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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91-100 订阅

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Robot Arm Movement control by Model-based Reinforcement Learning using Machine Learning Regression Techniques and Particle Swarm Optimization 3

Robot Arm Movement Control by Model-based Reinforcement Lear...

引用

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

作者： Mueangprasert, Meta Chermprayong, Pisak Boonlong, Kittipong Burapha University Faculty of Engineering Department of Mechanical Engineering Country Chonburi Thailand

ISBN: (纸本)9781665473538

Robot arms are machines which are not only used in industrial technologies but also other applications such as medicine and agriculture. The robot arm movement control is important in the use of robot arms. This paper presents model-based reinforcement learning (MBRL) in robot arm movement control in case studies where targets are in random positions. The numerical studies of 2 and 3-DOF robots moving in planar motion are used as test problems. In 2-DOF robot control, 2 tasks - placing and reaching are employed. In 3-DOF robot control, noise is considered. Machine learning regression techniques - Gaussian process regression (GPR), artificial neural network (ANN), and support vector regression (SVR) - are used in environment modelling in MBRL while particle swarm optimization (PSO) is used as optimization tool in MBRL. The numerical studies show that MBRL with GPR has the highest performance with at least 95% success rate while MBRL with the other regression techniques such as ANN and SVR can succeed only 23-93% and 31-47%, respectively. Therefore, MBRL with GPR and PSO is suitable for robot arm movement control. © 2023 IEEE.

关键词： Reinforcement learning

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Implementation of human-following robot system applying virtual delay to posture of a leader 3

Implementation of human-following robot system applying virt...

引用

3rd international Conference on Image Processing and robotics, ICIPRoB 2024

作者： Takemori, Fumiaki Tottori University Faculty of Engineering Dept. of Electrical Engineering and Computer Science Tottori Japan

ISBN: (纸本)9798350374766

This paper develops an implementation of a measurement and control system in which a vehicle follows its predecessor while maintaining a certain distance. First, we construct a model that virtually delays the reference coordinates of the leading target backwards, and propose a control law that follows the steering angle of the following vehicle to that virtual delay point. Next, a range sensor is used to detect the position and orientation of the leader, and the position and orientation is estimated using a template matching method based on the person's body contour point group measured by the sensor. Finally, the effectiveness (including robustness) of the proposed system is demonstrated in some simulations and human tracking experiments. © 2024 IEEE.

关键词： Template matching

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An Investigation of Surface Temperature Effect on Estrus Detection of Dairy Cows using Supervised Learning 3

An Investigation of Surface Temperature Effect on Estrus Det...

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

作者： Wongvivatvaitaya, Phongcharn Boonto, Sudchai Silapunt, Rardchawadee Electronic and Telecommunication Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781665473538

This paper proposes an investigation of the surface temperature effect on the estrus detection of dairy cows using the supervised learning. The neck collars with temperature and motion sensors were attached to the tested dairy cows. Four IP cameras were installed in the cow shed to monitor dairy cow behaviors and for data labeling. Neck temperature and motion data were collected and classified for behaviors and estrus prediction using 3 different supervised learning techniques: artificial neural network (ANN), Decision Tree (DT), and Random Forest (RF). By incorporating the neck temperature, the validation accuracies significantly improved over 25% compared to those of the control set, which comprised only motion data. Other performance metrics also improved in the same manner. The estrus prediction accuracy was 100% for all 3 techniques, around 11% higher than that of the control set. It was later discovered that the temperature feature alone could provide relatively the same validation accuracy, indicating the neck temperature as an important feature for estrus prediction. © 2023 IEEE.

关键词： Surface temperature

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Simulating a production system as an agent-based model: A case study of a gear reducer factory 3

Simulating a production system as an agent-based model: A ca...

