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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21-30 订阅

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Deployment of Large Language Models to control Mobile Robots at the Edge 3

Deployment of Large Language Models to Control Mobile Robots...

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

作者： Sikorski, Pascal Schrader, Leendert Yu, Kaleb Billadeau, Lucy Meenakshi, Jinka Mutharasan, Naveena Esposito, Flavio Aliakbarpour, Hadi Babaias, Madi Saint Louis University Computer Science Department Saint Louis United States Saint Louis University Aerospace & Mechanical Engineering Department Saint Louis United States

ISBN: (纸本)9798331544546

This paper investigates the possibility of intuitive human-robot interaction through the application of Natural Language Processing (NLP) and Large Language Models (LLMs) in mobile robotics. This work aims to explore the feasibility of using these technologies for edge-based deployment, where traditional cloud dependencies are eliminated. The study specifically contrasts the performance of GPT-4-Turbo, which requires cloud connectivity, with an offline-capable, quantized version of LLaMA 2 (LLaMA 2-7B.Q5 K M). These results show that GPT-4-Turbo delivers superior performance in interpreting and executing complex commands accurately, whereas LLaMA 2 exhibits significant limitations in consistency and reliability of command execution. Communication between the control computer and the mobile robot is established via a Raspberry Pi Pico W, which wirelessly receives commands from the computer without internet dependency and transmits them through a wired connection to the robot's Arduino controller. This study highlights the potential and challenges of implementing LLMs and NLP at the edge, providing groundwork for future research into fully autonomous and network-independent robotic systems. © 2025 IEEE.

关键词： Mobile robots

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Sugar Cane Yield Prediction Using Drone Data Processed by LSTM Algorithm 3

Sugar Cane Yield Prediction Using Drone Data Processed by LS...

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

作者： Arakawa, Kotetsu Shimizu, Ryusei Kikuchi, Shota Capi, Genci Hosei University Graduate School of Science and Engineering Dept. of Mechanical Eng. Tokyo Japan

ISBN: (纸本)9798331544546

Sugarcane is an essential crop in southwestern Japan, particularly in Okinawa and Kagoshima, where it sustains local economies and supports large-scale sugar production. Traditional yield prediction relies on labor-intensive field surveys and is increasingly challenged by a shortage of skilled labor, resulting in potential inaccuracies. This work proposes an innovative approach to sugarcane yield prediction by combining Long Short-Term Memory (LSTM) models with Genetic Algorithms (GA) to optimize model performance. Drone-based data collection methods are also explored, leveraging aerial imagery to provide additional predictive features. The proposed model demonstrates the effectiveness of integrating time-series and spatial data, offering a scalable and accurate solution for improving yield forecasting and supporting efficient operations in sugarcane production. © 2025 IEEE.

关键词： 3D Map building Drone navigation Sugar cane yield prediction

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Latent 3D Scene Graph with Aligned Visual-Language Perception for Object-Goal Navigation 3

Latent 3D Scene Graph with Aligned Visual-Language Perceptio...

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

作者： Zhang, Jianwei Zhou, Kang Yang, Junjie Li, Xiaojian College of Engineering Southern University of Science and Technology Shen Zhen China School of Computer Science City University of Hong Kong Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shen Zhen China

ISBN: (纸本)9798331544546

Object-goal navigation requires agents to accurately locate and navigate to specified target objects in complex indoor environments. Existing methods primarily rely on single visual observations or simple semantic matching, making it difficult to effectively understand 3D scene relationships between target objects, which leads to inefficient path planning during navigation. Furthermore, the feature discrepancy between visual and language modalities poses challenges for accurate target identification. To address these issues, we propose Latent 3D Scene Graph with Aligned Visual-Language Perception (LSGAP), a novel approach that explicitly models 3D scene relationships between objects through depth perception and latent 3D scene graph construction. Meanwhile, we leverage multimodal pretraining strategies to achieve effective visual-language feature alignment, enhancing the model's target recognition capabilities. This end-to-end architectural design improves spatial cognition ability and enables more efficient navigation decision-making. We conduct extensive experimental evaluations in the AI2THOR interactive environment to validate the effectiveness of our navigator. © 2025 IEEE.

关键词： Depth perception

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Zonotope-based fault estimation for Lipschitz nonlinear systems 3

Zonotope-based fault estimation for Lipschitz nonlinear syst...

