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

共 544 条记录，以下是91-100 订阅

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Teleoperated Mobile Robotic Manipulator for Rescue Scenarios

Teleoperated Mobile Robotic Manipulator for Rescue Scenarios

引用

automation, robotics and Computer engineering (ICARCE), international conference on

作者： Huaihang Zheng Shangfei Liu Junzheng Wang Department of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

This paper introduces a teleoperated mobile robotic manipulator specifically designed for rescue operations. The system integrates a robotic manipulator, a mobile platform, a hybrid power system, an environmental perception system, and a teleoperation console, forming a modular and highly adaptable architecture. A key innovation is the Feedback Correction Loop, which improves manipulator control by mitigating issues like communication delays, workspace constraints, and packet loss. Experimental results validate the effectiveness of the framework, demonstrating that the system can execute tasks smoothly, continuously, and safely under teleoperation.

关键词： Technological innovation Robot kinematics Power system dynamics Self-organizing networks Dynamic scheduling Delays Synchronization Resource management Reliability Manipulator dynamics

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Vision-based mobile robotic grinding path generation for large castings

Vision-based mobile robotic grinding path generation for lar...

引用

robotics, automation and Intelligent control (ICRAIC), international conference on

作者： Lufeng Chen Aobo Chen Yiqun Kuang Shuai Fan Jing Qiu School of Automation Engineering UESTC Chengdu China School of Mechanical and Electrical Engineering Chengdu University of Technology Chengdu China School of Mechanical and Electrical Engineering UESTC Chengdu China

Given the numerous drawbacks of manual grinding for castings, the use of robots for intelligent grinding is quickly becoming an unavoidable trend. This paper introduces the design of a grinding robot system for the intelligent grinding of medium and large non-standard castings. The proposed system uses labels to identify and scan the surface that needs grinding, subsequently registering and segmenting the obtained point cloud. From here, it converts the select grinding area into a triangular mesh surface, and maps it onto a parametric domain using the re-parameterization method. The system then plots a path on the plane and maps it back onto the original workpiece, acquiring the final grinding path after necessary tool axis adjustments. The grinding head is then manipulated to perform constant force grinding, employing the PID control. Tests have shown that the system can effectively grind the surface of medium and large nonstandard castings in real-world industrial settings.

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3D Object Detection Based on Neighborhood Graph Search in Dense Scenes 23

3D Object Detection Based on Neighborhood Graph Search in De...

引用

3rd international conference on robotics and control engineering, RobCE 2023

作者： Chen, Liangji Wang, Zhiling Wang, Hanqi Zhou, Pengfei Hefei Institutes of Physical Science Chinese Academy of Sciences Anhui Hefei China University of Science and Technology of China Anhui Hefei China Anhui Engineering Laboratory for Intelligent Driving Technology and Application Anhui Hefei China

ISBN: (纸本)9781450398107

In the field of robotics and autonomous driving, achieving accurate 3D object detection is crucial for the perception of complex traffic environments. Most current research uses deep learning methods to extract object features from point clouds or images. However, these approaches often do not fully utilize the mutual positional information between objects, resulting in low detection accuracy in dense scenes. To address this issue, this paper proposes a frustum point cloud 3D target detection algorithm based on the fusion of camera and LiDAR data. We establish global connectivity of objects based on the degree of overlap between camera detection frames. Then, we design a neighborhood graph search algorithm based on constraint satisfaction to match the camera target detection results with LiDAR clustering results. Finally, the category and distance information of obstacles are displayed in bird's eye view (BEV). Evaluated on the KITTI benchmarks, our method achieves an average precision (AP) of 88.38% on the easy level, 87.64% on the moderate level, and 80.10% on the hard level in BEV detection. Compared to F-ConvNet, our method shows improvements of 5.49% on the moderate level and 7.33% on the hard level, significantly enhancing recognition accuracy in dense scenes. © 2023 Owner/Author.

关键词： Object detection

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An analysis method of industrial data relationship based on business context 3

An analysis method of industrial data relationship based on ...

引用

3rd international conference on Big Data, Artificial Intelligence and Internet of Things engineering, ICBAIE 2022

作者： Liu, Yang Zhang, Tianshi Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China

ISBN: (数字)9781665451604

ISBN: (纸本)9781665451604

Industrial big data processing is an important support for improving industrial production efficiency. Because industrial big data involves complex business logic in production scenarios, there is a widespread problem that the relationship between data is difficult to understand. Therefore, this paper proposes a relational analysis method of industrial data based on business context. Firstly, a semantic data dictionary is established according to the production business process, and then a data object recognition model based on deep learning is trained;then a context-based automatic association method of industrial data relations is proposed;finally, the experimental verification is carried out on the actual production data, and the results show that The method in this paper is effective in improving the relationship analysis of industrial data. © 2022 IEEE.

关键词： Big data

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Pedestrian Positioning Algorithm Based on Zero-Velocity Correction

Pedestrian Positioning Algorithm Based on Zero-Velocity Corr...

