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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31-40 订阅

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Optimized control Strategy for Self-Balancing Robot: Micro-Stepping Motors and PID Algorithm 3

Optimized Control Strategy for Self-Balancing Robot: Micro-S...

引用

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

作者： Muhiuddin, Md. Muhiul Islam Taki, Akil Ahmad Zahin, Khondokar Karim, Md. Jawadul Al Kais, Syed Muid Bangladesh University of Engineering and Technology Department of Electrical and Electronic Engineering Dhaka1205 Bangladesh

ISBN: (纸本)9798331534400

This research includes the creation and execution of a Self-Balancing Robot (SBR) that is operated by stepper motors. The robot's primary operation depends on the accurate manipulation of pulse-driven stepper motors, obviating the necessity for a feedback loop. The design utilizes two NEMA-17 stepper motors to control the wheels. It exploits micro-stepping to achieve a stepping angle of 1.8 degrees and minimize overshoot, ringing, and resonance. The SBR incorporates a strategically positioned battery to achieve a design that is weighted towards the top, hence improving the sensation of input when tilting. The essential electronic components include an Arduino Uno microcontroller, DRV8825 stepper motor drivers, an HC-05 Bluetooth module, and an MPU-6050 sensor for measuring the pitch angle through sensor fusion. The control system employs a Proportional-Integral-Derivative (PID) controller to modify motor inputs according to the tilt angle, assuring stability. In addition, we provide a mathematical model of the stepper motor's properties and a state-space description of the *** into design concerns for such applications are provided by experimental data and model simulations that show how well the components and control algorithms work together to preserve the SBR's equilibrium. © 2024 IEEE.

关键词： Stepping motors

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Trajectory Tracking Compliant control for Lower Limb Exoskeleton Based on Interaction Torque Estimation 3

Trajectory Tracking Compliant Control for Lower Limb Exoskel...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Zeng, Haozhou Liu, Xiangzhi Huang, Xiaopeng Liu, Tao School of Mechanical Engineering Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou China

ISBN: (纸本)9798350367119

The lower limb rehabilitation exoskeleton significantly enhances walking function in patients with lower limb motor dysfunction. Understanding the human-machine interaction force is crucial for studying the control mechanisms of the exoskeleton. This research employs a back propagation neural network (BPNN) to estimate interaction torque, eliminating the need for torque sensors and thereby lowering the cost and complexity of the exoskeleton hardware. Besides, it has higher estimation accuracy compared to the dynamic modeling method. Knowing the torque information, we design a trajectory tracking compliant controller. The controller adopts the admittance control method to ensure compliance and safety. By specifying the desired lower limb motion trajectory, the controller helps guide the user's gait toward the physiology gait pattern. The effectiveness of the controller based on torque estimation was verified on a prototype lower limb exoskeleton. Firstly, the torque estimation error based on BPNN is reduced by 33% compared with the modeling method. Besides, the trajectory tracking controller reduces the absolute value of interaction torque by 30% compared with the transparent mode and makes the user's gait consistent with the target trajectory. This work advances lower limb exoskeleton control technology and positively contributes to the recovery of patients with gait abnormalities. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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TinyML Speech Classification Embedded Ai Module for Hand Rehabilitation Device 3

TinyML Speech Classification Embedded Ai Module for Hand Reh...

引用

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

作者： Numsomran, Arkorn Numsomran, Arjin Chaoraingern, Jutarut Triam Udom Suksa Pattanakarn Suvarnabhumi School Bangkok Thailand School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Instrumentation and Control Engineering Bangkok Thailand School of Engineering King Mongkut's Institute of Technology Ladkrabang Department of Robotics and AI Engineering Bangkok Thailand

ISBN: (纸本)9798331544546

Recent advancements in artificial intelligence and machine learning have significantly improved healthcare, especially in the development of assistive technologies for rehabilitation. This paper introduces a method for hand rehabilitation that utilizes the capabilities of tiny machine learning to enhance speech classification in a rehabilitation device. The proposed method employs a CNN model capable of classifying speech signals that are indicative of different hand movement patterns. Patients emit these speech signals during prescribed hand exercises, which are crucial for their rehabilitation process. The main focus of this study is on training and deploying a speech classification system that can work in the resource-limited environment of TinyML platforms. We detail the process of capturing speech data, preprocessing it, and extracting the most features relevant to different hand movements. Our results show that using TinyML to help with hand rehabilitation works. The method we came up with shows how TinyML could change the way rehabilitative devices are controlled, and it also shows us what personalized and easy-to-use rehabilitation tools might look like in the future. © 2025 IEEE.

