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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121-130 订阅

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Consensus Condition Based on Free-Matrix-Based Integral Inequality for Multi-Agent Systems with Time Delays 3

Consensus Condition Based on Free-Matrix-Based Integral Ineq...

引用

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

作者： Sub Lee, Ho Park, PooGyeon Postech Dept. Electrical Engineering Pohang Korea Republic of

ISBN: (纸本)9781665473538

This paper proposes the consensus condition based on free-matrix-based integral inequality for multi-agent systems with time-varying delays. The use of free-matrix-based integral inequality derives increasing the freedom between the states and their derivatives. The simulation results of a numerical example show that the proposed criteria are less conservative than the existing criteria, and achieve a consensus of multi-agent systems. © 2023 IEEE.

关键词： Multi agent systems

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A Skin Segmentation Method for touchless image viewer in the operating room by 2D camera 3

A Skin Segmentation Method for touchless image viewer in the...

引用

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

作者： Rungpanich, Pichayapa Pattanaworapan, Paanchat Kiatsoontorn, Kraiyot Charoenpong, Theekapun Srinakharinwirot University Dept. of Biomedical Engineering Faculty of Engineering Nakhonnayok Thailand Kasetsart University Laboratory School Centre for Educational Research and Development Bangkok Thailand Hrh Princess Maha Chakri Sirindhorn Medical Center Faculty of Engineering Srinakharinwirot University Dept. of Surgery Nakhonnayok Thailand

ISBN: (纸本)9781665473538

Contamination in operating room lead to infection in a patient specially during surgery. A touchless technology can be used to reduce contamination in the operating room when surgeon uses an X-ray image viewer. Skin segmentation is an important processing for touchless image viewer in an operating room. In this paper, we proposed a skin color segmentation method using threshold in color space. This method consists of three steps: 1) frame extraction, 2) color space conversion, 3) skin color segmentation. To test the performance of the proposed method, 601 images are used in the experiment. Accuracy rate is 50.46%. This is satisfactory for applying implementation algorithm for hand detection in future. © 2023 IEEE.

关键词： Operating rooms

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A Comparative Study of Vehicle Platoon with Limited Output Information in Directed Topologies 3

A Comparative Study of Vehicle Platoon with Limited Output I...

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

作者： Prayitno, Agung Indrawati, Veronica Nilkhamhang, Itthisek University of Surabaya Department of Electrical Engineering Surabaya Indonesia School of Information Computer and Communication Technology Sirindhorn International Institute of Technology Thammasat University Thailand

ISBN: (纸本)9781665473538

This paper aims to study and compare the effect of limited-output information in various directed topology to the performance of vehicle platoon. Two distributed controllers based on limited-output information will be compared to cooperative state variable feedback control which designed based on full-state information. The comparison will be conducted for four common directed topologies in the vehicle platoon application. Simulation analysis is performed in three scenarios, namely under normal operations, when the leader moves with constant acceleration and when the platoon is subjected to constant communication delay. Performances comparison will be observed from inter-vehicular distance response in each follower and the results will be displayed with respect to the follower vehicle index in the platoon configuration. Finally, the behavior of each control scheme in various topologies will be summarized. © 2023 IEEE.

关键词： Topology

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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...

引用

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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Analysis and visualization of lagrange flow field based on C3D and C4D 3

Analysis and visualization of lagrange flow field based on C...

引用

3rd international symposium on Sensor Technology and control, ISSTC 2024

作者： Wang, Fei Guo, Dongdong Meng, Wenjun Shanghai Waterway Engineering Co. Ltd. Shanghai200120 China

ISBN: (纸本)9798331541637

This study addresses the challenges of converting Eulerian flow fields into Lagrangian fields in the post-processing of CFD simulations for tidal flow analysis. A Lagrangian flow field analysis and visualization method is developed, integrating C3D for rapid interpolation calculations and C4D for efficient rendering of fluid particle trajectories. Key technologies include fast Lagrangian field analysis using C3D, dynamic particle supplementation to prevent blank areas in the computational domain, and a C4D-based programmatic display technique to manage the rendering of large-scale fluid particles. This method significantly improves computational efficiency and visual representation speed. The proposed solution was successfully applied to the Fourth Harbor Basin Project of Jingtang Port in Tangshan, demonstrating its effectiveness in converting CFD results into dynamic visual outputs and providing valuable insights for similar engineering applications. © 2024 IEEE.

关键词： Flow fields

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High Efficient Recognition and Docking of Mobile Robot for Multiple Trapezoidal Shelves 3

High Efficient Recognition and Docking of Mobile Robot for M...

引用

3rd international symposium on Sensor Technology and control, ISSTC 2024

作者： Lu, Wei Hu, Lizhi Xiang, Zhiyu Li, Ming College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Zhejiang HuaRay Technology Co. Ltd. Navigation and Localization algorithm department Hangzhou China

ISBN: (纸本)9798331541637

Recognition and docking technology of mobile robot is becoming increasing important in the production and manufacture factory. It is necessary to identify the position of shelves efficiently and perform docking accurately. In this paper, we design a recognition method for trapezoidal shelf based on geometric information and a multiple model shelf screening method, which can autonomously identify and dock trapezoidal shelves quickly and accurately. During the recognition process, we combine odometry to eliminate abnormal recognition results and smooth the results. The experiment shows that the method proposed can identify the pose of the trapezoidal shelves efficiently, and the docking accuracy can achieve ± 1 cm. © 2024 IEEE.

