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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181-190 订阅

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Investigate feasibility of model-based design approach to develop a biped walking robot 3

Investigate feasibility of model-based design approach to de...

引用

3rd international conference on Trends in Electronics and informatics, ICOEI 2019

作者： Babu, Akshay Dhonthi Ramesh Kotturshettar, B.B. Giriyapur, Arunkumar C. Automation and Robotics Department KLE Technological Uinversity Hubli India School of Mechanical Engineering KLE Technological University Hubli India Automation and Robotics KLE Technological University Hubli India

ISBN: (纸本)9781538694398

Legged motion has significant advantages over traditional locomotion techniques. Research and development on it have been constantly improving over the last couple of decades. Though there are numerous techniques in developing legged biped motion, none of them is fully satisfactory. The main aspects of legged motion are active balancing, smooth pattern generation and control. These play an important role in legged motion and there are numerous techniques developed to achieve it. The research that is shown in this project is to implement model-based design methodology in developing ZMP stability algorithm. The main area that is been concentrated in the implementation of hardware-in-loop (HIL) simulation using an xPC - target computer. The robot walking gait is generated by developing a Simulink plant model where the joint angles are tested on a virtual simulation platform. © 2019 IEEE.

关键词： Simulink

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A set approach to the simultaneous localization and map building - Application to underwater robots

A set approach to the simultaneous localization and map buil...

引用

4th international conference on informatics in control, automation and robotics

作者： Jaulin, Luc Dabe, Frederic Bertholom, Alain Legris, Michel ENSIETA E3I2 2 Rue Franois Verny F-29200 Brest France GESMA Brest France

ISBN: (纸本)9789728865832

This paper proposes a set approach for the simultaneous localization and mapping (SLAM) in a submarine context. It shows that this problem can be cast into a constraint satisfaction problem which can be solve efficiently using interval analysis and propagation algorithms. The efficiency of the resulting propagation method is illustrated on the localization of submarine robot, named Redermor. The experiments have been collected by the GESMA (Groupe d'Etude Sous-Marine de l'Atlantique) in the Douarnenez Bay, in Brittany.

关键词： bounded-error constraint propagation interval analysis SLAM state estimation submarine robots robotics

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Precision Repairs: Achieving Accuracy During Repair Missions at the international Space Station 3

Precision Repairs: Achieving Accuracy During Repair Missions...

引用

3rd international conference on robotics, automation and Artificial Intelligence (RAAI)

作者： Rafi, Suhail Haque Chowdhury, Md Mubin Ul Islam Rakib, Mazharul Islam Chowdhury, Mizanul Rhaman, Md Khalilur BRAC Univ Dhaka Bangladesh MIT Cambridge MA 02139 USA

ISBN: (纸本)9798350307573;9798350307566

This paper proposes an autonomous approach for repairing leakage at the international Space Station (ISS) using the NASA Astrobee robot with the 3rd Kibo Robot Programming Challenge (KRPC) guidelines provided by JAXA. We bring into play image processing and analysis from the Astrobee Nav Cam data, circle detection algorithms, AR tag detection techniques, autonomous navigation, and a Visual Projective Localization And Mapping (VPLAM) approach for irradiating lasers with excellent precision at the Astrobee Robot Simulator. In addition, we discuss the various capabilities of the Astrobee Robots onboard the ISS and how they can facilitate the delivery of such an autonomous mission in emergencies. Lastly, we walk through ways to deal with randomness and uncertainty while operating, ensuring robustness and accuracy. Ultimately, we scored a precision of up to 0.03 cm on the KRPC online simulator.

关键词： astrobee autonomous robot navigation projective localization image processing ros gazebo simulation

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Grey Wolf Algorithm with Borda Count for Feature Selection in Classification 3

Grey Wolf Algorithm with Borda Count for Feature Selection i...

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3rd international conference on control and robotics Engineering (ICCRE)

作者： Jitkongchuen, Duangjai Phaidang, Pongsak Dhurakij Pundit Univ Coll Innovat Technol & Engn Bangkok Thailand

ISBN: (纸本)9781538666630

This research applies the grey wolf optimization algorithm which includes the feature selection stage and implements borda count method to optimize the function selection problem in classification. The grey wolf optimization mimics the characteristics and movement of wolves which have more than one leader in a pack. The proposed algorithm presents the pack can have more than one pack which selects the most relevant features. The performance of proposed algorithm is compared with other classification techniques such as cAnt-Miner, C4.5 and PART. The experimental results show that the proposed algorithm is capable to optimized feature selection in classification problems.

关键词： classification feature selection grey wolf optimization algorithm borda count method

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Dynamical models for omni-directional robots with 3 and 4 wheels

Dynamical models for omni-directional robots with 3 and 4 wh...

引用

5th international conference on informatics in control, automation and robotics

作者： Oliveira, Helder P. Sousa, Armando J. Moreira, A. Paulo Costa, Paulo J. Univ Porto Fac Engn P-4200465 Oporto Portugal

ISBN: (纸本)9789898111319

Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.

关键词： identification simulation modeling and omni-directional mobile robots

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Robust sliding mode control for a roll-to-roll machine

Robust sliding mode control for a roll-to-roll machine

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Chang, Kuo-Ming Lin, Yen-Yeu Department of Mechanical Engineering National Kaohsiung University of Applied Sciences 415 Chien-Kung Rd. Kaohsiung Taiwan Institute of Mechanical and Precision Engineering National Kaohsiung University of Applied Sciences 415 Chien-Kung Rd. Kaohsiung Taiwan

ISBN: (纸本)9789898565709

This paper proposes a robust sliding mode controller, which is derived based on the extended state observer and the sliding mode control techniques for a roll-to-roll machine to deal with the system uncertainty problem of unknown system nonlinear functions, and external disturbances. It is worth noting that the proposed sliding mode control scheme can be implemented without the condition that the system nonlinear functions, and the upper bounds of external disturbances must be known in advance and it can achieve the web transmitting speed and tension control goals satisfactorily, which are validated by numerical simulation results.

