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

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A Compensation Method for Lost Trajectories of ORB-SLAM3 with DROID-VO 3

A Compensation Method for Lost Trajectories of ORB-SLAM3 wit...

引用

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

作者： Liu, Kairong Fan, Yong Su, Jianmei Wu, Ling Zhang, Kexin School of Computer Science and Technology Southwest University of Science and Technology Sichuan China

ISBN: (纸本)9781665492126

Under extreme conditions such as pure rotation, motion blur and poor texture, ORB-SLAM3 cannot perform pose estimation well which leads to trajectory loss inevitably. In this paper, we present a robust compensation method which uses DROID-VO to generate lost trajectories and inserts them into ORB-SLAM3 accurately. Experimental results on EuRoC, Tartanair and TUM-RGBD datasets indicate that the proposed method achieves hizher coverage and can adapt to more conditions. © 2023 IEEE.

关键词： Trajectories

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A non Invasive Brain-Computer-Interface for Service robotics 3

A non Invasive Brain-Computer-Interface for Service Robotics

引用

3rd IEEE international conference on Artificial Intelligence, ICAI 2023

作者： Ahmed, Fatima Iqbal, Hashim Nouman, Ahmed Maqbool, Hafiz Farhan Zafar, Saqib Saleem, Muhammad Khurram University of Engineering & Technology Mechatronics Engineering Department Lahore Pakistan AASS Computer Science Department Orebro University Örebro Sweden University of Engineering & Technology Mechatronics Engineering Department Taxila Pakistan

ISBN: (纸本)9798350322125

A Brain-Computer Interface (BCI) enables individuals to control a system solely through their brain activity, without relying on physical movement. These interfaces have numerous applications, particularly in assisting individuals with paralysis. Our research paper details a BCI interface that can classify and control seven wheelchair movements: forward, backward, left, right, stair climbing upwards, stair climbing downwards, and stop. We collected raw signal data using the electroencephalog-raphy (EEG) technique from healthy volunteers, which we then filter before feeding into the feature extraction and classification stages. We evaluated our approach using three classification algorithms: Convolution Neural Network (CNN), Support Vector Machines (SVM), and Random Forest Classifier, and compared their performance. Our experimental results demonstrate that our proposed approach is highly promising for implementing BCI, with a classification accuracy of 99% using a Random Forest Classifier. © 2023 IEEE.

关键词： Brain computer interface

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Colonic Polyp Segmentation Algorithm Based on Improved SegFormer Network 3

Colonic Polyp Segmentation Algorithm Based on Improved SegFo...

引用

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

作者： Xiang, Shiyu Wei, Lisheng Gao, Gang Tao, Xiuwen School of Electrical Engineering Anhui Polytechnic University Wuhu China Anhui Key Laboratory of Electric Drive and Control Wuhu China

ISBN: (纸本)9781665492126

To solve the problem that factors such as the similar color of polyps and background in colon polyp images and the different sizes of polyps affect the segmentation accuracy, an improved SegFormer, U-SegFormer, is proposed for colon polyp image segmentation. Firstly, in the feature fusion phase of the decoder, features at multiple scales from the encoder output are fused in a cascade fashion and the feature representation is enhanced using the Unified Attention Fusion Module;Then, training the network in combination with transfer learning, using a loss function combining Dice Loss and Focal Loss to mitigate the effect of positive and negative sample imbalance on model training. Finally, the U-SegFormer was compared with other segmentation models, and the experimental results showed that the polyp segmentation method based on the U-SegFormer model was superior to the current mainstream segmentation methods and had a certain potential for clinical application. © 2023 IEEE.

关键词： Image segmentation

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Personalized control Method of Lower Limb Prosthesis with Variable Speeds 3

Personalized Control Method of Lower Limb Prosthesis with Va...

