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

共 2494 条记录，以下是21-30 订阅

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State-of-the-art Research in Perception and control of Lower Limb Exoskeletons: A Systematic Review 3

State-of-the-art Research in Perception and Control of Lower...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Luo, Xiaofeng Ma, Yang Cai, Zhibin Zhou, Tianqi Liu, Xiaoyu Long, Yi Weapon Equipment Research Institute China Ordnance Industries Group Beijing China School of Mechanical Engineering and Automation Northeastern University Shenyang China Northeastern University Faculty of Robot Science and Engineering Shenyang China Foshan Graduate School of Innovation Northeastern University Foshan China

ISBN: (纸本)9798350367119

The lower limb exoskeleton is an intelligent robot worn by the human body and moves in coordination with the human limbs. It can enhance the human body's weight-bearing capacity, maneuverability and operation capabilities. Perception and control, as the brain of the exoskeleton robot, directly determine its collaborative performance and auxiliary effect with the main body. However, the current lower limb exoskeleton has not been widely adopted. One of the reasons is that the 'brain' of the exoskeleton robot is not intelligent enough. Therefore, this article reviewed relevant literature on lower limb exoskeleton sensing and control technology in the past five years, and studied the impact of different sensing methods and control strategies on exoskeleton performance. In addition, this article discusses the current challenges of lower limb exoskeletons and provides some innovative insights into future research directions to promote the further development of lower limb exoskeleton technology. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Lateral control Method for Autonomous Driving Based on Model Prediction and Fuzzy Reasoning 24

Lateral Control Method for Autonomous Driving Based on Model...

引用

3rd international Symposium on control engineering and robotics, ISCER 2024

作者： Xiong, Liang Du, Yu School of Robotics Beijing Union University Beijing Key Laboratory of Information Services Engineering Beijing100101 China

ISBN: (纸本)9798400709951

This paper proposes a lateral control method based on model prediction and fuzzy reasoning to address the issues of low solution efficiency and slow convergence speed, as well as insufficient robustness of reinforcement learning methods in lateral control of autonomous vehicles. The proposed method utilizes a fuzzy inference system to generate initial solutions and incorporates policy gradient and reward function optimization into Model Predictive control. Validation through MATLAB and Carla simulations demonstrates that this method can accelerate the convergence speed of reinforcement learning, reduce the number of iterations, improve control effectiveness, and achieve satisfactory results in simulation environments. © 2024 ACM.

关键词： Prediction models

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Fault-Tolerant control for Delayed PDE-ODE Coupled Systems 3

Fault-Tolerant Control for Delayed PDE-ODE Coupled Systems

引用

3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Shi, Xi-Dong Wang, Zi-Peng Yan, Xue-Hua Zhang, Xiao-Wei University of Jinan School of Electrical Engineering Jinan China Beijing University of Technology Faculty of Information Technology Beijing China Tiangong University School of Control Science and Engineering Tianjin China

ISBN: (纸本)9798350360813

This paper introduces a fault-tolerant control strategy for delayed PDE-ODE coupled systems. By using a Lyapunov functional (LF), a fault-tolerant control design is developed by space-dependent linear matrix inequality (SDL-MI) to ensure the exponential stability (ES) for the closed-loop delayed PDE-ODE coupled system. Finally, the effectiveness of the control approach is demonstrated through its application to a hypersonic rocket car (HRC). © 2023 IEEE.

关键词： Lyapunov functions

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Development of an Accelerometer-based Data Acquisition System for Hand Gesture Recognition 3

Development of an Accelerometer-based Data Acquisition Syste...

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3rd IEEE international conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

作者： Tajwar, Atique Haque, Md. Ettashamul Hasan, Md Mehedi University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh

ISBN: (纸本)9798331534400

This study presents a novel approach to Human-Robot Interaction (HRI) by employing gesture recognition to control robotic systems, such as bionic arms or manipulators, through accelerometer-based data collection. Using a low-cost glove equipped with an ESP32 microcontroller and accelerometer, data was gathered from 22 participants performing five distinct gestures: a clockwise circle, square, triangle, double tap, and the letter S. After filtering, these gestures were translated into features that trained a small neural network model designed for low-storage microcontrollers like the ESP32. With a performance accuracy of 90.4%, the neural network outperformed existing ensemble learning models, demonstrating its suitability for real-time gesture recognition tasks in embedded robotic systems. This highly efficient model enables seamless and intuitive control of robotic devices by facilitating responsive and natural HRI through gesture recognition. Designed specifically for compact and resource-limited environments, the model addresses the challenges associated with limited computational resources and restricted hardware capabilities. It provides a robust and scalable solution that can be easily integrated into various robotics applications, where gesture-based control is advantageous. © 2024 IEEE.

