The method for camera-based 3D reconstruction of car undercarriages is proposed in this paper. It is designed for a special scanner, which is placed under a road level and scans undercarriages of passing cars. The sca...
详细信息
ISBN:
(纸本)9781728189727
The method for camera-based 3D reconstruction of car undercarriages is proposed in this paper. It is designed for a special scanner, which is placed under a road level and scans undercarriages of passing cars. The scanner uses mirrors to increase a distance from a camera and to capture a stereo image only by one camera. The 3D models of individual parts of an undercarriage are reconstructed by a correlation-based block-matching algorithm. Afterward, these models are stitched together based-on visual odometry. The method was successfully tested on real car undercarriages.
This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a controlled Floating Space Robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of ...
详细信息
ISBN:
(纸本)9798350307573;9798350307566
This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a controlled Floating Space Robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of the satellite base's pose. The dynamic model of the chaser spacecraft is derived relative to the target in an inertial frame, using the Clohessy-Wiltshire model or Hills equations for defining their relative motion. It is assumed that both spacecraft are in an Inplane-elliptical formation. The manipulator dynamics are obtained through Lagrangian formulation. The PSO algorithm optimizes controller gain values while a quintic polynomial trajectory is provided as input to the arm joints. Results show that the PSO-based controller effectively reduces tracking error and power requirements, and it is also compared with a conventional proportional-derivative (PD) controller.
An Exoskeleton is wearable device that consists of mechanical structure, sensors, actuators and controller. This is widely used in various engineering applications such as to enhance endurance and strength of soldiers...
详细信息
ISBN:
(纸本)9781728120683
An Exoskeleton is wearable device that consists of mechanical structure, sensors, actuators and controller. This is widely used in various engineering applications such as to enhance endurance and strength of soldiers and assisting the patient with walking disorder. In view of this, paper brings out brief history of the Exoskeleton and their design. Further, study of different control aspects used in major augmented type Exoskeleton is also carried out. Finally, future challenges have also been discussed.
Within this work, we investigate how data-driven numerical approximation methods of the Koopman operator can be used in practical controlengineering applications. We refer to the method Extended Dynamic Mode Decompos...
详细信息
ISBN:
(纸本)9781665459471
Within this work, we investigate how data-driven numerical approximation methods of the Koopman operator can be used in practical controlengineering applications. We refer to the method Extended Dynamic Mode Decomposition (EDMD), which approximates a nonlinear dynamical system as a linear model. This makes the method ideal for controlengineering applications, because a linear system description is often assumed for this purpose. Using academic examples, we simulatively analyze the prediction performance of the learned EDMD models and show how relevant system properties like stability, controllability, and observability are reflected by the EDMD model, which is a critical requirement for a successful control design process. Subsequently, we present our experimental results on a mechatronic test bench and evaluate the applicability to the controlengineering design process. As a result, the investigated methods are suitable as a low-effort alternative for the design steps of model building and adaptation in the classical model-based controller design method.
Electrohydraulic actuation systems are widely used in a variety of industries, including robotics, manufacturing, mining, agriculture, and vehicle manufacturing. Some industries, such as agriculture and mining, requir...
详细信息
Platform inertial measurement information acquisition system is to acquire, store and display inertial measurement information of inertial platform navigation system by means of data communication. Due to the differen...
详细信息
Platform inertial measurement information acquisition system is to acquire, store and display inertial measurement information of inertial platform navigation system by means of data communication. Due to the different types of platform inertial navigation system, the communication protocols are diverse. In this paper conducts the repetitive coding problem caused by different formats of communication protocols and put forward an improved method based on XML template applied to format of data unit in protocols. This method greatly improved the generality of acquisition software. In the premise that the acquisition board is not replaced, this method according to the type of platform to change the XML template, without compiled twice time. The inertial information acquisition system has been applied in practice. Practice has proved that this method can significantly reduce the workload of code maintenance and cut down the cost of personnel.
Direct current-direct current buck converters are widely used in industrial fields. In practical applications, parameter uncertainty, external disturbances and measurement noise affect the control performance of DC-DC...
详细信息
The vigorous development of artificial intelligence has had a profound and long-term impact on human production and life. It is a double-edged sword. While letting people enjoy the good life created by new technology,...
详细信息
The vigorous development of artificial intelligence has had a profound and long-term impact on human production and life. It is a double-edged sword. While letting people enjoy the good life created by new technology, it also allows people to feel its negative effects, such as infringing on human privacy, and bringing new inequalities to human beings. Discussing the social responsibility of artificial intelligence has become a hot topic in academic circles in the past two years. This article starts with adopting the research framework of ISO 26000, comprehensively analyzing the problems of artificial intelligence social responsibility in theory and practice, and putting forward their own thinking. It is concluded that in the age of artificial intelligence, we will proceed from the seven themes of this standard to enhance the social responsibility of artificial intelligence, and ultimately achieve the sustainable development of artificial intelligence by adopting the social responsibility international standard ISO 26000,.
At present, the programming methods of industrial robots mainly include off-line programming and instructional programming. However, both of the methods are time-consuming and require experienced robotics technicians....
详细信息
Most remote-sensing systems obtain terrain surface images from vertical observation by satellites and high-altitude aircrafts. However, this can be inadequate for subsurface geological image acquisition. Indeed, subsu...
详细信息
ISBN:
(纸本)9781538695944
Most remote-sensing systems obtain terrain surface images from vertical observation by satellites and high-altitude aircrafts. However, this can be inadequate for subsurface geological image acquisition. Indeed, subsurface or under-surface geological information is more essential for geological and civil engineering. In this work, we proposed a subsurface geological feature recognition approach: first, cross-section geological images are captured horizontally by low-altitude UAV. Later, deep transfer learning model is trained to classify the type of geological mass exposed on the cross-section. We also examined different deep transfer learning models regarding their classification performances. The result suggests that Inception-ResNet-V2 based model outperformed others by reaching an overall accuracy of 99.72%.
暂无评论