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

共 2673 条记录，以下是301-310 订阅

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A Comparative Study of Model-Based control Schemes for Contouring Accuracy Improvement of 3PRR Planar Parallel-Kinematics Manipulator

A Comparative Study of Model-Based Control Schemes for Conto...

引用

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

作者： Abdur Rosyid Bashar El-Khasawneh Mechanical and Nuclear Engineering Department Khalifa University Abu Dhabi United Arab Emirates

ISBN: (数字)9798350307566

ISBN: (纸本)9798350307573

The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. Model-based control schemes are usually used to address this issue. This paper presents the improvement of contouring accuracy of a planar 3PRR parallel-kinematics manipulator by applying two model-based control schemes namely decentralized PID control with centralized computed torque feedforward and centralized inverse dynamics control with feedforward. The simulation shows that both control schemes provide better contouring accuracy than decentralized PID control scheme. Furthermore, it is shown that the decentralized PID control with centralized computed torque feedforward outperforms the centralized inverse dynamics control with feedforward given an accurate dynamic model of the manipulator.

关键词： Accuracy PI control Torque automation Computational modeling Hardware PD control

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Waste Sorting automation with Visual Sensor and RFID

Waste Sorting Automation with Visual Sensor and RFID

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international conference on Advanced Electrical Engineering (ICAEE)

作者： Seif Eddine Seray Ishak Bey Isma Akli Department of Control and Power University of M'hammed Bouguerra Boumerdes Algeria Robotics and Industrial Automation Division Center for Development of Advanced Technologies Algiers Algeria

ISBN: (数字)9798350349351

ISBN: (纸本)9798350349368

The quantity of domestic wastes is constantly increasing, resulting on overload of wastes. Recycling became imperative for ecologic and economical considerations in order to apply circular economy rules. In general, humans are recruited in waste sorting plants for performing the dangerous and tedious sorting tasks. The automation is, thus, necessary. This paper deals with the problem of waste sorting automation. The proposed solution consists of waste recognition and classification using YOLOv8, and human presence detection using RFID (Radio frequency Identification) tags. The proposed solution is validated in simulation. The virtual robot performs a task in order to simulate the behavior of a real robot with high fidelity, depending on the information coming from the RFID tags and a visual sensor.

关键词： Visualization automation Software architecture Operating systems Robot vision systems Robot sensing systems Recycling RFID tags Middleware Sorting

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Wearable Piezoresistive Pressure Sensor Based on Graphene and PDMS Nanocomposite Sponge for Foot Steps Detection

Wearable Piezoresistive Pressure Sensor Based on Graphene an...

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Computer, control and robotics (ICCCR), international conference on

作者： Eric Kwame Owusu Aristide Djoulde Mei Liu Jiang Zhen Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China

Wearable sensors based on nanocomposite sponge are gaining popularity due to their high sensitivity, stretchability and offer new opportunities for applications ranging from finger motion detection to soft robotics. However, when designing skin-adaptable, mountable, or non-invasive wearable devices, several features need to be taken into account, such as stretchability, flexibility, sensitivity, and biocompatibility. Herein, we present a facile, cost-effective, flexible, and stretchable piezoresistive pressure sensor based on a graphene/polydimethylsiloxane (PDMS) nanocomposite sponge (GPNCS) for finger motion detection. The maximum sensitivities were 133.95 kPa −1 for the pressure range of 1–10 N and 5.05 kPa −1 for the pressure range of 10–20 N respectively. When various pressures are applied, the pressure response of the devices are highly stable, repeatable, and reversible. Moreover, the piezoresistive pressure sensor has excellent sensing performance at various pressures ranging from 1 to 20 N and is mechanically robust enough to work under repeated load without degradation. The proposed device demonstrated an exceptional ability to monitor small and large finger motion, which has numerous applications in the range of finger motion detection, flexible insole as wearable healthcare monitoring and gait monitoring device

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ICon EEI 2022 - 3rd international conference on Electrical Engineering and informatics: Sustainable Engineering for Industrial Revolution 4.0, Proceedings

ICon EEI 2022 - 3rd International Conference on Electrical E...

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3rd international conference on Electrical Engineering and informatics, ICon EEI 2022

ISBN: (纸本)9781665454346

The proceedings contain 37 papers. The topics discussed include: hybrid method to identify diabetic retinopathy;acetylene black as counter electrode on monolithic perovskite solar cell;hybrid cooperative spectrum sensing algorithm for cognitive radio networks;applied symbiotic organisms search algorithm to solve economic emission dispatch problems;performance evaluation of intrusion detection system performance for traffic anomaly detection based on active IP reputation rules;analysis of PV module performance and electrical parameters based on different tilt angles;a low complexity signal-to-total variance precoding scheme for downlink multi-stream MU-MIMO systems;a comparative study on machine learning based prediction models for public participation rate in an election voting;numerical study on cavities shape for the hydrothermal performance of microchannel heat sinks with elliptical ribs and secondary channels;and remotely operated rotary inverted pendulum system for online control engineering education.