引用

3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Gu, Yuefei Shen, Linyong Song, Wei Zhang, Yanan Shanghai University School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9781665437189

The management of production system is one of the important topics under the environment of industry 4.0. Simulation model of production system can provide dynamic information to evaluate system performance. In this paper, a production system model based on discrete event simulation and agent-based simulation is proposed. Discrete event simulation describes the event-oriented simulation clock advance and process flow charts of production system. Agent-based simulation provides a distributed control structure to reduce the complexity of the production system. Then we study on a factory case producing gear reducers. In the AnyLogic software, the factory layout is configured and the process flows of producing parts are arranged. Also, agent-based model of machine agent and workshop agents is proposed to monitor the states. Finally, the simulation model dynamically reflects the operation of the production system. © 2021 IEEE.

关键词： Autonomous agents

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A complete solution of robotic polishing in 3C industry

A complete solution of robotic polishing in 3C industry

引用

39th international symposium on robotics, ISR 2008

作者： Bao, Xianjie Peng, Wen Yin, Xingguo Fang, Xinyu Zhang, Hui Corporation Research Robotics Department ABB Robotics China Robotics Department Building No.76 3rd Floor of No. 31 Ind. Fu Te Dong Dan Rd 200131 Shanghai China

This paper first introduces the differences of robotic polishing in comparison with polishing by manual or dedicated polishing machine. The characteristics of robotic polishing give possibility to gain both flexibility and consistence in production. To apply robotic polishing, the following issues have to be considered carefully to gain fine finishing quality, the contact force, the accuracy of programmed path, and suitable polishing process. ABB introduced a complete portfolio of robotic solutions, which contains both force-control and related off-line and on-line software to help doing right engineering. With a real application case in 3C industry, the paper describes a typical engineering works for applying robotic polishing.

关键词： Force control

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Model-based control for a Coupled Soft Robotic Exo-digit and Anthropomorphic Finger with Multi-Contact Point Physical Interaction

Model-based Control for a Coupled Soft Robotic Exo-digit and...

引用

international symposium on Medical robotics (ISMR)

作者： Alam, Umme Kawsar Haghshenas-Jaryani, Mahdi New Mexico State Univ Dept Mech & Aerosp Engn Bio2Robot Lab Las Cruces NM 88003 USA

ISBN: (纸本)9798350377118;9798350377125

A soft robotic exoskeleton digit can be a prosthetic implant, a solution for finger/toe loss, or an element of rehabilitation gloves for the human hand's functional recovery. This paper presents the modeling and feedback linearization control of the quasi-static motion of a soft robotic exo-digit physically interacting with an anthropomorphic finger model for tracking the desired trajectory. The exo-digit is modeled as an articulated hybrid soft-and-rigid model with constant bending curvatures and arc lengths. Considering the soft elastomer property of the silicone, a hyperelastic constitute model based on Yeoh's 3rd-order material model is used. The anthropomorphic finger is modeled as an rigid multi-body structure with integrated torsional springs at its joints. A coupled kinematics and quasistatic motion is developed to model the multi-contact points interaction between the robot and finger model. This model is then presented as a nonlinear discrete-time MIMO state-space system for the control system design of the physical human-robot interaction. The input-output feedback linearization is utilized, and a control law is designed. Here, the control input is the actuation pressure of each independent actuation point, and the output is the pose of the anthropomorphic model's tip. The theoretical model and trajectory tracking control law were experimentally and numerically examined;the results show the effectiveness of the model and control law in tracking the desired fingertip pose trajectory.

关键词： Silicones

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The Rise of Intelligence: A Comprehensive Review on AI and AI Automation 3

The Rise of Intelligence: A Comprehensive Review on AI and A...

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3rd international Conference on Communication, control, and Intelligent Systems, CCIS 2024

作者： Bhardwaj, Cheshtaa Gla University Department of Computer Engineering and Applications Mathura India

ISBN: (纸本)9798331528201

This paper presents a comprehensive review of Artificial Intelligence (AI), Machine Learning (ML), and Deep Learning (DL) technologies, focusing on their impact in driving AI automation across diverse sectors with a special emphasis on robotics. As AI continues to evolve, its integration into automation systems has revolutionized industries, enhancing efficiency, precision, and decision-making. The role of AI automation in robotics is critically examined, covering key architectural frameworks that enable autonomous operation and intelligent decision-making. Furthermore, the security aspects associated with AI in robotics, identifying attack surfaces and potential vulnerabilities has been analysed. This review highlights the transformative potential of AI automation while addressing the challenges and security concerns that accompany its deployment in modern systems, particularly in robotics. © 2024 IEEE.