关键词： Accelerometers

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Research on Trajectory Tracking control of Forklift-Type AGV Based on Fuzzy MPC 3

Research on Trajectory Tracking Control of Forklift-Type AGV...

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3rd international conference on Service robotics, ICoSR 2024

作者： Liu, Yuxing Zhu, Xiaojing Wang, Yuhuai School of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

In order to address the problem of achieving high tracking precision for forklift-type Automated Guided Vehicle (AGVs) along variable curvature trajectories, this paper proposes a trajectory tracking control method based on fuzzy MPC for forklift-type AGVs. Firstly, a kinematic model of the forklift-type AGV with single-wheel steering is established, and the kinematic equations of single-wheel steering are derived. Subsequently, a traditional linear MPC controller based on Model Predictive control theory is established to control the steering angle of the single-wheel. Furthermore, the impact of different weighting coefficients Q and R on the tracking accuracy of variable curvature trajectories are investigated. Finally, a fuzzy MPC controller is designed to adaptively adjust the weighting coefficients according to actual working conditions. Simulation results demonstrate that when tracking at speeds of 1 m/s and 2 m/s, maximum lateral errors were reduced by 79.5% and 76.4% respectively. Compared with traditional MPC, the adaptive weighting coefficient MPC achieves superior tracking performance, which bears practical significance in real-world applications. © 2024 IEEE.

关键词： Predictive control systems

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Design and Tracking control of a Robot Arm for Climbing the Outer Wall of a Pipeline 3

Design and Tracking Control of a Robot Arm for Climbing the ...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Lei, Chunming Wang, Binrui Wang, Lina College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

Owing to the confined spatial constraints on the exterior of oil pipelines, the capability of a wall-climbing robot to inspect the welds is impeded by its lack of rotational mobility. To address this limitation, the present study initially develops a unidirectional articulated appendage integrated into the robot's design. The manipulator is mainly composed of steering engine, fixed synchronization belt and c ring rack. Secondly, the trajectory control of the needle manipulator in the working process has the disadvantages of large error deviation, poor robustness and low efficiency. A neural network adaptive control method is proposed. Confronted with trajectory deviations stemming from manipulator system inaccuracies and frictional disturbances, this study employs a Radial Basis Function (RBF) neural network for the identification and compensation of dynamic model uncertainties, thereby enhancing the precision of the actuating torque. Subsequently, by fine-tuning the adaptation law coefficients of the neural network weights, the formulated control strategy, inclusive of the identification outcomes, adheres to the Lyapunov stability criteria, thereby substantiating the system's dynamic stability. © 2024 IEEE.

关键词： Stability criteria

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VIoT: A Voice and IoT controlled Unmanned Automated Vehicle 3

VIoT: A Voice and IoT Controlled Unmanned Automated Vehicle

引用

3rd international conference on Advancement in Electrical and Electronic engineering, ICAEEE 2024

作者： Rahman, Naimur Sadi, Muhammad Sheikh Saeed, Md. Abu Khulna University of Engineering & Technology Department of Computer Science and Engineering Khulna Bangladesh

ISBN: (纸本)9798350388282

VIoT, a Voice and IoT controlled Unmanned Automated Vehicle (UAV), pioneers a blend of Voice, IoT, and Bluetooth technologies to redefine remote-controlled robotics. Powered by Rock Pi 3a and an Android app, users seamlessly control the car using Bengali voice commands transmitted through IoT for long-range communication. It also uses Bluetooth for short-range operations if the vehicle is within approximately 20 meters of range from the controlling app. The dual-mode control mechanism offers flexibility, allowing users to steer the robotic car through the Android app effortlessly. Leveraging Google Speech Recognition API for Bengali voice input, this paper establishes a new standard for user-friendly robotic interfaces. Using WebSocket instead of an actual database like Firebase as the medium of data passing for IoT communications significantly solves latency problems. The comprehensive hardware setup includes Rock Pi 3a, L293D motor driver, and basic components, setting a milestone in human-robot interaction and expanding adaptability across various applications. © 2024 IEEE.

