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

共 3924 条记录，以下是1711-1720 订阅

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Mechanism Design and Gait Analysis of A Hexapod Robot 3

Mechanism Design and Gait Analysis of A Hexapod Robot

引用

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

作者： Lu, Jiaxin Tao, Wei Xu, Shubo Chen, Zijian Zeng, Jianxun Li, Jiaqi Guangzhou City University of Technology School of Robotics Engineering Guang Zhou510800 China

ISBN: (数字)9781665451604

ISBN: (纸本)9781665451604

This paper introduces the relevant design and practice of bionic principle of hexapod robot based on STM32. We first design the foot and carry out inverse kinematics analysis of the foot. Then we take hierarchical control of the foot, and send coordinate value through serial interface to make the foot reach the specified coordinate position. At the same time, we plan the vertical triangular gait for the robot, and record the design process step by step, finally practice the design is completed on the prototype. The practical results show that the hexapod robot control system has certain execution and stability in the experimental environment, which can control the foot for multi-terrain adaptation and multi-action realization. © 2022 IEEE.

关键词： Machine design

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RC-IGBT Module suitable for Motion control

RC-IGBT Module suitable for Motion Control

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2023 international Exhibition and conference for Power Electronics, Intelligent Motion, Renewable Energy and Energy Management, PCIM Europe 2023

作者： Aoki, Nobuchika Miyazawa, Masaomi Nakatani, Takahiro Radke, Thomas Masuda, Koichi Power Device Works Mitsubishi Electric Corp. Japan Mitsubishi Electric Europe B.V. Germany

ISBN: (纸本)9783800760916

In this paper, power modules for motion control applications in industrial uses are evaluated. New samples employ our latest 3rd generation RC-IGBT (Reverse Conducting - Insulated Gate Bipolar Transistor) chips that integrate an IGBT and a diode into a single chip. The new RC-IGBT has features both of low-loss and low-thermal resistance. The low-loss has been realized by thin wafer technology, carrier stored trench bipolar transistor structure and process optimization. The low-thermal resistance has been realized by optimization of IGBT/diode layout in the RC-IGBT. The test sample equipped with the new RC-IGBTs improves electrical characteristics and has good thermal performance. As a consequence, 18 % increase in current output and 36 % reduction in temperature ripple compared to conventional IGBT modules has been simulated for dynamic operation profiles. This result contributes to improvement of output current performance and also the power cycle lifetime. Hence the new RC-IGBTs are especially suitable for motion control applications that require high current handling capability such as inverters, servo drives and robotics. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： High current density NX-type half bride package Power cycle lifetime RC-IGBT

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Optimal Path-Following control for Redundant Manipulators: A Multi-Objective Optimization Approach 3

Optimal Path-Following Control for Redundant Manipulators: A...

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3rd international conference on Mechatronics and Automation Technology, ICMAT 2024

作者： Deeb, Ali Aakel, Ammar Khokhlovskiy, Vladimir Shkodyrev, Viacheslav Higher School of Cyberphysical Systems and Control Institute of Computer Science and Cybersecurity Peter the Great St. Petersburg Polytechnic University Saint Petersburg Russia ITMO University Saint Petersburg Russia

ISBN: (纸本)9781643685649

This paper presents an optimal control framework tailored for redundant robotic manipulators, aiming to devise precise joint-space trajectories while minimizing control efforts. The core contribution is the formulation of trajectory planning as a multi-objective optimization problem, tackled through a Genetic Algorithm-based Model Predictive control strategy, followed by Gradient Descent refinement. Moreover, we develop a strategy to apply the resulted high-level design of the joint-space trajectory into a dynamic time-series control strategy that respects the physical constraints of actuators in motion, speed, acceleration and jerk. Experimental results on a simulation model underscore the framework's efficacy, demonstrating minimal positioning errors without the need for high computational resources for the trajectory design. Moreover, dynamical analysis of the actuators signals for the low-level phase demonstrates the ability of the overall framework to be applied on a real robotic manipulator. © 2024 The Authors.

关键词： Inverse kinematics

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High-Resolution Synthetic Aperture Imaging Algorithm for Terahertz 3

High-Resolution Synthetic Aperture Imaging Algorithm for Ter...

