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检索条件"任意字段=3rd International Conference on Robotics, Automation and Intelligent Control, ICRAIC 2023"

共 618 条记录，以下是61-70 订阅

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Design of robotic workstation for laser welding of pressure vessels

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

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robotics, automation and intelligent control (icraic), international conference on

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

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.

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Metal surface Feature Fusion for Defect Recognition

Metal surface Feature Fusion for Defect Recognition

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robotics, automation and intelligent control (icraic), international conference on

作者： Wenkai Lyu Chengzhuan Yang School of Computer Science and Technology Zhejiang Normal University Zhejiang China Key Laboratory of Intelligent Education Technology and Application of Zhejiang Province Zhejiang Normal University Zhejiang China

Metal sheets have been widely used in various industrial production and production life aspects. However, the surface of metal plates is prone to multiple defects, which affect the electromagnetic characteristics and coating effect of metal plates. Currently, mainstream inspection uses YOLO, PaddleClas, and other methods to detect flat metal surfaces. These algorithms are all very potent in their classification capabilities, but as generalized defect handling algorithms, they cannot be specific to each type of defect in a real problem. In this paper, we propose a multi-information fusion method for defect recognition. We consider both low-level texture features and high-level convolutional features of metal surfaces for defect recognition. We use a convolutional neural network as the main body and add extracted and processed prompts during training. Finally, we test the proposed method extensively on Camshaft and Kaggle metal surface defects datasets, and the experimental results demonstrate that our method achieves a state-of-the-art recognition performance that surpasses previous defect recognition methods.

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intelligent control & Supervision for Autonomous System Resilience in Uncertain Worlds 3

Intelligent Control & Supervision for Autonomous System Resi...

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3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Marshall, Curtis Roberts, Blake Grenn, Michael George Washington Univ Dept Engn Management & Syst Engn Washington DC 20052 USA

ISBN: (纸本)9781509060887

As autonomous systems are increasingly employed in high-criticality applications, their safe and reliable operation is an overarching concern. Existing applications rely on extensive system characterization and contingency planning for operating within known and anticipated circumstances. Human intervention and ingenuity is often required in operational environments and contexts for which available knowledge, if any, is incomplete and/or inaccurate (defined by authors as uncertain worlds). As system complexity increases, the validity of this strategy diminishes and is infeasible for many applications precluding human support. Self-managing systems are sought to provide reliable and fully autonomous operation in virtually all operational contexts. This paper presents an adaptive and automated decision-engine for improving autonomous systems' inherent resilience in uncertain worlds. The concept is applied to aviation industry Free Flight initiatives to enhance air traffic management (ATM) system safety with increased autonomous technologies and procedures. The paper concludes with discussion of an agent-based model (ABM) in development to benchmark the concept against (1) RTCA DO-185B / TCAS II - an international standard for airborne collision avoidance and (2) the D* Lite algorithm - the de-facto standard for autonomous vehicle navigation and dynamic planning.

关键词： system resilience autonomous agents adaptive signal processing and control autonomous aircraft navigation

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Heat-and-power processes optimization by means of model-based simulation

Heat-and-power processes optimization by means of model-base...

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3rd international conference on Informatics in control, automation and robotics

作者： Antropov, Dmitry Ivanova, Rosica Sadykov, Renat Yeryomin, Sergey Kafiatullin, Rauf Etalon MCS JSC Kazan Russia Kazan State Architectural Bldg Univ Kazan Russia PO Kazenergo Kazan Russia

ISBN: (纸本)9728865597

A firmware was developed for simulation of heat-mass transfer processes in power equipment such as steam or water boilers and dryers. Hardware of this pilot plant is based on modem microprocessors control devices. Software rests on specially developed mathematical models. The functions and structure of the model of fully automated boiler and dryer control system (B-DCS) are described in detail. One of the variants of implementation of B-DCS on the example of the dryer unit for drying bioactive products is considered. The analysis of the optimality criterion problem and selection of the optimal control structure are reviewed using Pontryagin's maximum principle. The objective of optimization is to reduce expenditures of operational process.

关键词： intelligent systems in education system integration intelligent laboratory-scale plant

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Strategy and control for Robotic Detumbling of Space Debris by Using Flexible Brush 3

Strategy and Control for Robotic Detumbling of Space Debris ...

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3rd IEEE international conference on robotics and automation Sciences, ICRAS 2019

作者： Cheng, Wenhua Li, Zhi He, Yingzi Department of Graduate Management Space Engineering University Beijing China Department of Space Command Space Engineering University Beijing China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control Engineering Beijing China

ISBN: (纸本)9781728108537

Active space debris removal (ASDR) is an effective and reliable mean to keep space exploration and space environment. But space debris is always with complex attitude, including spinning and nutation, due to space environmental torque, and causing trouble in ASDR. This paper focuses on the strategy and control for robotic detumbling of space debris by using flexible brush. First, the model of detumbling-robot and flexible brush, which acts as the end-effecter, are proposed. On this basis, the contact force model, including the friction, is derived based on mechanics of materials and Coulomb friction. Subsequently, the motion and dynamic equations between robot and debris are formulated. With detumbling strategy, the control law is presented. Simulation results are appended. The results show that it is difficult to ensure long-term contact between the detumbling-robot and debris because of the contact elastic force without control force. Instead, the angular rate of debris would be detumbled to desired value after several times contact, and the energy which used up during detumbling is also in reasonable span. The tumbling debris could be detumbled by flexible brush with the strategy and control law stated above. © 2019 IEEE.

