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

共 2643 条记录，以下是191-200 订阅

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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...

引用

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 ...

引用

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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YOLO v5, v7 and v8: A Performance Comparison for Tobacco Detection in Field 3

YOLO v5, v7 and v8: A Performance Comparison for Tobacco Det...

引用

3rd international conference on Digital Futures and Transformative Technologies, ICoDT2 2023

作者： Mahboob, Zaid Zeb, Ayesha Khan, Umar S. National University of Science and Technology College of Eme Islamabad Pakistan National Center of Robotics and Automation Pakistan

ISBN: (纸本)9798350330816

Accurate tobacco plant detection is crucial for effective agricultural management strategies. Due to the challenges posed by high plant variability, adverse lighting conditions, and occlusions, existing machine learning algorithms and convolutional neural networks (CNNs) have struggled to achieve satisfactory detection accuracy under real-world scenarios. This paper employs YOLOv8, a state-of-the-art object detection algorithm, to reliably detect tobacco plants. A comprehensive evaluation and benchmark of 12 state-of-the-art YOLO object detection algorithms including the YOLOv8, is established for tobacco detection. YOLOv8 demonstrates remarkable test accuracy of 96.4compared to YOLOv5 and YOLOv7. Performance comparisons with YOLOv5 and YOLOv7, two ancestor algorithms, using test images further solidify YOLOv8's superior detection capabilities for tobacco plants. YOLOv8's real-time object detection ability renders it an ideal solution for mobile and embedded devices, opening new possibilities for on-the-go agricultural management. © 2023 IEEE.

关键词： Object detection

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Design of Mixed Reality Assembly System Based on Improved ORB Algorithm 3

Design of Mixed Reality Assembly System Based on Improved OR...

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3rd international conference on Computer Vision, Image and Deep Learning and international conference on Computer Engineering and Applications, CVIDL and ICCEA 2022

作者： Lu, Na Xiao, YongFei Zhao, Jie Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology ShanDong China Harbin Institute of Technology Institute of Automation Shandong State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665459112

This paper studies the natural feature point detection algorithm in a virtual assembly system. To address the problems of unsatisfactory detection effect and poor matching accuracy of the ORB algorithm, a feature uniform distribution algorithm based on pyramidal grid division is proposed, and a strategy of retaining feature points according to Harris response values is formulated to solve the problem of feature point aggregation while ensuring extraction speed. Hamming distance and the RANSAC algorithm are used to constrain the matching results. The robot assembly system based on this algorithm overlays the 3D model of the spraying robot and virtual information in the mobile device to improve the assembly efficiency of the staff. The experimental results show that the mixed reality(MR) assembly system based on the algorithm of this paper performs well, and the real-time performance and alignment accuracy are improved. © 2022 IEEE.

关键词： Assembly

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Intelligent Decision Support System for Assessing Works with Free Response based on Production Model 3

Intelligent Decision Support System for Assessing Works with...

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

作者： Latypova, Viktoriya Ufa University of Science and Technology The Faculty of Informatics and Robotics Ufa Russia

ISBN: (纸本)9798350326567

Works with free response are usually used in training, as well as in engineering education. These works assessment faces a lot of challenges, especially in conditions of online learning. The use of criteria system underlies the formation of a score for work with free response. In the case of works like essays the assessment can be made without the participation of expert-tutor by means of automated essay scoring systems. In the other cases his engagement is required, and the assessment takes place usually manually with the use of a rubric. This procedure is very long and labour-intensive for tutors, particularly with the large number of works, which are to be assessed as quickly as possible. The challenge is further amplified by iterativeness of assessment procedure which is typical, for example, to term papers, productive and pre-diploma practice reports actively used in engineering education when students are as close as possible to real tasks implementation. Another question arises, because work assessment is carried out without consideration for work correction characteristics, that is why a formed score is inaccurate. A student work with free response assessment model based on production model that takes into account the efficiency of work correction made by student, and whose application allows to ease the formation of a score for work with free response, is proposed in the paper. The assessment model is implemented in an intelligent decision support system, which was used in assessing pre-diploma practice reports in Ufa State Aviation Technical University during online learning. © 2023 IEEE.

关键词： Decision support systems

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Visual SLAM-based fire extinguishing robot for energy storage power plants 3

Visual SLAM-based fire extinguishing robot for energy storag...