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2024 3rd international conference on Aerospace and control engineering, ICoACE 2024

作者： Ma, Siyuan Zhang, Wei Jiang, Qiang Gao, Sheng School of Automatic and Electrical Engineering Shenyang Ligong University Shenyang110158 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research Shanghai200120 China

An estimation of fault intervals using a T-N-L structured observer is suggested for Lipschitz nonlinear systems. By augmenting state vectors, the augmentation system and its observer are established, enabling the observer to concurrently estimate fault and system states. The L∞ performance is applied to enhance the resilience of the fault interval estimation to external disturbances and unanticipated inputs. An adequate requirement for the observer design is also presented. The interval estimation of states and faults is ultimately created by using a zonotope. The proposed method exhibits advantages and feasibility when compared to existing simulation techniques. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Nonlinear systems

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Crane System Based on Arduino control of Car Logistics Handling 3rd

Crane System Based on Arduino Control of Car Logistics Handl...

引用

3rd international conference on Information control, Electrical engineering, and Rail Transit, ICEERT 2023

作者： Zhou, Dan Pan, Yicheng School of Intelligent Manufacturing Panzhihua University Panzhihua617000 China

ISBN: (纸本)9789819788903

This paper presents the design of a logistics handling truck equipped with an intelligent crane device based on visual technology. The truck employs the Arduino Mega 2560 as its processor to control both horizontal and longitudinal movements. The identification and classification of items are achieved through the utilization of a Raspberry Pi and a micro camera. The material retrieval and delivery process are facilitated by a turbine suction cup mechanism. The unloaded materials are accurately positioned using a fixed track control system. Experimental testing demonstrates the stability of the device and verifies its capability to effectively perform material retrieval and delivery operations. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Cranes

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Design of Precision Machining Servo System Based on Fuzzy PID Composite control Algorithm 3

Design of Precision Machining Servo System Based on Fuzzy PI...

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3rd international conference on Electrical, Electronics, and Information engineering, EEIE 2024

作者： Li, Huaping Lin, Haibo Zhang, Jian Lu, Yujie Institute of Mechanical & Electrical Technology Taizhou Vocational & Technical College Zhejiang Taizhou318000 China

ISBN: (纸本)9781510688179

The contradiction between large stroke drive and high-precision feed is difficult to solve in ultra precision special machining. This article takes three-dimensional structure machining as the object, constructs a prototype manufacturing system for large-scale three-dimensional structures, and proposes a solution to improve positioning accuracy. Through the control method of digital fuzzy control+PID combined with bidirectional static error compensation, the platform achieves sub micron level accuracy within a hundred millimeter stroke, ensuring the high response characteristics and low-speed stability of the servo system. The experimental results prove that the system runs well and can achieve high positioning accuracy, meeting the requirements of micro fabrication. © The Authors.

关键词： Piezoelectric motors

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Design and Implementation of a Backstepping PID controller for Trajectory Tracking of Differential Drive-Wheeled Mobile Robot 3rd

Design and Implementation of a Backstepping PID Controller f...

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3rd international conference on Advances in Information and Communication Technology, ICTA 2024

作者： Tu, Duong Dinh Phuong, Ho Sy Luong, Tran Duc Van Chuong, Le Van Thanh, Vu Phuoc, Le Ngoc Department of Automatic Control Institute of Engineering and Technology Vinh University Nghe An Province Vinh City Viet Nam

ISBN: (纸本)9783031809422

Trajectory tracking is a critical issue in the field of mobile robotics. This paper aims to design and implement a backstepping PID controller for trajectory tracking of a differential drive-wheeled mobile robot, evaluating the practical performance of this controller. Initially, we design and construct the robot. We then develop detailed kinematic and dynamic models for the robot and create a controller that integrates backstepping and PID techniques based on these models. A simulation model based on the actual parameters of the robot is subsequently developed. Finally, experiments are conducted to validate the effectiveness of the proposed controller. The experimental process involved a circular trajectory with a radius of 1.5 m, resulting in minimal orbital errors ranging from –0.01 m to 0.01 m. These results confirm the effectiveness of the backstepping PID controller, demonstrating its practical applicability for mobile robot trajectory tracking. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Three term control systems

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Data-driven design of vibration control with active mass damper 3

Data-driven design of vibration control with active mass dam...

