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检索条件"任意字段=3rd International Conference on Robotics and Control Engineering, RobCE 2023"

共 3888 条记录，以下是91-100 订阅

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Design of Household Intelligent Trash Can control System Based on MCU 3

Design of Household Intelligent Trash Can Control System Bas...

引用

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

作者： Li, Huixiu Zhao, Lina Zhang, Liying Liu, Ping Dalian University of Science School of Traffic and Electrical Engineering Dalian116052 China

ISBN: (纸本)9781510671867

Since the trash can is not sanitary and fails to do the garbage classification, a household intelligent trash can based on SCM is designed. Firstly, the hardware of the intelligent trash can is designed, whose function includes garbage classification, voice tracking, UV disinfection, and other hardware circuit design. In this design, a speech recognition module is used to classify trash cans, UV disinfection lamp components are employed to achieve the disinfection and sterilization of garbage viruses, and the tracking function is used to realize the free movement of trash cans, providing great convenience for the intelligent trash cans. Secondly, combined with software design, the system functions are further improved to make the trash can more intelligent and practical. © 2023 SPIE.

关键词： Software design

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Optimized control Strategy for Self-Balancing Robot: Micro-Stepping Motors and PID Algorithm 3

Optimized Control Strategy for Self-Balancing Robot: Micro-S...

引用

3rd IEEE international conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

作者： Muhiuddin, Md. Muhiul Islam Taki, Akil Ahmad Zahin, Khondokar Karim, Md. Jawadul Al Kais, Syed Muid Bangladesh University of Engineering and Technology Department of Electrical and Electronic Engineering Dhaka1205 Bangladesh

ISBN: (纸本)9798331534400

This research includes the creation and execution of a Self-Balancing Robot (SBR) that is operated by stepper motors. The robot's primary operation depends on the accurate manipulation of pulse-driven stepper motors, obviating the necessity for a feedback loop. The design utilizes two NEMA-17 stepper motors to control the wheels. It exploits micro-stepping to achieve a stepping angle of 1.8 degrees and minimize overshoot, ringing, and resonance. The SBR incorporates a strategically positioned battery to achieve a design that is weighted towards the top, hence improving the sensation of input when tilting. The essential electronic components include an Arduino Uno microcontroller, DRV8825 stepper motor drivers, an HC-05 Bluetooth module, and an MPU-6050 sensor for measuring the pitch angle through sensor fusion. The control system employs a Proportional-Integral-Derivative (PID) controller to modify motor inputs according to the tilt angle, assuring stability. In addition, we provide a mathematical model of the stepper motor's properties and a state-space description of the *** into design concerns for such applications are provided by experimental data and model simulations that show how well the components and control algorithms work together to preserve the SBR's equilibrium. © 2024 IEEE.

关键词： Stepping motors

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Addressing the Impact of Message-Passing Topology in GNN RL 3

Addressing the Impact of Message-Passing Topology in GNN RL

引用

3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Suzuki, Kei Miwa, Shotaro Mitsubishi Electr Corp Adv Technol R&D Ctr Amagasaki Hyogo Japan

ISBN: (纸本)9798350307573;9798350307566

Graph Neural Network Reinforcement Learning (GNN RL) has been widely used in robotic control applications. In designing GNN RL for robots, while kinematic topology has been traditionally used as the message-passing topology, the effect of different structural designs of message-passing topology on acquired actions has not well been studied. In this paper, we evaluated those effects on a screw task by a D'Claw ROBEL hand using three types of message-passing topologies: series, parallel and series+parallel topology. As a result, we have found that parallel topology promotes the acquisition of more similar actions in a cooperative way due to homogeneous message passings to each finger, and also series topology promotes more diverse actions in a separate way due to heterogeneous message passings to each finger. Moreover, series+parallel topology acquire diverse and cooperative actions simultaneously because it generates both homegeneous and heterogeneous messages for each finger.. In future work, we plan to apply this technique to multi-task RL problems.

关键词： GNN RL robotic control topology

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Research on Coal and Gangue Recognition Method Based on Improved MobileNetV3 Network 3

Research on Coal and Gangue Recognition Method Based on Impr...