关键词： Sliding mode control

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Analysis on Attitude Fluctuation in Vertical Descent of Multi-rotor UAVs 3

Analysis on Attitude Fluctuation in Vertical Descent of Mult...

引用

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

作者： Li Chenglong Yang Zuqiang Gou Jiangchuan Civil Aviat Flight Univ China Coll Air Traff Management 46Sect 4Nanchang Rd Guanghan City 618307 Sichuan Peoples R China China Elect Technol Corp Informat Sci Acad 4 Bldg36 North Rd Beijing 100086 Peoples R China

ISBN: (纸本)9781510873377

In continuous vertical descent, multi-rotor UAVs' attitude will meet the problem of attitude fluctuation and tends to divergence. The problem comes from the flight controller instead of vortex-ring state. Based on an eight-rotor UAV's nonlinear model in hovering mode, the control law is analysed by using transfer function. The first reason is that the inner ring and outer ring bandwidths of the PID cascade controller do not match well. And the other one is that the lower linear operating point and lower average rotor speed during descent lead to less thrust and torque per propeller, which make it more difficult to resist wind disturbances. By adjusting the position loop's parameters in descent, the eight-rotor UAV reduced the requirement of horizontal position accuracy, and the stability of horizontal attitude control increased, which finally obtained a better performance.

关键词： Unmanned aerial vehicles (UAV)

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Metaheuristic Algorithm for Ingot Cutting Problem with Intermediate Operations of Rolling and Ingot Cutting 3

Metaheuristic Algorithm for Ingot Cutting Problem with Inter...

引用

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

作者： Voronov, Vladimir Institute of Space and Information Technologies Siberian Federal University Department of Informatics Krasnoyarsk Russia

ISBN: (纸本)9781665439817

This paper presents the formulation of the ingot cutting problem, which consists in the need to produce a set of blanks from an ingot in an optimal way. The main difference from the classical packaging problems is the dynamic change in the geometry of the original container during the production process. As a result, ingot cutting problem can be represented in the form of two components. The first is the solution of the bin pacing problem, and the second is the search for the optimal sequence of operations on the ingot. The paper proposes a metaheuristic algorithm to search for the sequence of operations with the ingot. The method is based on a tree-like representation of the cutting process, where the nodes represent the operations performed, as well as the states of the bin. This allows you to provide not only the final configurations of containers and their cutting schemes, but also the sequence of technological operations necessary to produce elements. The proposed algorithm showed acceptable quality on specially generated test examples. © 2021 IEEE.

关键词： Optimization

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The Design of the 3-Axial Centrifuge 12

The Design of the 3-Axial Centrifuge

引用

12th international conference on informatics in control automation and robotics (ICINCO)

作者： Ou, Feng Chen, Ying Chen, Hong Zhang, Dongfeng China Acad Engn Phys Inst Syst Engn Mianshan Rd 64 Mianyang Peoples R China

ISBN: (纸本)9789897581496

Acceleration(G), in physics, is the rate of change of velocity of an object. Advanced missiles are capable of generating the axial acceleration(Gx), the tangential acceleration(Gy) and the normal acceleration(Gz) during aerial combat manoeuvres, which has seriously threatened flight reliability. In order to improve the reliability of missiles, it is necessary to carry out acceleration tests on the ground. Testers usually separately simulate the acceleration with the centrifuge, but the complex effect of 3-axial accelerations can not be reflected. This paper introduces a new 3-axial centrifuge, which can effectively and synchronously simulate the 3-axial acceleration. The paper also designs the structure and the synchronization control system of the 3-axial centrifuge. At last, the paper shows the result of the simulation and the result shows that the system is reliable, and it's synchronization among 3 axial accelerations is very high. The analysis can also provide a reference for similar centrifuge designers.

关键词： Centrifuge Acceleration Synchronously Simulate

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Cooperative Encirclement in Swarm robotics Based on Triangle Antenna Model 3

Cooperative Encirclement in Swarm Robotics Based on Triangle...

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

作者： Fang, Taosheng Bao, Weidong Zhu, Xiaomin Li, Fuling Yuan, Yutong Ma, Li Wang, Ji Natl Univ Def Technol Coll Syst Engn Changsha Peoples R China Shantou Univ Dept Elect Engn Shantou Peoples R China

ISBN: (纸本)9781728186382

Cooperative encirclement in swarm robotics has become an active research field. How to find the target in advance through local communication is an important problem in cooperative encirclement in swarm robotics, because it can bring many important benefits, such as avoiding relying on global information, reducing communication load and completing the task faster and more efficiently. Unfortunately, many of the current researches are done without considering the global information or the local communication to find the target in advance, so it is difficult to achieve better practical results in the application of large-scale cooperative encirclement in swarm robotics. In order to solve this problem, a triangle antenna model and a local interaction strategy are designed. On this basis, a local communication algorithm is developed: antenna communication model algorithm, which is used to complete the task of cooperative encirclement in swarm robotics. In order to verify the feasibility of the antenna communication model algorithm and the effectiveness of the local interaction strategy, we present a scene based on the triangle antenna model for the cooperative encirclement of the local communication swarm robots, and carry out simulation experiments and comparative experiments. The experimental results show that the antenna communication model algorithm and the local interaction strategy can find the target in advance, and complete the task better and faster.

关键词： swarm robotics cooperative encirclement triangle antenna model local interaction antenna communication model algorithm

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