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

共 5293 条记录，以下是711-720 订阅

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Motion Planning and control with Environment Uncertainties for Humanoid Robot 14

Motion Planning and Control with Environment Uncertainties f...

引用

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

作者： Jiang, Zhiyong Zhang, Jiawei Wang, Yu Chen, Liyan Chen, Jiangcheng Wang, Siyu Robotics Engineering Center The 21st Research Institute of China Electronics Technology Group Corporation China Guangdong Province Shenzhen China

ISBN: (纸本)9798331506056

Humanoid robots are typically designed to function in static environments using markers and fixtures. To broaden their application, it is vital to understand environmental uncertainties, including kinematics and dynamics, and their interaction with unexpected external disturbances. Traditional robotic motion planning and control methods fall short of addressing these requirements. This study presents a perceptive motion temporal planning and control algorithm that enables humanoid robots to walk and operate safely in uncertain environments. Experiments validate the effectiveness of the developed algorithm, demonstrating its feasibility and advantages in controlling multiple robotic limbs synchronously with adaptability and robustness. © 2024 IEEE.

关键词： Anthropomorphic robots

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The Research Progress on Teleoperation and Interactive control Technology of Power Operation Robots 4

The Research Progress on Teleoperation and Interactive Contr...

引用

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

作者： Xie, Guoshan Guo, Lijuan Luo, Chuansheng Pang, Hai Song, Guanjun Guangxi Power Grid Co. Ltd. Electric Power Research Institute Nanning China Guangxi Power Grid Co. Ltd. Nanning Power Supply Nanning China

ISBN: (纸本)9798331531225

As the operational demands of power systems grow, the application of teleoperated robots in the power sector has advanced. Traditional live-line robots have improved inspection efficiency and accuracy, while new teleoperated robots integrate technologies such as force feedback, immersive visual interaction, and deep learning. These innovations enable natural human-machine interaction, precise control, and intelligent analysis. This paper summarizes key technologies in teleoperation and interaction control for power operation robots and outlines future trends, including multi-channel teleoperation based on force feedback. Future developments will focus on multi-channel shared control and power big model-assisted operation, with closer integration with computer graphics, enhancing both operator-robot interaction and the robots' decision-making and operational precision. © 2024 IEEE.

关键词： Remote control

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Adaptive Anti-swing control for a Ship Board Boom Crane 17th

Adaptive Anti-swing Control for a Ship Board Boom Crane

引用

17th international conference on intelligent robotics and Applications

作者： Li, Zhi Hou, Chuanjing Shandong Jianzhu Univ Jinan 250101 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

This paper proposes an adaptive feedback control for an offshore boom crane. The offshore crane is a typical nonlinear under-actuated mechanical system, which has three independent control input (i.e., the boom luffing and rotating control torques and the cable length control force) and more than four degrees of freedom (DOFs). These characteristics make the control of an offshore boom crane a difficult issue. The offshore crane is suffering from the persistent ship movement induced disturbances which make the control problem more challenging. Furthermore, in practice, the offshore crane would hoist payloads with different mass and the payload mass is usually unknown. Such that, it is more suitable to design robust anti-swing control methods which do not need the payload mass information. In this paper, the adaptive method is used to approximate the payload mass online and then an energy-based feedback anti-swing control method is proposed to regulate the payload to desired positions and suppress the residual swing. The closed-loop stability is analyzed by using the Lyapunov theory. The effectiveness of the proposed control method is verified via the simulation results.

关键词： under-actuated system adaptive control nonlinear control

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Mechanical Design and Evaluation of a Bionic Aerial-Aquatic Vehicle 10

Mechanical Design and Evaluation of a Bionic Aerial-Aquatic ...

