aerial manipulators;analysis of static-dynamic global path planning for the rosa roxburghii picking robot;design and study of a forearm-type wheel-legged obstacle-crossing robot;a linkage mechanism with high mechanical advantage for robotic grippers;flexible control of quadruped robot joints based on external force estimation;algorithm realization of automatic navigation handling robot;design and implementation of a simple quadruped robot;and grinding of high temperature alloy nut tap in low frequency torsional vibration tapping.

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Construction of a Cognitive Graph for intelligent Manufacturing Robot Behavior 4

Construction of a Cognitive Graph for Intelligent Manufactur...

引用

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

作者： Zheng, Xiaoyu Huang, Bin Tian, Guohui Jin, Kexin Shandong University School of Control Science and Engineering Jinan China

ISBN: (纸本)9798331531225

The forms of tasks in intelligent manufacturing are diverse, and their operating environment is also dynamically changing. Effective knowledge representation and reasoning are key foundations for enhancing robots' understanding and execution capabilities of complex tasks. Therefore, this article constructs a cognitive graph of robot behavior in the field of intelligent manufacturing based on BERT-BiLSTM-CRF. Firstly, based on the multi-level requirements in robotic operation, a robot behavior corpus is constructed, and the robotic behavior ontology layers Task, Skill, Action, Location, Agent (H), and Object are defined to standardize the semantic structure of behavior. Then, using the BERT model to extract language structure and semantic relationship information, deep-level feature representations are obtained from the text;Capture contextual semantic relationships of behavior through the BiLSTM network, and combine the CRF model to globally constrain and optimize the predicted behavior results. Finally, the extracted triplets are stored using neo4j to form a cognitive graph of intelligent manufacturing robot behavior (IMRBCG). The experimental results show that the P, R, and F1-score of the proposed method are 95.51%, 90.66%, and 93.02%, respectively, effectively extracting 8763 behavioral triplets. This cognitive graph provides technical support for the task of the use of planning and collaboration for intelligent manufacturing robots. © 2024 IEEE.

关键词： Smart manufacturing

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A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service robotics 23

A Comparison of Prompt Engineering Techniques for Task Plann...

引用

23rd IEEE-RAS international conference on Humanoid Robots, Humanoids 2024

作者： Bode, Jonas Pätzold, Bastian Memmesheimer, Raphael Behnke, Sven Computer Science Institute Vi - Intelligent Systems and Robotics Lamarr Institute for Machine Learning and Artificial Intelligence Center for Robotics University of Bonn Autonomous Intelligent Systems group Germany

ISBN: (纸本)9798350373578

Recent advances in Large Language Models (LLMs) have been instrumental in autonomous robot control and human-robot interaction by leveraging their vast general knowledge and capabilities to understand and reason across a wide range of tasks and scenarios. Previous works have investigated various prompt engineering techniques for improving the performance of LLMs to accomplish tasks, while others have proposed methods that utilize LLMs to plan and execute tasks based on the available functionalities of a given robot platform. In this work, we consider both lines of research by comparing prompt engineering techniques and combinations thereof within the application of high-level task planning and execution in service robotics. We define a diverse set of tasks and a simple set of functionalities in simulation, and measure task completion accuracy and execution time for several state-of-the-art models. We make our code, including all prompts, available at https://***/AIS-Bonn/Prompt-Engineering. © 2024 IEEE.

关键词： Human robot interaction

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Digital Twin and Parallel control for automatic Berthing of Maritime Autonomous Surface Ships 12

Digital Twin and Parallel Control for Automatic Berthing of ...

引用

12th international conference on intelligent control and Information Processing, ICICIP 2024

作者： Wang, Zhaochen Gu, Nan Li, Ronghui Wang, Dan Liu, Lu Peng, Zhouhua School of Marine Electrical Engineering Dalian Maritime University Dalian China

ISBN: (纸本)9798350308020

The berthing of maritime autonomous surface ships (MASSs) is a difficult problem because the ships sail at low speed in ports with complex environment. This article investigates the automatic berthing control of an MASS subject to model uncertainties and ocean disturbances. An anti-disturbance parallel control architecture is proposed for the automatic berthing of an MASS. At the motion planning level, a digital twin model for the physical MASS is first established based on a neural-network state predictor method. Then, a model-predictive berthing planner is proposed to plan a smooth trajectory based on the digital twin model for automatic berthing. At the motion control level, a line-of-sight guidance law and a parallel anti- disturbance control law are proposed such that the MASS is able to track the planned berthing trajectory and achieve automatic berthing. It is proven that the closed-loop system is input-to-state stable. Simulation results are elaborated to substantiate the efficacy of the proposed parallel berthing control architecture for an MASS. © 2024 IEEE.

