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

共 2674 条记录，以下是161-170 订阅

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Optimal Active Target Localisation Strategy with Range-only Measurements 16

Optimal Active Target Localisation Strategy with Range-only ...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： He, Shaoming Shin, Hyo-Sang Tsourdos, Antonios Cranfield Univ Sch Aerosp Transport & Mfg Coll Rd Cranfield MK43 0AL Beds England

ISBN: (纸本)9789897583803

This paper investigates the problem of one-step ahead optimal active sensing strategy to minimise estimation errors with range-only measurements for non-manoeuvring target. The determinant of Fisher Information Matrix (FIM) is utilized as the objective function in the proposed optimisation problem since it quantifies the volume of uncertainty ellipsoid of any efficient estimator. In consideration of physical velocity and turning rate constraints, the optimal heading angle command that maximises the cost function is derived analytically. Simulations are conducted to validate the analytical findings.

关键词： Target Localisation Range-only Measurement Optimal Manoeuvre

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On the Possibility of Managing Energy Systems Based on the Use of Optimization and Geoinformation Approaches 3

On the Possibility of Managing Energy Systems Based on the U...

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3rd international conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2021

作者： Klimenko, Yuri Preobrazhensky, Andrey Choporov, Oleg Lvovich, Igor Faculty of Informatics Voronezh Institute of High Echnologies Voronezh Russia Voronezh State Technical University Faculty of Information Technology and Computer Security Voronezh Russia

ISBN: (纸本)9781665439817

The article deals with the issues of rational use of material and human resources of structural units of energy services of enterprises. Periodic statistics do not fully reflect dynamic processes. Forecasting should form new approaches to the development of operational solutions to reduce the risks of the accident rate at power facilities. To improve management efficiency, it is necessary to introduce an energy monitoring system based on geoinformation technologies. The analysis of the possibility of using geoinformation technologies in the energy sector is carried out. A structural diagram of the integration of geographic information systems, modeling, forecasting and decision-making has been developed. An optimization model of the multivariate choice of solutions is presented. © 2021 IEEE.

关键词： Forecasting

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Localization with dynamic motion models - Determining motion model parameters dynamically in Monte Carlo Localization

Localization with dynamic motion models - Determining motion...

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3rd international conference on informatics in control, automation and robotics

作者： Milstein, Adam Wang, Tao Univ Waterloo Dept Comp Sci Waterloo ON N2L 3G1 Canada Univ Alberta Dept Comp Sci Edmonton AB Canada

ISBN: (纸本)9728865600

Localization is the problem of determining a robot's location in an environment. Monte Carlo Localization (MCL) is a method of solving this problem by using a partially observable Markov decision process to find the robot's state based on its sensor readings, given a static map of the environment. MCL requires a model of each sensor in order to work properly. One of the most important sensors involved is the estimation of the robot's motion, based on its encoders that report what motion the robot has performed. Since these encoders are inaccurate, MCL involves using other sensors to correct the robot's location. Usually, a motion model is created that predicts the robot's actual motion, given a reported motion. The parameters of this model must be determined manually using exhaustive tests. Although an accurate motion model can be determined in advance, a single model cannot optimally represent a robot's motion in all cases. With a terrestrial robot the ground surface, slope, motor wear, and possibly tire inflation level will all alter the characteristics of the motion model. Thus, it is necessary to have a generalized model with enough error to compensate for all possible situations. However, if the localization algorithm is working properly, the result is a series of predicted motions, together with the corrections determined by the algorithm that alter the motions to the correct location. In this case, we demonstrate a technique to process these motions and corrections and dynamically determine revised motion parameters that more accurately reflect the robot's motion. We also link these parameters to different locations so that area dependent conditions, such as surface changes, can be taken into account. These parameters might even be used to identify surface changes by examining the various parameters. By using the fact that MCL is working, we have improved the algorithm to adapt to changing conditions so as to handle even more complex situations.

