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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141-150 订阅

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Locomotion Stability control of Quadruped Robot using the Combination of Ankle, Hip, and Step Strategies and Fuzzy Logic controller 3

Locomotion Stability Control of Quadruped Robot using the Co...

引用

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

作者： Kim, Hyeyun Park, Shinsuk Korea Univ Dept Mech Engn Seoul South Korea

ISBN: (纸本)9798350307573;9798350307566

This paper proposes a whole-body controller for a trotting quadruped robot. By combining hip, ankle, and step strategies, the developed controller allows both tracking desired trajectory and restoring balance from external disturbances. The control strategy is based on simple template models and Capture Point (CP) concept. A fuzzy logic controller (FLC) is used for adjusting gain values of trajectory tracking control and balance recovery control according to the magnitude of external disturbances. For the ankle and hip strategies, ankle and hip torques are calculated using the CP criteria to avoid balance loss. For the step strategy, the controller computes footholds to maintain the desired Center of Mass (CoM) velocity against external disturbances. A simulation was conducted on a 3D quadruped robot to evaluate the effectiveness of the proposed controller. Forces in both longitudinal and lateral directions were applied to the robot body, with the controller active and inactive. The simulation results showed that the controller reduced CP, CoM position, and CoM velocity errors in both directions. The results demonstrate that the controller, which integrates hip, ankle, and step strategies, improves a quadruped robot's trajectory following and balance recovering capabilities.

关键词： Fuzzy logic controller Quadruped robot Locomotion balance Capture point (CP)

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Pulmonary puncture surgery robot system and master-slave control study 3

Pulmonary puncture surgery robot system and master-slave con...

引用

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

作者： Zeng, Yaruo Sheng, Yifa College of Electrical Engineering USC 0734-8282125 China

ISBN: (纸本)9781510671867

Traditional lung puncture surgery requires a very high level of experience and operational proficiency from the surgeon, and a slight inadvertence during the procedure can cause irreversible damage to the patient's lungs. At the same time, long-term exposure to X-ray radiation in the surgical CT room can cause significant radiation dose overload injuries to the surgeon. To address the above problems, this paper designs a novel robotic system for lung puncture surgery and investigates it for master-slave control. First, a mechanism that can deliver multiple medical devices simultaneously is proposed to enable rotation, delivery, clamping, and bending control of the medical devices;second, a method to manipulate the surgical robot using a touch panel is proposed;and finally, a combination of convolutional neural network and image processing is used to assist in controlling the automatic rotation of the endoscope to reduce the complexity of the surgery. The final animal experiment of the paper verifies the feasibility of the robot. © 2023 SPIE.

关键词： Robotic surgery

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Model Predictive control for Tremor Suppressing Exoskeleton 3

Model Predictive Control for Tremor Suppressing Exoskeleton

引用

3rd Modeling, Estimation and control conference (MECC)

作者： Samal, Subham Barry, Oumar Virginia Polytech Inst & State Univ Blacksburg VA 24061 USA

ISBN: (纸本)9781713872344

This paper focuses on the application of model-based predictive control (MPC) for a full wrist exoskeleton designed for the alleviation of tremors in patients suffering from Parkinson's Disease and Essential Tremor. The main motivation for using MPC here relies on its ability to incorporate state and input constraints, which are crucial for the user's safety. The forearm-exoskeleton model is successively linearized at each time sample to obtain a linear state space model. The optimal input is then generated by minimizing a convex quadratic cost function. Finally, simulation cases are provided to demonstrate the effectiveness of the control scheme. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Optimal control robotics

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Passive fault tolerant control for discrete-time switched systems with multiplicative actuator faults 3

Passive fault tolerant control for discrete-time switched sy...

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3rd international conference on Innovative Research in Applied Science, engineering and Technology, IRASET 2023

作者： Telbissi, Kenza Cadi Ayyad University Physics Department Marrakesh Morocco

ISBN: (纸本)9798350398366

This study addresses the task of passive fault tolerant control for switching systems in the case of multiplicative actuator failures. Using multiple Lyapunov function, an observer is designed. Conditions are established for all admissible actuator failures. Lastly, a numerical illustration is given to prove the feasibility of the suggested technique. © 2023 IEEE.

