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检索条件"任意字段=2nd International Symposium on Control Engineering and Robotics, ISCER 2023"

共 916 条记录，以下是81-90 订阅

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Dynamic Analysis of Actuator System with the Coupling of Time-Varying Meshing Stiffness and Backlash

Dynamic Analysis of Actuator System with the Coupling of Tim...

引用

control engineering and robotics (iscer), international symposium on

作者： Zhi-wei Xu Min-Chang Huang Cheng Yan Fang-hui Du Su-Su Jiang Yi-Yong Fu Shanghai Aerospace Control Technology Institute Shanghai China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Shanghai Engineering Research Center of Servo Systems Shanghai China

Aiming at the dynamic modeling and control of actuator system under the influence of nonlinear conditions such as clearance and friction, compared with the conventional nonlinear model, the variable stiffness and wear sliding characteristics of the transmission mechanism is considered. A dynamic modeling and control method of actuator system with time-varying meshing stiffness and backlash is proposed. The minimum circumferential backlash and the maximum circumferential backlash are obtained by the method of backlash deviation correction. The mechanism of grease film effect on time-varying backlash and meshing impact is studied, and the thermal lubrication behavior of grease film thickness change and backlash change is revealed. The analysis shows that the transmission mechanism of the autuator system is in the state of boundary lubrication. The dead zone model of continuous differentiable function approximating the backlash nonlinearity is designed, and the accurate compensation of backlash nonlinearity is realized. The simulation results verify the effectiveness of the proposed method.

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Surgical Robotic System for Endotracheal Intubation Based on Laryngeal Mask

Surgical Robotic System for Endotracheal Intubation Based on...

引用

control engineering and robotics (iscer), international symposium on

作者： Yibo Qin Dongqian Hu Jihong Huang Qixin Cao School of Mechanical Engineering ShangHai Jiao Tong University ShangHai China SJTU Paris Elite Institute of Technology ShangHai Jiao Tong University ShangHai China Department of Pediatric Cardiology Xinhua Hospital Affiliated To Shanghai Jiao Tong University School of Medicine Shanghai China

Considering the current teleoperation robot technology, this article provided a solution to accomplish the task of endotracheal intubation operation. An intubation mechanism is designed based on laryngeal mask, which is attached to the end of the robot. A corresponding robot teleoperation control system is established according to the characteristics of the mechanism design. This system is expected to have good performance in solving the problems of the current endotracheal intubation robots, including the difficulty of intubation movements; the high risk to cause secondary injury; the dependency of manual assistance in close distance, and the difficulty to achieve teleoperation. In order to test its performance, virtual environment simulation and corresponding experiments on human model are carried out. The results showed that surgeries using our system consumed shorter intubation time while keeping high intubation success rate, which met the needs of endotracheal intubation surgery.

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LSEPNet:Joint Prediction of Disparity and Semantics Based on Binocular Vision

LSEPNet:Joint Prediction of Disparity and Semantics Based on...

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control engineering and robotics (iscer), international symposium on

作者： Yang Yang Hongxia Gao An Chen Jianliang Ma Guoheng Liang Jiegeng Liu School of Automation Science and Engineering South China University of Technology Guangzhou China KUKA Robotics (Guangdong) Co. Ltd Foshan China Zhaoqing Honghua Electronic Technology Co. Ltd Zhaoqing China

Visual perception networks are often used to provide the necessary environmental information such as semantics and depth for mobile robots or autonomous driving. However, these networks can usually only complete one task. In practical applications, people often hope that an visual perception network can complete multiple tasks at the same time. In this work, We propose a lightweight visual perception network called LSEPNet with two branches of semantic segmentation and disparity estimation based on binocular vision system, which is composed of lightweight feature extraction module, feature fusion module based on attention mechanism, semantic decoder and disparity refinement module. Through feature fusion and joint loss function, LSEPNet can jointly train disparity estimation and semantic segmentation tasks end-to-end in real time. We evaluate the proposed network LSEPNet on KITTI2015 and Cityscapes datasets, and compare it with classic disparity estimation network and semantic segmentation network respectively, proving that LSEPNet can complete semantic segmentation task and disparity estimation task together in real-time with acceptable speed and accuracy.

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Research on Satellite Group Trajectory Planning and Task Scheduling Based on Improved Gray Wolf Algorithm

Research on Satellite Group Trajectory Planning and Task Sch...