关键词： Human rehabilitation equipment

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The Design of Robotic Arm Based on ROS 3

The Design of Robotic Arm Based on ROS

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Zhu, Mingyi Lv, Xiaolong Zuo, Siyang Zhang, Xinyu College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin China Undergraduate School Harbin Engineering University Harbin China

ISBN: (纸本)9781665492126

In this paper, the design of a ROS-based robotic arm is introduced from three aspects: structure, hardware and software. In order to reduce the mass of the entire robotic arm, the connecting rod of the robot arm is mainly made of carbon fiber material. Different loads lead to a decline in the control accuracy of the joint angle of the robotic arm. To solve this problem, we added a gravity compensation system to the control system of the robotic arm. In addition, we designed a software framework that can be widely used in various robotic arm systems. Finally, we carried out a test experiment on the robotic arm. © 2023 IEEE.

关键词： control systems

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Neural Command: Real-Time EEG-Based Brain-Computer Interface for Assistive Robotic control 3

Neural Command: Real-Time EEG-Based Brain-Computer Interface...

引用

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

作者： Vasker, Nishat Shakib Sakibur Rahman, M.D. Arafat, Yasin Ul Islam, Raihan East West University Department of Computer Science and Engineering Dhaka Bangladesh

ISBN: (纸本)9798331534400

This paper presents a method to help people with disabilities interact with their surroundings using brainwave signals. Since individuals with disabilities often depend on different types of transportation, this research focuses on enabling the real-time control of a robotic vehicle through non-invasive brain-computer interfaces (BCI).Can brain-computer interfaces (BCIs) based on EEG signals control a robotic car in real time? The MUSE headband is used to capture brain waves, and the signals are processed through PETAL metrics and a server within a Brain Wave Processing Unit. Subsequently, they are transmitted via WiFi/IPv4 to a Vehicle control Unit with esp8266 microcontroller. The system underwent rigorous evaluation, achieving an 85% control accuracy and an average response time of 300 milliseconds. These results highlight the system's effectiveness in real-time applications, offering precise and rapid response capabilities suitable for assistive technology. This research represents a contribution to the development of advanced BCI-based assistive devices, demonstrating the potential for improved human-machine interaction. The high accuracy and low latency of the system emphasize its suitability for environments where swift and reliable control is crucial, particularly for individuals with mobility impairments. © 2024 IEEE.

关键词： Human robot interaction

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Hierarchical Generation of Action Sequence for Service Rots Based on Scene Graph via Large Language Models 3

Hierarchical Generation of Action Sequence for Service Rots ...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Gu, Yu Tian, Guohui Jiang, Zhengsong School of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9798350367119

To enhance the task execution capability of home service robots and address the issues of uncontrolled output quality of LLMs and the inability to update information autonomously, we propose the Hierarchical Action Sequence Generation (HGAS) framework for home service robots based on scene graphs and Large Language Models (LLMs). The HGAS framework, which is an innovative approach to action sequence generation by combining the LLMs and the graph editing algorithm, is uniquely designed to process the service task-related textual descriptions and scene images. A scene graph generation model has been developed to convert the textual output of the LLMs into scene graphs. Furthermore, an information updating and error correction system has been developed to obtain information about the environment and to replan when the scene changes and the generated actions fail. The effectiveness of our approach was demonstrated by evaluating both the Unity 3D environment and the real robot TIAGo. © 2024 IEEE.

关键词： action sequence generation large language models scene graph service robot

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Dynamic-Memory Event-Triggered control Approach and Its Application to Linear Systems 3

Dynamic-Memory Event-Triggered Control Approach and Its Appl...