关键词： Adversarial machine learning

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Design and Analysis of a Pneumatic-Electric End-Effector for Force control Applications 3

Design and Analysis of a Pneumatic-Electric End-Effector for...

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3rd international symposium on robotics and Intelligent Manufacturing Technology, ISRIMT 2021

作者： Feng, Kai Yang, Guilin Xiong, Ciyuan Zhu, Renfeng Dai, Junjie Chen, Chin-Yin Jiangxi University of Science and Technology School of Mechanical and Electrical Engineering Ganzhou China Ningbo Institute of Materials Technology and Engineering Chinese Academy of Sciences Ningbo China Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology Ningbo China

ISBN: (纸本)9781665437189

To overcome the drawbacks of the existing pneumatic force-controlled end-effector, such as low dynamic response and low force control accuracy, a novel pneumatic-electric force-controlled end-effector is proposed in this paper. It consists of a base, a moving platform, a voice coil motor (VCM), a nitrogen spring, and six extension springs. By integrating the VCM with a nitrogen spring and six extension springs parallelly, the proposed force-controlled end-effector has the advantages of high output force, high dynamic response, and high force-control accuracy. The dynamic analysis of the VCM and the stiffness analysis of the nitrogen spring are conducted. Based on the dynamic model of the system, a PID based force controller is implemented. To validate the proposed design, modelling, and control approaches, a prototype of the pneumatic-electric end-effector is fabricated. Experimental results show that the pneumatic-electric end-effector achieves excellent force-control performance with ±0.1N force control accuracy and 70ms response time. © 2021 IEEE.

关键词： Nitrogen

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Research on Bicycle Motion control Based on Reinforcement Learning 3

Research on Bicycle Motion Control Based on Reinforcement Le...

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3rd international Conference on Service robotics, ICoSR 2024

作者： Deng, Hang Chen, Xiai Dong, Mingze Yang, Jongkun College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

This paper presents a study on the control of unmanned bicycle motion based on inertial wheels in the pybullet physics simulation environment. To address the nonlinear and strongly coupled nature of unmanned bicycles, the Proximal Policy Optimization deep reinforcement learning algorithm is employed in this study to achieve stable motion control of the bicycle. Two sets of independent reward functions are designed for balancing and path tracking of the unmanned bicycle to improve control effectiveness. Simulation results demonstrate that the designed control strategy can effectively maintain the balance of the unmanned bicycle and accurately track the desired path. This research provides a novel approach and insight into the intelligent control of unmanned bicycles, showcasing the application potential of reinforcement learning-based motion control in highly complex systems. © 2024 IEEE.

关键词： Deep reinforcement learning

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Investigating the Impact of Update Frequency on PID controller Performance in Autonomous robotics 3

Investigating the Impact of Update Frequency on PID Controll...

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3rd international Conference on Communication, control, and Intelligent Systems, CCIS 2024

作者： Rajeev, Renju National Institute of Technology Calicut Electrical and Electronics Engineering Calicut India

ISBN: (数字)9798331528201

ISBN: (纸本)9798331528201

This paper examines the relationship between the performance of Proportional-Integral-Derivative (PID) controllers and their update frequency, using the Pololu 3pi+ 32U4 robot as a testbed. Through a series of experiments conducted across a frequency range of 2 to 500 Hz,a non-linear correlation is identified where both high and low update frequencies negatively impact control performance. The findings indicate that an optimal frequency range of 40 to 120 Hz significantly enhances the PID controller's ability to achieve target tracking with minimal overshoot and reduced setting time. This study highlights the importance of update frequency as a critical, yet often overlooked, parameter in the design and implementation of PID control systems [1] [9], providing insights for future research and practical applications in robotics and automation. © 2024 IEEE.

关键词： Three term control systems

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