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control engineering and robotics (iscer), international symposium on

作者： Yi Zhang Lingyao Lei College of Mechanical Engineering Hubei University of Technology Wuhan China

This paper describes and analyzes the problem of satellite cluster trajectory planning based on improved grey wolf algorithm. Firstly, the mathematical model of satellite cluster is established. In this paper, the fully distributed structure model is used to solve the control problem of three-degree-of-freedom autonomous satellites, and the dynamic topological interaction model is used to solve the communication problem between satellites, and the constraints that need to be met are indicated. Then, they are constructed as finite functions for path evaluation. In order to solve the path planning problem under the constraint conditions, we propose a new path planning method-differential evolution gray wolf algorithm, which also improves the diversity of wolf offspring through cross mutation, and obtains the nearest optimal path based on iterative rules. At the end of the paper, we have carried out simulation experiments on MATLAB. The simulation results show that the improved grey wolf algorithm is in good agreement with the control model, which not only satisfies the boundary constraints and direction constraints, but also greatly shortens the attitude maneuver time and reduces the number of times of falling into local optimum. The simulation has achieved good results.

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Design of Target Tracking Ball Gear Pan-Tilt System Based on Machine Vision

Design of Target Tracking Ball Gear Pan-Tilt System Based on...

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control engineering and robotics (iscer), international symposium on

作者： Weichong Gu Tingbo Huang Lei Zhao Zhilin Wu Zhihui Zhou School of Mechanical Engineering Nanjing University of Science and Technology Nanjing China Research & Development Centre Jiangsu Airship Co Ltd. Taizhou China

The trend of intelligent and unmanned industries benefited from the rapid development of information technology is more and more obvious. The unmanned combat platform has become a new combat force in anti-terrorism operations, relying on sensor, machine vision, communication, information fusion and other technologies. A design scheme of pan-tilt target tracking system based on machine vision is proposed here for the visual perception requirements of unmanned combat platform. A combination of YOLOv4-tiny and DeepSORT is used to identify and track personnel with cameras mounted on ball gears. When the target moves to the edge of view, the position information will be sent to the control circuit through serial communication, and the camera will be adjusted with the PID control algorithm to keep the target in the center of view. The experimental results showed that this system can achieve target tracking effectively in real time and the tracking success rate can reach 80% by optimizing with K-Means++ algorithm and PID controller.

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Design of Automatic Sorting and Transportation System for Fruits and Vegetables Based on Dobot Magician Robotic Arm

Design of Automatic Sorting and Transportation System for Fr...

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control engineering and robotics (iscer), international symposium on

作者： HaoZhan Li Chen Dong XiangYu Jia ShiHao Xiang ZhanJie Hu School of Computer Science and Engineering Tianjin University of Technology Tianjin China School of Materials Science and Engineering Tianjin University of Technology Tianjin China

Aiming at the problems of low automation level and efficiency in agricultural production of sorting and transportation facilities, an automatic sorting and transportation system for fruits and vegetables is designed based on the Dobot Magician robotic arm. The technique combines software with hardware and consists of four parts: a robotic arm, PC, industrial camera, and conveyor belt. The PC receives the information about the conveyor belt, writes the Python script to control the industrial camera to collect images of fruits and vegetables, and loads the YOLOv5s target detection model to identify the target for fruits and vegetables. According to the recognition results and the transformation relationship of the coordinate system, the system can precisely control the robotic arm to complete the sorting of fruits and vegetables and realize the high-efficiency automatic sorting and transportation for the whole process. The system separates the model loading process from YOLOv5s target detection, improves the JUMP movement mode, optimizes the movement path, avoids collisions during movement, and reduces the time spent on target detection and robotic arm movement. After testing, the accuracy rate of fruit and vegetable identification can reach 95%, and the accuracy rate of robotic arm grasping is about 90%.

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Research on Co-simulation of Underwater Robot Based on Webots and Matlab 2

Research on Co-simulation of Underwater Robot Based on Webot...

