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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181-190 订阅

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Real-World Comparison of Predictive controllers Based on Internal and External Description of the controlled System 3rd

Real-World Comparison of Predictive Controllers Based on Int...

引用

3rd international conference on Innovation in Engineering, ICIE 2024

作者： Honc, Daniel Novotný, Aleš Faculty of Electrical Engineering and Informatics University of Pardubice Nám. Čs. Legií 565 Pardubice53002 Czech Republic

ISBN: (纸本)9783031615740

Predictive control is a very general method of designing an optimal controller, allowing the use of different criteria, but also a large number of different models of the controlled system. In this paper, the derivation and real application of two types of predictive controller are shown - for internal description (expressed by a discrete-time state-space model) and for external description (expressed by discrete-time transfer function). In an ideal simulation both controllers give identical results, but in real conditions different behavior will be displayed. The aim of this paper is to demonstrate the differences between the two solutions from an application point of view, to discuss the strengths and weaknesses of both types of predictive controllers and to compare their behavior in real conditions. The result is not the "best" controller but understanding their differences and facilitating the selection of the right form for a specific application. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： controllers

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Cloud-Based Digital Twin for Robot Health Monitoring and Integration in Cyber-Physical Production Systems 13th

Cloud-Based Digital Twin for Robot Health Monitoring and Int...

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Joint international conference of the 13th IFToMM international Symposium on Science of Mechanisms and Machines, SYROM 2022 and 25th international conference on robotics, robotics 2022

作者： Borangiu, Th. Răileanu, S. Anton, F. Lențoiu, I. Negoiță, R. Department of Automation and Applied Informatics University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9783031256547

The paper describes an aggregate cloud-based digital twin (DT) that models an industrial robot by virtualizing its physical structure, motion and action control, operating modes, parameters and interactions with shop floor devices. The DT functionalities are: tuning robot motion parameters, shop floor layout validation for collision avoidance, robot health monitoring and anomaly detection, concurrent job allocation to multiple robots, by implementing in cloud IAAS three DT-specific software configurations: simulation with software in the loop;robust deployment;embedded simulation faster than real-time. Experimental results are reported from data collecting ACE software for Omron-Adept robots. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Cyber Physical System

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Development of a Web Application to Support Validation of Indoor Robots Using AR 23

Development of a Web Application to Support Validation of In...

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23rd international conference on control, automation and Systems, ICCAS 2023

作者： Hirose, Kento Koga, Masanobu Kyushu Institute of Technology Creative Informatics 680-4 Kawazu Fukuoka Iizuka Japan

ISBN: (纸本)9788993215274

In this paper we report on the web application which was developed to help users considering the purchase of an indoor robot to verify the effectiveness of the robot in their environment of use. The application uses a robot model in rdTF format that works in a web browser. For the simulation calculations, it use a physical calculation engine compiled with WebAssembly or other tools to run at high speed, so that the robot can run at high speed even in a web browser. Similarly, for animation, it use a library compatible with WebGL, which enables high-speed display on a Web browser. In order to enable users to check the results of the indicated task and confirm the validity of the robot's purchase by checking the 3D animation in the operating environment, the trajectory of the task is generated in conjunction with ROS. © 2023 ICROS.

关键词： Web browsers

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A 3D Streamline Selection Algorithm Based on Comprehensive Similarity 3

A 3D Streamline Selection Algorithm Based on Comprehensive S...

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3rd international conference on Artificial Intelligence and Computer Engineering, ICAICE 2022

作者： Hu, Xiaomei Weng, Jiahong Chai, Jianfei Zhang, Mingnan Li, Yilin Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China Information Technology Office School of Mechatronic Engineering and Automation Shanghai University Shanghai200444 China

ISBN: (纸本)9781510663473

In order to avoid the occlusion problems and missing important features of streamlines in the flow field, this paper proposes a 3D streamline selection algorithm based on comprehensive similarity. The method starts with a hierarchical clustering of streamline sets and then extracts streamlines with high similarity based on their comprehensive similarity. The comprehensive similarity of streamlines requires the calculation of the distance and contour similarity of the streamlines. In this paper, the Hausdorff distance is improved by proposing a partially matched Hausdorff distance to reduce the influence of streamline length on the similarity calculation. Then the contour similarity is calculated according to the ICP algorithm and the entropy weighting method is used to calculate the weights to obtain the combined similarity. The final comparison with the result of another algorithm shows that the flow field structure is clearer, more complete and more evenly distributed when the streamlines are selected using this algorithm. © 2023 SPIE.

关键词： Flow fields

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Automated Depression Diagnosis Based on Facial Expression and Deep Dual-Stream Convolutional Neural Networks 3

Automated Depression Diagnosis Based on Facial Expression an...

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3rd international conference on Computer Vision and Pattern Analysis, ICCPA 2023

作者： Chen, Yangyang Chen, Yingyu Li, Mi Department of Automation Faculty of Information Technology Beijing University of Technology Beijing100124 China Beijing International Collaboration Base on Brain Informatics and Wisdom Services Beijing100124 China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing100124 China Engineering Research Center of Digital Community Ministry of Education Beijing100124 China

ISBN: (纸本)9781510667563

Depression is a common mental illness characterized by symptoms such as low mood, pessimism, and insomnia. In this study, we developed a deep Dual-Stream CNN to automatically diagnose and classify depression in expression video sequences. The network has two branches that extract static features and dynamic features from static and dynamic expressions, respectively, which are then fused for depression classification. The experiments were performed on the AVEC2014 database, and the results showed that the Dual-Stream model significantly improved the classification performance of depression, achieving an accuracy of 69.08% in depression categorization. © 2023 SPIE.