引用

automation, robotics and Computer engineering (ICARCE), international conference on

作者： Shiying Huang Haolin Li Xueyan Zhang Hongwei Liu Tianhua Fu Department of Instrumentation Science and Opto-Electronics Engineering Beihang University Beijing China Department of Computer Science Beihang University Beijing China Harbin Medical University Harbin China Beijing Institute of Precision Machinery and Control Beijing China Beijing Experimental Factory Co. Ltd Beijing China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

Pedestrian positioning technology is a key technology that has emerged in recent years in the field of navigation. It is of great significance in indoor, underground and other navigation fields. In this paper, aiming at the problem of error accumulation in pedestrian positioning systems based on MEMS devices, a pedestrian positioning method based on the inertial navigation scheme is studied, and the zero-velocity correction method is used to suppress the accumulation of velocity errors, thereby improving the positioning accuracy. The effectiveness of the method in this paper is verified by experiments.

关键词： Micromechanical devices Meters Pedestrians Accuracy automation Inertial navigation Hardware Robots

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Race-car Circular Drifting with Onboard Sensor Positioning Using Static Anchors

Race-car Circular Drifting with Onboard Sensor Positioning U...

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

作者： Jialiang Qu Zishuo Li Xiaoqiang Ren Yilin Mo Xiaofan Wang School of Mechatronic Engineering and Automation Shanghai University Shanghai China Department of Automation and BRNist Tsinghua University Beijing China

In the field of autonomous driving, drifting control is of great importance for driving safety to deal with extreme situations. In order to better control the unmanned vehicle, it is necessary to have high-precision and high-frequency state information. To obtain state information, onboard sensors has the advantages of a lower cost, convenient deployment, indoor and outdoor versatility, etc. In this paper, we propose an onboard sensor estimation scheme using 2D LiDAR and IMU to support the control of a stable circular drifting task. We implement our method on a 1/10 scale radio control car. It can realize stable drift with a given center and radius, which illustrates the effectiveness of our method. A video of the cars performance can be found at https://***/video/BV1Fg411z7XH/.

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A bullet hole recognition method based on visual detection

A bullet hole recognition method based on visual detection

引用

robotics, automation and Intelligent control (ICRAIC), international conference on

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

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.

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Remote Sensing on a Bird-inspired Flapping Wings Robot Combined with LiDAR

Remote Sensing on a Bird-inspired Flapping Wings Robot Combi...

引用

robotics, automation and Intelligent control (ICRAIC), international conference on

作者： Lican Wu Yaqi Han Qingyang Zhu Yi Hao Ziming Ye Ruqi Huang Yu Cai H. Y. Fu Shenzhen International Graduate School Tsinghua University Shenzhen Guangdong China School of Electrical Engineering Guangxi University Nanning Guangxi China

The flapping wing robot (FWR), inspired by avian aerodynamics, is a distinct category of unmanned aerial vehicles (UAVs). Different to general UAVs, such as quadcopters, FWRs are featured by their superior aerodynamic capabilities, minimal noise generation, inherent stealth, and lower energy consumption. As a result, they are rapidly becoming vital tools in a variety of civilian and military activities including environmental monitoring, disaster detection, search and rescue operations, ecological conservation, and military manoeuvres. Our study introduces the comprehensive integration of a light detection and ranging (LiDAR) module, serving as a visual perception device, with a large FWR that is equipped with 2-meter, two-segment wings. Based on this setup, the geospatial information of targeted area is captured and compared to the existed topographic data.

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A Distributed control for Ground Target Tracking of Nonlinear Unmanned Aerial Vehicles Formation 3

A Distributed Control for Ground Target Tracking of Nonlinea...

引用

2021 3rd international conference on robotics, Intelligent control and Artificial Intelligence, ICRICA 2021

作者： Jia, Jiangbo Chen, Xin Zhang, Min Li, Zhen College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

This paper investigates a circular formation control strategy for multiple unmanned aerial vehicles (multi-UAV) formation for ground moving target tracking. Each UAV obtains the observation value of target information through sensors and exchanges data with its neighbors. Since the formation cannot get the parameter of the target directly, we proposed a distributed error observer. A new guidance law based on the error value obtained has been designed, and it was proved through the interconnection system that it was consistent with Lyapunov stability. Finally, a simulation example is used to illustrate the effectiveness of the proposed guidance law. © Published under licence by IOP Publishing Ltd.

关键词： Unmanned aerial vehicles (UAV)

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An MPF Based Aerial Platform Tracking Method for Road Network Targets 3

An MPF Based Aerial Platform Tracking Method for Road Networ...

引用

2021 3rd international conference on robotics, Intelligent control and Artificial Intelligence, ICRICA 2021

作者： Yuan, Jing Chen, Xin Zhang, Min Zhang, Pengfei College of Automation Engineering Nanjing University of Aeronautics and Astronautics Nanjing China

This paper presents a new algorithm to improve the tracking accuracy of the aerial mobile observation platform by using road information constraints. Combined with the road information and Mixed Particle Filter(MPF) algorithm, the Road Constrained Mixed Particle Filter(RCMPF) algorithm is proposed. RCMPF algorithm can effectively solve the problem of non-linear observation equation of aerial observation platform and realize the tracking of ground targets. The simulation results show that the algorithm improves the tracking accuracy of the target. © Published under licence by IOP Publishing Ltd.

关键词： Antennas

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