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Chen, Wei Wang, Shuang Luo, Qisheng Li, Xin College of Mechanical Engineering Anhui University of Science and Technology Collaborative Innovation Center of Mine Intelligent Equipment and Technology Huainan Anhui232001 China

ISBN: (纸本)9781665492126

In order to solve the problems of classical convolutional neural networks in coal and gangue recognition, such as large calculation amounts, slow recognition speeds, and low recognition accuracy, a method for coal and gangue recognition based on an improved MobileNetV3 network is proposed. Based on the MobileNetV3 model, the activation function and attention mechanism were improved and the number of network layers was reduced. Finally, the accuracy rate, F1 score, and floating-point operation (FLOPs) were used as the benchmark for model evaluation. The results showed that: The test accuracy rate after the improved MobileNetV3 is 99.5%, the F1 score is 0.995, and FLOPs is 50455003. A comparison between the model and the MobileNetV3, EfficientNet, and AlexNet models shows that all indicators of the model are higher than those of other models. Suitable for coal gangue recognition model. © 2023 IEEE.

关键词： Image enhancement

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Design and Simulation of a 3-DOF Dexterous Joint Actuator based on Multi-drive Hierarchical Output and Spherical Rotation Mechanism 3

Design and Simulation of a 3-DOF Dexterous Joint Actuator ba...

引用

3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Li, Xuhang Ma, Qingchuan Liu, Yuyao Chai, Zhiyuan Wang, Xingyu Wei, Shanshan Pan, Feiyu Ji, Linhong Beihang Univ Sch Engn Med Beijing Peoples R China Tsinghua Univ Dept Mech Engn Beijing Peoples R China

ISBN: (纸本)9798350307573;9798350307566

Series-type and ball-and-socket are currently two typical architectures of hip joint actuators. However, they either rely on advancements and applications in materials science or compromise on structural design, failing to accurately mimic the motion of the human hip joint. Therefore, we designed a three-degree-of-freedom (3-DOF) dexterous joint actuator based on multi-drive hierarchical output and spherical rotation mechanism for better kinematics performance, high power density, and high load-withstand capability. Three identical motors were installed in parallel on the motor mounting frame, with two motors coupled and controlled a pair of differential bevel gears, while another motor transmitted torque through two spherical gears, coupled with a secondary frame mounted on a large bevel gear, ultimately achieving spherical rotation with a fixed point as the center. 3D simulations demonstrated that this new design could achieve a 120-degree rotation range across three degrees of freedom, with high load-withstand capability, successfully meeting project expectations and demonstrating its usability. This design closely approximated the overall performance of the human hip joint in terms of driving performance, motion characteristics, and control logic. It provides theoretical support for addressing existing engineering bottlenecks in joint actuators and has promising potential for various robotic applications.

关键词： dexterous joint actuators bionic-inspired design spherical motion hip joint robotics

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Reinforcement learning based non-linear feedback synchronous control technology for permanent magnet synchronous motors 3

Reinforcement learning based non-linear feedback synchronous...

引用

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

作者： Li, Jia School of Electrical and Information Engineering Heilongjiang University of Technology Jixi Heilongjiang158100 China

ISBN: (纸本)9781510671867

Current synchronous control techniques for non-linear feedback in permanent magnet synchronous motors have large synchronous control time delays due to weak sensor signals. For this reason, a reinforcement learning based synchronous control technique for non-linear feedback of permanent magnet synchronous motors is proposed. A full speed position sensor is set up. Design of a master control centre based on reinforcement learning and reinforced processing of sensor signals. Design of non-linear feedback controller. Implementing synchronous control of permanent magnet synchronous motors based on feedback information. Simulation experiments have shown that this technology has a short response time and can significantly reduce the synchronization control delay of permanent magnet synchronous motors, with an average delay of 0.56 seconds. It has high practical application value. © 2023 SPIE.

关键词： Reinforcement learning

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Modeling and Simulation of High Frequency and High Precision Multi Axis Cooperative control Based on Reinforcement Learning 3

Modeling and Simulation of High Frequency and High Precision...

