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检索条件"任意字段=3rd International Conference on Intelligent Robotics and Control Engineering, IRCE 2020"

共 1399 条记录，以下是31-40 订阅

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An Enhanced ALNS Algorithm Integrated with DQN for Resource Allocation in Space Station Experiment Operations 3

An Enhanced ALNS Algorithm Integrated with DQN for Resource ...

引用

3rd international conference on robotics, Automation and intelligent control, ICRAIC 2023

作者： Wang, Qianlong Wu, Peng Guo, Lili University of Chinese Academy of Sciences School of Economics and Management Beijing China Technology and Engineering Center for Space Utilization Chinese Academy of Sciences China Key Laboratory of Space Utilization Technology and Engineering Center for Space Utilization Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798350360813

This study investigates the space station experiment scheduling problem considering priorities and multiple types of experiment cabinets. We build a mixed integer programming model to solve this problem. Since the problem is NP-hard, we propose a Large Neighborhood Search algorithm based on Deep Q-Network (DQN) agent. During the Markov Decision Process (MDP), we analyze the learned information and update the information as state. We validated the model and algorithm using small-scale examples and compared it with one of the most popular algorithms, the Adaptive Large Neighborhood Search (ALNS) algorithm, on large-scale examples. Experiments prove that our proposed algorithm has stronger search capabilities and stability. © 2023 IEEE.

关键词： Markov processes

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Design and Fabrication of a Sensorized Soft Actuator via Embedded 3D Printing 5

Design and Fabrication of a Sensorized Soft Actuator via Emb...

引用

5th international conference on intelligent robotics and control engineering, irce 2022

作者： Chen, Yufeng Wu, Zhenfeng Zhong, Yong Shien-Ming Wu School of Intelligent Engineering South China University of Technology Guangzhou China

ISBN: (数字)9781665469951

ISBN: (纸本)9781665469951

The application of soft sensors significantly enhances the functionality of soft robotics. However, most sensorized soft robots need to be fabricated by multi-step manual methods, which are cumbersome and time-consuming. Here, we design a sensorized pneumatic actuator and print it entirely without any molds or sacrificial support structures using multi-material embedded 3D (EMB3D) printing. This effective and economic strategy achieves the integrated manufacturing of the network of actuators and sensors and simplifies the design and fabrication process of soft robotics. The finite element analysis (FEA) simulations of actuator bending behaviors are conducted and the comparisons between simulations and experiments verify the effectiveness of EMB3D printing. The soft strain sensor integrated on the top surface can detect the bending angle of the actuator with good linearity and sensitivity. Furthermore, a sensorized soft gripper assembled with two printed actuators is used to grasp objects of different sizes. The integrated sensor can estimate the grasping state and estimate the size of the object potentially, which is essential for closed-loop feedback control. © 2022 IEEE.

关键词： Pneumatic actuators

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Design of robotic workstation for laser welding of pressure vessels 3

Design of robotic workstation for laser welding of pressure ...

引用

3rd international conference on robotics, Automation and intelligent control, ICRAIC 2023

作者： Gui, Wenjun Zhang, Liangan Xu, Xiangrong Fan, Jianwei Zhong, Weiming Anhui University of Technology Anhui Engineering Laboratory for Intelligent Applications and Security of Industrial Internet University of Technology Maanshan China Anhui University of Technology School of Mechanical Engineering Maanshan China

ISBN: (纸本)9798350360813

Oriented to the stable and efficient welding requirements of pressure vessels, a laser welding robot workstation that can realize fast clamping and automatic position change is designed. The workstation consists of Mitsubishi PLC, six-axis industrial robot, ground rail, welding positioner, touch screen, etc. Through the touch screen to detect the information and set the parameters, it is able to realize the multi-station, multi-seam welding processing of the product. The design of the workstation includes the overall layout design, the design of the positioning jigs and fixtures with single and double-axis and the design of the PLC-based intelligent control system. The welding process parameters were optimized by using the uniform design method, and the welding performance test was conducted. The results show that compared with manual welding, this workstation can complete the pressure vessel welding work more efficiently and stably, the weld seam is smooth, the productivity is significantly improved, the welding error rate is as low as 1.5%, and the optimal welding parameters can be found quickly to meet the needs of industrial production. © 2023 IEEE.

关键词： Machine design

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Optimal Capacity Allocation of Battery Energy Storage Systems for Rural Distribution Grids Based on Improved Multi-Objective Whale Algorithm 3

Optimal Capacity Allocation of Battery Energy Storage System...