引用

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

作者： Lin, Hao Xiao, Junhao Tang, Wentao Peng, Hui Lu, Huimin Huang, Kaihong Natl Univ Def Technol Coll Intelligent Sci & Engn Changsha Peoples R China Cent South Univ Sch Elect Informat Changsha Peoples R China

ISBN: (纸本)9798350370010;9798350370003

This study designs a variable configuration for a bionic aerial-aquatic cross-media vehicle, providing a crucial platform support for the research of cross-media key technologies. Utilizing computational fluid dynamics (CFD) simulation technology, the aero-dynamic characteristics of the prototype at different speeds were analyzed, and the final prototype was successfully developed and tested in flight experiments. The experimental results demonstrate that the aerial-aquatic vehicle can complete the transition between the aerial and aquatic navigation modes through the deformation ability. The maximum flight speed in the air reaches 104 km/h, and when the cruise speed is greater than 54 km/h, the lift-to-drag ratio is greater than 18.623, indicating a good aerodynamic characteristic.

关键词： Aerial-Aquatic Bionic flying fish Deformation CFD

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Automated Sound Intensity Measurement Using Doosan Robot: Off-Line Programming for Enhanced Accuracy 28

Automated Sound Intensity Measurement Using Doosan Robot: Of...

引用

28th IEEE international conference on intelligent Engineering Systems (INES)

作者： Triki, Oussema Cherif, Raef UQAR Univ Quebec Rimouski Dept Math Informat & Genie Rimouski PQ Canada

ISBN: (纸本)9798350367607;9798350367591

Sound intensity measurement is a critical task in numerous industries, particularly in assessing the noise levels generated by vibrating machinery. Existing methods for such measurements often prove cumbersome, time-consuming, and reliant on multiple measurement tools, requiring continuous operator intervention throughout the process. To address this challenge, several studies have explored the integration of collaborative robots to automate these measurements. However, the diversity of programming languages among different robots complicates the implementation process and prolongs setup time. To resolve this issue, our work introduces a unified Python program, leveraging the RoboDK software, to seamlessly adapt our Python code for various robot types. Additionally, we employ offline simulation to ensure smooth operation and validate the effectiveness of our approach through experimental validation. This holistic approach not only streamlines the measurement process but also enhances accuracy and minimizes the need for continuous human intervention.

关键词： Sound intensity measurement robotics Offline programming acoustic data Python programming noise reduction

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Multi-Level Robotic Pouring Using Offline Reinforcement Learning

Multi-Level Robotic Pouring Using Offline Reinforcement Lear...

引用

2024 IEEE international conference on robotics and Biomimetics, ROBIO 2024

作者： Zhang, Xiaoxiong Liu, Junwei Zhang, Wei School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Shenzhen518055 China

ISBN: (纸本)9781665481090

This paper presents a novel learning-based method for a robotic manipulator to achieve liquid pouring across different liquid levels using only visual sensors. Previous works have relied on either online reinforcement learning or imitation learning, which are limited by sim-to-real gaps or data efficiency. In this paper, we propose to combine supervised learning and offline reinforcement learning, utilizing a human demonstration dataset containing only successful pouring at the highest level. Specifically, our approach employs supervised learning for a visual classifier, transforming the visual input into a categorical distribution over liquid levels. The offline reinforcement learning method is applied to a binary-conditioned control policy, which takes a binary signal and the robot's proprioception as inputs to determine the action. The binary signal indicates whether the desired liquid level has been reached based on the target liquid level. Through experiments, our method demonstrates superior effectiveness compared to a state-of-the-art imitation learning algorithm. Moreover, tests in unseen scenarios and multiple liquid level commands verify the generalization and transferability of our approach. © 2024 IEEE.

关键词： Self-supervised learning

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Towards Kbps-level Vehicle Teleoperation via Persistent-Transient Environment Modelling

Towards Kbps-level Vehicle Teleoperation via Persistent-Tran...

引用

2024 international conference on intelligent Robots and Systems

作者： Zhao, Chunyang Zhou, Zeyu Liu, Haoran Kircali, Dogan Chi, Guoyi Shen, Hongming Wang, Yuanzhe Wang, Danwei Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China

ISBN: (纸本)9798350377712;9798350377705

Traditional teleoperation technologies based on video streaming are facing several challenges in practical applications, including limited bandwidth, constrained spatial awareness, and sensitivity to illumination. Existing studies have not adequately addressed these issues. This paper presents a novel non-video based teleoperation framework for autonomous vehicles operating in bandwidth-limited environments. To reduce the amount of data being transmitted, a persistent-transient environment model is proposed for telepresence. Initially, a digital twin of the environment is preconstructed, containing only persistent environmental information. Subsequently, transient information captured by onboard sensors, such as vehicle state and dynamic objects, necessitate real-time transmission. Based on this model, a 3D virtual scene is rendered in front of the teleoperator, offering any desired virtual viewpoint to enhance spatial awareness. This telepresence model only requires real-time transmission of minimal data, i.e., vehicle state and detected objects, and remains unaffected by illumination conditions, enabling teleoperation even in applications with Kbps-level bandwidth constraints. Experimental results showcase the substantial potential of the proposed framework in bandwidth-limited settings.