引用

3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Wang, Haiyu Fu, Zhuang Yan, Jun Hua, Zuohao Guan, Yisheng School of Mechanical Engineering Shanghai Jiao Tong University Shanghai China School of Electromechanical Engineering Guangdong University of Technology Guangzhou China

ISBN: (纸本)9781665492126

Reinforcement learning has attracted much attention in the field of mechanical control, but it has rarely been applied in projects requiring high precision and short control cycle. In order to realize the high frequency and high precision control of multi axis cooperative complex mechanism, this paper decouples and virtualizes the control system of a structure consisting of four valves, infers commands and send control signals at 500Hz, and controls the displacement precisely. The author modified the Proximal Policy Optimization algorithm and made some improvements in the updating rules and training environment, such as batch advantage normalization, attenuation of learning rate, strategy entropy reward, speed control reward, and addition of noise. Finally, the performance of the algorithm exceeded that of PID, ray-PPO in the simulation. © 2023 IEEE.

关键词： Reinforcement learning

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Hysteresis Loop Modeling of Piezoelectric Cantilevered Actuators Based on LSTM Neural Network 3

Hysteresis Loop Modeling of Piezoelectric Cantilevered Actua...

引用

3rd international conference on Energy, Power and Electrical engineering, EPEE 2023

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

ISBN: (纸本)9798350318180

Piezoelectric cantilever actuators have garnered significant attention in the Micro-electromechanical Systems (MEMS) domain due to their unmatched attributes, such as high resolution, speed, and accuracy. They have further been recognized for their absence of magnetic interference, energy efficiency, simple drive mechanisms, and compactness. This study aims to address the precision control challenges inherent in these actuators by introducing a novel segmental modeling technique, further optimized by the Long Short Term Memory (LSTM) neural network for improved hysteresis loop modeling accuracy. © 2023 IEEE.

关键词： Hysteresis Loop Hysteresis Modeling LSTM MEMS Piezoelectric Cantilever Actuators Precision control

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Research on Decoupling control of EMS Maglev train Suspension System 3

Research on Decoupling control of EMS Maglev train Suspensio...

引用

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

作者： Lu, Zhengxi Chen, Chunjun School of Tangshan Institute Southwest Jiaotong University Hebei Tangshan063000 China School of Mechanical Engineering Southwest Jiaotong University Sichuan Chengdu610031 China

ISBN: (纸本)9781510671867

In order to solve the internal coupling problem of the levitation module, it is necessary to design decoupling algorithms for the levitation system under the modular structure to suppress the coupling disturbance between the levitation points of the levitation module. In this paper, we take the levitation module as the object of study and carry out the decoupling study of the modular control of the levitation system. We design the linear active disturbance rejection control and the feedback linearization as the decoupling controller of the system respectively, and analyse the dynamic performance of the levitation system in the two kinds of decoupling control respectively. The simulation results show that the decoupling controllers designed by active disturbance rejection control and feedback linearization methods respectively can solve the internal state coupling problem of the levitation module and improve the levitation control performance. © 2023 SPIE.

关键词： Feedback linearization

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Ship Trajectory Tracking control with Unknown State and Input Saturation 3

Ship Trajectory Tracking Control with Unknown State and Inpu...

引用

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

作者： Zhang, Guangyuan Yang, Jie College of Information Engineering Wuhan University of Technology Wuhan430070 China

ISBN: (纸本)9781510671867

An improved sliding mode control (ISMC) method based on linear extended state observer (LESO) is proposed to solve the trajectory tracking problem of underactuated ships with unknown states in the environment of disturbance. It can limit the input in a given range and has strong anti-saturation ability. Firstly, the ship kinematics and dynamics models are transformed into integral series models by coordinate transformation, and then the unknown states are estimated by LESO. Secondly, the corresponding virtual control law is designed by backstepping method. Then, the control frequency of the ship's main propeller and rudder device is reduced by ISMC, and the problem of differential explosion caused by high order derivative of the state quantity is avoided by passing the state quantity through the first order filter. Aiming at the actual input limitation problem of the controller, the anti-saturation strategy is introduced. The effectiveness of the control law is proved by Lyapunov theory. © 2023 SPIE.

关键词： Sliding mode control

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