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

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Design and Implementation of Indoor Visual Autonomous Navigation System for Quadrotor UAV Based on Binocular Camera and IMU

Design and Implementation of Indoor Visual Autonomous Naviga...

引用

Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Jiaze Tang Tianxing Guo Liudan Junbao Li Jinwei Sun Wenbin Huang Qisong Wang Electrical Measurement technology and Intelligent Control Institute School of Instrumention Science and Engineering Harbin Institute of Technology Harbin China Schools of electronics and information Engineering Harbin Institute of Technology Harbin China Information Countermeasure Technique Institute School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Addressing the challenge of unmanned aerial vehicles (UAVs) navigating indoors without satellite positioning, this study introduces a novel method combining binocular camera and inertial measurement unit (IMU) data. This approach overcomes the structural differences between visual and inertial information, integrating them effectively for enhanced indoor autonomous navigation. The research presents a gradient-free path planning framework, pivotal for enhancing the UAV's ability to execute efficient and stable flight in intricate indoor settings. The cornerstone of this system is an advanced path planning algorithm, adept at swiftly identifying optimal routes and adapting to environmental shifts. The system's efficacy was rigorously evaluated through simulations and real-world tests, confirming its precision in positioning and path planning without reliance on satellite data. The findings demonstrate the system's capacity for precise localization and effective route determination, utilizing an integration of visual and inertial inputs. This research significantly contributes to the autonomous flight capabilities of UAVs, offering a valuable reference for future UAV autonomous navigation systems. By delving into visual-inertial fusion navigation technology, the study paves the way for expanded indoor UAV applications.

关键词： Visualization Satellites Measurement units Inertial navigation Autonomous aerial vehicles Satellite navigation systems Path planning

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Vision-Based Kinematic Calibration of Spherical Robots

Vision-Based Kinematic Calibration of Spherical Robots

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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From Doping to Mixed Phases of Y2O3/Tb2O3 Powders 1

引用

3rd international conference on Applied Science and Advanced Technology, ICASAT 2023

作者： Alcantar-Mendoza, Alan Daniel García-Murillo, Antonieta de Jesús Carrillo-Romo, Felipe Ortiz-Landeros, José Instituto Politécnico Nacional-CIITEC Azc. Cerrada de Cecati s/n Azcapotzalco Santa Catarina Mexico City02250 Mexico Instituto Politécnico Nacional-ESIQIE Av. Instituto Politécnico Nacional Lindavista Gustavo A. Madero Mexico City07700 Mexico

ISBN: (数字)9783031576201

ISBN: (纸本)9783031576195

Today, yttrium oxide (Y2O3) and terbium oxide (Tb2O3) have many applications, mainly in technology and engineering, where they are used as phosphors, catalysts, magneto-optical materials, in ceramics and in fuel cells. However, one of the main challenges that arises when working with rare earth sesquioxides (RE2O3) is how to control and study the crystallographic structure of the compounds, since this directly influences the physical and chemical properties of the materials. For this article, ten different types of Y2O3/Tb2O3 powders were synthesized by the sol-gel process and heat treatment to determine how phase change occurs when the concentration of Tb2O3 in a Y2O3 matrix is increased and how this affects the photoluminescence of the material. The products obtained were subjected to photoluminescence, infrared spectroscopy (IR), and x-ray diffraction (Xrd) to determine the effects of the phase mixture on their chemical, physical, and optical properties. After heat treatment at 800 °C, photoluminescence analysis revealed the presence of the main energy transitions 5D4-7FJ of the Tb3+ ion, mainly in the samples with low molar concentrations. Infrared spectroscopy revealed a single characteristic ν(M-O) band, located at about 560 cm−1. Xrd revealed the presence of a preferential plane (222) associated with monoclinic structures. The main finding was that photoluminescence analysis and Xrd through Rietveld analysis and crystallite size revealed the phase changes of the Y2O3/Tb2O3 system, ranging from the matrix to the doping phases, and finally, to a mixture of phases. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Photoluminescence

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BTS7960 Motor Drive: Precision Speed Modulation for PMDC Motors

BTS7960 Motor Drive: Precision Speed Modulation for PMDC Mot...

