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检索条件"任意字段=3rd International Conference on Control and Robotics Engineering, ICCRE 2018"

共 2484 条记录，以下是11-20 订阅

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ICINCO 2006 - 3rd international conference on Informatics in control, Automation and robotics, Proceedings

ICINCO 2006 - 3rd International Conference on Informatics in...

引用

3rd international conference on Informatics in control, Automation and robotics, ICINCO 2006

ISBN: (纸本)9728865619

The proceedings contain 175 papers. The topics discussed include: Holonic Stigmergy as a mechanism for engineering self-organizing applications;symbiosis of human and communication robots;wave-based control of flexible mechanical systems;a multi-agent home automation system for power management;distributed emergency management with spatial scenarios;Monte Carlo localization in highly symmetric environments;a performance metric for mobile robot localization;simultaneous localization and mapping in unmodified environments using stereo vision;a solution for evaluating the stopper quality in the cork industry;estimation of performance of heavy vehicles by sliding modes observers;features extraction and training strategies in continuous speech recognition for Romanian language;sonar buoys: an improved design approach;an algorithm evaluation test suite for blind source separation problem;and the use of modulating functions for identification of continuous systems with time-varying parameters.

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A Hybrid Nut Sorting System: Utilizing Machine Vision and Augmented Information for Efficient Human-Robot Collaboration 3

A Hybrid Nut Sorting System: Utilizing Machine Vision and Au...

引用

3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Sangchai, Kanisorn Adirekkittikun, Wongsakorn Vivatanaprasert, Kevin Boonpun, Methasit Chokthitirath, Wongpakorn Thipyophat, Nutdanai International School of Engineering Chulalongkorn University Robotics and Artificial Intelligence Faculty of Engineering Bangkok Thailand

ISBN: (纸本)9798331544546

Efficient sorting and classification of nuts is a critical task in various industries, yet current methods often rely on machine vision systems that inspect each nut individually, making the process time-consuming and inefficient. Additionally, most processes are fully automated, lacking the option for human monitoring or intervention. The novelty of this paper lies in the development of a hybrid nut sorting system that combines machine vision with augmented information to facilitate efficient human-robot collaboration. Unlike traditional fully automated systems that exclude human involvement, our approach integrates a projector-based visual aid to provide real-time, easily interpretable information for manual or semi-automated sorting. Additionally, the system incorporates a CoreXY robot path and mechanism, enabling collaboration between humans and robots. The detection system consistently identifies nuts of different sizes with reliable accuracy, particularly for simultaneous multi-object detection compared to singular detection methods. As a hybrid sorting system, our solution also allows humans to manually sort nuts at a faster rate than the machine while utilizing the system's assistance. © 2025 IEEE.

关键词： Collaborative robots

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Incremental Sliding-Mode control for Morphing Flight Vehicles Subject to Mismatched Uncertainties and Input Saturations 3

Incremental Sliding-Mode Control for Morphing Flight Vehicle...

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3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Hua, Siyu Wang, Xugang Wang, Zhongyuan Lee, Heow Pueh National University of Singapore School of Energy and Power Engineering Nanjing University of Science and Technology Department of Mechanical Engineering China School of Energy and Power Engineering Nanjing University of Science and Technology China National University of Singapore Department of Mechanical Engineering Singapore

ISBN: (纸本)9798331544546

This work focuses on a novel incremental sliding mode controller (ISMC), integrated with an anti-windup compensator (AW), for a morphing flight vehicle subject to uncertainties and input saturations. The ISMC consists of two loops based on a control-oriented model of the morphing vehicle with symmetric-sweep wings. Theoretical analysis shows that there is no need to apply chattering reduction methods as the ISMC itself is a continuous function without any approximation compared to conventional sliding mode control structures. The ISMC also has demonstrated enhanced robustness against matched uncertainties and, notably, mismatched uncertainties. Furthermore, it exhibits some anti-saturation capability. By incorporating the AW design, the system achieves improved robustness against uncertainties and input constraints with reduced model dependency. The advantages of ISMC-AW are validated through comparative simulations under multiple uncertainties. Compared with an adaptive sliding mode controller combined with an anti-saturation auxiliary system (ASMC-AS), the proposed ISMC-AW demonstrates smaller tracking errors, a higher convergence rate, and lower vibration amplitudes, and it can help the actuator exit the saturation region rapidly. © 2025 IEEE.

关键词： Sliding mode control

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Stabilization and Performance Analysis of Double Link-Rotary Inverted Pendulum Using LQR-I controller 3

Stabilization and Performance Analysis of Double Link-Rotary...