关键词： Remote control

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Neural Network control of Pneumatic Muscle Robot With CPG Spindle Reflex 3

Neural Network Control of Pneumatic Muscle Robot With CPG Sp...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Chen, Zeling Wang, Binrui Wang, Lina College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

The research subject is a 2-degree-of-freedom leg mechanism that utilizes two opposing pneumatic muscle joints connected in sequence. On this basis, a dynamic model and a neural network control law is established, the trajectory tracking and anti-interference research are carried out by integrating the Central Pattern Generator and spindle reflection. Firstly, a neural network adaptive controller is designed for PAM single-leg dynamics model of the PAM quadruped robot. The neural network-estimated joint torque is employed to address the issue of pneumatic muscle pressure disparity, other, the rhythm signal under the walking gait of the Central Pattern Generator is used as the upper control input. Secondly, the rate of change of the contraction velocity of the pneumatic muscle under external disturbance is analyzed, and the external model of the spindle reflection of the Central Pattern Generator is established to compensate for the external disturbance. Finally, simulation verification is carried out in two cases half-sine pulse and trapezoidal pulse. The outcomes of the experiment indicate that the target signal can be efficiently rectified. © 2024 IEEE.

关键词： Pneumatic control

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Application of Udwadia-Kalaba Approach to Tracking control of Surgical Robot 3

Application of Udwadia-Kalaba Approach to Tracking Control o...

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3rd international conference on Service robotics, ICoSR 2024

作者： Qin, Feifei Liu, Zexuan Fang, Junwei Wang, Binrui College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

There is a significant anticipated shift from operating theater (OT) surgery to digital OT, with Robotic Assisted Surgery (RAS) emerging as the most representative aspect of this transformation. RAS which uses robot to assist the surgeon while operating a patient offers several technical advantages such as greater precision, and more accurate compared with conventional surgery. The paper introduces an explicit dynamic control equation for a surgical slave robot, leveraging the UK theory, which provides a succinct and precise equation of motion for constrained mechanical systems with holonomic or nonholonomic constraints. The performance specifications, including the required trajectory, are regarded as servo constraints in a second-order matrix format. These secondorder constraints are integrated into the dynamics and constraint-following control. The UK theory is utilized to derive a closed-form expression for the control force necessary to accurately guide the surgical robot along the predefined trajectory. Notably, no approximations, linearizations, or auxiliary variables like Lagrangian multipliers or pseudogeneralized speeds are employed in the dynamic modeling or analysis. Simulation results show the simplicity, efficacy and accuracy of the proposed approach when applied to the surgical robot. © 2024 IEEE.

关键词： Lagrange multipliers

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Experimental Study on the Flow Field Characteristics of Vertical Venturi Valves 3

Experimental Study on the Flow Field Characteristics of Vert...

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3rd international conference on Innovations and Development of Information Technologies and robotics, IDITR 2024

作者： Gao, Zhijun Wang, Jv Shang, Tong Ge, Huan Li, Kexun Shenyang Jianzhu University School of Electrical and Control Engineering Shenyang China

ISBN: (纸本)9798350385694

A design proposal was put forward to enhance the precision of air flow control in the chemical laboratory, national biosynthesis laboratory, clean room, and other areas. This proposal involves the implementation of a vertical venturi air volume control valve. The flow field distribution characteristics of this valve were analyzed using Computational Fluid Dynamics (CFD) technology. CFD technology was utilized to model and simulate the flow field of the vertical venturi air volume control valve. Subsequently, the optimization design for enhancing the adjustment accuracy of the vertical venturi air volume control valve was successfully accomplished. A performance test bench was constructed for the vertical venturi air volume control valve to facilitate the enhancement of product design. The test method and steps for measuring the air volume in the device were outlined, and the test results demonstrated that the designed vertical venturi air volume control valve met the specified accuracy requirements. Acquire expertise in the fundamental technology of these products and rapidly improve market competitiveness. © 2024 IEEE.

关键词： Computational fluid dynamics

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