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

共 2683 条记录，以下是751-760 订阅

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Precise In-Hand Manipulation of Soft Objects using Soft Fingertips with Tactile Sensing and Active Deformation 3

Precise In-Hand Manipulation of Soft Objects using Soft Fing...

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3rd IEEE international conference on Soft robotics (RoboSoft)

作者： Lu, Qiujie He, Liang Nanayakkara, Thrishantha Rojas, Nicolas Imperial Coll London Dyson Sch Design Engn 25 Exhibit Rd London SW7 2DB England

ISBN: (纸本)9781728165707

While soft fingertips have shown significant development for grasping tasks, its ability to facilitate the manipulation of objects within the hand is still limited. Thanks to elasticity, soft fingertips enhance the ability to grasp soft objects. However, the in-hand manipulation of these objects has proved to be challenging, with both soft fingertips and traditional designs, as the control of coordinated fine fingertip motions and uncertainties for soft materials are intricate. This paper presents a novel technique for in-hand manipulating soft objects with precision. The approach is based on enhancing the dexterity of robot hands via soft fingertips with tactile sensing and active shape changing;such that pressurized air cavities act as soft tactile sensors to provide closed loop control of fingertip position and avoid object's damage, and pneumatic-tuned positive-pressure deformations act as a localized soft gripper to perform additional translations and rotations. We model the deformation of the soft fingertips to predict the in-hand manipulation of soft objects and experimentally demonstrate the resulting in-hand manipulation capabilities of a gripper of limited dexterity with an algorithm based on the proposed dual abilities. Results show that the introduced approach can ease and enhance the prehensile in-hand translation and rotation of soft objects for precision tasks across the hand workspace, without damage.

关键词： Grippers

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Stochastic DP Based on Trained Database for Sub-optimal Energy Management of Hybrid Electric Vehicles 14th

Stochastic DP Based on Trained Database for Sub-optimal Ener...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Abdrakhmanov, Rustem Adouane, Lounis UCA CNRS Inst Pascal IMobS3SIGMAUMR 6602 Clermont Ferrand France

ISBN: (纸本)9783030112929;9783030112912

This paper presents a sub-optimal energy management strategy, based on Stochastic Dynamic Programming (SDP), for efficient powersplit of a Hybrid Electric Vehicle (HEV). An optimal energy management strategy is proposed, permitting to have simultaneous speed profile and powersplit optimization of the HEV. Formulated as a multi-objective optimization problem, an epsilon-constraint method has been used to find the Pareto front of the energy optimization task. Traffic conditions and driver behavior could be assimilated to a stochastic nature, thus, it is proposed in this paper to address the vehicle power as Markov Decision Process. A Stochastic Database is used to store Transition Probability and Reward Matrices, corresponding to suitable vehicle actions w.r.t. specific states. They are used afterwards to calculate sub-optimal powersplit policy for the vehicle via an infinite-horizon SDP approach. Simulation results demonstrate the effectiveness of the proposed approach compared to a deterministic strategy given in [1]. The present work is conducted on a dedicated high-fidelity model of the HEV that was developed on MATLAB/TruckMaker software.

关键词： Hybrid electric vehicle Energy management Stochastic dynamic programming Markov decision process Multi-objective optimization epsilon-constraint

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An Ants Swarm control Ontology for Simulated Packet Switching

An Ants Swarm Control Ontology for Simulated Packet Switchin...

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international Multidisciplinary Information Technology and Engineering conference (IMITEC)

作者： Colin Chibaya Tariro Mugari Sol Plaatje University Kimberley University of Zimbabwe Harare

ISBN: (纸本)9781665417501

Swarm robotics is the field of artificial intelligent that deals with many simple robots that work together to perform complex tasks beyond the capabilities of individual robot. They take inspiration from social insects and other living animals. They are usually used to solve complex mathematical problems. This study focuses on set of rules that give rise to the establishment of a communication network. We want to find what each robot do at individual level that enables the achievement of the emergent behavior. The results gathered indicated that there are some set of rules that give rise to the emergent behavior.

