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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

共 3757 条记录，以下是91-100 订阅

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Deep Learning-Based Dynamic Path Planning and Optimization for Autonomous Vehicles 4

Deep Learning-Based Dynamic Path Planning and Optimization f...

引用

4th international conference on Artificial Intelligence, robotics, and Communication, ICAIRC 2024

作者： Xiao, Daoyi Yang, Xinkun Li, Bolun Chang'an University School of Electronics and Control Engineering Xi'an China Chang'an University School of Automobile Xi'an China

ISBN: (纸本)9798331531225

In the contemporary research context, path planning for autonomous vehicles in dynamic and uncertain environments represents a significant challenge. In this paper, we propose a dynamic path planning and optimisation framework for autonomous vehicles based on Deep Reinforcement Learning (DRL). this framework innovatively introduces real-time adaptability and an optimal path selection mechanism. the proposed model is based on DRL, with the addition of a convolutional neural network (CNN) and an attention mechanism to optimise the perception and decision-making process. In the context of path planning, CNNs facilitate the extraction of intricate features of the road environment, while the attention mechanism assists the model in prioritising critical environmental factors (e.g., traffic signals, obstacles, etc.), thereby enhancing the precision and efficiency of decision-making processes. Furthermore, the incorporation of reinforcement learning-based online learning capabilities enables the model to make adaptive adjustments according to real-time traffic conditions and dynamically plan the optimal path. Experimental results demonstrate that the proposed model exhibits superior performance in comparison to traditional path planning algorithms within a simulation environment, with an estimated enhancement in path planning efficiency of approximately 15%. © 2024 IEEE.

关键词： Deep reinforcement learning

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Automated Exoskeleton Prosthetic Suit With Monitoring System 4

Automated Exoskeleton Prosthetic Suit With Monitoring System

引用

4th international conference on Power, Energy, control and Transmission Systems, ICPECTS 2024

作者： Jeeva, C. Sagar, Lalit Kumar Srivastava, Mudit P. Abinaya, R. Narmatha, M. Shanmuga Priya, M. Sri Sairam Engineering College Department of Electrical and Electronic Engineering Tamil Nadu India Srm Institute of Science and Technology Department of Computer Science Engineering Delhi India Srm Institute of Science and Technology Department of Physics Delhi India

ISBN: (纸本)9798331508845

the Automated Exoskeleton Prosthetic Suit with Monitoring System aims to develop a fully functional prosthetic suit with coordinated strength and response time. the suit is ameliorative and can be worn or removed as needed. Designed as a wearable inner suit, it operates autonomously, incorporating sensors and navigation systems to reduce inequality. In regions where the suit is worn, it analyzes blood flow using ultrasound Doppler principles and aids in improving circulation. the exoskeletons support or replace impaired body parts, allowing users to function properly. Electrical motors and precise position control form the core of its most common design. this suit explores the entire body using various actuators, tasks, and degrees of freedom. the product can be worn as an inner suit, featuring an autonomous sensor and navigation system to eliminate inequality. It measures blood flow in the regions covered by the suit, enhancing circulation. the primary goal of the product is to detect even small objects and prevent the wearer from falling. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Research on end force control actuator of polishing robot 4

Research on end force control actuator of polishing robot

引用

4th international conference on Computer, control and robotics (ICCCR)

作者： Ling, Zhiwen Wang, Dazhong Zhang, Buxing Lu, Haoxiang Shanghai Univ Engn Sci Sch Mech & Automot Engn Shanghai Peoples R China

ISBN: (纸本)9798350373141;9798350373158

With the rapid development of the manufacturing industry in recent years, the application of robot technology has become more and more common, and manual labor has been gradually replaced, and robots have extremely low labor intensity, extremely fast production speed and extremely high processing efficiency. When polishing with robotic equipment, the polishing contact force between the polishing tool and the workpiece is a very important factor. If the polishing force is too large, it may cause damage to the workpiece;If the polishing force is too weak, it may not be able to meet the processing requirements, so how to ensure that the contact force remains constant when the robot is polishing has become a key challenge. the research on the end force control actuator of polishing robot is of great significance for improving polishing quality and stability, reducing manual intervention, improving production efficiency and adapting to complex workpiece shapes, and it is a hot research direction in the field of industrial automation. this paper firstly introduces the system composition of the robot end force control actuator. Secondly, the working principle and development of passive flexible end-effectors and active flexible end-effectors are introduced, and their advantages and disadvantages are analysed. then, in view of the shortcomings of the robot end-force control actuator, some innovative solutions proposed by many researchers are discussed in detail. Finally, some prospects for the future development of end-force control actuators are proposed, which will provide a direction for future research.

关键词： Robot polishing End force control actuators Passive flex Active flex Con-tact force

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Virtuel Flux-Based Direct Power control of three-Phase PWM Rectifier Using SVM 4

Virtuel Flux-Based Direct Power Control of Three-Phase PWM R...