关键词： Lyapunov functions

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System Cursor control Using Human Eyeball Movement 3

System Cursor Control Using Human Eyeball Movement

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3rd international conference on Advance Computing and Innovative Technologies in engineering, ICACITE 2023

作者： Dhanasekar, J. Guru Aravindh, K.B. Kiren, A.S. Faizal Ahamath, A. Bharath Institute of Higher Education & Research Department of Mechatronics Engineering Tamilnadu Chennai India

ISBN: (纸本)9798350399264

This paper aims to develop a system for controlling the computer cursor using the movement of the user's eyeballs, providing a hands-free alternative to the traditional mouse. We developed a program using image processing techniques and machine learning algorithms in Python to obtain the eyeball movements and blink and translate them respectively into cursor movements and click actions. Our system was able to achieve a high level of accuracy in tracking the user's eye movements. Users were easily able to adapt to the new input method. This system has great potential to improve the accessibility and usability of computers for individuals with motor impairments or disabilities. This hands-free control method has great potential in the area of applications in gaming and virtual reality environment etc. © 2023 IEEE.

关键词： Python

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Design and Implementation of Embedded Sensor Network for an Automated Radio Telescope 3

Design and Implementation of Embedded Sensor Network for an ...

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3rd international conference on robotics, Electrical and Signal Processing Techniques, ICREST 2023

作者： Meah, Kala Hake, Donald Babcock, David Bosse, Eric Nelson, Blake York College of Pennsylvania Department of Electrical and Computer Engineering and Computer Science YorkPA United States

ISBN: (纸本)9798350346435

This paper presents a real-time implementation of an embedded sensor network for an automated radio telescope. The sensor network consists of accelerometers, digital motor temperature sensors, azimuth and elevation encoders, ambient temperature and humidity sensors, and an over the air wireless updating system for the microcontroller. A super loop software architecture was used to collect sensor data and update the control room operation. A custom PCB was designed for the sensor that houses the microcontroller, a wireless communication module, and peripheral circuit components. A laboratory test setup was built to collect sensor data and emulate the actual system operation. The test results validated the sensor network and system operation. © 2023 IEEE.

关键词： Real time control

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Status of Industrial Complex Activity Explained by Air Quality: Central Thailand 3

Status of Industrial Complex Activity Explained by Air Quali...

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3rd international Symposium on Instrumentation, control, Artificial Intelligence, and robotics, ICA-SYMP 2023

作者： Kodaka, Akira Leelawat, Natt Tang, Jing Onda, Yasushi Kohtake, Naohiko Graduate School of System Design and Management Keio University Kanagawa Japan Disaster and Risk Management Information Systems Research Unit Thailand Chulalongkorn University Department of Industrial Engineering Bangkok Thailand International School of Engineering Faculty of Engineering Disaster and Risk Management Information Systems Research Unit Chulalongkorn University Bangkok Thailand

ISBN: (纸本)9781665473538

Resilience in business continuity of an entire industrial complex has direct local socioeconomic impact;however, there are few methods available for objective assessment of its status. This study investigated whether change in air quality could explain the state of economic activity in an industrial complex. Concentrations of PM2.5 and NO2 above several industrial complexes in central Thailand were extracted using the Google Earth Engine™ and analyzed to examine their temporal characteristics in relation to decline in business activity caused by the COVID-19 pandemic. Results confirmed that industrial complexes whose activities were diminished by the pandemic showed concurrent trends of reduction in each pollutant, proving that the concentration of airborne substances has potential to reveal the level of activity of industrial complexes. To enhance the application potential of the proposed method, further study should investigate specific causal inferences by extracting the characteristics of other airborne substances, and consider industrial complexes that include a greater number of companies and major industries. © 2023 IEEE.

关键词： COVID-19

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Incremental Sliding-Mode control for Morphing Flight Vehicles Subject to Mismatched Uncertainties and Input Saturations 3

Incremental Sliding-Mode Control for Morphing Flight Vehicle...

