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

共 616 条记录，以下是321-330 订阅

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Multi-spherical robot formation control based on pigeon swarm optimization

Multi-spherical robot formation control based on pigeon swar...

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robotics, Artificial Intelligence and Intelligent control (RAIIC), international Conference on

作者： Xinyu He Yuzhou Lu Qiguan Wang Haojie Lu School of Information Engineering Southwest University of Science and Technology Mianyang China School of Big Data & Software Engineering Chongqing University Chongqing China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

In order to realize tight formation control of spherical robots, a formation control method of multi-spherical robot system was proposed based on optimization of pigeon swarm algorithm. Based on the kinematics model of spherical robots, the roles of spherical robots were divided into leader and follower. A PID controller was designed for stability control in x and y direction channels. According to the desired position and velocity, a corresponding fitness function is uniformly set to optimize the optimal parameters of the formation controller. Finally, the stable control of the multi-spherical robot formation is realized in the simulation environment.

关键词： Kinematics Lead control systems Formation control Stability analysis Trajectory Particle swarm optimization

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Adaptive Differential Privacy Algorithm for Federated Learning on Small Datasets

Adaptive Differential Privacy Algorithm for Federated Learni...

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robotics, Artificial Intelligence and Intelligent control (RAIIC), international Conference on

作者： Lei Xia Huanbo Yang School of Computer Engineering and Science Shanghai University Shanghai China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

We address the challenge of enhancing federated learning with small datasets by proposing an adaptive differential privacy technique and a dynamic learning rate optimization algorithm. Our method adds adaptive noise to protect data privacy and uses historical momentum information to improve stability and convergence speed. Extensive experiments demonstrate that our approach significantly improves model performance, accelerates the learning process, and ensures privacy, offering a practical solution for federated learning with small datasets.

关键词： Training Differential privacy Adaptation models Accuracy Federated learning Heuristic algorithms Computational modeling

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Shape accuracy adjustment of a satellite antenna reflector using RBF Neural Network 3

Shape accuracy adjustment of a satellite antenna reflector u...

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

作者： Wang, Meng Su, Liangwei Sun, Beibei School of mechanical engineering Southeast University Shanghai Institute of Satellite Engineering Nanjing China

ISBN: (纸本)9781665437189

In order to improve the shape accuracy of antenna reflector, a non-parametric prediction model based on neural network is proposed in this paper, which is used to control the shape of satellite antenna reflector. The complex system of antenna reflector is regarded as a black box. The RBF neural network model is established by applying voltage to the piezoelectric actuator in advance to adjust the reflector and measuring the change of the reflector surface. The optimal Latin hypercube sampling method is used to obtain the data, and the neural network model is trained. Finally, the reflector is adjusted by particle swarm optimization algorithm. The simulation results show that the on orbit profile control technology based on neural network can significantly improve the surface accuracy of antenna reflector, and does not need an accurate FEM simulation model and other nonlinear parameters of the reflector. The error between the two methods is only 4.67% when the same input voltage of piezoelectric ceramics is brought into the finite element virtual machine. © 2021 IEEE.

关键词： Particle swarm optimization (PSO)

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Trajectory Planning of Manipulator Based on DQN Algorithm Guided by MPC Sampling 3

Trajectory Planning of Manipulator Based on DQN Algorithm Gu...

引用

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

作者： Qiao, Donghao Zhong, Zhidan Zhang, Haobo Zhao, Yao Henan University of Science Technology School of Mechanical and Electrical Engineering Luoyang471003 China

ISBN: (纸本)9781665437189

In response to the problems of slow convergence and high randomness of the original DQN (Deep Q-Learning Network) algorithm in manipulator trajectory planning, an MPC (Model Predictive control) algorithm advantage is fused with deep reinforcement learning, and a DQN algorithm of MPC-guided sampling is proposed. Firstly, the method reduces the number of failures during training by providing constraint control of the manipulator based on a dynamic model. Secondly, the MPC algorithm is run in different initial states. The trajectories are sampled and stored after iterative optimization by a linear Gaussian controller. These samples with high success rate improve the training speed of the neural network. Finally, a virtual simulation environment for the manipulator is built on the CoppeliaSim platform to validate the algorithm. The results show that the improved DQN algorithm improves the learning efficiency by nearly 1.5 times, whose effect is significantly better than that of the original DQN algorithm. © 2021 IEEE.