关键词： mobile robots localization machine learning

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Deep Learning Based Semantic Labelling of 3D Point Cloud in Visual SLAM 3

Deep Learning Based Semantic Labelling of 3D Point Cloud in ...

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3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Qi, Xuxiang Yang, Shaowu Yan, Yuejin Natl Univ Def Technol State Key Lab High Performance Comp Changsha 410073 Hunan Peoples R China Natl Univ Def Technol Coll Comp Changsha 410073 Hunan Peoples R China

Three-dimensional (3D) point cloud understanding is important for autonomous robots. However, point clouds are normally irregular and discrete. It is challenging to obtain semantic information from them. In this paper, we present a method to build a dense semantic map, which utilizes both two-dimensional (2D) image labels and 3D geometric information. The dense point cloud is built by using a state-of-the-art RGB-D SLAM system. It is further segmented into meaningful clusters using a graph-based method. Then, image keyframes during the SLAM process are used to extract semantic image labels by a convolution neural network (CNN). Finally, these semantic labels are projected to the point cloud clusters to achieve a 3D dense semantic map. The effectiveness of our method is validated on a popular public dataset.

关键词： Graphic methods

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Neural Network Methods for Solving the Regression Problem of Oil Production 3

Neural Network Methods for Solving the Regression Problem of...

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3rd international conference on control Systems, Mathematical Modeling, automation and Energy Efficiency, SUMMA 2021

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

ISBN: (纸本)9781665439817

A measuring system-a multiphase flow meter is installed in oil wells. It consists of a set of sensors and a computer. The flow meter registers the following set of primary data. Oil is a very useful mineral. More than four billion tons, or about five cubic kilometers, of oil is produced annually in the world. Oil production is a complex of production and technological processes aimed at extracting crude oil from the subsurface to the earth's surface. This is a complex production process that includes geological exploration, drilling and construction of wells, their repair, purification of extracted oil from water, sulfur, paraffin, and much more. © 2021 IEEE.

关键词： Data mining

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A Novel 2R Parallel Mechanism for Alt-azimuth Pedestal 3

A Novel 2R Parallel Mechanism for Alt-azimuth Pedestal

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3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Xu, C. C. Xue, C. Duan, X. C. Minist Educ China Key Lab Elect Equipment Struct Design 2 South Taibai Rd Xian Shaanxi Peoples R China

This paper presents a novel 2R parallel mechanism used as alt-azimuth pedestal, i. e. a 2-DOF (degree-of-freedom) pedestal for supporting and rotating equipment about two perpendicular axes. Its active joints are two sliders equipped with servo control on a circular rail. The synchronous and asynchronous motions of the two sliders lead to the azimuth (rotation about the vertical axis) and pitch (rotation about the horizontal axis) of the rotatable platform, respectively. The DOF computation and kinematics are dealt with firstly, and then the dynamic model of the 2R parallel mechanism is established by using the Lagrange equation. Eventually, a numerical simulation of the typical trajectory motion is carried out, and the actuating torque needed in the actuators for the trajectory tracking motion is worked out by employing the derived inverse dynamic equations, which is consistent with the result obtained from commercial software. This study lays a solid base for the further investigation and engineering implementation of the 2R parallel mechanism.

关键词： Equations of motion

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Trajectory Planning for Periodic Operation of Autonomous Excavating Robot Based on Time-Jerk Synthetic Optimum 3

Trajectory Planning for Periodic Operation of Autonomous Exc...

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3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Zhu, Yaguang Zhang, Liang Guo, Wanjin Chen, Zhengcang Changan Univ MOE Key Lab Rd Construct Technol & Equipment Xian 710064 Shaanxi Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310028 Zhejiang Peoples R China

Considering the problem of trajectory planning of redundant degree of freedom in autonomous operation for excavating robot, a method of trajectory planning for periodic operation of autonomous excavating robot based on time-jerk synthetic optimum was proposed in this paper. Through a kinematic model establishment and forward/inverse kinematics analysis for working mechanism, the trajectory planning based on Hermite interpolation method was carried out. Taking the time-jerk as objective function, a mathematical model of nonlinear programming under the inequality constraints was established, and Genetic Algorithm was used to find out the globally optimal solution. The rapidity and stability of working process of excavating robot is effectively enhanced and it has an important significance to realize the intelligentization of construction machinery.

