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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21-30 订阅

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Design and simulation of squat walking gait of biped robot 24

Design and simulation of squat walking gait of biped robot

引用

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

作者： Xue, Wei Sun, Yu Li, Xiaolin Tang, Wei School of Mechanical Engineering Jiangsu University of Science and Technology Zhenjiang212003 China

ISBN: (纸本)9798400709951

Because of the complex structure and high coupling degree of the biped robot, its gait is easy to be disturbed by the external environment, so the fast and stable gait planning method is particularly important. In order to effectively improve the walking stability of biped robot, this paper describes the process of squat walking gait according to its mechanical structure and freedom configuration, and makes trajectory planning for its center of mass and key joints. The idea of generating stable gait by changing ZMP points is proposed as the stability criterion of walking, and the motion simulation is completed based on Matlab. The results show that the data of each joint of the biped robot are in good agreement with the gait parameters in the process of squatting walking, thus verifying the effectiveness of the squatting gait. © 2024 ACM.

关键词： MATLAB

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Design and experimental simulation analysis of automatic recycling and processing device for neutral refills 24

Design and experimental simulation analysis of automatic rec...

引用

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

作者： Zhang, Yiyue Li, Yazi Zhang, Yangqi Wu, Qing School of Mechanical and Power Engineering East China University of Science and Technology Shanghai200237 China

ISBN: (纸本)9798400709951

To promote the recycling of renewable resources and reduce carbon emissions, this paper introduces an automated neutral pen cartridge processing device. The device sequentially and uniformly transports pen cartridges to a transportation mechanism using a scissor fork mechanism. It then employs intermittent gear pairs and a disk cam mechanism for the intermittent conveyance of the cartridges. Following removal with a pneumatic fixture, the cleaning and recycling processes are conducted. Based on principles of mechanical structure, kinematic analysis, mechanical analysis, and finite element analysis, a detailed design of the mechanisms has been completed, verifying the device's feasibility and applicability. This research offers new concepts and methods for the design and development of renewable resource recycling equipment, contributing to the advancement of green manufacturing and sustainable development. © 2024 ACM.

关键词： Projectiles

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Research on Intelligent Grasping and Releasing of Manipulator Based on Natural Language control 24

Research on Intelligent Grasping and Releasing of Manipulato...

引用

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

作者： Zhang, Xin Li, Yuanzhe School of Information Science and Engineering Lanzhou University Gansu60028265 China

ISBN: (纸本)9798400709951

With the development of industry, the demand for manipulator, especially language controlled intelligent manipulator, is increasing in modern society. In recent years, research in the field of manipulator has mainly focused on the intelligence of their control methods. By combining sensors with visual systems, Manipulator can achieve environmental perception and target recognition, improving their ability to adapt to different scenarios and tasks. In this study, the UR5e robot arm is used to obtain the visual environment information through depth camera processing, and the Faster R-CNN algorithm is used to extract the image object and its position. The speech and other human natural language information is processed into semantic embedding vectors through the GloVe algorithm. After the fusion of the image and language information, the information is mapped to the motion control instructions of the robot arm, and the various states and control parameters of the robot arm at each moving moment in the future are obtained, to achieve the task of the robot arm language control to grab and place specific objects. © 2024 ACM.

关键词： Robotic arms

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Scheduling Optimization of Paint-Finish Cache Sequencing Area for Car Manufacturing 24

Scheduling Optimization of Paint-Finish Cache Sequencing Are...

引用

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

作者： Wang, Lei Xu, Keke Xun, Xuebin School of Mechanical Engineering North China University of Water Resources and Electric Power Zhengzhou450045 China Precision Measurement and Intelligent Sensing Laboratory Zhengzhou University of Light Industry Zhengzhou450002 China Henan Key Laboratory of Intelligent Manufacturing of Mechanical Equipment Zhengzhou University of Light Industry Zhengzhou450002 China

ISBN: (纸本)9798400709951

In order to further solve the problems related to the scheduling optimization of the painting-finishing cache sequencing area of automobile manufacturing, and to meet the production demand of final assembly. This paper establishes an objective optimization PBS mathematical model according to the PBS constraint description and related data description, and converts the multi-objective optimization problem into a single-objective optimization problem, which greatly reduces the model complexity, and the hybrid genetic algorithm used in model solving, and verifies by comparing the optimization objective scores that the hybrid genetic algorithm used in this paper can produce feasible and efficient vehicle sequence task matching, and at the same time, it has a strong robustness and search capability. © 2024 ACM.

关键词： Genetic algorithms

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Finite-time Model Reference Adaptive Consensus control for Heterogeneous Multi-agent Systems with Disturbances 24

Finite-time Model Reference Adaptive Consensus Control for H...

引用

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

作者： Cai, Suxiong Chen, Guoxiong Pan, Junlong Zhang, Binbin Shi, Licheng Huizhou Power Supply Bureau of Guangdong Power Grid Co. Ltd. Huizhou516000 China

ISBN: (纸本)9798400709951

In this research, we proposed a novel finite-time model reference adaptive control (FT-MRAC) strategy for the consensus control of heterogeneous multi-agent systems (MAS) under the influence of disturbance in a finite time. The proposed FTMRAC scheme designs adaptive control gain matrices to track the consensus between the reference trajectory and the agent. The control input contains the estimation of the perturbation to enhance the robustness of the disturbance. The FT-MRAC leverages adaptive laws and Lyapunov-based techniques to guarantee the convergence of the system states to a desired reference model in a finite time. The effectiveness of the proposed method is demonstrated through a numerical simulation. © 2024 ACM.

