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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

共 2685 条记录，以下是121-130 订阅

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Neural Networks Application for the Classification Problem Solving with Domain Constraints 3

Neural Networks Application for the Classification Problem S...

引用

3rd international conference on Technology Enhanced Learning in Higher Education, TELE 2023

作者： Mikhaylov, Ilya Sergeevich Aung, Ye Thu Win, Myo Hlaing Aung, Zayar Applies Mathematics and Informatics Moscow Russia

ISBN: (纸本)9798350326567

The paper investigates an approach based on neural networks to solve the classification problem with domain constraints. The practical application of the developed methods in the subject area of oil production for solving the problem of optimizing the control of pumping equipment of oil wells is considered. The solution of the problem is carried out in real time based on the classification of the flow modes of the oil-water-gas flow according to the indications of a multiphase flow meter installed on an oil well. © 2023 IEEE.

关键词： Data mining

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Trajectory Adaptation with Impedance control for Human-Robot Collaboration Tasks 8

Trajectory Adaptation with Impedance Control for Human-Robot...

引用

8th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2023

作者： Zhang, Chaoyi Luo, Jing Zeng, Chao Tang, Biwei Pang, Muye Yang, Chenguang School of Automation Wuhan University of Technology Wuhan430070 China University of Hamburg Department of Informatics Hamburg22527 Germany School of Automation Science and Engineering South China University of Technology Guangzhou510641 China

ISBN: (纸本)9798350300178

In human-robot collaboration tasks, an operator usually interacts with a robot physically and guides the robot to move by employing the interaction force in the model of impedance control. However, in physical human-robot interaction (pHRI), the trade-off between the position accuracy and interaction force is one of the main disadvantages of impedance control. In order to achieve compliant control with a high position control accuracy, a method of trajectory adaptation based on impedance control is proposed with minimized interaction force and small position error in pHRI and the effectiveness of the collaboration tasks is guaranteed. We use impedance control to generate the robot's movement for compliant control and use trajectory adaptation to regulate the robot's reference trajectory. By employing the proposed method, the interaction force can be reduced with small position error. The results of experiment verify the effectiveness of the proposed method. © 2023 IEEE.

关键词： Trajectories

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Design and Implement of a Super-Twisting ESO-Based Impedance control for Lower Limb Exoskeleton 3

Design and Implement of a Super-Twisting ESO-Based Impedance...

引用

3rd international conference on Mechatronics and automation Technology, ICMAT 2024

作者： Zhang, Wenhao Ji, Pingxin Song, Peng Liu, Hao Li, Qiang Mo, Xinmin Northwest Institute of Mechanical and Electrical Engineering Shaanxi Xianyang712099 China Department of Mechanical and Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781643685649

This brief proposes a super-twisting ESO-based impedance control for lower limb exoskeleton to promote the human-machine interaction-based coordination and stability with the unmodeled tire dynamics and external perturbations into consideration. The kinetics both in hip and knee joint is constructed and expected to match the authentic angle curve which depicts the moving organization in real-time. Then, by insetting a generalized super-twisting algorithm, the super-twisting ESO (STESO) is introduced to capture the immeasurable entire disturbances by utilizing the angle state merely. Subsequently, by quoting the impedance control theory, the global terminal angles can be calculated and adjusted basing the human-interaction force, even on the environment mapping. Finally, some theoretical analysis and simulations are collected and provided to demonstrate the correctness and effectiveness for proposed method. © 2024 The Authors.

关键词： Exoskeleton (robotics)

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conference Committee

Conference Committee

引用

automation, robotics and Computer Engineering (ICARCE), international conference on

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A 3D Positioning Method for Electric Robots Based on Binocular Vision 3

A 3D Positioning Method for Electric Robots Based on Binocul...