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3rd IEEE international conference on Industrial Electronics: Developments and Applications, ICIDeA 2025

作者： Rai, Anjali Bhushan, Bharat Jaint, Bhavnesh Delhi Technological University Electrical Engineering Department New Delhi India

ISBN: (纸本)9798331533205

This paper presents an optimal LQR-Integral based controller (LQR-I) for balancing control of the Double Link Rotary Inverted Pendulum (DL-RIP) system. It is one of the challenging topics in control and robotics due to its nonlinearity and instability, also complex system due to 3 degree of freedom rotary system. This system uses a motor to control and balance two rigid links serially connected pendulums in a vertically upward direction. Pole-zero mapping is used to determine the stability of the system. In this paper, a performance analysis of the system is done with an LQR-I controller using three reference paths (Square, Sawtooth, and Sinusoidal wave), two of which are discontinuous and one continuous path. The system shows less overshoot and deflection to stabilize the pendulum vertically upwardly with a continuous sinusoidal reference path compared to a square and sawtooth wave. © 2025 IEEE.

关键词： Proportional control systems

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Industrial Ahu control Improvements using Fuzzy Logic for Energy Efficiency and Comfort 3

Industrial Ahu Control Improvements using Fuzzy Logic for En...

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3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Sulaiman, Syahmirullah Rusydi, Muhammad Razif, Muhammad Swee, Alan Tan Thiam Hashim, Hairulazwan Shabani, Hikma Universiti Tun Hussein Onn Malaysia Faculty of Engineering Technology Johor Malaysia IETCO EnergyCap Sdn Bhd Selangor Malaysia School of Electrical and Communications Engineering Papua New Guinea University of Technology Lae Papua New Guinea

ISBN: (纸本)9798331544546

This study focuses on how fuzzy logic control can improve the efficiency and performance of Air Handling Unit (AHU) systems. Traditional methods of controlling AHUs, like fixed-frequency operation, often waste energy, cause unstable temperatures, and wear out equipment faster. To solve these problems, a fuzzy logic controller was designed to regulate motor frequency and motorized valve positions based on real-time inputs from Supply Air Temperature (SAT) and Return Air Temperature (RAT). The controller used Modbus communication to exchange data between Variable Frequency Drive (VFD). The system was tested over 21 days at a commercial building, comparing its performance to fixed-frequency settings between 40 Hz to 50 Hz configuration. The results showed that fuzzy logic control could reduce energy usage by up to 38% and stable temperatures. This research shows that fuzzy logic can improve energy efficiency and comfort in HVAC systems, making it a useful solution for modern building management. © 2025 IEEE.

关键词： Telecontrol equipment

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Deployment of Large Language Models to control Mobile Robots at the Edge 3

Deployment of Large Language Models to Control Mobile Robots...

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3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Sikorski, Pascal Schrader, Leendert Yu, Kaleb Billadeau, Lucy Meenakshi, Jinka Mutharasan, Naveena Esposito, Flavio Aliakbarpour, Hadi Babaias, Madi Saint Louis University Computer Science Department Saint Louis United States Saint Louis University Aerospace & Mechanical Engineering Department Saint Louis United States

ISBN: (纸本)9798331544546

This paper investigates the possibility of intuitive human-robot interaction through the application of Natural Language Processing (NLP) and Large Language Models (LLMs) in mobile robotics. This work aims to explore the feasibility of using these technologies for edge-based deployment, where traditional cloud dependencies are eliminated. The study specifically contrasts the performance of GPT-4-Turbo, which requires cloud connectivity, with an offline-capable, quantized version of LLaMA 2 (LLaMA 2-7B.Q5 K M). These results show that GPT-4-Turbo delivers superior performance in interpreting and executing complex commands accurately, whereas LLaMA 2 exhibits significant limitations in consistency and reliability of command execution. Communication between the control computer and the mobile robot is established via a Raspberry Pi Pico W, which wirelessly receives commands from the computer without internet dependency and transmits them through a wired connection to the robot's Arduino controller. This study highlights the potential and challenges of implementing LLMs and NLP at the edge, providing groundwork for future research into fully autonomous and network-independent robotic systems. © 2025 IEEE.

关键词： Mobile robots

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Sugar Cane Yield Prediction Using Drone Data Processed by LSTM Algorithm 3

Sugar Cane Yield Prediction Using Drone Data Processed by LS...