引用

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

作者： Sun, Lei Ma, Hongxu An, Honglei Wei, Qing Gao, Jialong Natl Univ Def Technol Coll Intelligence Sci & Technol Changsha Hunan Peoples R China

ISBN: (纸本)9798350307573;9798350307566

The active knee-ankle prosthesis is an important auxiliary device to protect the daily life of the knee amputees. The tight human-interaction coupling makes its control face many challenges, which results in poor continuity and low degree of individuation. This paper presents a personalized control method for the active knee-ankle prosthesis which can adapt to different walking speeds and users' height. According to the height and speed of the subject, the current appropriate knee and ankle joint trajectory can be planned adaptively. The specific method is to design the phase variable based on thigh angle to achieve continuous control of the whole gait cycle. And then, build the task function and basis function based on the speed, height and phase variable separately. By introducing the proportional weight coefficient, the parameters to be estimated are reduced by doubling because of the 2 influence factors (speed and height), and the calculation amount and difficulty are reduced. The convex optimization is used to fit the function of gait surface with respect to height and walking speed. The result of gait trajectory planning is taken as the reference input of impedance control to complete the compliant control of the prosthesis. The algorithm is verified by simulation experiments, which can ensure the stable and smooth walking.

关键词： prosthesis control trajectory planning individual control

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Research on Motion control of Bipedal Wheeled-leg Robot Based on Distributed Model 3

Research on Motion Control of Bipedal Wheeled-leg Robot Base...

引用

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

作者： Yang, Yang Zhian, Zhang Nanjing University of Science and Technology School of Mechanical Engineering Nanjing210094 China

ISBN: (纸本)9781510671867

With the rapid development of mobile robot technology, bipedal wheeled-leg robots, which combine the efficient mobility of wheeled robots and the adaptability of legged robots to uneven terrain, are gradually attracting widespread attention. In complex terrains and unstructured environments, such as stairs, ramps, and narrow spaces, bipedal wheeled-leg robots have superior mobility and adaptability. This article introduces a motion control method for bipedal wheeled-leg robots with a five-bar leg configuration. This method decouples the robot system based on a distributed model, analyzes the body and wheeled leg system separately, and implements a controller for the robot's rapid movement on flat terrain, adaptation to unstructured terrain, and jumping movements through virtual model control and model predictive control. A series of experiments have verified the feasibility of the prototype system's movement in real-world scenarios. © 2023 SPIE.

关键词： Motion control

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Development of a Robot Arm with Neural Network control 3

Development of a Robot Arm with Neural Network Control

引用

3rd international conference on Technology Enhanced Learning in Higher Education, TELE 2023

作者： Zhitenko, Maxim Polyakov, Maxim Volgograd State University Depart. of Information Systems and Computer Modeling Volgograd Russia

ISBN: (纸本)9798350326567

This article is devoted to the development of a robot arm with neural network control. This article presents the process of creating the electronic component of the device and design based on 3D printing technologies. The article describes the process of creating a prototype of a robot and its hardware, as well as software for controlling and training a neural network. We present the principles of operation of the neural network, its architecture, and training stages. We demonstrate the effectiveness of neural network control compared to traditional methods of robot arm control for some tasks. This article can be useful for both specialists in the field of robotics and in the field of education. © 2023 IEEE.

关键词： Intelligent systems

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Trajectory Tracking Compliant control for Lower Limb Exoskeleton Based on Interaction Torque Estimation 3

Trajectory Tracking Compliant Control for Lower Limb Exoskel...

引用

3rd international conference on Service robotics, ICoSR 2024

作者： Zeng, Haozhou Liu, Xiangzhi Huang, Xiaopeng Liu, Tao School of Mechanical Engineering Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou China

ISBN: (纸本)9798350367119

The lower limb rehabilitation exoskeleton significantly enhances walking function in patients with lower limb motor dysfunction. Understanding the human-machine interaction force is crucial for studying the control mechanisms of the exoskeleton. This research employs a back propagation neural network (BPNN) to estimate interaction torque, eliminating the need for torque sensors and thereby lowering the cost and complexity of the exoskeleton hardware. Besides, it has higher estimation accuracy compared to the dynamic modeling method. Knowing the torque information, we design a trajectory tracking compliant controller. The controller adopts the admittance control method to ensure compliance and safety. By specifying the desired lower limb motion trajectory, the controller helps guide the user's gait toward the physiology gait pattern. The effectiveness of the controller based on torque estimation was verified on a prototype lower limb exoskeleton. Firstly, the torque estimation error based on BPNN is reduced by 33% compared with the modeling method. Besides, the trajectory tracking controller reduces the absolute value of interaction torque by 30% compared with the transparent mode and makes the user's gait consistent with the target trajectory. This work advances lower limb exoskeleton control technology and positively contributes to the recovery of patients with gait abnormalities. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Model Predictive control of supply chain inventory management under information sharing delay 3