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

作者： Zhang, Wancai Yang, Wenqing Sun, Zhen Zhang, Nan Information System Integration Branch of NARI Technology Co. Ltd Nanjing China

ISBN: (纸本)9781665492126

When employing monocular camera model detection to determine the 3D position of the operation target, which is common in the field of electric power robotics, the robot arm cannot be accurately guided to work. The approach initially aligns, corrects, and denoises the binocular image data in accordance with the calibration parameters of the binocular camera system. This work offers a 3D positioning method based on binocular vision. Following the separation of the apparent features of the operation target from the binocular image data, the 3D coordinates of the operation target are computed utilizing the geometric constraints of the binocular pair. Finally, the 3D coordinates of the operation target are matched with the pre-constructed 3D model by ICP to obtain the accurate 3D pose of the operation target. It has been demonstrated through studies that the method presented in this work greatly improves the 3D positional identification accuracy when compared to other existing charging port detection methods. It may also be applied to other sectors of electric robots. © 2023 IEEE.

关键词： Binocular vision

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Optimization of Milling Robot Trajectory Based on Whale Optimization Algorithm 3rd

Optimization of Milling Robot Trajectory Based on Whale Opti...

引用

3rd international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2023

作者： Zhou, Yang Li, Qingxin Sun, Yong Software College Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9789819721993

In response to the problem of vibration and low work efficiency during robot milling, taking into account the work indicators of milling time and stability, combined with the kinematic constraints of the robotic arm, the time impact optimization problem is transformed into a multi-objective optimization problem. The paper proposes an improved whale optimization algorithm, which introduces a differential mutation strategy to improve the problem of traditional whale algorithms easily getting stuck in local optima. Compared with traditional whale optimization algorithms, the improved whale algorithm significantly improves the convergence speed and accuracy during the milling process. Finally, it is verified by a solid robot. The results showed that the pulse value of the planned trajectory was reduced by up to 99.76%, and the efficiency was improved by 47.62%, effectively avoiding robot vibration during the milling process. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multiobjective optimization

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Cooperative Path Planning of Multi-UUVs Area Coverage Based on Beetle Swarm Optimization 3rd

Cooperative Path Planning of Multi-UUVs Area Coverage Based...

引用

3rd international conference on Autonomous Unmanned Systems, ICAUS 2023

作者： Zhang, Maohuai Yang, Meimei Qiu, Shaoxiong Xu, Hongli Gu, Haitao Northeastern University Shenyang110819 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9789819710829

Multiple underwater unmanned vehicles(Multi-UUVs) area coverage collaborative path planning faces the problems of low collaborative control efficiency and frequent obstacle avoidance. To address these issues, we firstly decompose the map into several sub-regions based on the Boustrophedon algorithm, in which several suitable initial points and termination points can be selected for collaborative path planning, and connects multiple sub-regions effectively to realize area coverage. Secondly, we design the Beetle Swarm Optimization(BSO) algorithm to achieve cooperative path planning from initial point to termination point, while using the Artificial Potential Field(APF) method to achieve local obstacle avoidance. Finally the simulation results show that compared with the system unoptimized, the obstacle avoidance times of the system based on BSO are reduced by 38%, and the energy consumption is reduced by 3.15%. © Beijing HIWING Scientific and Technological Information Institute 2024.

关键词： Motion planning

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Modeling and Nonlinear Coordinated Stabilizing control for Dual Ship-Mounted Cranes Subject to Roll and Heave Motions 17th

Modeling and Nonlinear Coordinated Stabilizing Control for D...

引用

17th international conference on Intelligent robotics and Applications

作者： Yang, Ling Ma, Xin He, Xin Zhang, Lei Yang, Xue Shandong Univ Sch Control Sci & Engn Engn Res Ctr Intelligent Unmanned Syst Ctr RobotMinist Educ 17923 Jingshi Rd Jinan 250061 Peoples R China Shandong Marine Grp Ltd 7000 Jingshi Rd Jinan 250022 Peoples R China Shandong Marine Grp Technol Co Ltd 300 Changjiang Rd Yantai 264006 Peoples R China