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3D Guidance Navigation and Human-Robot Shared control for Motor Graders in Field Operation 8

3D Guidance Navigation and Human-Robot Shared Control for Mo...

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8th international conference on Mechatronics and robotics Engineering (ICMRE)

作者： Qi, Peng Gong, Liang Hitarget Satellite Nav Technol Co Ltd Inteligent Construct Div Guangzhou Peoples R China Shanghai Jiao Tong Univ Sch Mech Engn Shanghai Peoples R China

ISBN: (纸本)9781665483773

Motor graders are widely used in road maintenance and airport constructions. With powerful hydraulic blades, they can be used to create wide and smooth surface with slope. Yet, it is time-consuming and labor-intensive to use motor grader because measuring, proofreading, driving, and grading occur at the same time during the grading process. Addressing this issue, we developed a 3D guidance navigation and human-robot shared control system to help automate the grading control based on the measurement and design data, only leaving the steering task to human drivers. This solution can improve the productivity, efficiency and safety while constructing with motor graders. Specifically, this solution leverages RTK (real-time kinematics) receiver and IMU (inertial measurement unit) sensor to locate the position of the blade, and compares it with the design map, while the controller is adjusting the blade position according to the error from the comparisons. With the blade driven by two separate hydraulic cylinders, the control is coupled, which causes a "seesaw" effect. That is, the motion of one cylinder will affect the other one and cause jittering. To solve this problem, we designed an elevation controller with angle compensation to decouple the process and used the fuzzy logic control to optimize the speed and response of the system. The system was tested and validated on an industrial motor grader in both pilot testing and real highway construction fields. The test results showed that blade control automation can eliminate the labor survey. The proposed human-robot shared control technique can be extensively used to increase efficiency, productivity and safety while decrease labor cost for field operations in semi-autonomous construction machinery, orchard mowers.

关键词： Field robotics motor grader human-robot interaction shared control fuzzy logic 3D guidance

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Unsupervised Terahertz Image Restoration Based on CycleGan 3

Unsupervised Terahertz Image Restoration Based on CycleGan

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3rd international conference on Defence Technology, ICDT 2022

作者： Su, Zhipeng Zhang, Yixiong Qi, Feng Shi, Jianghong School of Informatics Xiamen University National Demonstrative Software School Xiamen361005 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Process Shenyang110016 China Key Laboratory of Image Understanding and Computer Vision Shenyang110016 China

Terahertz (THz) is considered as one of the key technologies for sixth generation communications, military, medical imaging and industrial inspection. THz images are susceptible to degradation due to system noise and point spread functions during transmission. The existing deep learning methods use ground truth and input images for supervised training that can recover THz images very well. But it's difficult to obtain labeled THz data in practical application. In this paper, we propose an attentional adversarial cycle generation network for THz image restoration (CycleTHz) based on CycleGan to address this problem. The CycleTHz generates clean images firstly by an attention-guided generation network and then discriminates the quality of the generators by an attention discriminator. In addition, RGB color loss is used for image channels for constraint. To the best of our knowledge, this is the first THz dataset to be trained using an unsupervised approach. Extensive experiments show that the proposed method improves the PSNR and SSIM by 43.4% and 101.7% compared with CycleGan, which is a benchmark method for the unsupervised development in THz image restoration. The code is available at https://***/hellogry/UnsupervisedCycleTHz © Published under licence by IOP Publishing Ltd.

关键词： Image reconstruction

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Employing the ResNet50 and InceptionV3 Models for the Detection of Diseases in Both Strawberry Leaves and Fruit 3rd

Employing the ResNet50 and InceptionV3 Models for the Detect...

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3rd international conference on Trends in Electronics and Health informatics, TEHI 2023

作者： Shadman Sakib Mahee, B.M. Fazle Rabbi, M.M. Khanom, Tasnuba Akter, Sanu Usha, Nusrat Jahan Hasan, Md. Rabby Department of Computer Science and Engineering Bangladesh University of Business and Technology Dhaka1216 Bangladesh

ISBN: (纸本)9789819739363

The study uses powerful learning methods to identify powdery mildew and leaf scorch on strawberry fruit and leaves. The suggested solution combines ResNet50 and InceptionV3 cognitive neural networks. This strategy involves collecting powdery mildew and leaf scorch datasets and improving them. ResNet50 and InceptionV3 extract discriminative features and detect powdery mildew and leaf scorch patterns. The aggregate characteristics are put into a fully connected layer and a softmax classifier for illness classification. An optimized technique adjusts the model’s hyperparameters during training for optimal classification performance. Comprehensive testing shows that the combined model beats ResNet50, InceptionV3, and other illness diagnostic approaches. Integration of information utilizing fusion approaches improves representation and illness diagnosis. Research suggests that the reinforcement learning-based approach can identify powdery mildew and leaf scorch in strawberry fruits with an accuracy rate of 98.42% and a validation rate of 99%. This technology impacts strawberry crop disease control. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Fruits

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Autonomous Multiple Robots Exploration using Evolutionary Optimization Algorithm 3

Autonomous Multiple Robots Exploration using Evolutionary Op...