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2nd international Conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Wang, Qin Wang, Zhongxun Yao, Tong School of Physics and Electronic Information Yantai University Yantai China Weihai China

ISBN: (纸本)9798350308341

This paper aims to study a co-simulation method of underwater robots based on Webots and Matlab. With the increasingly extensive use of underwater vehicles, higher requirements are put forward for their control performance. Establishing precise control objects and control systems is the basis for verifying control performance, so it is of great significance to study the modeling and simulation of underwater vehicles. By applying the control system built based on Matlab to the underwater robot model built by the simulation physics engine of Webots, the control system can obtain the verification conditions of the control algorithm closer to reality, which not only improves the credibility of the simulation effect but also improves the development efficiency and reduces the cost of testing. By observing visual dynamic images and comparing test data, the feasibility of the design scheme is verified. © 2023 IEEE.

关键词： control systems

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Detection Refinement using Geometric Features for Robust Robotic Grasping

Detection Refinement using Geometric Features for Robust Rob...

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control engineering and robotics (iscer), international symposium on

作者： Jun Wang Linfei Wang Jiangming Li Xiaolong Liu Wen Wang Hao Li School of Information Science and Engineering Yunnan University Kunming China

End-to-end grasp detection networks show state-of-the-art grasp accuracy in the standard datasets; these datasets use oriented rectangles to represent grasp poses and evaluate based on intersection over union (IoU) score. However, the model trained on these datasets, while being able to accurately localize to the object itself, does not necessarily predict the robust grasp pose, as it does not take into account the geometric features of the object. In this paper, we propose a Grasp Refinement Algorithm using RGBD images, which constrains the grasping detection network to output more robust grasp poses by extracting shallow features (e.g., object central axis) of the target object. The grasp refinement algorithm mainly consists of a feature extraction module and a grasp refinement module. The feature extraction module extracts the central axis of the target object and the object skeleton based on the depth threshold, which are then fed sequentially into the grasp refinement module to optimize the grasp pose predicted by the grasp detection network. The proposed algorithm achieves state-of-the-art grasp detection accuracy on both the Cornell grasp dataset, the Jacquard grasp dataset, and a simulated grasp environment based on the YCB dataset, which shows that our algorithm outperforms its counterparts in terms of grasp robustness.

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Development of an Magnetic Resonance Compatible Multi-Dots Tactile Stimulation System

Development of an Magnetic Resonance Compatible Multi-Dots T...

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control engineering and robotics (iscer), international symposium on

作者： Yutong Wang Zhongyan Shi Siyu Wang Di Luo Jian Zhang Jinglong Wu School of Mechatronical Engineering Beijing Institute of Technology Beijing China School of Life Science Beijing Institute of Technology Beijing China School of Medical Technology Beijing Institute of technology Beijing China Division of Medical Bioengineering Graduate School of Natural Science and Technology Okayama University Okayama Japan

It is important to build somatotopic mapping of human hands at cortex level. The devices published in previous studies could not provide precise tactile stimuli output covering the whole hand. We introduce a novel tactile stimulation device including the actuating system and the control system. The device could generate multi-channel independent reciprocating stimuli actuated by bimorph based on the inverse piezoelectric effect. The actuating system consists of a position-adjusting part which could cover the whole hand and 23 independent stimulation dots array actuators which could improve the stability of the stimulus and the hand-conformability of equipment layout under high-intensity magnetic field. A prototype tactile stimulation system is designed to verify the output characteristics. The results show that the actuator unit of the device could generate stable 1.6mm displacement from 0–20 Hz under 200V driving voltage, which could be used in future somatotopic mapping of human tactile perception study.

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Research on Precision control Strategy of Space-Borne Pointing Mechanism 2

Research on Precision Control Strategy of Space-Borne Pointi...

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2nd international Conference on Automation, robotics and Computer engineering, ICARCE 2023

作者： Chang, Xia Wang, Chun Liu, Zhihong Beijing Institute of Space Mechanics and Electricity Beijing China

ISBN: (纸本)9798350308341

In order to achieve accurate imaging and positioning of targets with a wide field of view in the ocean, and to accomplish high-precision imaging in the region of space-borne point calibration, this article utilizes a design approach for controlling the position of a spatial pointing mirror based on closed-loop control using dual feedback of position and velocity. The article explains the composition of the system, the position closed-loop control algorithm, the angle solving method, and the quantization error. Aiming to address the issue of rounding errors in PWM, the software utilizes a delay correction compensation method for error compensation. The test results show that the design method can meet the requirements for high-precision pointing in orbit. This finding can serve as a reference for the subsequent development of high-precision pointing control software and similar products in space. © 2023 IEEE.

关键词： Error compensation

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