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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

共 1217 条记录，以下是111-120 订阅

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Application of Iterative Learning Control methods for a Service Robot with Multi-Body Kinematics 20

Application of Iterative Learning Control Methods for a Serv...

引用

20th international conference on methods and models in automation and robotics (MMAR)

作者： Bassler, Sandra Duenow, Peter Marquardt, Mathias Daasch, Andreas Univ Technol Business & Design Hsch Wismar Wismar Germany IAV GmbH Ingenieurgesell Auto & Verkehr Wismar Germany

ISBN: (纸本)9781479987016

this paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.

关键词： Service robots many-body Iterative learning control Torque control body kinematics kinematics controller structure

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Adaptive Obstacle Avoidance of UAV Leader/Followers with Nonlinear Logarithm Quaternion Control 28

Adaptive Obstacle Avoidance of UAV Leader/Followers with Non...

引用

28th international conference on methods and models in automation and robotics (MMAR)

作者： Al-sudany, Huda Naji Lantos, Bela Budapest Univ Technol & Econ Fac Elect Engn & Informat Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9798350362350;9798350362343

this paper addresses a significant challenge within the realm of fixed wing Unmanned Aerial Vehicles (UAVs), namely obstacle avoidance of the Leader-Follower system. the proposed approach involves formulating the Leader-Follower problem, consisting of one leader and three followers, with control strategies utilizing the logarithm exponential Quaternion method. Subsequently, the designed control law employing quaternions is applied to both the leader and the follower UAVs. Moreover, a notable contribution of this research lies in the incorporation of adaptive obstacle avoidance. the idea based on potential field as obstacle avoidance algorithm, with adaptive techniques for determining obstacle avoidance parameters. these parameters are dynamically adjusted based on the distance between the UAV and the obstacle through a non-linear adaptation function. the comprehensive implementation of these methods is rigorously evaluated by employing a predefined reference path for the leader and conducting numerous scenario-based tests. Random directions of followers were used in case of stuck in local minimum to avoid it;this was applied in case when potential filed force is less than small value. Experiments to test some scenarios of obstacle avoidance were conducted. the final results conclusively demonstrate the stability of the control law even in the presence of obstacles. the effectiveness of the adaptive obstacle avoidance approach is clearly evident from the trajectories of the UAV followers.

关键词： Unmanned Aerial Vehicles (UAVs) Leader-Follower Obstacle Avoidance Quaternion Control Adaptive methods Potential Field Algorithm

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Dynamic Modeling and Simulation of Rowing with a robotics Formalism

Dynamic Modeling and Simulation of Rowing with a Robotics Fo...

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16th international conference on methods and models in automation and robotics (MMAR)

作者： Rongere, Francois Khalil, Wisama Kobus, Jean-Michel LMF Nantes France IRCCyN Nantes France

ISBN: (纸本)9781457709142

this paper presents a robotics framework intended to be used for rowing simulation. It provides kinematic and inverse dynamic models for the system composed of boat, rowers and oars. the inverse dynamic model is based on the Recursive Newton-Euler Algorithm with free-floating base dealing with tree-structured systems with kinematic loops. Examples of simulations of a rowing-like model are given along with external force models. It is composed of a total of 6 links for the rower and the oars, the floating boat, and 7 joints. It presents a branched structure with one loop enabling to test the ability of the framework regarding its goals.

关键词： Rowing simulating dynamic models robotics kinematics inverse kinematics modeling and simulation Boats Frameworks formalism BRANCH STRUCTURES

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An Experimental Framework for Evaluation of Facial Feature Extraction methods

An Experimental Framework for Evaluation of Facial Feature E...

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12th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Song, Fengxi Guo, Zhongwei Chen, Qinglong New Star Res Inst Appl Tech Hefei City Dept Automat & Simulat Hefei Peoples R China

ISBN: (纸本)9781467318723;9781467318716

Facial feature extraction is one of the hottest research topics in pattern recognition. Scholars have proposed numerous facial feature extraction methods based on various discriminant criteria, models, and algorithms. Each method has its own advantages and shortcomings. Unfortunately, till now there is no sound theoretical framework to evaluate their total performance. People have to resort to their experimental results. Since recognition accuracies and computational times of a particular facial feature extraction method in a certain simulation experiment are heavily depend on many factors such as, face image database, number of training samples per class, type of cross-validation, classifier, and parameter of the classifier used in the experiment. thus, experimental design pays a key role in evaluation of their performance. In this paper we propose an experimental framework which can be used as a platform for a relatively fair comparison among facial feature extraction methods.

关键词： experimental framework feature extraction face recognition

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Integrating Design Studio Teaching with Computation and robotics in Hong Kong 25

Integrating Design Studio Teaching with Computation and Robo...

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25th international conference on Computer-Aided Architectural Design Research in Asia, CAADRIA 2020

作者： Fingrut, Adam Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9789887891741

there is a persistent need among Hong Kong Architecture students to develop greater aptitude for critical and design thinking. the mechanics of criticality entail observation, reflection and the development of a knowledgeable response. this important process aligns with a tool-based iterative design research approach, where a cycle of action, observation, reflection, and reaction can take place. In order to complement fundamentals in architectural design, a focus on tools and tool-making approaches toward the development of a critical architectural proposal needs to be incorporated into core curriculum. through the integration of robotics, automation and computational design approaches into the design studio environment, tool making for producing architectural media (drawings and models) can most effectively be explored. With an emphasis on design and programming tools for component fabrication and assembly, students can develop their own criterion for evaluation as a knowledge-based response to their investigations and proposed architectural systems. © 2020 and published by the Association for Computer-Aided Architectural Design Research in Asia (CAADRIA), Hong Kong.