引用

Advancement in Technology (ICONAT), international conference for

作者： Vilas Bugade Pritam Chougale Pranav Katkar Sakshi Lavhate Abhaysinh Bhosale Marathwada Mitra Mandals College of Engineering Pune Maharashtra India KIT’s College of Engineering Kolhapur Maharashtra India

ISBN: (数字)9798350354171

ISBN: (纸本)9798350354188

This research introduces a control system tailored for Permanent Magnet DC (PMDC) motors. The project encompasses the meticulous selection of high-current DC motors suitable for the intended application and their seamless integration with the BTS7960 motor driver. These yet em harnesses Pulse Width Modulation (PWM) signals characterized by a stable frequency and adjustable duty cycles spanning from0To dictate the direction of motor rotation, the system employs an H-bridge circuit methodology in conjunction with a 3-position switch, endowing operators with the capability to specify either forward or reverse motion. An integrated monitoring system operates in tandem, actively capturing and report in critical metrics such as rotational speed, current, and voltage. The motor’s rotational speed becomes a highly adaptable parameter, subject to precise adjustments through the manipulation of armature voltage settings in conjunction with the dynamic duty cycle of the PWM signal. At the heart of this system lies the Arduino micro controller, as user-friendly interface that empowers users to effortlessly oversee motor speed, direction, and other pertinent parameters. Performance evaluations of the PM DC motor have affirmed its consistent torque output, resilient even amidst transitions between low and high rotational speeds. Furthermore, the system exhibits the remarkable capability to receive external commands from various sources and sensors, there by endowing it with the ability to operate autonomously and remotely. This amalgamation of functionalities culminates in the creation of a robust system, one that adeptly and efficiently controls high-current DC motors. This project unveils its relevance across a multitude of domains, finding practical application in fields such as robotics, automation, and industrial contexts where the meticulous regulation of powerful motors is of paramount importance. In summary, this project is imbued with considerable potential, offering inn

关键词： Motor drives Velocity control Electromagnetic interference Pulse width modulation DC motors Sensor systems Permanent magnets Sensors Reliability Vehicles

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Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator

Multi-Criteria Design of 6-DoF Fully-Constrained Cable Drive...

引用

RSI/ISM international conference on robotics and Mechatronics

作者： Ali Nasr S. Ali A. Moosavian Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab. Department of Mechanical Engineering K.N. Toosi University of Technology Tehran Iran

ISBN: (纸本)9781467372350

The purpose of this paper is to optimize dimensions of KNTU 6-DoF cable driven redundant parallel manipulators. This manipulator is under investigation for possible high-speed application such as object manipulator. Usage of cable parallel manipulator depends on kinematic characteristic and control algorithm. This optimization is based on different performance indices including the singularity measure, the kinematic sensitivity, the stiffness and free collision workspace. Stiffness of the cable is also taken into consideration because of its effect on kinematic stiffness of moving platform manipulators performance. Points with cable collision, singular or actuator wrench infeasible configuration characteristic are eliminating from entire workspace.

关键词： Cable Robot Redundant Parallel Manipulator Kinematics Analysis Optimal Design

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Detection of False Data Injection Attacks on Industrial control Systems Based on Joint Analysis of Principal Components and Independent Components

Detection of False Data Injection Attacks on Industrial Cont...

引用

Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Junjie Li Junpeng Ma Chunlei Ma Haibo He Tianyu Zhu Peng Cui Ji Chen Junming Zhang China Coal Shaanxi Energy Chemical Group Co. Ltd. Yulin China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Industrial control systems are widely used in fields such as power, chemical, and petrochemical industries, playing a crucial role in ensuring production and livelihoods of people. However, the complex hierarchical structure and numerous controllable nodes of industrial control systems pose serious security challenges. In recent years, attacks on industrial control systems have been occurring frequently, causing significant damage to the safe operation of industrial production and even resulting in severe security incidents. For scenarios of false data injection attacks on industrial control systems in chemical field, the limitations of principal components analysis (PCA) anomaly detection for non-Gaussian data are analyzed. To address this issue, independent component analysis (ICA) method is introduced as a complementary method to extract independent components from non-Gaussian data. By combining the advantages of PCA and ICA, a joint detection method that integrates both has been proposed. In the proposed method, the $T^control$ statistic based on PCA, the $T^{8}$ statistic for the main part and the SPE statistic for the residual part based on ICA are combined to reconstruct a new unique joint detection indicator, the Bayesian inference criterion (BIC) detection indicator, by using the Bayesian probability. Finally, the Tennessee-Eastman (TE) process model is taken as the research object, and a simulation verification with injecting attacks with sine wave false data was conducted to validate the effectiveness of the proposed method. The result indicates that the proposed method has a good detection capability for the signal changes caused by the attacks.

关键词： Industrial control Process control Production Gaussian distribution Petrochemicals Bayes methods Security

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Adaptive control of Unknown Robotic Systems Cooperating on Handling of an Unknown Object

Adaptive Control of Unknown Robotic Systems Cooperating on H...