Model Predictive Control of supply chain inventory managemen...

引用

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

作者： Li, Guina Liu, Xiaohua School of Mathematics and Statistics Science Ludong University Yantai China

ISBN: (纸本)9781510671867

This paper aims at the supply chain inventory management system with information sharing delay, and the design problem of distributed model predictive controller under communication fault is studied. Firstly, the inventory model of information sharing delay is constructed as a state space model under communication failure. Based on model predictive control and state feedback control method, a distributed model prediction controller is designed in this paper. Secondly, this paper uses the controller to optimize the change of the quantity of ordered goods, reduce the management risk of inventory, and achieve the goal of adjusting the inventory level to a safe position. Finally, a simulation living example is given to verify the availability of the proposed control strategy. © 2023 SPIE.

关键词： controllers

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Converter control strategy for low-voltage AC-DC hybrid microgrid 3

Converter control strategy for low-voltage AC-DC hybrid micr...

引用

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

作者： Wendi, Zhang Qigong, Chen School of Electrical Engineering Polytechnic University Wuhu241000 China

ISBN: (纸本)9781510671867

In low-voltage AC-DC hybrid microgrid, power fluctuation is caused by load switching. In order to ensure the stable operation of microgrid, a control strategy for interconnecting converters in low-voltage microgrid is proposed. Aiming at the low-voltage microgrid, the difference between its operation characteristics and the traditional microgrid is analyzed, and the topology structure and sagging characteristics of the low-voltage microgrid are studied. The characteristics of AC and DC side voltages are obtained by standard processing on both sides of the subnet voltage, and the working interval of the interconnection converter is redivided to cope with the power transmission direction under different subnet states. For the frequent switching problem that may occur in the working interval of the interconnected converter, the action threshold is added to control its switching state. Finally, a simulation model is established in Matlab/Simulink to verify the feasibility of the proposed control strategy. © 2023 SPIE.

关键词： MATLAB

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Fuzzy PID control for sit-and-reach trainer based on magneto-rheological damper 3

Fuzzy PID control for sit-and-reach trainer based on magneto...

引用

3rd international conference on Energy and Power engineering, control engineering (EPECE)

作者： He, Wei Li, Hao Ma, Tingting Zhao, Yibo Zhao, Xinyan Song, Quanjun Univ Sci Technol China Hefei 230026 Peoples R China Chinese Acad Sci Hefei Inst Phys Sci Hefei 230031 Peoples R China

ISBN: (纸本)9798350366105;9798350366099

The sit-and-reach exercise has consistently garnered popularity among adolescents. Not only does it play a pivotal role as a crucial element in stretching training, but it also contributes to enhancing the overall flexibility of the adolescent body. However, training processes often encounter challenges such as safety concerns and increased human time costs. Current auxiliary stretching training robots primarily target specific joints, such as the ankle and finger joints, leaving a gap for a comprehensive training device dedicated to sit-and-reach movements. This study introduces the design of a sit-and-reach and stretching trainer, incorporating magneto-rheological damper to address safety concerns. The device offers two distinct training methods to provide a solution to the aforementioned challenges. Then the control method of magneto-rheological damper is studied. Through a comparative analysis with the traditional PID control method, the study adopts a fuzzy PID control strategy for the device's various training modes. In conclusion, comparative verification experiments demonstrate the superiority of the fuzzy PID control strategy in both overshoot and steady-state error control.

关键词： Fuzzy PID Sit-and-reach Magneto-rheological damper

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