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3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Arakawa, Kotetsu Shimizu, Ryusei Kikuchi, Shota Capi, Genci Hosei University Graduate School of Science and Engineering Dept. of Mechanical Eng. Tokyo Japan

ISBN: (纸本)9798331544546

Sugarcane is an essential crop in southwestern Japan, particularly in Okinawa and Kagoshima, where it sustains local economies and supports large-scale sugar production. Traditional yield prediction relies on labor-intensive field surveys and is increasingly challenged by a shortage of skilled labor, resulting in potential inaccuracies. This work proposes an innovative approach to sugarcane yield prediction by combining Long Short-Term Memory (LSTM) models with Genetic Algorithms (GA) to optimize model performance. Drone-based data collection methods are also explored, leveraging aerial imagery to provide additional predictive features. The proposed model demonstrates the effectiveness of integrating time-series and spatial data, offering a scalable and accurate solution for improving yield forecasting and supporting efficient operations in sugarcane production. © 2025 IEEE.

关键词： 3D Map building Drone navigation Sugar cane yield prediction

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Latent 3D Scene Graph with Aligned Visual-Language Perception for Object-Goal Navigation 3

Latent 3D Scene Graph with Aligned Visual-Language Perceptio...

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3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Zhang, Jianwei Zhou, Kang Yang, Junjie Li, Xiaojian College of Engineering Southern University of Science and Technology Shen Zhen China School of Computer Science City University of Hong Kong Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shen Zhen China

ISBN: (纸本)9798331544546

Object-goal navigation requires agents to accurately locate and navigate to specified target objects in complex indoor environments. Existing methods primarily rely on single visual observations or simple semantic matching, making it difficult to effectively understand 3D scene relationships between target objects, which leads to inefficient path planning during navigation. Furthermore, the feature discrepancy between visual and language modalities poses challenges for accurate target identification. To address these issues, we propose Latent 3D Scene Graph with Aligned Visual-Language Perception (LSGAP), a novel approach that explicitly models 3D scene relationships between objects through depth perception and latent 3D scene graph construction. Meanwhile, we leverage multimodal pretraining strategies to achieve effective visual-language feature alignment, enhancing the model's target recognition capabilities. This end-to-end architectural design improves spatial cognition ability and enables more efficient navigation decision-making. We conduct extensive experimental evaluations in the AI2THOR interactive environment to validate the effectiveness of our navigator. © 2025 IEEE.

关键词： Depth perception

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Adaptive Reduced Fuzzy Decoupling control for Lower Limb Exoskeleton with Uncertainties 3rd

Adaptive Reduced Fuzzy Decoupling Control for Lower Limb Exo...

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3rd international conference on Advances in Information and Communication Technology, ICTA 2024

作者： Nguyen, Van-Truong Tran, Duc-Duong Le, Ngoc-Duy Dang, Van-Truong School of Mechanical and Automotive Engineering Hanoi University of Industry Hanoi Viet Nam Faculty of Engineering Technology Hung Vuong University Viet Tri Viet Nam

ISBN: (纸本)9783031809422

In this paper, an adaptive reduced fuzzy decoupling controller is developed for a lower limb rehabilitation exoskeleton robot (2-DOF) in the case of uncertainties. With decoupled control, the initial overall MIMO system is separated into a set of individual MISO subsystems for independent control. A simplified adaptive fuzzy is proposed to reduce computation time, addressing the issues of traditional fuzzy systems. The controller has good control quality, tracking the human gait motion trajectory with uncertainty. Simulation results show that the proposed controller performs better than the traditional fuzzy controller. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Exoskeleton (robotics)

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Zonotope-based fault estimation for Lipschitz nonlinear systems 3

Zonotope-based fault estimation for Lipschitz nonlinear syst...

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2024 3rd international conference on Aerospace and control engineering, ICoACE 2024

作者： Ma, Siyuan Zhang, Wei Jiang, Qiang Gao, Sheng School of Automatic and Electrical Engineering Shenyang Ligong University Shenyang110158 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai200120 China

An estimation of fault intervals using a T-N-L structured observer is suggested for Lipschitz nonlinear systems. By augmenting state vectors, the augmentation system and its observer are established, enabling the observer to concurrently estimate fault and system states. The L∞ performance is applied to enhance the resilience of the fault interval estimation to external disturbances and unanticipated inputs. An adequate requirement for the observer design is also presented. The interval estimation of states and faults is ultimately created by using a zonotope. The proposed method exhibits advantages and feasibility when compared to existing simulation techniques. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Nonlinear systems

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