关键词： Video streaming

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Hand Gesture Classification using sEMG Signals and Ensemble Learning 3

Hand Gesture Classification using sEMG Signals and Ensemble ...

引用

3rd IEEE international conference on intelligent Techniques in control, Optimization and Signal Processing, INCOS 2024

作者： Chandran, Ranjeesh R Devaraj, D. Ashok, Saurav Shaji, Donfred Saju, Sam K Adishankara Institute of Engineering and Technology Department of Robotics and Automation Kerala Kalady India Kalasalingam Academy of Research and Education Department of Electronics and Electrical Technology Tamil Nadu Srivilliputhur India Adishankara Inst. of Eng and Tech. Department of Robotics and Automation Kerala Kalady India

ISBN: (纸本)9798350361186

Electromyographic signals offer details on a muscle activity of a person. In the case of hand movements various combinations of forearm muscles must be activated in order to carry out each gesture, which results in unique electrical patterns. On the other hand, identifying the motion being executed is made possible by the examination of these patterns of muscle activation, which are captured by EMG signals. This article presents a novel implementation on hand gesture classification utilizing Electromyography (EMG) signals recorded through a MYO Thalmic bracelet. The dataset consists of raw data collected from 36 subjects, each executing a series of static hand gestures. The classification model employed for this study is an ensemble of decision trees, achieving an impressive validation accuracy of 98.0% and a test accuracy of 98.1 %. The article outlines the dataset details, recording methodology, and provides an in-depth analysis of the model architecture, hyperparameters, and training results. © 2024 IEEE.

关键词： Decision trees

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Design of visual based intelligent detection and positioning system

Design of visual based intelligent detection and positioning...

引用

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

作者： Yang, Gu JARI Automation Co. Ltd. CHINA No. 16 Yunqiao Road Lianyungang China

ISBN: (纸本)9781510682597

In recent years, with the rapid development of artificial intelligence and computer vision technology, vision based intelligent detection and positioning systems have been widely applied in various fields. This paper proposes an intelligent detection system based on machine vision to address the challenge of automatic recognition of salt cores and positioning of salt core holes during the casting process of gasoline pistons. The system includes functions such as salt core grabbing, salt core hole searching, and salt core crack detection. Based on the distribution characteristics of salt cores and salt core holes, two sets of camera partition detection methods are designed to simplify the design of robots and servo motion systems. The actual application results show that the positioning accuracy of the visual inspection system reaches within 0.02mm, and the repeated positioning performance is good, which can meet the application requirements of industrial sites. © 2024 SPIE.

关键词： Machine vision

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A frequency domain property driven search method for echo state network structures 6

A frequency domain property driven search method for echo st...

引用

6th international conference on intelligent control, Measurement and Signal Processing, ICMSP 2024

作者： Zhang, Zhaozhao Li, Bofan Zhu, Yingqin Xi'an University of Science and Technology College Computer Science and Technology Xi'an China CINVESTAV-IPN National Polytechnic Institute Department of Control Automatic Mexico City Mexico

ISBN: (纸本)9798331516550

To overcome the limitations of conventional echo state networks (ESN), such as redundant connections and insufficient frequency-domain feature extraction, this paper proposes a frequency-domain feature architecture search-based ESN (FS-ESN). Leveraging a frequency response fitness function, FS-ESN dynamically optimizes reservoir structures and incorporates frequency-domain features aligned with target tasks. Experimental results demonstrate that FS-ESN significantly improves feature extraction, adaptability, and predictive performance, outperforming traditional ESN models in task-specific applications. © 2024 IEEE.

关键词： Frequency domain analysis

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