关键词： Friction

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2020 3rd international conference on Mechatronics, robotics and automation, ICMRA 2020

2020 3rd International Conference on Mechatronics, Robotics ...

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3rd international conference on Mechatronics, robotics and automation, ICMRA 2020

ISBN: (纸本)9781728190327

The proceedings contain 31 papers. The topics discussed include: research on micro-nano satellite measurement algorithm based on federal filter;movement analysis of pulley-rail system used in space-borne perimeter truss antenna;the strategy of online furnace of pending rolling temperature optimization based on genetic algorithm;DeepPIRATES: enabling deployment-independent supervised PIR-based localization;design of furnace temperature control system for billet heating furnace based on fuzzy-MFAC;design and simulation evaluation of pneumatic tool handle;the relocation of lost unmanned combat vehicle in one group based on fog computing method;research on multi-UAV path planning and obstacle avoidance based on improved artificial potential field method;and sketch recognition library applied for an image replication with a humanoid robot in a simulated environment.

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Development of a Simple and Novel Digital Twin Framework for Industrial Robots in intelligent robotics Manufacturing 20

Development of a Simple and Novel Digital Twin Framework for...

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IEEE 20th international conference on automation Science and Engineering (CASE)

作者： Xiang, Tianyi Li, Borui Pan, Xiaonan Zhang, Quan Xian Jiaotong Liverpool Univ Sch Adv Technol 111 Renai Rd Suzhou 215000 Peoples R China Univ Liverpool Dept Elect & Elect Engn Liverpool L69 7ZX Merseyside England

ISBN: (纸本)9798350358513;9798350358520

This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only 17ms. Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.

关键词： Smart manufacturing

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Investigating the Impact of Update Frequency on PID controller Performance in Autonomous robotics 3

Investigating the Impact of Update Frequency on PID Controll...

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3rd international conference on Communication, control, and intelligent Systems, CCIS 2024

作者： Rajeev, Renju National Institute of Technology Calicut Electrical and Electronics Engineering Calicut India

ISBN: (数字)9798331528201

ISBN: (纸本)9798331528201

This paper examines the relationship between the performance of Proportional-Integral-Derivative (PID) controllers and their update frequency, using the Pololu 3pi+ 32U4 robot as a testbed. Through a series of experiments conducted across a frequency range of 2 to 500 Hz,a non-linear correlation is identified where both high and low update frequencies negatively impact control performance. The findings indicate that an optimal frequency range of 40 to 120 Hz significantly enhances the PID controller's ability to achieve target tracking with minimal overshoot and reduced setting time. This study highlights the importance of update frequency as a critical, yet often overlooked, parameter in the design and implementation of PID control systems [1] [9], providing insights for future research and practical applications in robotics and automation. © 2024 IEEE.

关键词： Three term control systems

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Design of Segmented Boost Constant Voltage Battery Charger Based on Leakage Transformer

Design of Segmented Boost Constant Voltage Battery Charger B...

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robotics, automation and intelligent control (icraic), international conference on

作者： Xiangjin Yin Shidong Li Qinyi Liao Qiaoqiao Xing College of Intelligent Systems Science and Engineering Hubei Minzu University Enshi China

High-power lead-acid batteries are widely used in traction motors, where electric forklifts are active in stationary factories with convenient charging, thus lead-acid storage for forklift motors is widely used. The article uses the characteristic that the output voltage of the leakage transformer increases as the current decreases to discuss the characteristics of lead-acid batteries for forklift motors. It employs the low-voltage constant-voltage charging method in the initial stage to develop an intelligent charging device for traction batteries. This method ensures that the charging current curve closely resembles Mas’s optimal charging curve and addresses the issue of high current at the start of charging, which is caused by the deep discharge of the batteries in the intermittent charging method. Additionally, a capacity estimation method is proposed to complement battery aging and cycle count, reducing the capacity error caused by inaccurate measurement of individual current. The experimental results demonstrate that the designed charger adheres to Mas’s optimal charging curve change pattern when charging the battery’s current and the capacity estimation is a close approximation to the actual battery capacity.

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Research on intelligent Instrument Character Location Technology Based on Computer Vision 3

Research on Intelligent Instrument Character Location Techno...

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3rd international conference on robotics and automation Engineering (ICRAE)

作者： Zhang, Qinghui Wan, Chenxia Bian, Shanfeng Qin, Shuying Henan Univ Technol Coll Informat Sci & Engn Zhengzhou Henan Peoples R China Henan Univ Technol Minist Educ Key Lab Grain Informat Proc & Control Zhengzhou Henan Peoples R China Hebi Second TV Relay Stn Hebi Peoples R China

ISBN: (纸本)9781538695944

The digital character recognition system of remote meter reading system is mainly composed of two key parts: character location and recognition. And accuracy of character recognition has much work with whether or not the characters to be recognized can be accurately located. The border stain and noise of character area cause the character to be recognized to locate difficultly. To address this reality, this paper presents an effective algorithm for character repositioning. Firstly, the image is preprocessed including gamma correction, defogging and denoising before location. Then the image is converted to binary data, the object contour is extracted, and the region of interest of the candidate character is determined. The region of interest of the character is determined again according to the angle of the candidate character's region of interest. Finally, the region of interest of the character is segmented and the character is repositioned to determine the final character to be recognized. The experimental results show that the proposed method is simple and effective, and the localization accuracy is very high, strong robustness. In addition, satisfactory results can be obtained in the actual environment.

关键词： computer vision pretreatment extract region of interest character relocation

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