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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71-80 订阅

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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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Fluid Dynamics Analysis for Underwater Robot Based on CFD Method 24

Fluid Dynamics Analysis for Underwater Robot Based on CFD Me...

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

作者： Wijesundara, Benthota Vidanalage Manjula Srinath Liu, Shiqi Gao, Han Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan250014 China Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Shandong Automation System Engineering Co. Ltd Jinan250014 China

ISBN: (纸本)9798400709951

This study used computational fluid dynamics (CFD) to analyze an underwater robot design simulated in SolidWorks Flow Simulation from 5m to 15m depth and 5m/s speed through the z-axis. The CFD analysis examines static pressure, dynamic pressure, total pressure, temperature, and velocity distributions. Through simulation, key insights are gained into structural stresses, stability, drag, and flow behavior to enhance deep sea robotic systems. This demonstrates the use of CFD to evaluate multifaceted phenomena and enhance robotic systems for deep sea operation. Findings establish simulation practices to improve vehicle robustness against extreme pressures and temperatures in undersea environments. CFD was an effective tool for virtually optimizing underwater vehicle designs before physical deployment. The virtual simulations can guide design optimizations and operational parameters before physical deployment. This paper presents a CFD simulation analysis for six thrusters underwater robot design using SolidWorks Flow Simulation. © 2024 ACM.

关键词： Computational fluid dynamics

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Designing of an intelligent robotic system for disassembling screw connections of electric vehicle batteries based on the improved YOLOV5 algorithm 24

Designing of an intelligent robotic system for disassembling...

引用

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

作者： Zhu, Chao Zhang, Jiabao Xiao, Jinhua School of Transportation and Logistics Engineering Wuhan University of Technology No.1178 Heping Street Wuhan430063 China

ISBN: (纸本)9798400709951

With the rapid development of new energy vehicles, the recycle of electric-vehicle batteries has become a critical issue. The disassembling of batteries is the engineering foundation for their recycling. As types of battery pack vary greatly, it is essential for disassembling to accurately and quickly recognize bolt connection which is the main connection mechanism for the battery package. With the structure of battery package complex and bolt connections highly dense, not only the recognition accuracy is low but also the detection speed is slow for the traditional detection method. In this work, a bolt detection method with the improved YOLOV5 algorithm is proposed to increase the detection accuracy and speed. First, a small target detection layer is added to main feature extraction network of the YOLOV5 algorithm to improve the detection accuracy Second, a dense visual model based on the Swin Transformer V2 encoder module is adopted to enhance the model's capture capabilities for global information. Finally, the MobileNetv3 is used to achieve a lightweight YOLOV5 network for improving the detection speed. In comparison to YOLOV5 without the lightweight network architecture of MobileNetv3 and the original YOLOV5 algorithm, the experimental results of the improved YOLOV5 algorithm show that the average detection accuracy can reach 95.7% and that the detection speed has increased by 33.1%and 7.7%, respectively. In addition, the image detection rate has reached 18FPS which can meet the real-time testing needs. © 2024 ACM.

关键词： Battery Pack

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Design of Rust Inspection Robot for Hydraulic Hoist Based on Machine Vision 3

Design of Rust Inspection Robot for Hydraulic Hoist Based on...

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

作者： Zhao, Peng He, Kai Wuhan University of Technology HuBei Wuhan China Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Key Laboratory of Precision Engineering Shenzhen China

ISBN: (纸本)9781665437189

In order to realize automatic detection of corrosion on the piston rod of hydraulic hoist of hydropower station, it is important to find the location of corrosion and prevent oil leakage of hydraulic hoist and the blocking of control valve or other adverse consequences. A quick and convenient inspection robot for piston rod of hydraulic hoist is developed. Firstly, according to the specific working requirements of the piston rod of the hydraulic hoist of hydropower station and the basic principle of the robot, the structure scheme of the design of the testing robot is put forward. Then the robot control system is designed for the detection robot, and the basic idea of image recognition is introduced. Next the human-computer interaction interface is designed. Finally, the performance of the detection robot was tested to verify whether the reliability of the robot and the accuracy of image recognition meet the design objectives, and to ensure that the performance of the piston rod detection robot meets the design requirements. © 2021 IEEE.

关键词： Hydroelectric power plants

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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...

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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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Development of a Low-cost Data Glove using Flex Sensors for the Robot Hand Teleoperation 3

Development of a Low-cost Data Glove using Flex Sensors for ...

引用

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

作者： Zhu, Shuo Stuttaford-Fowler, Angus Fahmy, Ashraf Li, Chunxu Sienz, Johann Plymouth University Center for Robotics and Neural Systems PL48AA United Kingdom Swansea University ASTUTE 2020 in Future Manufacturing Research Institute College of Engineering Swansea United Kingdom

ISBN: (纸本)9781665437189

This paper focuses on the control of a simulated robot hand using a data glove, which gathers information from resistors that measure the flexion of the user's fingers. The data glove used was a commercially available controller, using 5 flex sensors on each finger to collect data. Arduino Uno R3 microcontroller board was used to power the data glove which is based on the ATmega328P microcontroller. CoppeliaSim was used as a platform for simulation, with a compatible model for the hand found within the software's community. C++ is used within both the CoppeliaSim and Arduino environments, with a micro-USB connecting the two. This paper allows for real time control with the proposed data glove, which transmit the data in the form of a string of 5 different values. In the future, many adjustments and modifications could be made to allow for more precise control and eventually more degrees of freedom. A video demo for the proposed design can be seen from: Http://***/w-GqzigfkXY. © 2021 IEEE.