关键词： Performance evaluation Packet switching Sociology Swarm robotics Propulsion Ontologies control systems

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3D Lidar Data Segmentation Using a Sequential Hybrid Method 14th

3D Lidar Data Segmentation Using a Sequential Hybrid Method

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Tuncer, Mehmet Ali Cagri Schulz, Dirk Fraunhofer FKIE Cognit Mobile Syst Fraunhoferstr 20 D-53343 Wachtberg Germany

ISBN: (纸本)9783030112929;9783030112912

This chapter proposes a sequential hybrid method for 3D Lidar data segmentation. The presented approach provides more reliable results against the under-segmentation issue, i.e., assigning several objects to one segment, by combining spatial and temporal information to discriminate nearby objects in the data. For instance, it is common for pedestrians to get under-segmented with their neighboring objects. Combining temporal and spatial cues allow us to resolve such ambiguities. After getting the temporal features, we propose a sequential hybrid approach using the mean-shift method and a sequential variant of distance dependent Chinese Restaurant Process (ddCRP). The segmentation blobs are spatially extracted from the scene with a connected components algorithm. Then, as a post-processing, the mean-shift seeks the number of possible objects in the state space of each blob. If the mean-shift algorithm determines an under-segmentation, the sequential ddCRP performs the final partition in this blob. Otherwise, the queried blob remains the same and it is assigned as a segment. Compared to the other recent methods in the literature, our framework significantly reduces the under-segmentation errors while running in real time.

关键词： Object segmentation Distance dependent Chinese Restaurant Process Mean shift 3D Lidar data

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Proceedings of the 3rd international conference on Mechatronics and Intelligent robotics, ICMIR 2019

Proceedings of the 3rd International Conference on Mechatron...

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3rd international conference on Mechatronics and Intelligent robotics, ICMIR 2019

The proceedings contain 107 papers. The topics discussed include: analytical analysis of horse riding machine based on ergonomics;research and construction of the online pesticide information center and discovery platform based on web crawler;force feedback based on magnetorheological fluid;implementation of FPGA-based controller in automatic control system platform for launch site;research on in-situ measurement simulation test of inertia of flywheel simulator by SimMechanics;construction and application of a static load performance testing platform for truck-mounted drilling rigs;design and implementation of automatic invigilation functions using the embedded technology;and simulation analysis of the effect of turning radius on the running safety of piggyback transportation vehicle system

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Promising directions of information technologies applications for improving of control and measuring devices in medical industry 3

Promising directions of information technologies application...

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3rd international Scientific conference on Applied Physics, Information Technologies and Engineering, APITECH-III 2021

作者： Zolkin, A.L. Munister, V.D. Bogaevskaya, O.Y. Yumashev, A.V. Kornetov, A.N. Computer and Information Sciences Department Povolzhskiy State University of Telecommunications and Informatics L.Tolstogo Street 23 Samara443010 Russia Mariupol State University Stroiteley Street 129a Donetsk region Mariupol87500 Ukraine Department of Enterprise Economics State educational institution of higher professional education 'Donetsk National Technical Univ.' Shibankova Street 2 Donetsk region Pokrovsk85300 Ukraine Department of Nursing Peoples Friendship University of Russia Miklukho-Maklaya Street 6 Moscow117198 Russia Department of Prosthetic Dentistry Sechenov First Moscow State Medical University Trubetskaya Street 8-2 Moscow119991 Russia Fundamental Psychology and Behavioral Medicine Department Siberian State Medical University Moskovsky trak 2 Tomsk634050 Russia

The article deals with the problems of functioning and improvement of measuring and control devices in the medical industry. The classification, principles of organization of specialized, multifunctional and single-functional medical instrument and computer systems are considered. A model for solving the problem of scalability and availability through the use of non-relational data management systems that combine methods for achieving atomicity and data consistency is proposed. The promising diagnostic methods in medicine are described. The importance of a prompt assessment of the patient's condition is emphasized. The optimization and modernization of the digital radiography using modern machine learning algorithms are given and justified. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Learning algorithms

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Research on Citizen Participation of Public Information Service Platform Amidst the COVID-19 Outbreak in China 3

Research on Citizen Participation of Public Information Serv...