关键词： Multi agent systems

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Optimization of MR damper model based on improved genetic neural network algorithm 24

Optimization of MR damper model based on improved genetic ne...

引用

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

作者： Zhang, Tieshan Ren, Zhong Department of Electrical Engineering Ningxia Institute of Science and Technology Shizuishan Ningxia753000 China

ISBN: (纸本)9798400709951

As a smart vibration control device, there is a broad application prospect for the magnetorheological (MR) damper. And establishing its precise mechanical model is one of the key factors for excellent control. In this paper, the dynamic performance of MR damper is tested. And the neural network structure of the forward and reverse models are determined by statistical methods. Then, aiming at the problem of early maturity and slow convergence speed of traditional genetic neural network (GA-BP), an improved genetic neural network (IGA-BP) algorithm with linear transformation of fitness, adaptive crossover and mutation probability is proposed. Finally, The BP neural network, GA-BP neural network and IGA-BP neural network are used to identify the forward and reverse models of the damper, respectively. The results show that the IGA-BP algorithm proposed in this paper has faster convergence speed and higher model accuracy, and the models can better reflect the dynamic characteristics of the MR damper. © 2024 ACM.

关键词： Neural network models

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Arduino-based Intelligent Security Cart Design and Implementation 24

Arduino-based Intelligent Security Cart Design and Implement...

引用

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

作者： Shi, Yufei Zhu, Xiaodong Yang, Yan Liu, Huipeng College of intelligent science and engineering Beijing university of agriculture Beijing102206 China China Railway Company Limited Beijing100039 China

ISBN: (纸本)9798400709951

With the development of the Internet of Things and smart devices, there is an increasing demand for intelligent control and remote monitoring. In this paper, Arduino microcontroller is used to build an intelligent security cart integrating remote control, video monitoring and automatic obstacle avoidance, which not only reflects the diversified applications of Internet of Things technology, but also provides a new solution for intelligent security. The article gives the overall composition and control system design of the trolley, and does experimental tests on the trolley control and obstacle avoidance and other functions. The experimental results show that the intelligent security trolley can realize reliable remote control and intelligent obstacle avoidance functions, providing users with convenient and safe monitoring services. © 2024 ACM.

关键词： Integrated circuit design

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Enhancing Mobile Robot Path Planning with New Dung Beetle Optimization Algorithm incorporating Multi-Strategy Improvements 24

Enhancing Mobile Robot Path Planning with New Dung Beetle Op...

引用

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

作者： Lu, Mingyang Wang, Yunxia Qiu, Shenghai Li, Nian Shi, Yun School of Mechanical Engineering Nanjing Institute of Technology Nanjing210000 China

ISBN: (纸本)9798400709951

In order to enhance the efficacy of mobile robots, a new dung beetle optimization algorithm (NewDBO) is proposed. It is improved using four strategies to improve the search capability and convergence speed of the algorithm. The efficacy of the enhanced algorithm is evaluated through the use of test functions and its application to the path planning problem. The results indicate that the improved algorithm exhibits faster convergence speed and better optimization ability than the comparison algorithm, and the shortest path can be obtained while ensuring the minimum number of turns in the path planning problem, which verifies the algorithm's feasibility and robustness. © 2024 ACM.

关键词： Optimization algorithms

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Design of control system for micro inspection robot 24

Design of control system for micro inspection robot

引用

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

作者： Yang, Tianhao Liu, Jun Han, Bo School of Electrical Engineering Shanghai Dian Ji University ShangHai201306 China Shanghai Electric Power Generation Equipment Co. Ltd. Turbine Plant ShangHai200240 China

ISBN: (纸本)9798400709951

In natural gas, chemical engineering, power equipment, nuclear facilities, etc., equipment testing is an indispensable and essential link in industrial production. It involves the inspection of some small pipelines, narrow spaces, and high metal walls;in some scenarios where endoscopes are required to complete detection, transporting detection equipment requires a significant workforce and material resources. To change traditional detection methods' time-consuming and labor-intensive nature, a micro detection robot based on ESP32 has been designed to replace tasks that require endoscopic and metal wall detection. The robot uses ESP32 as the central controller, builds peripheral circuits around the main controller, and is equipped with a camera at the front end to collect crack images. The upper and lower computers use UDP communication protocols to achieve remote connection control. The experimental results show that the micro-detection robot can achieve a straightforward collection of some subtle cracks, scratches, etc., on the metal surface and can meet the basic requirements of industrial crack detection. © 2024 ACM.

关键词： Inspection equipment

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Design and Analysis of a Wheeled Ground Relay Station for UAV Continuity 24

Design and Analysis of a Wheeled Ground Relay Station for UA...

引用

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

作者： Zhang, Yuyang Tang, Yali Su, Yu Hu, Tao Xue, Kai School of Mechatronic Engineering Xi'an Technological University Shaanxi Province Xi an710021 China

ISBN: (纸本)9798400709951

In this paper, an unmanned aerial vehicle (UAV) wheeled ground relay station is designed for the problem of poor endurance ability of UAVs. Firstly, the overall design was determined. Secondly, the detailed designsrive system, etc. Finally, SOLIDWORKS software is used to of each part was carried out, including automatic battery replacement, battery storage room, and four-wheel d model the complete design of the UAV wheeled ground relay station. This paper expects that this design will contribute to the improvement of UAV range. © 2024 ACM.

关键词： Unmanned aerial vehicles (UAV)

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