引用

3rd international conference on robotics, Automation and intelligent control, ICRAIC 2023

作者： Du, Xiaofei Ai, Qing Hubei Minzu University College of Intelligent Systems Science and Engineering Enshi China

ISBN: (纸本)9798350360813

In order to solve the adverse effects on voltage quality and active network losses caused by distributed power sources' access to the rural distribution network, this paper introduces a novel rural distribution network system that integrates photovoltaic (PV) technology, wind power, battery storage systems, and rural loads. Secondly, the grid vulnerability index is used to measure voltage quality, and a multi-objective optimization model is constructed with active network losses and energy storage cost. Subsequently, an improved multi-objective whale optimization algorithm is designed for determining its capacity, which enriches its search strategy by introducing a pooling mechanism to enhance population diversity and improve optimization accuracy and speed. Finally, the simulation analysis is carried out through real case studies, and the outcomes demonstrate that this approach enhances the voltage quality of rural networks and diminishes active network losses by 17.9%. © 2023 IEEE.

关键词： Electric loads

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LSTM-based Hysteresis Modeling and PSO-driven Compensation for Piezoelectric Cantilever Actuators 3

LSTM-based Hysteresis Modeling and PSO-driven Compensation f...

引用

3rd international conference on Digital Society and intelligent Systems, DSInS 2023

作者： Yang, Yazhou School of Communication and Electronic Engineering Jishou University Jishou416000 China

ISBN: (纸本)9798350331387

Piezoelectric cantilever actuators are extensively utilized in various fields such as sensors, energy harvesting, micro-scale positioning and manipulation, optical regulation, biomedicine, micro-robotics, and more. As they become increasingly important for micro-scale applications, hysteresis compensation becomes particularly crucial for high-precision tasks. Hysteresis poses a significant challenge to the precision control of these actuators. In this study, we employ both Long Short Term Memory (LSTM) and Convolutional Neural Network (CNN) to model the hysteresis behavior. We use direct inverse hysteresis modeling to derive the inverse hysteresis model. Subsequently, the Particle Swarm Optimization (PSO) algorithm is incorporated as a feedback compensator, transforming the hysteresis of the piezoelectric cantilever actuators into a controllable linear behavior. By leveraging the local memory characteristic of hysteresis, we achieve an impressive accuracy of 99.99398912% within an error range of 0-1 micrometer, utilizing the LSTM and PSO compensator. © 2023 IEEE.

关键词： Hysteresis

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A bullet hole recognition method based on visual detection 3

A bullet hole recognition method based on visual detection

引用

3rd international conference on robotics, Automation and intelligent control, ICRAIC 2023

作者： Yu, Fengjie Song, Shibin Zhu, Jie Cheng, Weihao Wu, Wenshuo Zhang, Luwen Jiang, Xiaojie Shandong University of Science and Technology College of Electrical Engineering and Automation Qingdao China Yantai Tulan Electronic Technology Co. Ltd Yantai City China

ISBN: (纸本)9798350360813

Shooting intelligent Detection System has important applications in the military industry. Existing target shooting systems mainly face problems such as high cost, complex operation, and poor environmental adaptability. Considering the above limitations, in this paper we propose a fast, low-cost, and easy-to-deploy bullet hole recognition algorithm based on visual detection, which mainly consists of four parts: image preprocessing, extraction of target center, bullet hole extraction and ring value determination. In the process of bullet hole extraction, a method for segmenting effective target surface is proposed to cope with the problem of off-target bullet holes. Our method can not only accurately localize the bullet holes, but also obtain the exact ring value at that location. In addition, due to the robust adaptability of our method, it can even be applied to outdoor scenarios. © 2023 IEEE.

关键词： Image processing

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Research on intelligent Grasping and Releasing of Manipulator Based on Natural Language control 24

Research on Intelligent Grasping and Releasing of Manipulato...

引用

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

作者： Zhang, Xin Li, Yuanzhe School of Information Science and Engineering Lanzhou University Gansu60028265 China

ISBN: (纸本)9798400709951

With the development of industry, the demand for manipulator, especially language controlled intelligent manipulator, is increasing in modern society. In recent years, research in the field of manipulator has mainly focused on the intelligence of their control methods. By combining sensors with visual systems, Manipulator can achieve environmental perception and target recognition, improving their ability to adapt to different scenarios and tasks. In this study, the UR5e robot arm is used to obtain the visual environment information through depth camera processing, and the Faster R-CNN algorithm is used to extract the image object and its position. The speech and other human natural language information is processed into semantic embedding vectors through the GloVe algorithm. After the fusion of the image and language information, the information is mapped to the motion control instructions of the robot arm, and the various states and control parameters of the robot arm at each moving moment in the future are obtained, to achieve the task of the robot arm language control to grab and place specific objects. © 2024 ACM.