ISBN: (纸本)9789819607976;9789819607983

Wave-induced ship heave and roll motions pose great challenges for the design of control systems of dual ship-mounted cranes (DSCs) along with complicated nonlinearities and physical constraints. Aiming at the above issues, this paper establishes the dynamic model of DSCs subject to ship roll and heave motions and proposes a nonlinear coordinated stabilizing controller which could achieve precise positioning and swing-elimination. First, the DSCs dynamic model considering ship roll and heave motions is built by utilizing the Lagrange method. On the basis of the dynamic model, the system energy function consisting of the kinetic and potential energy is introduced. With the first-order derivation of the energy function, explicit expressions of ship-to-ship interaction forces caused by ship motions are derived. These forces are then incorporated into the controller to mitigate the effects between the two ships, thereby achieving coordinated control of the two cranes during payload transportation. Lyapunov techniques are used to rigorously prove the stability of the control system. Finally, numerous simulations verify the effectiveness of the proposed controller.

关键词： Dual ship-mounted crane systems Boom crane Nonlinear systems Motion control Wave disturbances

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Handling of Computationally Demanding Digital controllers in Power System Dynamic Simulations 3

Handling of Computationally Demanding Digital Controllers in...

引用

3rd international conference on Energy Transition in the Mediterranean Area, SyNERGY MED 2024

作者： Jafari, Mehran Bureau, Gautier Chiaramello, Marco Guironnet, Adrien Panciatici, Patrick Aristidou, Petros Cyprus University of Technology Computer Eng. & Informatics Dept. of Electrical Eng. Limassol Cyprus France

ISBN: (纸本)9798350375923

Nowadays Smart grids utilize digital controllers to guarantee the reliable and efficient operation of their components. However, the numerical simulation of these types of controllers is challenging due to the numerous discrete time events introduced. The interpolation-based method (IBM) can effectively simulate smart digital controllers alongside the differential-algebraic equations of the system under control. Compared to the traditional step-reduction method (SRM) that reduces the time step for each time event during the simulation, IBM allows the use of variable time steps and solves the system while ensuring simulation accuracy. However, in the case of computationally demanding controllers, the computational performance of IBM suffers significantly. In this paper, a modified version of IBM is introduced, which can handle computationally demanding controllers in dynamic simulation of power systems. The performance of the proposed method is assessed and compared to SRM and IBM by simulating a test system with different controllers. © 2024 IEEE.

关键词： Smart power grids

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Power robot standardization status and outlook 3

Power robot standardization status and outlook

引用

3rd international conference on Intelligent Mechanical and Human-Computer Interaction Technology, IHCIT 2024

作者： Kong, Xuecheng Wang, Zhaoxuan Liu, Hongliang Cui, Xuetao Li, Fei Xiong, Feng Xue, Yu State Grid Shandong Electric Power Company Zibo Power Supply Company Shandong Zibo255000 China School of Electrical Engineering and Automation Wuhan University Hubei Wuhan430072 China Institute of Next Generation Power Systems and International Standards Wuhan University Hubei Wuhan430072 China

ISBN: (纸本)9781510683105

This paper discusses the current status and future prospects of power robot standardization. Power robots, as "special forces" serving the power system, are widely used in power production, operation and maintenance, overhaul and other aspects to ensure the safe and stable operation of the power grid. This article firstly outlines the definition, development history and application status of power robots in the power system, especially China's leading position and achievements in the research and application of power robotics. Subsequently, the article analyzes the important role of power robot standardization in promoting technological innovation, facilitating industrial development, and improving the efficiency of operation and maintenance, and discusses the challenges and problems faced by the current power robot standardization. Finally, combined with the international standardization trends and the development direction of power robotics technology, the future development of power robot standardization is outlook, put forward to strengthen international cooperation, improve the standard system, promote technological innovation and other recommendations, with a view to promoting the continuous progress of power robotics technology and the sustainable development of the power industry. © 2024 SPIE.

关键词： Microrobots

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