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3rd international conference on control and robotics engineering (ICCRE)

作者： Rincon, Liz Coronado, Enrique Hendra, Hansen Phan, Julyando Zainalkefli, Zur Venture, Gentiane Tokyo Univ Agr & Technol Dept Mech Syst Engn Tokyo Japan

ISBN: (纸本)9781538666630

In order to convey a sense of believability in social contexts, new interactive robots may be able to express dynamic expressive states and to adapt to different situations. This work presents an innovative adaptive control system architecture for generating expressive motions in a robot arm. An adaptive Fuzzy controller to map environmental inputs such as temperature, humidity, luminosity and human proximity to values of the PAD emotional model (Pleasure, Arousal, and Dominance) is proposed. The PAD values are used to change the performance of the robot trajectories designed to express different features. These robot motions are commanded by the Robust Generalized Predictive controllers (RGPC) using convex optimization by Youla parametrization that involves the robot regulation with the adaptive motion. The proposed approach allows to generate personalized and dynamic behaviors for Human-Robot Interaction (HRI) in non-humanoid robots.

关键词： Robot Arm Adaptive Fuzzy control Robust Predictive control Affective robotics

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Spatial Alignment Method Based on Cooperative Multi-sensors Target Detection 3

Spatial Alignment Method Based on Cooperative Multi-sensors ...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Lu Xiaodong Xie Yuting Zhou Jun Northwestern Polytech Univ Sch Astronaut Xian 710072 Shaanxi Peoples R China

ISBN: (纸本)9781538666630

This paper is focused on the estimation for the multi-sensors alignment errors. There are two types of biases being discussed: sensor measurement (systemic) biases and attitude biases. An improved ECEF-KF algorithm is proposed for the estimation of 12-D error vector. Firstly, we develop the state models of fixed systemic biases and slowly time-varying attitude errors. Secondly, the measurements to public target are transformed from body frames into ECEF coordinate system, isolating the motion and rotation of platforms. Thirdly, a Kalman Filter based on linear pseudo-measured function is used to estimate the error state. Simulations demonstrate that the alignment errors can be exactly estimated and the accuracy of target tracking can be dramatically improved by error compensation.

关键词： sensor alignment Kalman filter target detection error compensation

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Two-Input Two-Output Current-Mode Universal Biquad Using Only VDTAs and Grounded Capacitors 3

Two-Input Two-Output Current-Mode Universal Biquad Using Onl...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Moonmuang, Pitchayanin Mongkolwai, Pratya Tangsrirat, Worapong King Mongkuts Inst Technol Ladkrabang Fac Engn Bangkok 10520 Thailand Rajamangala Univ Technol Rattanakosin RMUTR Fac Engn Nakhon Pathom 73170 Thailand

ISBN: (纸本)9781538666630

A two-input two-output current-mode universal biquad employing only two voltage differencing transconductance amplifiers (VDTAs) and two grounded capacitors is introduced. By appropriately connecting the input and output terminals, the proposed circuit can realize lowpass, bandpass, highpass, bandstop and allpass current responses. It also exhibits an independent electronic control of the natural angular frequency (omega(o)) and the quality factor (Q) by properly setting the transconductance values of the VDTAs. No critical component matching choices are imposed for generating all the filter functions, and all incremental parameter sensitivities are low.

关键词： Voltage Differencing Transconductance Amplifiers (VDTA) universal biquad filter electronically tunable

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Robotic Grasp control Policy with Target Pre-detection Based on Deep Q-learning 3

Robotic Grasp Control Policy with Target Pre-detection Based...

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3rd international conference on robotics and Automation engineering (ICRAE)

作者： Chen, Ran Dai, Xin-ying Northeastern Univ Sch Informat Sci & Engn Shenyang 110004 Liaoning Peoples R China

ISBN: (纸本)9781538695944

We present an accurate, real-time approach combined target pre-detection with robotic grasp based on deep Q-learning. Skilled robotic manipulation benefits from learning approach between target pre-detection and robotic grasp actions: target pre-detection recognizes the object and finds a good grasp rectangle in a single step;meanwhile, grasping can help displace objects to make target detection more accurate and disturbed-free. During grasping experiments in simulation scenarios, our approach rapidly learn complex actions amid challenging cases of clutter, especially achieves better grasping success rates and performs significantly better.

关键词： target pre-detection robotic grasp deep Q-learning

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Design and Development of a Semi-physical Simulation for Supernumerary Robotic Limbs 23

Design and Development of a Semi-physical Simulation for Sup...

