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

作者： Zhou, Hongli School of Electronic Information Engineering Ningxia Institute of Science and Technology Ningxia China

ISBN: (纸本)9781510671867

As modernization advances, people demand a better life with the prime demand for building a living environment, which is simple, convenient, intelligent, environmentally friendly, safe, and reliable. In this paper, a smart home temperature control system is designed, with the Internet of Things technology as the core. It achieves control through information collection, data upload, command delivery, and automatic control. The network protocol is used to upload data information to the cloud platform in real-time, so as to realize the overall intelligent home temperature control system design, which can solve the problems of uncomfortable indoor temperature and humidity, high carbon dioxide concentration, high methane concentration, etc. It provides supplementary and technical support to realize intelligent urban life and adapt to modern, fast-paced urban life. © 2023 SPIE.

关键词： Automation

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Event-Triggered Feedback control of Differential Driver Mobile Robot 3

Event-Triggered Feedback Control of Differential Driver Mobi...

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

作者： Li, Xiaohan National Pilot School of Software Yunnan University Kunming650000 China

ISBN: (纸本)9781510671867

This paper presents the development of a model-based event-triggered control strategy for addressing the stabilization problem in nonholonomic robots. The proposed strategy is implemented in a practical setup. To handle the inherent nonlinearity of nonholonomic robots, feedback control is employed. Additionally, an event-triggered tactic is incorporated to alleviate communication burdens and computational loads, while ensuring system performance. The stability of the closed-loop system is rigorously guaranteed. Furthermore, comprehensive analyses of experimental results are provided, encompassing simulations as well as real-world experiments. © 2023 SPIE.

关键词： Feedback control

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Countersinking Accuracy control Technology of Robot Drilling and Countersinking Integrated Drilling 3

Countersinking Accuracy Control Technology of Robot Drilling...

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3rd international conference on Computer, control and robotics, ICCCR 2023

作者： Wang, Zhanxi Fu, Yuru Xu, Hao Dong, Minghao Shi, Mengge Zhang, Banghai School of Mechanical Engineering Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9781665492126

Aiming at the problem that: Accuracy of countersink will affect the connection strength of aircraft structural parts, aerodynamic performance and fatigue strength of aircraft. A high-precision length meter is used to compensate the error caused by deformation and vibration to the tool. The grating ruler is used to obtain the tool position in real-Time to form a closed-loop system. A full closed-loop compound control method based on PID control and feedforward control with low-pass filter is proposed to control the countersinking depth. The proposed control model is verified by the robot drilling and countersinking integrated drilling experiment. The experiment shows that compared with the traditional control method, the countersinking depth error of this control method is the smallest. The effectiveness to improve the accuracy of drilling is verified. © 2023 IEEE.

关键词： Low pass filters

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Small target detection in aerial photography based on improved YOLOv5 3

Small target detection in aerial photography based on improv...

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3rd international conference on robotics, Automation and Intelligent control, ICRAIC 2023

作者： Guo, Zenghui Guo, Lijin Tiangong University School of Control Science and Engineering Tianjin300387 China

ISBN: (纸本)9798350360813

Considering the characteristics of large numbers, dense distribution, and complex background of small goals in unmanned aerial vehicles (UAVs) aerial graphics, target detection of small objects approach based on modified YOLOv5s is designed. To address the issue of inadequate utilization of features across different scales in the original network, a multi-scale feature fusion approach is devised to comprehensively extract features and enhance their utilization. The method combines the adaptive spatial feature fusion (ASFF) module and an additional small object detection layer, which is used to learn fused spatial weights for the feature map at each scale and fully extract the features. The improved YOLOv5 highlights important information features during feature fusion. Experimental findings on the public dataset VisDrone show that the mAP50 and mAP50:95 of the improved network is 41.3% and 23.7%, which are 7.2% and 4.9% higher than those of the original YOLOv5s, respectively. The visualization experiment further verifies the improved algorithm can increase the detection accuracy of dense small targets. © 2023 IEEE.

关键词： Aerial photography

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Development of an Accelerometer-based Data Acquisition System for Hand Gesture Recognition 3

Development of an Accelerometer-based Data Acquisition Syste...

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3rd IEEE international conference on robotics, Automation, Artificial-Intelligence and Internet-of-Things, RAAICON 2024

作者： Tajwar, Atique Haque, Md. Ettashamul Hasan, Md Mehedi University of Dhaka Department of Robotics and Mechatronics Engineering Dhaka Bangladesh

ISBN: (纸本)9798331534400

This study presents a novel approach to Human-Robot Interaction (HRI) by employing gesture recognition to control robotic systems, such as bionic arms or manipulators, through accelerometer-based data collection. Using a low-cost glove equipped with an ESP32 microcontroller and accelerometer, data was gathered from 22 participants performing five distinct gestures: a clockwise circle, square, triangle, double tap, and the letter S. After filtering, these gestures were translated into features that trained a small neural network model designed for low-storage microcontrollers like the ESP32. With a performance accuracy of 90.4%, the neural network outperformed existing ensemble learning models, demonstrating its suitability for real-time gesture recognition tasks in embedded robotic systems. This highly efficient model enables seamless and intuitive control of robotic devices by facilitating responsive and natural HRI through gesture recognition. Designed specifically for compact and resource-limited environments, the model addresses the challenges associated with limited computational resources and restricted hardware capabilities. It provides a robust and scalable solution that can be easily integrated into various robotics applications, where gesture-based control is advantageous. © 2024 IEEE.