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3rd international conference on Mechatronics, control and robotics, ICMCR 2025

作者： Hua, Siyu Wang, Xugang Wang, Zhongyuan Lee, Heow Pueh National University of Singapore School of Energy and Power Engineering Nanjing University of Science and Technology Department of Mechanical Engineering China School of Energy and Power Engineering Nanjing University of Science and Technology China National University of Singapore Department of Mechanical Engineering Singapore

ISBN: (纸本)9798331544546

This work focuses on a novel incremental sliding mode controller (ISMC), integrated with an anti-windup compensator (AW), for a morphing flight vehicle subject to uncertainties and input saturations. The ISMC consists of two loops based on a control-oriented model of the morphing vehicle with symmetric-sweep wings. Theoretical analysis shows that there is no need to apply chattering reduction methods as the ISMC itself is a continuous function without any approximation compared to conventional sliding mode control structures. The ISMC also has demonstrated enhanced robustness against matched uncertainties and, notably, mismatched uncertainties. Furthermore, it exhibits some anti-saturation capability. By incorporating the AW design, the system achieves improved robustness against uncertainties and input constraints with reduced model dependency. The advantages of ISMC-AW are validated through comparative simulations under multiple uncertainties. Compared with an adaptive sliding mode controller combined with an anti-saturation auxiliary system (ASMC-AS), the proposed ISMC-AW demonstrates smaller tracking errors, a higher convergence rate, and lower vibration amplitudes, and it can help the actuator exit the saturation region rapidly. © 2025 IEEE.

关键词： Sliding mode control

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Advancements in control Systems: Sliding Motion control, Integrating PID control, and Machine Learning for Precision and Robustness 3

Advancements in Control Systems: Sliding Motion Control, Int...

引用

3rd IEEE international conference on ICT in Business Industry and Government, ICTBIG 2023

作者： Dawane, Mahendra K. Malwatkar, G.M. Deshmukh, Suhas P. Chouhan, Devendra Govt. College of Engineering Department of Instrumentation Engineering Jalgaon India Govt. College of Engineering Department of Mechanical Engineering Karad India School of Computer Science & It Symbiosis University of Applied Sciences Indore India

ISBN: (纸本)9798350343274

To improve the precision and robustness of control systems, this paper investigates the integration of three different control methodologies: Proportional-Integral-Derivative (PID) control, sliding motion control, and machine learning. The introduction starts by outlining the historical progression of control systems and highlighting their growing significance in contemporary technology. These integrated control strategies are at the centre of the research. The effectiveness of PID control as a solid foundation is first demonstrated through real-world applications and success stories, which provide insights into its principles, advantages, and disadvantages. The next step is to introduce sliding motion control to improve the adaptability of control systems, particularly in handling complex dynamics and uncertainties. It is presented as an addition to PID control, and real-world examples show how adaptable and responsive it is. The importance of machine learning's ability to learn from data and adapt to changing environments is emphasised as the role of machine learning in control systems is thoroughly examined. It is viewed as a tool for performance improvement and optimisation, supported by real-world examples that show the sophistication of control systems. The integration of these three methodologies, emphasising the theoretical underpinnings and methodologies of this approach, forms the core of the research. Through case studies spanning numerous industries, such as industrial automation, robotics, aerospace, and autonomous vehicles, it elaborates on the advantages of such integration, particularly in terms of achieving precision and robustness. © 2023 IEEE.

关键词： Motion control

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Advances in collaborative control of multiple mobile robots in human-robot co-integration environment 3

Advances in collaborative control of multiple mobile robots ...

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

作者： Guo, Jiangbo Ma, Jun National Engineering Research Center for Technology and Equipment of Environmental Deposition Lanzhou Jiaotong University Ganshu Lanzhou730070 China Collaborative Innovation Center for Technology and Equipment of Concentrated Solar Power Co-constructed by Ministry and Province Lanzhou Jiaotong University Ganshu Lanzhou730070 China Gansu Changfeng Electronic Technology Co. Ltd. Ganshu Lanzhou730070 China College of Artificial Intelligence Nankai University Tianjin300071 China

ISBN: (纸本)9781510671867

With the rapid development of artificial intelligence, big data, image recognition, virtual reality technology, voice control technology and other emerging technologies, There has had a certain technical basis in human-computer integration. Human-robot integration is the essential feature of next-generation robots, and the development of human-robot integration technology is of great significance to the future of China's robotics industry. This paper reviews the current research status of related technologies in human-machine co-integration-related fields, analyzes the focus of mobile robot control research in human-machine co-integration environments, and outlines the aspects of path planning and control methods involved in the control of multiple mobile robots in human-machine co-integration environments. Finally, the prospect of cooperative control of multiple mobile robots in human-robot co-integration environment is presented. © 2023 SPIE.

关键词： Image recognition

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