关键词： Mobile robots

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PPO-CPG controller for Quadruped Locomotion 3

PPO-CPG Controller for Quadruped Locomotion

引用

3rd international symposium on Sensor Technology and control, ISSTC 2024

作者： Zhang, Ligong Wang, Zhiming Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China

ISBN: (纸本)9798331541637

The central pattern generator (CPG) can produce stable rhythmic signals for the locomotion of quadruped robots. However, the single CPG-based approach still requires further command tracking and movement stability enhancement due to its inherent lack of sensory feedback signals. In this paper, we proposed a PPO-CPG control architecture, which integrated deep reinforcement learning (DRL) techniques to enable the agent to modify the input parameters of the CPG network directly, thereby adjusting both the amplitude and frequency of gait output signals for achieving more stable and natural locomotion patterns. We conducted training within the Isaac Gym simulation environment and evaluated its performance on rough terrain conditions. The results indicated that our method reduces speed tracking error by approximately 55.45% compared to a single CPG-based method, demonstrating a significant improvement. © 2024 IEEE.

关键词： Multipurpose robots

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Design of Milliarcsecond Attitude control System for CHES Based on Telescope 3

Design of Milliarcsecond Attitude Control System for CHES Ba...

引用

3rd international symposium on Aerospace engineering and Systems, ISAES 2024

作者： Liu, Bang Qin, Genjian Li, Dong Deng, Lei Li, Fei Jiang, Hu Innovation Academy for Microsatellites of Cas Iamc Shanghai China

ISBN: (纸本)9798350350418

Closeby Habitable Exoplanet Survey (CHES) is a space precision optical survey satellite for extrasolar planetary systems with a high quality, low distortion, and high stability telescope as its primary payload. In order to ensure microarc-second astrometry accuracy and PSF stability during scientific exposure, the satellite platform needs to achieve a pointing accuracy of better than 0.07' and a pointing stability of 0.0036' /0.02s during scientific observations. This paper introduces the design of milliarcsecond high stability attitude control system of CHES satellite based on guide sensor. First, the key technical indicators of milliarcsecond high stability attitude control are decomposed, including the design index of load camera, the attitude determination index of high-precision guide sensor and the attitude stability control index of high-precision thruster. Secondly, the system scheme is introduced, including the composition of the system, the attitude measurement and determination method of the guide star sensor, the μN thruster and the high-precision attitude determination and control algorithm. Finally, the control results of attitude accuracy and high stability of the guide sensor are simulated and analyzed. © 2024 IEEE.

关键词： Exoplanets

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Neural Command: Real-Time EEG-Based Brain-Computer Interface for Assistive Robotic control 3

Neural Command: Real-Time EEG-Based Brain-Computer Interface...

引用

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

作者： Vasker, Nishat Shakib Sakibur Rahman, M.D. Arafat, Yasin Ul Islam, Raihan East West University Department of Computer Science and Engineering Dhaka Bangladesh

ISBN: (纸本)9798331534400

This paper presents a method to help people with disabilities interact with their surroundings using brainwave signals. Since individuals with disabilities often depend on different types of transportation, this research focuses on enabling the real-time control of a robotic vehicle through non-invasive brain-computer interfaces (BCI).Can brain-computer interfaces (BCIs) based on EEG signals control a robotic car in real time? The MUSE headband is used to capture brain waves, and the signals are processed through PETAL metrics and a server within a Brain Wave Processing Unit. Subsequently, they are transmitted via WiFi/IPv4 to a Vehicle control Unit with esp8266 microcontroller. The system underwent rigorous evaluation, achieving an 85% control accuracy and an average response time of 300 milliseconds. These results highlight the system's effectiveness in real-time applications, offering precise and rapid response capabilities suitable for assistive technology. This research represents a contribution to the development of advanced BCI-based assistive devices, demonstrating the potential for improved human-machine interaction. The high accuracy and low latency of the system emphasize its suitability for environments where swift and reliable control is crucial, particularly for individuals with mobility impairments. © 2024 IEEE.

关键词： Human robot interaction

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Distributed Formation control of Leader-follower Multi-AUVs under Communication Constant and Time-varying Delays 24

Distributed Formation Control of Leader-follower Multi-AUVs ...

引用

3rd international symposium on Intelligent Unmanned Systems and Artificial Intelligence (SIUSAI)

作者： Yang, Bo Qiu, Shaoxiong Yang, Meimei Xu, Hongli Zheng, Rong Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang Peoples R China Northeastern Univ Fac Robot Sci & Engn Shenyang Peoples R China

ISBN: (纸本)9798400710025

Multi-AUVs formation control is challenged by the acoustic communications issue of high ocean transmission delay, which makes the state information of neighboring nodes difficult to be obtained. One of the research directions is to improve the robustness of the algorithm so that the stability of the system can be guaranteed in acoustic communications uncertainty. In this paper, we firstly establish a model of multi-AUVs, which specifies the communication between AUVs, formation information and state errors. Then divide the underwater acoustic communication into two cases of constant delay and time-varying delay based on properties of acoustic communications. And we carry out the formation maintenance algorithm under constant time delay, because the acoustic communication delay is considered to be constant for a constant transmission distance. In the same time, the formation transformation algorithm under time-varying delay, because we consider that the acoustic communication delay changes with the transmission distance. Finally, in the simulation environment, we prove the effectiveness of the algorithm through reasonable experiments and the superiority of the algorithm by comparing with the previous algorithms. The research results are of great guidance for the application of formation control of multi-AUVs. In the future, we will continue to optimise our algorithms for more complex environments.

关键词： Multi-AUVs Formation Constant delay Time-varying delay

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