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3rd international conference on Electronics and Sustainable Communication Systems, ICESC 2022

作者： Seenu, N. Ramanathan, Kuppan Chetty Ramya, M.M. Hindustan Institute of Technology and Science Centre for Automation and Robotics Chennai India

ISBN: (数字)9781665479714

ISBN: (纸本)9781665479714

Multiple robots exploration is an emerging research area in robotics. Autonomous robotic exploration in natural or manmade disaster areas speeds up the search and rescue operations and it saves the life of victims and human rescuers. It helps to explore the places such as space, ocean, and forest etc., where humans are unable to physically visit. The important challenge existing in this autonomous multi-robots exploration problem is collaboration between the robots team to accomplish the entire mission. This research paper proposes an autonomous exploration strategy by means of a swarm intelligence algorithm. The entire area to be explored is partitioned into a number of smaller regions. Exploration of the entire smaller regions collectively brings the robots team to accomplish the overall mission. Hence the efficient allocation of robots to the smaller regions to be explored consumes optimal resources like battery energy and task completion time. The Particle Swarm Optimization algorithm is applied for allocating the smaller regions to the robots in an efficient manner. The simulation of the proposed environment partitioning and exploration strategy is implemented in the Robot Operating System Gazebo simulation tool. A flat and smooth terrain environment of known boundary conditions is considered in the simulation study. The environment contains a number of obstacles at random positions. The task allocation time, overall robots battery energy consumption is minimal by the proposed exploration strategy. The real time implementation of the proposed concept is the future scope of this research. © 2022 IEEE.

关键词： Swarm intelligence

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Development of a Soft Gripper Using Kirigami-Inspired Techniques

Development of a Soft Gripper Using Kirigami-Inspired Techni...

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Mechatronics, control and robotics (ICMCR), international conference on

作者： Efrem Olivio Gomes Shyang-Jye Chang Ilham Saputra Hsu-Feng Chang Department of Mechanical Engineering National Yunlin University of Science and Technology Douliu Taiwan Department of Mechanical Engineering Vocational School Universitas Gadjah Mada Yogyakarta Indonesia

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

This study introduces a soft robotic gripper inspired by Kirigami, designed to improve flexibility and adaptability for handling delicate or irregular objects. The gripper, fabricated using silicone elastomers with strategic Kirigami cuts, allows significant deformation while maintaining structural integrity. Two models were tested on various objects. Model 1 showed superior performance, while Model 2, designed for larger objects, struggled with smaller and heavier items. The gripper demonstrated excellent adaptability, securely gripping diverse objects by conforming to complex geometries. Its potential for gentle handling makes it suitable for biomedical and agricultural applications. Durability tests revealed that the 1.5 mm thickness gripper maintained performance after over 100 cycles, outperforming the 1.0 mm version, which exhibited loosening after fewer uses. Compared to conventional grippers, the Kirigamiinspired design showed enhanced flexibility, precision, and durability, making it ideal for automation tasks. Future refinements in materials and design will further improve its performance.

关键词： Fabrication Adaptation models Shape Biological system modeling Elastomers Soft robotics Object recognition Grippers Optimization Testing

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A Capture Strategy for Multi-Pursuer Coordination Against a Fast Evader in 3D Reach-Avoid Games 3

A Capture Strategy for Multi-Pursuer Coordination Against a ...

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3rd Modeling, Estimation and control conference (MECC)

作者： Frommer, Andrew C. Abate, Matthew Rivera-Ortiz, Phillip M. Diaz-Mercado, Yancy Univ Maryland College Pk MD 20742 USA Pytheia Atlanta GA 30308 USA Johns Hopkins Univ Appl Phys Lab Laurel MD 20723 USA

ISBN: (纸本)9781713872344

This paper proposes a capture strategy for a team of pursuers to capture a fast evader with uncertain dynamics in a 3D reach avoid game. The strategy involves coordinating the agents motion to spread out and cut off all possible routes to the evader's target. These routes are obtained by estimating the evader's reachable set using mixed monotone reachable set theory. The reachable set is used to determine a capture surface, over which embedded guidance reference points are provided for the pursuers through 2D coverage. The capture strategy is demonstrated via simulation. Results suggest that capture performance improves with an increase in pursuer team size. Further, the strategy is able to outperform a pure-pursuit strategy when there is a sufficient number of pursuers to fully cover the obtained capture surface. 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： Networked Systems robotics Pursuit-Evasion Games

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