关键词： Genetic algorithms

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Fuzzy Lookup Table controller (FLTC) via Center Average De-fuzzifier (CAD) with a New Efficient Heaviside Search Algorithm (HSA) for Lookup Table Implementation 3

Fuzzy Lookup Table Controller (FLTC) via Center Average De-f...

引用

3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Wang, Chi-Hsu Hor, Kar-Chun Chen, Wei-Chuan Natl Chiao Tung Univ Dept Elect & Comp Engn 1001 Univ Rd Hsinchu 300 Taiwan Natl Chiao Tung Univ Coll Elect & Comp Engn 1001 Univ Rd Hsinchu 300 Taiwan

This paper proposes an alternate interpretation of the traditional lookup table controller via the Center Average De- fuzzier (CAD) in Fuzzy Set Theory with a set of Disjoint Block Pulse Membership Functions (DBPMFs). Further, a new Heaviside Search Algorithm (HSA) is also proposed to implement the Fuzzy Lookup Table controller (FLTC) in a more efficient way. The computation complexity of our new HSA is O(Sigma R-i), where R-i is the number of membership functions for i th input variable in FLTC. Whereas the average computational complexity in traditional Linear Search Algorithm (LSA) is O((Sigma R-i)/2). In comparison with LSA, the HSA also reduces the complexity of coding significantly in the same order as the comparison of computation complexities between HSA and LSA. The balancing of Inverted Pendulum System (IPS) is adopted as the benchmark to show the feasibility and efficiency of this new FLTC and HSA.

关键词： controllers

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Design of a brushed DC motors PID controller for development of low-cost robotic applications 3

Design of a brushed DC motors PID controller for development...

引用

2014 3rd international Congress of Engineering Mechatronics and automation, CIIMA 2014

作者： Yime, Eugenio Villa, Jose Luis Paez, Jheifer Universidad Tecnolgica de Bolvar Km 1 via Turbaco Cartagena de Indias Colombia

ISBN: (纸本)9781479979325

This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the system were, on the one hand, the need for robotic developments by students in Colombians academic environments with the resources available locally, and on the other hand, the need for a teaching of the robotics based on laboratory practices of the most commonly used control algorisms in this area, such as: the inverse kinematics based PID control and the dynamic control by calculated torque. © 2014 IEEE.

关键词： robotics

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The Research on the Ice Thickness Detection System Based On Capacitance Sensor 3

The Research on the Ice Thickness Detection System Based On ...

引用

3rd international conference on automation, control and robotics Engineering (CACRE)

作者： Du Xiaoting Anhui Sanlian Coll Econ & Technol Dev Zone 47 Hean Rd Hefei Anhui Peoples R China

ISBN: (纸本)9781510873377

A transmission line remote monitoring system combined with wireless sensor technology was designed, through the single-chip computer control to complete the system data from the collection to send all aspects of data processing work. The icing monitoring system uses capacitive thickness detection sensors to collect data from multiple capacitance values and send the collected data to the control center processor through the serial port. The processor then processes the data and stores it on the SD card. in. Through the single-chip computer control to complete the system data from collection to send all aspects of data processing. The processor finishes the data transmission and connects with the GPRS communication module through the RS232 serial port. The automatic detection of ice thickness using the difference in resistance characteristics of air and ice, it is a new type of object surface ice coating thickness detection method. The utility model can be applied to real-time continuous automatic monitoring engineering application fields of high-pressure transmission lines and fixed towers, buildings or various equipment surfaces, suspension brackets, forest branches, and the like.

关键词： Electric lines

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