引用

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

作者： Yang, Jin Zhou, Xian Wang, Shihao Zhong, Qishui Shi, Kaibo Hua, Lanfeng University of Electronic Science and Technology of China School of Aeronautics and Astronautics Chengdu China Chengdu University School of Electronic Information and Electrical Engineering Chengdu China

ISBN: (纸本)9798350360813

The dynamic-memory event-triggered control problem for networked control systems is investigated in this paper. Firstly, a dynamic-memory event-triggered scheme (DMETS) is proposed to reduce the unnecessary data transmission. Then, a unified event-triggered control system model is established by applying the DMETS to linear system with time delay. Further, the asymptotic stability criteria are developed by constructing appropriate Lyapunov functional, and the design approach of controller is presented by using linear matrix inequality technology. Finally, the effectiveness of controller and the advantages of DMETS are verified by giving illustrative examples. © 2023 IEEE.

关键词： Time delay

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Proceedings of 2024 3rd international Symposium on robotics, Artificial Intelligence and Information engineering, RAIIE 2024

Proceedings of 2024 3rd International Symposium on Robotics,...

引用

3rd international Symposium on robotics, Artificial Intelligence and Information engineering, RAIIE 2024

ISBN: (纸本)9798400718311

The proceedings contain 24 papers. The topics discussed include: research on intelligent patrol system for wind power station;tightly-coupled lidar-based lifelong mapping using wheels and a MEMS gyroscope for mobile robots in dynamic environment;an adaptive mutation strategy improved SPEA2 algorithm for multi-objective web service composition;search for lost submersibles based on the greedy ant algorithm;a path tracking method and validation experiment for robotic manta;an accelerative method for multi-agent path finding considering shapes;dynamic target tracking strategy for manta ray robot inspired by fish behaviors;motion control strategies for industrial robots and their performance evaluation;a single-wheel test platform for wheel-terrain interaction simulation of planetary rovers;and research on the design of elderly accompanying robots from the perspective of smart wellness.

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Research on Space High Stability Optical Scanning Servo System 3

Research on Space High Stability Optical Scanning Servo Syst...

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3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Pengfei, Wu Zenghao, Chen Yutong, Zhu Zhenfeng, Fang Fengdan, Zu Shanghai Aerospace Control Technology Institute Shanghai Engineering Research Center of Inertial Shanghai China

ISBN: (纸本)9781665492126

To improve the low-speed stability of the space optical scanning servo system, a method to estimate speed using the least-squares fit based on FPGA was proposed. The multi-order least-squares polynomial is used to fit the position tracking curve, and the derivative was used to calculate the speed of the optical scanning mechanism. Through simulation and experiment, the stability of this method and the traditional M-method speed measurement method under low-speed working conditions were compared. Results show that the new method has improved accuracy while low-speed working conditions and improved stability by more than 4 arcsec (3σ). © 2023 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Customized Touch UI Development for E-Cockpit in Automobile 3

Customized Touch UI Development for E-Cockpit in Automobile

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3rd international conference on Smart Technologies, Communication and robotics, STCR 2023

作者： Sivaraj, D. Rathika, P.D. Jayasree, D. Dwarkesh Psg College of Technology Department of Electronics and Communication Engineering Coimbatore India Psg College of Technology Department of Robotics and Automation Engineering Coimbatore India Psg Polytechnic College Department of Electronics and Communication Engineering Coimbatore India Psg College of Technology Department of Computer Science and Engineering Coimbatore India

ISBN: (纸本)9798350370867

In recent times, the automotive industry has made significant steps towards digitization by focusing on electronic cockpits (E-Cockpits) to enhance the driving experience, comfort and safety. The incorporation of Touch-Based User Interface (UI) technologies has played a crucial role in revolutionizing Driver-Vehicle interaction [10]. The project of E-Cockpit represents a concept that consolidates various internal car systems onto one unified digital platform, enabling seamless control and access to essential infotainment, safety features, and connectivity services [14]. For the realization of the complete potential of an E-Cockpit, it is important to develop an innovative and User-Friendly touch UI as this directly influences both user experience and safety concerns. © 2023 IEEE.

关键词： User interfaces

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