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

作者： Liao, Ziyu Zheng, Qian Chang, Tianzuo Zhang, Zhicong Xu, Jiajun Chen, Bai College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing China

ISBN: (纸本)9781450398107

In order to augment human operation ability, a new type of wearable robot is developed, called supernumerary robotic limbs(SRLs). The SRLs have additional robotic limbs that can replace the function of human natural limbs to cooperate with the wearer. This paper aims to develop a semi-physical simulation of SRLs to save costs in the research process. In this study, we developed and realized the physical prototype of SRLs which has a 4-DOFs robotic limb mounted on the waist, and a simulation platform is also developed for this SRLs. Moreover, in order to establish the relationship between the prototype and semi-physical simulation, this study constructed the limb-mapping control system of semi-physical simulation for the SRLs based on the kinematic model. Each joint of SRLs can achieve the one-one mapping relationship with the semi-physical simulation through the established forward and inverse kinematic model based on the screw theory. Meanwhile, this paper also constructed the limb-mapping control system of semi-physical simulation for the SRLs, it established the motion relationship with a robotic limb of SRLs and the human upper limb via the sensor measurement. Finally, we verified the feasibility of the simulation system via the experiments. © 2023 ACM.

关键词： robotics

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Visual perception in design and robotics

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INTEGRATED COMPUTER-AIDED engineering 2007年第1期14卷 73-91页

作者： Bittermann, Michael S. Sariyildiz, I. Sevil Ciftcioglu, Oezer Delft Univ Technol Dept Bldg Technol NL-2628 CR Delft Netherlands

Studies on human visual perception are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual information from an environment. By means of this model some other vision related concepts, such as visual attention and visual openness, are also mathematically defined. The theoretical considerations are implemented in three applications, namely scene description by perception, visual openness measurement for design, and perceptual robotics.

关键词： VISUAL perception MATHEMATICAL models SIMULATION methods & models ROBOTS robotics

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Fault-Tolerant control for Delayed PDE-ODE Coupled Systems 3

Fault-Tolerant Control for Delayed PDE-ODE Coupled Systems

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

作者： Shi, Xi-Dong Wang, Zi-Peng Yan, Xue-Hua Zhang, Xiao-Wei University of Jinan School of Electrical Engineering Jinan China Beijing University of Technology Faculty of Information Technology Beijing China Tiangong University School of Control Science and Engineering Tianjin China

ISBN: (纸本)9798350360813

This paper introduces a fault-tolerant control strategy for delayed PDE-ODE coupled systems. By using a Lyapunov functional (LF), a fault-tolerant control design is developed by space-dependent linear matrix inequality (SDL-MI) to ensure the exponential stability (ES) for the closed-loop delayed PDE-ODE coupled system. Finally, the effectiveness of the control approach is demonstrated through its application to a hypersonic rocket car (HRC). © 2023 IEEE.

关键词： Lyapunov functions

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Model-based Process Planning for Milling Operations Using Industrial Robots 3

Model-based Process Planning for Milling Operations Using In...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Lienenlueke, Lars Gruendel, Lukas Storms, Simon Brecher, Christian Rhein Westfal TH Aachen WZL Lab Machine Tools & Prod Engn Dept Automat & ControlChair Machine Tools Campus Boulevard 30 D-52074 Aachen Germany

ISBN: (纸本)9781538666630

The machining sector is increasingly making use of industrial robots to benefit from high flexibility and low investment costs in relation to the working area. However, low absolute accuracy as well as low stiffness prevent the breakthrough in industry. This paper describes a concept, developed at the WZL Chair of Machine Tools, which enables robot model-based planning optimization by developing an expert system which represents robot process behavior in milling operations.

关键词： industrial robots process planning optimization expert system

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Design and control of the Lower Part of Humanoid Biped Robot 3

Design and Control of the Lower Part of Humanoid Biped Robot

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3rd international conference on robotics and Automation engineering (ICRAE)

作者： Mohamed, Samer A. Maged, Shady A. Awad, Mohammed I. Ain Shams Univ Fac Engn Mechatron Engn Dept Cairo Egypt

ISBN: (纸本)9781538695944

This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was developed to produce the trajectory of the robot center of mass (COM), and then generate the feet trajectories, as well as applying inverse kinematics model. An iterative optimization algorithm was used to find the angular correction. The system was simulated on MATLAB/SIMULINK simulation environment and the results were satisfactory.

关键词： bio-inspired robotics humanoid gait walking pattern trajectories linear inverted pendulum

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A Machine Vision Assisted Mechatronic Seed Meter for Precision Planting of Corn 3

A Machine Vision Assisted Mechatronic Seed Meter for Precisi...

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3rd international conference on control and robotics engineering (ICCRE)

作者： Borja, Adrian A. Amongo, Rossana Marie C. Suministrado, Delfin C. Pabico, Jaderick P. Univ Philippines Los Banos UPLB Coll Laguna Philippines

ISBN: (纸本)9781538666630

Missed seeding during planting operation is a problem for pneumatic corn planters especially for locally developed designs in the Philippines. This study focused on providing a solution to prevent or reduce missed seeding by integrating a control system with machine vision and mechatronic elements to a modified design of a locally developed seed meter. The seed meter was fitted with a camera to monitor the seed plate, a microprocessor to analyze images, and a stepper motor to produce precise rotations for the meter's drive. The control system was designed to detect unfilled holes in the seed plate and adjust seeding rate accordingly to compensate any expected missing hill. Operation simulation revealed that the control system can operate between 2 kph to 6 kph of forward speed. This speed range was caused by the limitations in torque production of the mechatronic drive and the latency of image capture of the camera.

关键词： crop establishment machine vision mechatronics precision agriculture

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