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3rd international conference on Applied and Practical Sciences, ICAPS 2021

作者： Tong, Q.W. Abas, H.B. Yang, X.D. Yusoff, R.C.M. Razak Faculty of Technology and Informatics Universiti Teknologi Malaysia Kuala Lumpur Malaysia School of Management Hebei University Baoding China

Facing the global epidemic prevention and control situation, public information services are an important part of ensuring the smooth operation of the government and the normal life of citizens. Among them, Internet companies assume a significant part in assisting with uncovering epidemiological information, such as the "same journey query"platform that can query the public transportation itinerary of patients with pneumonia suspected diagnosis. Citizens can understand their health status and make independent declarations to avoid the spread of immunity. To better understand the requirements, willingness, and elements impacting citizen participation, this study constructs a citizen participation model based on the public service system, combined with the Chinese government's public information interactive management process. Through empirical analysis of the survey data, it is discovered that expectations and perceived quality are the key factors that can significantly affect public participation. It can be concluded that improving the quality of the platform and public expectations will help increase public satisfaction and trust, and ultimately increase public participation. The result is conducive to the better participation of enterprises, governments, and citizens in public information services, and gives insight to future related research. © Published under licence by IOP Publishing Ltd.

关键词： Information services

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Position control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers 3

Position Control of a 3D Printed Soft Finger with Integrated...

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3rd IEEE international conference on Soft robotics (RoboSoft)

作者： Tawk, Charbel Sariyildiz, Emre Zhou, Hao in het Panhuis, Marc Spinks, Geoffrey M. Alici, Gursel Univ Wollongong Sch Mech Mat Mechatron & Biomed Engn AIIM Facil Wollongong NSW 2522 Australia Univ Wollongong ARC Ctr Excellence Electromat Sci AIIM Facil Wollongong NSW 2522 Australia Univ Wollongong Sch Mech Mat Mechatron & Biomed Engn Wollongong NSW 2522 Australia Univ Wollongong AIIM Facil ARC Ctr Excellence Electromat Sci Sch Chem & Mol Sci Wollongong NSW 2522 Australia Univ Wollongong AIIM Facil ARC Ctr Excellence Electromat Sci Intelligent Polymer Res Inst Wollongong NSW 2522 Australia

ISBN: (纸本)9781728165707

Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft thermoplastic poly(urethane) (CPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEN). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

关键词： Position control

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Workshop on ‘Soft robotics for Biomedical Applications’: A soft robotics approach to understand how the brain organizes the body to make real-time survival in natural environments more efficient

Workshop on ‘Soft Robotics for Biomedical Applications’: A...

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Electrical Engineering conference (EECon)

作者： Thrishantha Nanayakkara Imperial College London

Summary form only given, as follows. The complete presentation was not made available for publication as part of the conference proceedings. Recent experiments using human participants and validation using soft robotic counterparts show that it is efficient to condition the physical mechanics of the body to solve real-time control and perception problems. In terms of efficient perception, passive dynamics of the body can be conditioned to reduce the entropy of task related random variables. In terms of control too, such conditioning of mechanics can help to use contraction regions for real-time convergence to steady states. In this talk, I will show some examples to suggest that the brain takes a selective approach when it wants to intervene in dynamic tasks. It conditions the body to simplify the problem as much as possible before commanding movement and force control commands.

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Thermal Imaging for Psychophysiological State Detection in the Human-Machine Interface (HMI) control System 15th

Thermal Imaging for Psychophysiological State Detection in t...

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15th international conference on informatics in control, automation and robotics (ICINCO)

作者： He, Changjiang Mahfouf, Mahdi Torres-Salomao, Luis A. Univ Sheffield Dept Automat Control & Syst Engn Mappin St Sheffield S1 3JD S Yorkshire England Gen Elect Infrastruct Queretaro Digital Syst & Solut Queretaro Mexico

ISBN: (纸本)9783030319939;9783030319922

Psychophysiological state prediction is of great importance to the human-machine interface (HMI) as far as both safety and reliability are concerned. In this paper, the use of facial temperature changes for predicting psychophysiological state and task performance has been investigated. The effectiveness of using facial temperature with the thermal camera to estimate the human psychophysiological state has been validated with the statistical results from a carefully designed HMI experiment with ten (10) healthy subjects. The new facial temperature biomarkers have exhibited a similar or even better ability to differentiate various psychophysiological state in comparison with the traditional biomarkers (e.g. heart rate variability (HRV), task load index (TLI) and pupil size). The mean nasal temperature and the differential energy between philtrum and forehead (DEFP) have been shown to be more sensitive to the psychophysiological state changes comparing to the conventional biomarkers. The maximum facial temperature and the mean forehead temperature have also shown clear correlations with psychophysiological state and task performance. As a final step, an adaptive type-2 fuzzy logic model combining the new markers with previously used bio-indicators has elicited and as a result achieved significantly high accuracy in predicting task load performance.

关键词： Human-Machine Interfaces Psychophysiology human factors Stress detection Facial temperature

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