关键词： Manipulators

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Augmented Reality-Based Robot Interaction and Modeling System: An Innovative Human-Machine Interaction Framework

Augmented Reality-Based Robot Interaction and Modeling Syste...

引用

robotics, Artificial Intelligence and Intelligent control (RAIIC), international Conference on

作者： Bo Fu Hanbo Zhang Erxin Wu School of Computer Science and Engineering Xi’an University of Technology Xi’an China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

Traditional robot modeling approaches often lack intuitiveness and efficiency. To facilitate more convenient and intuitive complex robot design and modeling, this paper aims to design and implement an augmented reality-based robot interaction and modeling system. This system enables modeling and controlling robots using Meta Quest 3 controllers, and achieves interactive effects between virtual robots and the real environment through the headset. By integrating key technologies such as robot control algorithms, augmented reality rendering techniques, and physics engines, the system can precisely control robots and merge virtual content with the real environment. User study results indicate that the system effectively achieves humanoid robot control and modeling.

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Bifurcation Investigating of a Fractional Neural Networks Involving Incommensurate Delays

Bifurcation Investigating of a Fractional Neural Networks In...

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Automation, robotics and Computer engineering (ICARCE), international Conference on

作者： Tongxing Li Xin Wang Hui Zhang Yan Wang Yongfeng Zhang School of mathematics and statistics Taishan University Taian China College of Science Shandong Jianzhu University Jinan China College of Information Science and Engineering Shandong Agricultural University Taian China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

In this current article, an issue of Hopf bifurcation control about a novel fractional-order network owing multiple delays and feedback gain is formulated. The bifurcation parameter time delay is selected as the bifurcation parameter. The stability conditions and the bifurcation point are established. Ultimately, a simulation example is provided to verify the validity of the obtained newly results. The important results obtained in this paper have important theoretical significance and application value for the regulation and control of fractional-order neural networks with time-delay.

关键词： Automation Delay effects Neural networks Bifurcation Stability analysis Regulation Delays Robots

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Qasync: A Dual Network Architecture for Value Based Multi-Agent Reinforcement Learning 3

Qasync: A Dual Network Architecture for Value Based Multi-Ag...

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3rd international Conference on Automation, robotics and Computer engineering, ICARCE 2024

作者： Xu, Du Jia, Lu Wang, Yewei Liu, Qian Zhang, Yong School of Computer Science and Information Engineering Hefei University of technology Hefei China

ISBN: (纸本)9798331529505

In this work, we propose Qasync, a novel dual network framework for value-based multi-agent reinforcement learning, aimed at addressing the control decision-making issues of Connected Autonomous Vehicles (CAVs) in merge scenario. The core contributions of Qasync include the following two aspects: 1) Qasync extends QMIX by integrating a feedforward network, which reduces the limitations of QMIX's linearity assumption. 2) Qasync introduces a periodic mixing mechanism that combines Q-values from both networks, enabling Qasync to better capture non-linear relationships and enhance agents' exploration of diverse strategies. We evaluated Qasync using the SMARTS platform in a mixed traffic merging scenario, where autonomous vehicles must merge onto a two-lane road from a slip road, interacting with vehicles that randomly generated at the starting point to simulate realistic traffic conditions. Qasync was compared against several value-based baselines, including VDN, QMIX, and QTRAN, achieving average merging success rates of 80%, 89%, and 94%, respectively. Qasync achieved an overall merging success rate of 95%, demonstrating its ability to effectively handle complex traffic interactions and highlighting its potential for enhancing autonomous driving systems. © 2024 IEEE.