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RSI/ISM international conference on robotics and Mechatronics

作者： Esmaeil Mehrabi Kasra Esfandiari Heidar Ali Talebi Mohammad Zareinejad Robotic Research Institute Amirkabir university of Technology Tehran Iran Department of Electrical Engineering Amirkabir university of Technology Tehran Iran New Technologies Research Center(NTRC) Amirkabir university of Technology Tehran Iran

ISBN: (纸本)9781467372350

This paper presents an adaptive control scheme for robotic systems, cooperating in grasping and manipulation of an unknown object. Unlike most of the previous approaches in the literature, the manipulators dynamics are assumed to be unknown. Furthermore, no a priori information is required regarding the object dynamics and its Center of Mass (CoM). By utilizing the passive decomposition technique, the overall system is decomposed into decoupled shaped and locked systems. Then, an adaptive control methodology is designed based on the Function Approximation Technique (FAT). To investigate stability of the closed-loop system, passivity concept and Lyapunov's direct method are used, which ensured asymptotical convergence of the tracking errors. Finally, simulation results are provided to verify the effectiveness of the proposed control scheme.

关键词： Adaptive control Unknown Robotic Systems Cooperating Unknown Object

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Sliding Mode control Design with Adaptable Gains for Robotic Manipulators

Sliding Mode Control Design with Adaptable Gains for Robotic...

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RSI/ISM international conference on robotics and Mechatronics

作者： Moharam Habibnejad Korayem Reza Shiri Saeed Rafee Nekoo Robotic Research Laboratory School of Mechanical Engineering Iran University of Science and Technology (IUST) *** Tehran Iran

ISBN: (纸本)9781467372350

Uncertainty in manipulators is rooted in two factors: error of measurement and parameters uncertainty of dynamics;Hence it is necessary to include it in control design. Sliding mode control (SMC) is a proper approach for controlling uncertain systems. SMC regulates system's states to a desired dynamics, defined by sliding surface. Gains of control law determine the rate of movement towards sliding surface or maintaining on it. Low value of gains make error and high value of that results in chattering effect. In this paper, a general method is introduced to provide an adaptive gain for the SMC controller based on dynamics of model including its uncertainty in the structure for multi-input-multi-output (MIMO) systems. The structure is expressed for two types of corrective functions: sign and inverse tangent functions. The application of the adaptive SMC is implemented on manipulators in a general manner. An SCARA robot is selected for simulation study showed significant improvement in comparison with conventional SMC.

关键词： Sliding mode control Adaptable gains robotics Manipulators Chattering

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Modeling of a novel cable driven robot for upper limb rehabilitation

Modeling of a novel cable driven robot for upper limb rehabi...

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RSI/ISM international conference on robotics and Mechatronics

作者： Mahdi Bamdad Homayoon Zarshenas School of Mechanical and Mechatronic Engineering Shahrood University Shahrood Iran

ISBN: (纸本)9781467372350

In this paper, a novel upper limb rehabilitation robot is introduced which is based on cable-driven mechanism. The research focuses on developing a specific cable actuator that brings back-drivability characteristic for the rehabilitation robot. The main idea based on using a series of cables with single tension motor as power supply to control motion of multi-joint arm. Dynamic specification of two-joint cable mechanism has been explained and an open loop impedance control which is equipped with feed-forward PD controller considered as control strategy. Moreover, the performance of mechanism while tracking a specific path has been successfully simulated. Inherent back-drivability feature of simulated mechanism has been evaluated in comparison to human arm stiffness. Simulation results show the ability of the robot in human arm motion simulation which makes it useful in upper arm rehabilitation applications.

关键词： cable-driven upper limb rehabilitation back drivable impedance control stiffness ellipses

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Numerical and Neural Network Modeling of Motors of a Robot

Numerical and Neural Network Modeling of Motors of a Robot

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RSI/ISM international conference on robotics and Mechatronics

作者： H. Tourajizadeh S. Manteghi S. R. Nekoo Assistant professor Department of Mechanical Engineering Faculty of Engineering Kharazmi University Tehran Iran M. Sc. College of Computer and Mechatronics Engineering Islamic Azad University Branch of Science and Research Tehran Iran PhD Student School of Mechanical Engineering Iran University of Science and Technology (IUST) Tehran Iran

ISBN: (纸本)9781467372350

In this paper, parametric and numerical model of the motors of a robot are extracted. A method is proposed here to control the torque and velocity of the motor simultaneously using the extracted dynamics of the motor and consequently control the robot motion more accurately. Parametric model of the motors are derived by conducting standard tests like locked rotor test and step and sine wave input test. In order to derive the neural network and numerical models, a set of sinusoidal, triangular, and random steps signal, are applied as the input to the motor and its speed is recorded as the output. Neural network model of the motors is extracted by using these dataset and considering the MLP neural network structure with Levenberg _Marquardt training method. Results of the numerical model and parametric models are compared and validated by experimental tests.

关键词： Robot Modeling of DC motor Torque-speed control Training algorithm Levenberg-Marquardt

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