关键词： Convolutional neural networks

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Robot Obstacle Avoidance Path Planning Based on Improved Artificial Potential Field 3

Robot Obstacle Avoidance Path Planning Based on Improved Art...

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3rd international conference on control and Intelligent robotics, ICCIR 2023

作者： Zhu, Lingyun Xie, Hailong Song, Ziyang Liangjiang International College Chongqing University of Technology Chongqing401135 China Shanghai Radio Equipment Research Institute Shanghai200240 China

ISBN: (纸本)9781510671867

In the realm of intelligent agent control, path planning has been one of the most well-liked study subjects. The path planning for obstacle avoidance approach proposed in this study is an enhanced artificial potential field method. By directing the barrier in the robot's direction and combining the boundary repulsion and vector decomposition of the goal direction, the local minimum problem is resolved. Next, the final combined force is delivered to the robot's center and the angle coefficient is added to provide a fair obstacle avoidance effect while taking into account the physical distance between the two sides of the robot and the quantity of extra environmental obstacles. Finally, the enhanced algorithm is used to perform a global path search. The simulation results validate the applicability and effectiveness of the suggested approach. © 2023 SPIE.

关键词： Motion planning

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Linear Delta Kinematics Feedrate Planning for NURBS Toolpaths Implemented in a Real-Time Linux control System 1

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19th international conference on informatics in control, automation and robotics, ICINCO 2022

作者： Karasek, Gabriel Erwinski, Krystian Department of Automatics and Measurement Systems Institute of Engineering and Technology Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University in Torun Torun Poland

ISBN: (数字)9783031483035

ISBN: (纸本)9783031483028

This paper presents an advanced concept of a computationally efficient feedrate planning algorithm for parallel kinematics machine in a linear delta configuration. The algorithm is developed for toolpaths defined as Non-Uniform Rational B-Splines (NURBS). The proposed method is developed to generate feedrate profiles subject to velocity, acceleration and jerk limitations. It is shown that limiting the cartesian parameter also significantly limits the violations of actual joint velocities, accelerations and jerks. The algorithm is implemented in a real-time Linux based control system and its real-time performance is ascertained. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Acceleration

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Integrating Reconfigurable Foot Design, Multi-modal Contact Sensing, and Terrain Classification for Bipedal Locomotion 3

Integrating Reconfigurable Foot Design, Multi-modal Contact ...

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3rd Modeling, Estimation and control conference (MECC)

作者： Tyler, Ted Malhotra, Vaibhav Montague, Adam Zhao, Zhigen Hammond, Frank L., III Zhao, Ye Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30309 USA

ISBN: (纸本)9781713872344

The ability of bipedal robots to adapt to diverse and unstructured terrain conditions is crucial for their deployment in real-world environments. To this end, we present a novel, bio-inspired robot foot design with stabilizing tarsal segments and a multifarious sensor suite involving acoustic, capacitive, tactile, temperature, and acceleration sensors. A real-time signal processing and terrain classification system is developed and evaluated. The sensed terrain information is used to control actuated segments of the foot, leading to improved ground contact and stability. The proposed framework highlights the potential of the sensor-integrated adaptive foot for intelligent and adaptive locomotion.

关键词： Mechatronic Systems robotics Modeling Identification and Signal Processing

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An intelligent anti detachment detection method for hip joint assisted exoskeleton robot 24

An intelligent anti detachment detection method for hip join...

引用

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

作者： Ning, Yeyan Xu, Jinxin Luo, Jinlong Liu, Jianwen Robot Center The 21st Research Institute of China Electronics Technology Group Corporation Shanghai60088063 China

ISBN: (纸本)9798400709951

The rapid development of cutting-edge technology continuously enhances the modernization level of intelligent equipment. Traditional exoskeleton robots often use fixed gait recognition for assistance, but their adaptability is limited, and it is easy to cause injury to the wearer when the binding falls off. This article first analyzes the overall structure of hip joint exoskeleton robots, and comprehensively obtains a feasible plan for anti detachment detection;Secondly, starting from analyzing the physiological structure of the human body and the mechanism of gait movement, based on joint degrees of freedom and motion orientation, the exoskeleton driving method is determined, and the torque changes of assistance under different gait are obtained as a reference for setting angle thresholds;Finally, an intelligent anti detachment detection algorithm for hip joint assisted exoskeleton robots is proposed, which uses key information such as angle threshold, step frequency size, and step frequency rate to make judgments. Adaptive recognition and learning memory recognition are integrated, and the effectiveness of the anti detachment detection algorithm is verified by reading the torque and current changes of the hip joint in the state of detachment. © 2024 ACM.

关键词： Exoskeleton (robotics)

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Human-Robot Interaction: A ROS2-Based Approach with Voice and Vision Integration 3

Human-Robot Interaction: A ROS2-Based Approach with Voice an...

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3rd international conference on automation, robotics and Computer Engineering, ICARCE 2024

作者： Zhang, Jing Lau, MengCheng Bharti School of Engineering and Computer Science Faculty of Science Engineering and Architecture Laurentian University 935 Ramsey Lake Rd. SudburyONP3E 2C6 Canada

ISBN: (纸本)9798331529505

This project enhances human-robot interaction (HRI) by incorporating cutting-edge sensory feedback systems, real-time processing, and an intuitive architecture. A modular, scalable system architecture, developed using ROS2, integrates voice and vision systems to enable robots to execute commands precisely and interact seamlessly with users. Key contributions of this research include the fusion of voice and vision capabilities, the creation of a real-time audio segmentation algorithm, and the design of a flexible state machine controller. These outcomes highlight the potential of advanced HRI technologies and lay a strong foundation for future innovations. © 2024 IEEE.

关键词： Modular robots

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