关键词： Network function virtualization

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Periodic Event-Triggered Containment control for Multirobot Systems

Periodic Event-Triggered Containment Control for Multirobot ...

引用

Service robotics (ICoSR), international Conference on

作者： Shikun Zhang Dan Liu Bin Zhang Binrui Wang Feifei Qin College of Mechanical and Electrical Engineering China Jiliang University Hangzhou China

ISBN: (数字)9798350367119

ISBN: (纸本)9798350367126

This paper aims to study the periodic eventtriggered (PET) containment control for multirobot systems (MRSs). To save communication resources, a PET mechanism is proposed to realize containment control. Different from the traditional event-triggered mechanisms where the triggering functions require to be monitored continuously, the proposed PET mechanism allows each robot to monitor the triggering function only at preset periodic sampling instants, thereby reducing the updates of controllers. Under this mechanism, all the followers are able to reach a convex hull formed by leaders. Finally, the obtained theoretical results are verified by a numerical simulation example.

关键词： Event detection Service robots control systems Numerical simulation Denial-of-service attack Multi-robot systems Monitoring

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The Design and Implementation of a control Computer Based-on FPGA Core

The Design and Implementation of a Control Computer Based-on...

引用

Automation, robotics and Computer engineering (ICARCE), international Conference on

作者： Chuanfei Qiu Chunting Zhang Quanzhi Zhou Xiaofang Lou Junyong Liu Hao Yang Ordnance NCO Academy Arm Engineering University of PLA Wuhan China

ISBN: (数字)9798331529505

ISBN: (纸本)9798331529512

According to the requirement of the system operation, a control computer monitors and controls a large number of key nodes, synthesizes a variety of excitation signals, obtains the angular state of the rotating mechanism, controls its rotation to the specified position. Based on an FPGA (Field-Programmable Gate Array) core, this paper develops a signal synthesizing module, a digital axis-angle conversion module and a W5500 Ethernet interface using a SOPC system that can be tailored and configured flexibly. It integrates the customed logic IPs into the SOPC (System-on-a-Programmable Chip) system of the Nios II architecture. The software system coordinates the operation of all modules. Finally, the control computer synthetically implements all its functions.

关键词： Systems operation Robot kinematics Ethernet Software systems control systems Table lookup Logic IP networks Signal synthesis Field programmable gate arrays

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Research on Application of Stewart Platform in Uniform Scanning 3

Research on Application of Stewart Platform in Uniform Scann...

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3rd international Conference on Automation, robotics and Computer engineering, ICARCE 2024

作者： Liang, Fengchao Tan, Shuang Fan, Jiankai Zhang, Ai Lin, Zhe Shi, Zhicheng Beijing Institute of Space Mechanics & Electricity Laboratory of Mechanism and Control Technology Beijing China

ISBN: (纸本)9798331529505

The space spectral imaging camera is planned to use a Stewart 6-DOF platform to drive a mirror for scanning and imaging, which requires the accuracy of the platform to reach the order of arcsec under the condition of multi-struts dynamic coupling. A Stewart platform realizes high angle resolution mainly by designing high-resolution linear driving struts. The resolution index of the 6-DOF Stewart platform is 2', which needs the struts to achieve a high resolution of 60 nm. Based on this requirement, a driving strut with 50 nm resolution based on BLDC motor, ball screw, grating ruler is designed, which effectively ensures the high resolution of the platform. The transfer function of the single drive strut is identified by time domain method, and the closed-loop control model of the single drive strut is established. The dynamic performance of the single drive strut is simulated and analyzed. Finally, the dynamic performance of the 6-DOF scanning platform is experimentally studied. The experimental results show that the angular resolution of the 6-DOF Stewart platform is 2', the swing angle range of the constant speed scanning is -11 degree, the nonlinear error of scanning angle in place curve is less than 0.2%, and the rotational speed is adjustable from 40'/s to 1800 '/s, all the indicators meet the design index. This research has laid a solid foundation for the aerospace application of Stewart Parallel Platform. © 2024 IEEE.

关键词： Optical transfer function

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