关键词： Robotic arms

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Optimized HMI Strategies for Collaborative Driving Interfaces in L3+Autonomous Vehicles 3

Optimized HMI Strategies for Collaborative Driving Interface...

引用

3rd international conference on robotics, Artificial Intelligence and intelligent control (RAIIC)

作者： He, Banben Zhang, Yongliang Li, Lin Wang, Xiaocui Jin, Jingqiang Lan, Tian Dongfeng Motor Grp Res & Dev Inst Wuhan Peoples R China

ISBN: (纸本)9798350352634;9798350352627

Amidst the pivotal transition of autonomous vehicles from Level 2 to Level 3, a fundamental paradigm shift occurs, moving from a shared human-machine control framework to a complete transfer of driving responsibilities. In this evolving context, the automated system assumes a primary role in executing driving tasks, while the driver transitions to a supervisory role, overseeing system behavior and intervening only when deemed necessary. This transition necessitates addressing complex challenges encompassing safety, liability, workload distribution, alongside fostering human-machine trust and enhancing system interpretability. To address these multifaceted challenges, we introduce a comprehensive human-machine shared driving interaction design strategy, referred to as the TSE design method. This strategy encapsulates the entire driving journey, commencing with pre-journey training and preparation, encompassing safe driving practices during the journey, and culminating in post-journey performance evaluation. Our primary emphasis lies in the intricate analysis of human-machine safety interaction strategies during the actual driving phase. Based on the current system status and road conditions, the automated system dynamically apportions driving tasks to the driver, considering factors such as the driver's workload, engagement level, and the complexity of take-over tasks. Furthermore, we delve into the intersectional impact of various factors, including the driver's mental model, attention allocation, situational awareness, human-machine trust, system transparency, and interpretive interfaces, on the overall performance of the human-machine shared driving system. To demonstrate the practical application of our design principles, we present concrete design exemplars derived from driver training sessions and take-over interaction design. These instances illustrate the effectiveness of our TSE design method in enhancing the safety, trust, and interpretability of the human-

关键词： L3+ autonomous driving HMI interaction design

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Extended State Observer and Kalman Filter Based control for DC-DC Buck Converter Subject to Disturbances and Noise 3

Extended State Observer and Kalman Filter Based Control for ...

引用

3rd international conference on robotics, Automation and intelligent control, ICRAIC 2023

作者： You, Rui Chen, Yunjun Zhang, Lu Tiangong University School of Control Science and Engineering Tianjin China

ISBN: (纸本)9798350360813

Direct current-direct current buck converters are widely used in industrial fields. In practical applications, parameter uncertainty, external disturbances and measurement noise affect the control performance of DC-DC buck converter. To deal with external disturbances and measurement noise in DC-DC buck converter, a control strategy combining extended state observer (ESO) and Kalman filter (KF) is proposed in this paper. The extended state observer is used to estimate the lumped disturbance of the DC-DC buck converter system. However, in order to achieve fast convergence in the control process, the observer chooses a large control gain, which results in severe noise amplification. To this end, the Kalman filter is used to filter the noise. The composite control method proposed in this paper can improve the robustness and voltage tracking performance of DC-DC buck converter. Simulation results verify the effectiveness of the proposed control method. © 2023 IEEE.

关键词： Kalman filters

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Research on Welding trajectory planning of MOTOMAN-MA1440 robot based on MATLAB robotics Toolbox 3

Research on Welding trajectory planning of MOTOMAN-MA1440 ro...

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

作者： Pan, Yunping Lu, Yongqi Liu, Chao School of Mechanical and Electrical Engineering Wuhan University of Technology WuHan430000 China

ISBN: (纸本)9781510671867

In order to analyze the welding trajectory of the rear axle weld on a drive axle, the kinematics equation of the robot was established using the D-H parameter method. MATLAB robotics Toolbox was utilized to verify the forward and inverse kinematics through simulation and to plan the trajectory, continuous and stable terminal pose, change curves of Angle, angular velocity and angular acceleration were obtained. By incorporating specific weld points on the workpiece, the fitting toolbox in MATLAB was employed for curve fitting. The results demonstrate a strong alignment between the trajectory curve fitted by the actual welding points and the simulated trajectory curve. It provides theoretical support for the further research of MOTOMAN-MA1440 robot. © 2023 SPIE.

关键词： MATLAB

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