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检索条件"任意字段=3rd International Symposium on Control Engineering and Robotics, ISCER 2024"

共 600 条记录，以下是1-10 订阅

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Proceedings of 2024 3rd international symposium on control engineering and robotics, iscer 2024

Proceedings of 2024 3rd International Symposium on Control E...

引用

3rd international symposium on control engineering and robotics, iscer 2024

ISBN: (纸本)9798400709951

The proceedings contain 93 papers. The topics discussed include: designing of an intelligent robotic system for disassembling screw connections of electric vehicle batteries based on the improved YOLOV5 algorithm;design of an automated welding system for aluminum alloy core components based on industrial robots;intelligent car control system based on vision tracking technology;research on measurement and positioning system for automatic loading robot;design study of intelligent voice control system for bionic robots;optimization of MR damper model based on improved genetic neural network algorithm;a SLAM system based on an enhanced orb algorithm using adaptive threshold and improved descriptor;video stitching method utilizing mesh segmentation;and lightweight facial super-resolution reconstruction of blueprint separable residual networks.

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Adaptive Reduced Fuzzy Decoupling control for Lower Limb Exoskeleton with Uncertainties 3rd

Adaptive Reduced Fuzzy Decoupling Control for Lower Limb Exo...

引用

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

作者： Nguyen, Van-Truong Tran, Duc-Duong Le, Ngoc-Duy Dang, Van-Truong School of Mechanical and Automotive Engineering Hanoi University of Industry Hanoi Viet Nam Faculty of Engineering Technology Hung Vuong University Viet Tri Viet Nam

ISBN: (纸本)9783031809422

In this paper, an adaptive reduced fuzzy decoupling controller is developed for a lower limb rehabilitation exoskeleton robot (2-DOF) in the case of uncertainties. With decoupled control, the initial overall MIMO system is separated into a set of individual MISO subsystems for independent control. A simplified adaptive fuzzy is proposed to reduce computation time, addressing the issues of traditional fuzzy systems. The controller has good control quality, tracking the human gait motion trajectory with uncertainty. Simulation results show that the proposed controller performs better than the traditional fuzzy controller. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Exoskeleton (robotics)

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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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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...

引用

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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A Self-Aware Robotic Machining Architecture Based on Physics-Informed Neural Networks 3

A Self-Aware Robotic Machining Architecture Based on Physics...

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

作者： Zhang, Yuanhui Wang, Mingfeng Wu, Kai South China University of Technology Shien-Ming Wu School of Intelligent Engineering Guangzhou China Engineering Brunel University Department of Mechanical and Aerospace London United Kingdom

ISBN: (纸本)9798331544546

Industrial robots have been widely used in various industrial scenarios due to their flexibility and expandability. However, robots are susceptible to instability at high speeds and load conditions due to their low stiffness and dynamic characteristics variation with posture. Enhancing the processing stability of industrial robots through data-driven modeling and physical modeling approaches suffers from different drawbacks, such as solution complexity and weak interpretability. With the emergence of physics-informed neural networks (PINNs), new methodologies can be developed to enhance the self-aware processing of robots. In this paper, typical industry application scenarios and dynamics of robotics as well as PINNs are introduced and analyzed, and a framework and method based on PINNs are proposed to enhance the self-aware operation of industrial robots. This framework and methodology contribute to the researcher's efforts to apply PINNs more intensively to robot operation in the future to improve the stability and intelligence of robot operation. © 2025 IEEE.

关键词： Industrial robots

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Proceedings of 2024 3rd international symposium on robotics, Artificial Intelligence and Information engineering, RAIIE 2024

Proceedings of 2024 3rd International Symposium on Robotics,...

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3rd international symposium on robotics, Artificial Intelligence and Information engineering, RAIIE 2024

ISBN: (纸本)9798400718311

The proceedings contain 24 papers. The topics discussed include: research on intelligent patrol system for wind power station;tightly-coupled lidar-based lifelong mapping using wheels and a MEMS gyroscope for mobile robots in dynamic environment;an adaptive mutation strategy improved SPEA2 algorithm for multi-objective web service composition;search for lost submersibles based on the greedy ant algorithm;a path tracking method and validation experiment for robotic manta;an accelerative method for multi-agent path finding considering shapes;dynamic target tracking strategy for manta ray robot inspired by fish behaviors;motion control strategies for industrial robots and their performance evaluation;a single-wheel test platform for wheel-terrain interaction simulation of planetary rovers;and research on the design of elderly accompanying robots from the perspective of smart wellness.

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

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

引用

Mechatronics, control and robotics (ICMCR), international Conference on

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

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

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. For video demonstrations and source code, please refer to: https://***/MobileRobotGPT4LLaMA2024.

关键词： Cloud computing Mechatronics Large language models Source coding Human-robot interaction Natural language processing Software reliability Mobile robots Edge computing

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Lateral control Method for Autonomous Driving Based on Model Prediction and Fuzzy Reasoning 24

Lateral Control Method for Autonomous Driving Based on Model...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Xiong, Liang Du, Yu School of Robotics Beijing Union University Beijing Key Laboratory of Information Services Engineering Beijing100101 China

ISBN: (纸本)9798400709951

This paper proposes a lateral control method based on model prediction and fuzzy reasoning to address the issues of low solution efficiency and slow convergence speed, as well as insufficient robustness of reinforcement learning methods in lateral control of autonomous vehicles. The proposed method utilizes a fuzzy inference system to generate initial solutions and incorporates policy gradient and reward function optimization into Model Predictive control. Validation through MATLAB and Carla simulations demonstrates that this method can accelerate the convergence speed of reinforcement learning, reduce the number of iterations, improve control effectiveness, and achieve satisfactory results in simulation environments. © 2024 ACM.

关键词： Prediction models

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Low-overlap Point Matching Network based on Offset Gragh Attention 24

Low-overlap Point Matching Network based on Offset Gragh Att...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Ge, Yifan Liu, Xianhui College of Electronic and Information Engineering Tongji University Shanghai200092 China

ISBN: (纸本)9798400709951

Rigid point cloud registration has become an essential task in robotics and computer vision. The main challenges are the extraction of key points and the correspondences, especially on the low-overlap point clouds. This paper proposes an iterative algorithm for correspondences based on graph attention features (LoPMN) to address the situation. To this end, our approach uses row-column alternating normalization and an overlapping region prediction module to obtain the soft assignments of point correspondences. The results of the experiments on the 3DMatch dataset show that LoPMN performs better than recent deep-learning methods. © 2024 ACM.

关键词： Graph algorithms

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Error analysis of execution end of laparoscopic surgical robot system 24

Error analysis of execution end of laparoscopic surgical rob...

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3rd international symposium on control engineering and robotics, iscer 2024

作者： Yin, Zhanpeng Ge, Rongyu Song, Shukai Wang, Wenlong School of Mechanical Engineering University of Jinan Jinan250024 China

ISBN: (纸本)9798400709951

The executive end of the laparoscopic surgical robot adopts a wire-pulley drive to meet the actual needs. However, the hysteresis error caused by the change of the motion direction of the surgical instruments and the coupling motion error caused by the physical characteristics of the driving mechanism exist in the wire-pulley drive. In order to improve the control accuracy of laparoscopic surgical robots, the generation mechanism of two errors was analyzed. The feedforward compensation strategy is designed and the correctness of the feedforward compensation strategy is verified by simulation and experiment. The experimental results show that the compensation strategy is correct, which effectively reduces the influence of error on the control accuracy. © 2024 ACM.

关键词： Laparoscopy

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