关键词： Motion planning

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Video Tracking and Auxiliary Obstacle Avoidance of Power Plant Inspection Robot based on Deep Learning and 3D Digital Twin System 6

Video Tracking and Auxiliary Obstacle Avoidance of Power Pla...

引用

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

作者： Chen, Quanjie Lin, Qing Liu, Weitao Liu, Xuanyi Jia, Xiaoyan Yu, Rongdong Wang, Zhan Department of Artificial Intelligence and Robotics Zhejiang Energy Digital Technology Co. Ltd Hangzhou China Department of Engineering Delivery Center Zhejiang Energy Digital Technology Co. Ltd Hangzhou China

ISBN: (纸本)9798331541699

The highly intricate landscape of power plant equipment and personnel demands sophisticated solutions, rendering robot-based automation control and the digitalization of production information indispensable for the realization of plant intelligence and smart operational paradigms. Traditional inspection robots, despite their proficiency in gathering information and executing predefined tasks, confront substantial hurdles in terms of adaptability and robustness within the confines of complex environments. The limitations of onboard sensors, such as the narrow fields of view offered by chassis-mounted devices and head-mounted cameras, result in the creation of numerous blind spots that make the robots vulnerable to collisions. Additionally, these robots are frequently perceived as standalone entities, rather than as integral components of the intricate power plant ecosystem. In response to these challenges, this article introduces an innovative control method that leverages the refined Unicorn video tracking algorithm. This algorithm provides real-time tracking, obstacle warnings, and collision pre-alerts for inspection robots in edge cases and unforeseen situations, thereby significantly enhancing their adaptability and preprocessing capabilities in complex environments. Furthermore, the process of collecting and annotating virtual datasets has been greatly simplified through the utilization of a 3D digital twin system, which facilitates the preparation of training datasets with minimal effort. © 2024 IEEE.

关键词： Electric power plant equipment

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intelligent Robotic Chess System 24

Intelligent Robotic Chess System

引用

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

作者： Tsagaris, Apostolos Department of Industrial Engineering and Management International Hellenic University Greece

ISBN: (纸本)9798400716706

This work aims to study, design, and build an autonomous robotic chess system. It can recognize, record, and examine the players movements and process the collected data to choose the best possible move. It works manually and automatically. The system was built based on modern controller technologies combined with 4 stepper motor controllers and provides full and precise control of the movements required for its operation. Its operation has been tested by combining various movements, both simple and complex. Over 312 movements were performed and the evaluation of the system showed a Precision and Recall rate close to 97% indicating that the mechatronic system works very accurately and reliably. © 2024 Owner/Author.

关键词： Mechatronic Design

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Path Planning and control of a 6-DOF Manipulator for Freeform Surface Polishing Based-on a Point Cloud Model

Path Planning and Control of a 6-DOF Manipulator for Freefor...

引用

2024 international conference on Advanced robotics and intelligent Systems, ARIS 2024

作者： Tsai, Fu-Yu Song, Kai-Tai Institute of Electrical and Control Engineering College of Electrical and Computer Engineering National Yang Ming Chiao Tung University 1001 Ta Hsueh Road Hsinchu Taiwan

ISBN: (纸本)9798350362572

This paper presents a novel path generation method for robotic surface polishing based on point cloud data. In this method, an initial path is first planned to create waypoints via the point cloud. The method estimates the contact area to dynamically adjust initial path points to ensure uniform trajectory coverage on the surface. In this paper, the bilateral tool path generation (BTPG) algorithm is proposed based on a dual-thread strategy to expedite polishing path generation. Further, we introduce a method that generates smooth postures to enhance the stability of the robotic polishing pose. In this work, hybrid force/velocity control scheme is adopted to track polishing path and apply the assigned force on the workpiece freeform surface. Practical experimental results show that the proposed method achieves 95% improvement in path planning time and 85% in smoothness of the robot fourth joint's posture compared with the baseline slicing method. © 2024 IEEE.

关键词： Robot programming

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Design of an intelligent Feeding System 11

Design of an Intelligent Feeding System

引用

11th Annual international conference on Material Science and Environmental Engineering, MSEE 2023

作者： Huang, Guiyun Chen, Ying Li, Yong Cui, Jian Beijing Polytechnic Beijing China China Aero-engine Group Limited Company Beijing China

The article elaborates on the design method of an intelligent feeding system. The feeding system is an important part of the automatic production line, which provides raw materials for other units of the automatic production line. It is controlled by PLC, which is described from many aspects, such as structure design, pneumatic circuit design, control circuit design and PLC program design. It analyzes the design idea and principle of intelligent feeding system in detail, and provides an effective reference for the design of automatic production line. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Feeding

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