引用

3rd international conference on Energy, Power and Electrical Technology, ICEPET 2024

作者： Long, Xiang Liu, Zheng Changsha University of Science and Technology School of Electrical and Information Engineering Changsha China

ISBN: (纸本)9798350352658

With the increase of energy storage stations, fire accidents in lithium battery energy storage compartments occur frequently, seriously threatening the stable operation of the power system and the safety of personnel. To solve the danger of manual fire extinguishing, a visual SLAM based fire extinguishing robot for energy storage stations has been designed. In response to the environment of the energy storage station, the main structure and firefighting operation mechanism of the robot have been designed to ensure that the robot can smoothly carry out firefighting operations at the energy storage station. Explored the characteristics of lithium-ion battery fires and the laws of thermal runaway, analyzed the fire extinguishing mechanism of liquid nitrogen, and found that using liquid nitrogen as a fire extinguishing agent has a good inhibitory effect on lithium-ion battery fires. In order to achieve efficient fire extinguishing, and due to the limited liquid nitrogen capacity that robots can carry, a fast autonomous positioning and mapping (SLAM) fire extinguishing strategy for energy storage power plant fire extinguishing robots in unknown environments was designed to ensure maximum utilization of liquid nitrogen. Simulation experiments were conducted on this fire extinguishing strategy, and the results showed that it can extinguish open flames within 10 seconds, effectively suppress the spread of battery thermal runaway, and control the concentration of combustible gases in the cabin beyond the explosion limit. The fire extinguishing robot and extinguishing strategy have a significant inhibitory effect on lithium battery fires in energy storage stations. © 2024 IEEE.

关键词： SLAM robotics

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Design of Parallel Exoskeleton System for Wrist Tremor Suppression 3

Design of Parallel Exoskeleton System for Wrist Tremor Suppr...

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3rd Modeling, Estimation and control conference (MECC)

作者： Janakaraj, Sudarsana Jayandan Barry, Oumar Virginia Polytech Inst & State Univ Blacksburg VA 24061 USA

ISBN: (纸本)9781713872344

This paper introduces the design of a Parallel Exoskeleton for Wrist Tremor Suppression (PEWTS). The design features dual six degree-of-freedom (DOF) subsystems that aim to be compact and suppress tremors in both radial/ulnar deviation (RUD) and flexion/extension (FE) motions of the wrist. A linear Series Elastic Actuator is employed, to provide compactness and back drivability to the system which would make the orthoses more human-compatible. The presented study focuses on providing a fundamental understanding of the working of PEWTS and investigating its feasibility through kinematic workspace analysis. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Assistive and Rehabilitation robotics Healthcare systems

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Performance Comparison Between Collaborative and Industrial Robots: A Study Using Digital Twins of Robotic Cells 3

Performance Comparison Between Collaborative and Industrial ...

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

作者： Vitalli, Rogério Adas Pereira Fioretti, Frederico Garavati Santos, Paulo Bueno Rebouças, Marcelo Campos de Almeida Freitas, Julio Cesar Robotics Advanced Institute - IAR São Paulo Brazil

ISBN: (纸本)9781643685649

The industry 4.0 is characterized by a highly personalized processes from demand variance, which makes production status information the key to controlling and better adapting to any scenario the process finds itself in. Therefor Cyberphysical systems perfectly fit this necessity by simulating virtual copies of the process allowing to validate the current state of production and simulate different scenarios to reach the best outcome based on demands. Furthermore, COBOTs are currently being incorporated in the industry as an attempt to attend the needs of the "smart factories" but still shares the robotics market with industrial robots. From this, this research aims to describe the methodology to make robotic cell digital twins using robotic simulators and stablish a clear difference between industrial and collaborative robots through time-related information. For that two digital twins of the same physical robotic cell were build, one using the CRX-10iA COBOT model and the other the LR Mate200iD robot model using the ROBOGUIDE robot simulator, version 9.4, validating their differences and how it changes each robot cycle times. The results show different discreet movements between recorded points, different work envelope sizes and different times for each movement (joint and linear). Concluding that COBOTs are considerably slower than industrial robots but more flexible to deal with a changing environment. © 2024 The Authors.

关键词： Industrial robots

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