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3rd international conference on Defence Technology, ICDT 2022

作者： Wang, Guanwen Liu, Zhaoyang School of Information Science and Engineering Shenyang University of Technology Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110169 China Key Laboratory of Liaoning Province in Terahertz Imaging and Sensing Shenyang110169 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang110169 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The reconstruction and recovery of targets in the terahertz band has always been a direction for the improvement of synthetic aperture radar imaging algorithms. In order to improve the imaging resolution of the target, the scattering principle of electromagnetic waves to the target is analyzed. Through model establishment and formula derivation, the propagation process between the electromagnetic wave and the target is obtained, and the simulation and experiment verify that the corresponding algorithm can greatly improve the accuracy of target recovery. © Published under licence by IOP Publishing Ltd.

关键词： Electromagnetic waves

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Third international conference on Sensors and Information Technology, ICSI 2023

Third International Conference on Sensors and Information Te...

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3rd international conference on Sensors and Information Technology, ICSI 2023

ISBN: (纸本)9781510666122

The proceedings contain 36 papers. The topics discussed include: sensor fusion-based obstacle detection method for hazy environment;study on the spatial distribution of potential fire sources in highway tunnels;research on key technologies of performance navigation for civil aircraft based on multi-sensor information fusion;improvement of the swirlmeter with anti-jamming performance;research on cell activity sensor based on impedance principle;ensemble kernel-based broad learning system for fast gas recognition in electronic nose systems;research on the application of remote sensing and GIS technology in railroad engineering geology survey;broadband current array sensing system for transformer and its stability control technology;impedance characteristics of flexible strain sensors based on zero-dimensional carbon nanocomposites;and monocular visual-inertial odometry with wheel encoder for urban vehicle.

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Multi-Player Linear-Quadratic Exponential Stochastic Differential Games on Directed Graphs 3

Multi-Player Linear-Quadratic Exponential Stochastic Differe...

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3rd Modeling, Estimation and control conference (MECC)

作者： Li, Guilu Wang, Jianan Xia, Kewei Beijing Inst Technol Sch Aerosp Engn Beijing Peoples R China Beijing Inst Technol Adv Res Inst Multidisciplinary Sci Beijing Peoples R China

ISBN: (纸本)9781713872344

To solve the problem caused by limited communication and ubiquitous noise, we formulate the multi-player stochastic differential pursuit-evasion games based on directed graphs. This paper proposes a novel Riccati equation concerning multi-player stochastic differential games based on the linear-quadratic exponential cost function. We define capture and escape conditions for pursuers and evaders, respectively. Subsequently, the optimal strategies for pursuers and evaders are obtained based on the communication topologies and a direct method using completion square and Radon-Nikodym derivative. Under the constraints of directed topology, the strategy presented in this article is distributed, and players do not require any global information. Besides, we provide sufficient theoretical evidence that the proposed strategy is a Nash equilibrium. Numerical simulations verify the effectiveness of the strategy in capture scenarios and escape scenarios. 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： Stochastic systems cooperative control pursuit-evasion games differential games graph theory

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Nested Deep Feature Attention Module for Underwater Image Enhancement 3

Nested Deep Feature Attention Module for Underwater Image En...

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3rd international conference on Computer, Big Data and Artificial Intelligence, ICCBDAI 2022

作者： Xiao, Yeqing Wang, Qiang Li, Yupeng Tang, Yandong School of Computer Science and Engineering Shenyang Jianzhu University Shenyang110168 China Key Laboratory of Manufacturing Industrial Integrated Shenyang University Shenyang110044 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

The captured underwater images always suffer degradations because of absorption and light scattering in water. Thus, underwater image enhancement becomes indispensable as a precondition to carry out underwater tasks. Thus, we put forward an end-to-end structure to solve the problem of underwater image degradation. Our network uses continuously stacked deep-layer feature extraction modules to exploit more significant features. For purpose of enhancing the image contrast, we recover high-frequency information by hiring the nested residual attention groups in feature extraction modules, which can adaptively extract more deeper features. Moreover, channel attention module is hired in residual groups to emphasize important information. Comparing with other state-of-the-art approaches, our network performs best on quantitative and qualitative evaluations at datasets EUVP and UIEBD. © Published under licence by IOP Publishing Ltd.