关键词： Accelerometers

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Experimental Instrument for Studying Scaled Tire's Slip-Friction Characteristics 3

Experimental Instrument for Studying Scaled Tire's Slip-Fric...

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

作者： Wongwaisayawan, Sirawich Phiphobmongkol, Pakapol Sriuranpong, Dhibadi Chaichaorawat, Ronnapee International School of Engineering Chulalongkorn Univeristy Bangkok Thailand

ISBN: (纸本)9781665473538

This research aims to design and develop a new experimental instrument that can test a scaled wheel in any desired scenario. In this paper, the scenario will be the scaled wheel dynamic during braking. Since the common cause of car accident is the inability to brake the vehicle in time by the driver. Hence, the research will focus on pinpointing the maximum braking force at a certain slip ratio. However, due to the limited access to high-precision apparatus, only the experimental instrument and the testing of the braking system design are achieved. Hence, the main outcome of the project is to validate that the relationship between the wheel dynamic and forced occurred during braking can be studied through the project design and can be used to create future improvement based on the system for commercial use. © 2023 IEEE.

关键词： Wheels

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Improvement of overcurrent protection for control rod drive mechanism power system

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ENERGY REPORTS 2023年 9卷 263-270页

作者： Zhu, Lingjin Yin, Xianggen Tan, Liming Wang, Yikai Ma, Tiejun Deng, Yang Li, Zhen Lu, Qinghui Huazhong Univ Sci & Technol State Key Lab Adv Electromagnet Engn & Technol Wuhan 430074 Peoples R China Fujian Fuqing Nucl Power Co LTD Fuzhou 350318 Peoples R China Univ Liverpool Int Coll Liverpool L69 3BX England

关键词： control rod drive mechanism Loss-of-excitation protection Overcurrent protection Phase difference

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Research on Fuzzy control of Two-stage ISD Suspension Based on Variable Inerter 3

Research on Fuzzy Control of Two-stage ISD Suspension Based ...

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

作者： Linhao, Jin Jingjing, Fan Fu, Du Ming, Zhan School of Electrical and Control Engineering North China University of Technology Beijing100144 China School of Mechanical Engineering Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9781510671867

In order to better balance the driving safety and ride comfort of the car, a new two-stage semi-active suspension structure is designed with three elements of variable inerter, spring and damper as the suspension structure. Firstly, the ISD semi-active suspension is set up in Matlab/Simulink;Besides both the road model and fuzzy controller model are set up to simulate the dynamics of three schemes, namely passive ISD suspension, inerter PID control and inerter fuzzy control respectively. The results indicate that the performance of ISD suspension adopting the fuzzy control strategy is better, compared with the passive ISD suspension and the ISD PID-controlled suspension. thus it verifies the superiority of using fuzzy control strategy. © 2023 SPIE.

关键词： Fuzzy control

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Research on Fabrication and Flight Performance of Minitype Robotic Butterfly with Visual Recognition 3

Research on Fabrication and Flight Performance of Minitype R...

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3rd international conference on Innovations and Development of Information Technologies and robotics, IDITR 2024

作者： Jiang, Qi Chen, Yihan Sun, Zhibo Jia, Jiao Zhao, Zi-Long Shi, Chengkun Li, Zhilong Engineering Training Center Beihang University Beijing China Flying College Beihang University Beijing China School of Aeronautic Science and Engineering Beihang University Beijing China

ISBN: (纸本)9798350385694

Based on the aerodynamic principles of butterfly flight, the mechanical butterfly in small-scale is designed to investigate its biomimetic structure and flight performance in this paper. In order to achieve the collaboration mechanism among four wings, a novel flexible hinge is designed and developed. The robotic butterfly is manufactured with a maximum wingspan of 30 cm and a weight of 12 g, who can fly 5 m with a flight endurance of 3 min and a turning radius of 1.5 m. Equipped with a miniature monitoring camera, it could categorize the captured images during flight through picture processing and machine learning techniques based on support vector. This robotic butterfly is expected to be applied in tasks such as aerial monitoring, earthquake relief, and complex terrain surveying. © 2024 IEEE.

关键词： robotics

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Research on Trajectory Tracking control of Forklift-Type AGV Based on Fuzzy MPC 3

Research on Trajectory Tracking Control of Forklift-Type AGV...

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3rd international conference on Service robotics, ICoSR 2024

作者： Liu, Yuxing Zhu, Xiaojing Wang, Yuhuai School of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

In order to address the problem of achieving high tracking precision for forklift-type Automated Guided Vehicle (AGVs) along variable curvature trajectories, this paper proposes a trajectory tracking control method based on fuzzy MPC for forklift-type AGVs. Firstly, a kinematic model of the forklift-type AGV with single-wheel steering is established, and the kinematic equations of single-wheel steering are derived. Subsequently, a traditional linear MPC controller based on Model Predictive control theory is established to control the steering angle of the single-wheel. Furthermore, the impact of different weighting coefficients Q and R on the tracking accuracy of variable curvature trajectories are investigated. Finally, a fuzzy MPC controller is designed to adaptively adjust the weighting coefficients according to actual working conditions. Simulation results demonstrate that when tracking at speeds of 1 m/s and 2 m/s, maximum lateral errors were reduced by 79.5% and 76.4% respectively. Compared with traditional MPC, the adaptive weighting coefficient MPC achieves superior tracking performance, which bears practical significance in real-world applications. © 2024 IEEE.

关键词： Predictive control systems

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