关键词： Architectural design

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Day-Ahead Forecasting for the Tropics with Numerical Weather Prediction and Machine Learning 17

Day-Ahead Forecasting for the Tropics with Numerical Weather...

引用

17th international conference on Control, automation, robotics and Vision (ICARCV)

作者： Ng, Nigel Yuan Yun Gopalan, Harish Raghavan, Venugopalan S. G. Ooi, Chin Chun Natl Univ Singapore Dept Phys Singapore Singapore Inst High Performance Comp Dept Fluid Dynam Singapore Singapore Ctr Frontier AI Res Singapore Singapore

ISBN: (纸本)9781665476874

Numerical weather prediction (NWP) and machine learning (ML) methods are popular for weather forecasting. However, NWP models have multiple possible physical parameterizations, which requires site-specific NWP optimization. this is further complicated when regional NWP models are used with global climate models, each with multiple possible parameterizations. In this study, a hybrid numerical-statistical approach is proposed and evaluated for four radiation models. Weather Research and Forecasting (WRF) model is run in both global and regional mode to provide an estimate for solar irradiance. this estimate is then post-processed using ML to provide a final prediction. Normalized root-mean-square error from WRF is reduced by up to 40-50% with this ML error correction model. Results obtained using CAM, GFDL, New Goddard and RRTMG radiation models were comparable after this correction, negating the need for WRF parameterization tuning. Other models incorporating nearby locations and an ensemble set-up are also evaluated, although they produced much smaller improvements.

关键词： Solar forecasting Numerical weather prediction Machine learning Regression methods Radiation schemes

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Shape Optimization problem for the coupled model of linear elasticity with Navier-Stokes equation 19

Shape Optimization problem for the coupled model of linear e...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Lasiecka, Irena Szulc, Katarzyna Zochowski, Antoni Polish Acad Sci Syst Res Inst PL-01447 Warsaw Poland

ISBN: (纸本)9781479950812

We consider a coupled model of linear elasticity with Navier-Stokes equations. Two subdomains Omega(1) and Omega(2) are considered. In Omega(1) there is a linear elasticity model. In Omega(2) there is the fluid transport which is modeled by nonlinear Navier-Stokes equations. A propitiate interface conditions should be provided. We want to determine the shape and topological derivatives in Omega(2).

关键词： Coupled Problems Linear elasticity Navier-Stokes equation Topological Derivative Shape Optimization Numerical methods

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Stratified model identification

Stratified model identification

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17th international conference on methods and models in automation and robotics (MMAR)

作者： Ogonowski, Zbigniew Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781467321242

Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.

关键词： model identification ILLUSTRATIONS Generalization model parameters base on back propagation water-tanks Identification methods hot water

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Adaptive Control of Nonlinear Resonant Systems with Damping 20

Adaptive Control of Nonlinear Resonant Systems with Damping

引用

20th international conference on methods and models in automation and robotics (MMAR)

作者： Kabzinski, Jacek Mosiolek, Przemyslaw Lodz Univ Technol Inst Automat Control Lodz Poland

ISBN: (纸本)9781479987016

the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft is characterized by the stiffness and the damping coefficients. the proposed controller is based on adaptive backstepping, modified by the use of command filtering. Although in the presence of damping the model is not in a strict-feedback form, the proposed approach allows to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.

关键词： adaptive control resonant systems friction compensation drive automation

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Remote Monitoring and Control of Mobile Robots in Real-Time Using Multimodal Digital Twins 28

Remote Monitoring and Control of Mobile Robots in Real-Time ...

引用

28th international conference on methods and models in automation and robotics (MMAR)

作者： La, Trung Kien Harmann, Rene Kaigom, Eric Guiffo Frankfurt Univ Appl Sci Dept Comp Sci & Engn Frankfurt Germany

ISBN: (纸本)9798350362350;9798350362343

Although digital twins have been playing a pivotal role in the management of the lifecycle of physical robotic systems of systems, they have hardly been employed to actively guide mobile robots in real-time. In fact, the guidance of such systems requires functionalities, including the perception of environmental constraints and avoidance of collisions. A spatial information stream beyond the internal robot state measured using proprioceptive sensors is therefore needed. Exteroceptive sensors help meet this demand. Nevertheless, such sensors have received little attention thus far in the development of digital twins. On the other hand, various mobility objectives, such as reverse motions, might require the awareness of the historical internal state of the distant robot. For instance, the current energy budget is likely to constrain the reachability of the initial robot location, even when spatially and kinematically feasible. We therefore develop a web-based framework to monitor and actively steer mobile robots while leveraging on multimodal digital twins. We collect data about the internal state and camera-captured neighborhood of the robot in real-time. the robot operator is thereby provided with an enriched digital model of the internal dynamics and environmental perception of the robot. this elevates situational awareness and facilitates decision support. We then develop a versatile graphical interface that helps holistically monitor and actively steer the mobile robot. Since the multi-modal and bidirectional approach is intuitive and device-agnostic, even novices can remotely guide the robot on mobile phones from everywhere. We show the usefulness and effectiveness of our approach in use-case scenarios in practice.

关键词： robotics Multimodal Digital Twins Industry 4.0 Industry 5.0 Society 5.0 Human-Mobile Robot-Interaction

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