关键词： Feature extraction

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Study of heat transfer in heated garments based on the JOS-3 model 3

Study of heat transfer in heated garments based on the JOS-3...

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2023 3rd international conference on Computational Modeling, Simulation and Data Analysis, CMSDA 2023

作者： Yu, Tao Ou, Meilian School of Automation Guangxi University of Science and Technology Liuzhou Guangxi545006 China School of Electronic and Engineering Guangxi University of Science and Technology Liuzhou Guangxi545006 China

Body temperature prediction and control are important in cold environments or extreme temperatures. In this paper, a multi-segmented heated garment model based on J0S-3 thermoregulation is proposed, and the effects of multi-layer garments and air interlayers on human heat transfer are explored, as well as the role of heating pads in the heat transfer path. By comparison, the simulation results of the present study were found to align with the temperature change curves observed in available experimental data. Moreover, the root mean square of the overall core temperature and the root mean square of the skin temperature were both below 0.08°C and 0.36°C, respectively, which provided good prediction results. This study helps people to adapt to the environment with variable temperatures and has a great potential for development in body temperature prediction technology and application. © Published under licence by IOP Publishing Ltd.

关键词： Heat transfer

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Data -Driven Feedforward Compensation Tuning in Torque Vectoring control 3

Data -Driven Feedforward Compensation Tuning in Torque Vecto...

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3rd Modeling, Estimation and control conference (MECC)

作者： Senofieni, Rodrigo Corno, Matteo Savaresi, Sergio Matteo Politecn Milan Dipartimento Elettron Informaz & Bioingn Piazza Leonardo da Vinci 32 I-20133 Milan Italy

ISBN: (纸本)9781713872344

In automotive control, torque vectoring enhances a vehicle dynamical characteristic by independently allocating wheel torques. Torque vectoring algorithms are often based on some form of closed-loop yaw rate tracking, whose reference is generated according to the driver's steering input. Thus, unless the vehicle is equipped with steer-by -wire, from the torque vectoring point of view, the driver's input simultaneously acts as a reference and as a disturbance. This paper presents a method to explicitly consider this aspect in the torque vectoring design by means of a feedforward compensation. At first, we identify the plant model highlighting the effects of the driver input steer on the system. Then, we design the compensation term with X. techniques based on the identified model. This solution is then refined using a Data -Driven approach based on a Bayesian optimization algorithm. Results show that the compensation term can reduce the tracking error by 40% and the control effort by 35%.

关键词： Torque Vectoring Feedforward Compensation Electric vehicle H -infinity Bayesian optimization

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Model-based and Koopman-based predictive control: a braking control systems comparison 3

Model-based and Koopman-based predictive control: a braking ...

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3rd Modeling, Estimation and control conference (MECC)

作者： Sassella, Andrea Breschi, Valentina Korda, Milan Formentin, Simone Politecn Milan Dipartimento Elett Informat & Bioingn DEIB Piazza Leonardo da Vinci 32 I-20133 Milan Italy Eindhoven Univ Technol Eindhoven Netherlands CNRS LAAS F-31400 Toulouse France Czech Tech Univ Fac Elect Engn Prague 16626 Czech Republic

ISBN: (纸本)9781713872344

Anti-locking Braking systems are crucial safety systems in modern vehicles. In this work, we investigate the possibility to use Model Predictive control (MPC) for braking systems by considering three different models identified from data. Specifically, we consider two models, whose structure and the identification procedure are driven by physics principles, and a third black-box modeling approach that relies on Koopman theory. By comparing the effectiveness of the three resulting MPC schemes in a high-fidelity simulation environment, we show that Koopman-based MPC can generally be a viable solution for the design of braking controllers, which might not be the case of nonlinear MPC or approximated scheme like the second one we test. 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： Koopman control Braking control Nonlinear predictive control Model predictive and optimization-based control Nonlinear and optimal automotive control

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