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2024 3rd international conference on Aerospace and control engineering, ICoACE 2024

作者： Jia, Su Ouyang, Yan Wu, Huisong Kou, Xiping Li, Yan High Speed Aerodynamics Institute China Aerodynamics Research and Development Center Mianyang621000 China National Key Laboratory of Aerospace Physics in Fluids China Aerodynamics Research and Development Center Mianyang621000 China

An active mass damping tuner is one of the most commonly used active control equipment in engineering, which is used to reduce the structure vibration caused by dynamic load. It includes a mass damper system with an actuator, and the difficulty is the design of the controller. In this paper, the data-driven adaptive dynamic programming control algorithm is proposed. The adaptive dynamic programming algorithm based on data-driven is improved by introducing a new Actor-Critic-Disturbance network, which can effectively deal with the optimal controller design problem under external disturbances. The active controller is designed and verified by simulation and experiment. The active controller is designed to suppress the vibration of the one-story structure produced by Quanser Company. The simulation and experiment results show that the controller can greatly reduce the vibration response of the structure. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Dynamic programming

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Fault Analysis of an Inverter Interfaced Multi-Location DG Based Microgrid Under Grid Integration 3

Fault Analysis of an Inverter Interfaced Multi-Location DG B...

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3rd IEEE international conference on Industrial Electronics: Developments and Applications, ICIDeA 2025

作者： Sahu, Prakash Chandra Jha, Sumit Kumar Samantaray, Subhransu Ranja Sahoo, Buddhadeva School of Electrical and Comp. Science Indian Institute of Technology Bhubaneswar India SR University Department of Electrical & Electronics Engineering Telengana Warangal506371 India

ISBN: (纸本)9798331533205

This research paper presents the current and voltage level of an inverter interfaced multi-location distributed generation (DG) based power system under fault and pre-fault scenarios. The DG system simple comprises photo-voltaic cells in integration with voltage source converter (VSC). The integration of the PV based DG system with existing grid is done through current control mode of the PV set. The fault current level of a conventional grid is normally 8 to 10 times of the rated current. In inverter interfaced electrical grid, the fault current restricted to 2 to 3 times of the rated current which may lead to mal operation of the installed relay. This research assignment focuses over voltage and current level at different location of an inverter interfaced grid under a symmetric L-L-L fault scenario. The suggested current controller has anticipated a PI control scheme for making necessary control action in DG set. Since, the grid rating is high as compared to each individual DG, the major contribution for the fault current is shared by the utility grid. Finally, it is also observed that the fault current level is restricted below 3 times of the rated current due to penetration of VSC based inverter. © 2025 IEEE.

关键词： Proportional control systems

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3rd international conference on Emerging Electronics and Automation, E2A 2023

3rd International Conference on Emerging Electronics and Aut...

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3rd international conference on Emerging Electronics and Automation, E2A 2023

ISBN: (纸本)9789819768011

The proceedings contain 54 papers. The special focus in this conference is on Emerging Electronics and Automation. The topics include: P4 Language-Based Load-Aware Efficient Resource Utilization in Software Defined Networks;implementation of Derived Quadratic Boost Dual Input Converter for Automotive Application;intelligent Solution for Voltage Profile Enhancement Using Dynamic Voltage Restorer;Optimizing Reliability of PV-Based Microgrid by Integrating Fuel Cell;secure Communication in Vehicle-to-Grid Networks: A Study on Man in the Middle Attack Mitigation;Comparative Analysis of PID and LQR control for Autonomous Vehicle Platoons;effect of Mass on Parameters of Electric Vehicle;Modeling and Analysis of an Underactuated Underwater Vehicle Manipulator System (UVMS) for Underwater Intervention;modified Artificial Potential Field Algorithms for Mobile Robot Path Planning;Comparative Analysis of Advanced Driver Assistance Systems (ADAS) in Automobiles;innovative Acoustic Wave Fire Suppression System for Portability;a Comparative Study on the Various Aging Laws Governing Lithium-Ion Capacitor Cycling Aging;Modified Carrier Based Phase Shift Modulation Method for Modular Multilevel Converter for the Improvement of THD and Switching Losses;design Analysis of Vertical Axis Wind Turbine in Jaipur & Thiruvananthapuram;structural and Numerical Analysis of Bladeless Wind Turbine;classification of Poikilocytosis Abnormality Using Ensemble Deep Learning Technique;person Re-identification Using Convolutional Fuzzy Neural Network Classifier;demand Forecasting for Market Basket Analysis;framework to Evaluate Twitter Tweets Using K-Means Clustering;feature Selection Strategies for Accurate Crop Yield Prediction in Heterogeneous Datasets;deep Transfer Learning for Multiclass Dermatology Classification: A Comprehensive Study;depneumoNet: A Novel Model for Improved Pneumonia Diagnosis Through Chest X-Ray Imaging.

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