关键词： Robotic arms

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A Design and Development of a Pneumatic Shock Calibration Machine 3

A Design and Development of a Pneumatic Shock Calibration Ma...

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

作者： Jiamjiroch, Krit Jearsiripongkul, Thira Bunnjaweht, Dahmmaet Doungkum, Patchayaporn Panyadilok, Somthana Tongkum, Adisorn Thammasat School of Engineering Thammasat University Faculty of Engineering Mechanical Engineering Dept. Pathumthani12120 Thailand Thammasat School of Engineering Thammasat University Faculty of Engineering Electrical and Computer Engineering Dept. Pathumthani12120 Thailand Pathumthani University Faculty of Engineering and Technology Mechanical Engineering Dept. Pathumthani12000 Thailand

ISBN: (纸本)9781665473538

Shock acceleration has been receiving attention to assess the impact resistance of products. Evaluation of the shock characteristics can be seen ranging from small size consumer electronics to large military equipment. The acceleration transducer, an accelerometer, plays an important role in shock measurement, but must be calibrated to maintain the measurement accuracy and ensure its reliability. This work presents the design and development of a shock calibration machine based on ISO 16063-22. The pneumatic shock exciter was used to regulate air pressure to drive a projectile to strike an anvil to which accelerometers were mounted. The machine was applicable for an amplitude range of up to 9600g. To support the calibration functionality, electrical and pneumatic system control, data acquisition, and user interface were also implemented. © 2023 IEEE.

关键词： Calibration

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Experimental Instrument for Studying Scaled Tire's Slip-Friction Characteristics 3

Experimental Instrument for Studying Scaled Tire's Slip-Fric...

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

作者： Wongwaisayawan, Sirawich Phiphobmongkol, Pakapol Sriuranpong, Dhibadi Chaichaorawat, Ronnapee International School of Engineering Chulalongkorn Univeristy Bangkok Thailand

ISBN: (纸本)9781665473538

This research aims to design and develop a new experimental instrument that can test a scaled wheel in any desired scenario. In this paper, the scenario will be the scaled wheel dynamic during braking. Since the common cause of car accident is the inability to brake the vehicle in time by the driver. Hence, the research will focus on pinpointing the maximum braking force at a certain slip ratio. However, due to the limited access to high-precision apparatus, only the experimental instrument and the testing of the braking system design are achieved. Hence, the main outcome of the project is to validate that the relationship between the wheel dynamic and forced occurred during braking can be studied through the project design and can be used to create future improvement based on the system for commercial use. © 2023 IEEE.

关键词： Wheels

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Integrated control system construction for electromagnetic system based on Lab VIEW 3

Integrated control system construction for electromagnetic s...

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

作者： Huan, Zhijie Wang, Jiamin Ma, Weicheng Zhang, Zhemin Xiamen University of Technology School of Electrical Engineering and Automation Xiamen China

ISBN: (纸本)9781665437189

The electromagnetic system is driven by multiple programmable power supplies manipulating the micro-robot. Robot movement is observed and analyzed through CCD camera in real time. Thus, the driven force could be adjusted accordingly. An integrated system based on LabViewwas proposed in this paper, combining the visual feedback system and electromagnetic coils system, which realizes the analysis of robot motion state and the real-time control of the programmable power supplies. Experiment on the linear motion of magnetic microbead is constructed for pretest and preliminary calibration. Furthermore, PID control strategy was used for driving the microbead moving along a circular path. The integrated control system simplifies the operation of the electromagnetic driven system and provides a basic platform for executing more precise control algorithms subsequently. © 2021 IEEE.

关键词： Real time control

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Adaptive Sliding Mode Voltage control of DC/DC Buck Converters 3

Adaptive Sliding Mode Voltage Control of DC/DC Buck Converte...

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3rd international Conference on Service robotics, ICoSR 2024

作者： Xu, Fachao Xiong, Jingjing College of Electrical and Mechanical Engineering China Jiliang University Hangzhou China

ISBN: (纸本)9798350367119

This article investigates the problem of voltage tracking sliding mode control in DC/DC buck converters. To fix the problem of chattering and outside interference in sliding mode control, this paper proposes a fixed time sliding mode controller (FTSMC) based on radial basis function neural network (RBFNN). Using the proposed neural network based sliding mode controller, it can ensure that the buck converter accurately tracks the trajectory of the ideal value. Finally, the effectiveness of the proposed control method is validated through simulation. © 2024 IEEE.

关键词： Buck converter

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