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4th international conference on Innovative Research in Applied Science, engineering and Technology, IRASET 2024

作者： Cherifi, Djamila Miloud, Yahia Gaca Laboratory Tahar Moulay University Of Saida Algeria

ISBN: (纸本)9798350309508

the research presented in this article aims to enhance the direct power control technique of the three-phase PWM rectifier. Specifically, it focuses on implementing direct power control through space vector modulation, which is based on the virtual flux of the three-phase PWM rectifier. the control system created in this study has been evaluated for its optimal performance through simulation using Matlab/Simulink software. © 2024 IEEE.

关键词： Pulse width modulation

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Parts sorting and adjustment automatic production line control system based on PLC and WinCC 24

Parts sorting and adjustment automatic production line contr...

引用

4th international conference on Computer, Internet of things and control engineering

作者： Cao, Yi Yin, Xuan Ge, Yimeng Zhang, Jiangchao Wuhan Univ Technol Wuhan Hubei Peoples R China

ISBN: (纸本)9798400711848

the present study presents the design and implementation of a PLC and WinCC based automatic production line control system for parts sorting and adjustment. Four Siemens S7-1200 PLCs are utilized as the primary controllers, while a computer equipped with WinCC software serves as the supervisory control unit for system monitoring and operation. the system consists of four stations: Appearance defect detection station, height and weight detection station, direction adjustment station, and parts sorting station;each controlled by an individual PLC. It successfully incorporates features such as automatic/manual mode switching, emergency stop functionality, status display capabilities, and efficient human-machine interaction. Upon thorough verification testing, the system exhibits remarkable stability, user-friendly operation interface, and robust real-time performance.

关键词： PLC WinCC supervision control system automatic sorting

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RCP Design of RTX-based Composite Optical Axis Stabilization 4

RCP Design of RTX-based Composite Optical Axis Stabilization

引用

4th international conference on Machine Learning and Intelligent Systems engineering (MLISE)

作者： Li, Yinlong Yu, Fei Huang, Gang Kang, Jianbing Lin, Zhe Beijing Inst Space Mech & Elect Beijing 100094 Haidian Peoples R China

ISBN: (纸本)9798350375084;9798350375077

In order to quickly realize the composite optical axis stabilization, this article develops a RTX-based Rapid control Prototyping (RCP) system. the composite optical axis stabilization consists of inertial and optical-mechanical image stabilization, by reasonably decomposing the control range of which, the stabilization accuracy of the optical axis is improved. the RTX shared memory technology is used to separate the real-time domain from the non-real-time domain, realizing the real-time control and communication of each controller, and effectively improving the control bandwidth of the system. Experimental test shows that the real-time performance of the RCP platform meets the requirements, achieving functions such as the identification, control and testing of the composite optical axis stabilization system. Due to the generic design, the RCP platform is able to support subsequent control systems of the same type.

关键词： Rapid control Prototyping RTX Composite control Axis Stabilization

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Design of track logistics control system based on digital twin 4

Design of track logistics control system based on digital tw...

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4th international conference on Machine Learning and Intelligent Systems engineering (MLISE)

作者： Chen, Yongqiang Zhao, Zheng Yin, Jianchen Univ Elect Sci & Technol China Sch Mech & Elect Engn Chengdu 611731 Peoples R China

ISBN: (纸本)9798350375084;9798350375077

In order to improve the intelligence of modern hospital logistics transmission system, a medical track logistics control system based on digital twins was designed to improve the efficiency of logistics transmission and provide a supporting application platform for the track logistics system. Platform from mechanical structure, to hardware control system, and then to digital twin system, a full range of independent research and development;the proposed twin model construction method extends the application of digital twin technology in the field of intelligent manufacturing. Finally, the test shows that the system can effectively complete the logistics and transportation tasks, and can achieve the virtual-real contrast, improve the system operation and maintenance efficiency.

关键词： Intelligent manufacturing Digital twins Logistics transmission Smart hospital

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Forward, inverse kinematics and optimal design of a parallel solar tracker 9

Forward, inverse kinematics and optimal design of a parallel...

引用

9th international conference on Automation, control and robotics engineering (CACRE)

作者： Bian, Yangxin Zhu, Bin Wu, Jun Tian, Yanling Tsinghua Univ Dept Mech Engn Beijing Key Lab Precis Ultraprecis Mfg Equipment Beijing Peoples R China Univ Warwick Sch Engn Coventry CV4 7AL W Midlands England

ISBN: (纸本)9798350350319;9798350350302

Because of the energy crisis and climate change, renewable energy sources have attracted worldwide attention. As an environmentally friendly option, the use of solar energy is becoming increasingly important. the energy conversion efficiency of a solar concentrator is closely related to the angle between the solar radiation and the solar concentrator panel. To collect more solar energy, a sun tracker is required to drive the solar concentrator to track the sun. In this paper, a parallel solar tracker is introduced, and its analytic forward and inverse kinematics are derived using a geometric method. To ensure that the parallel solar tracker can meet the demand of tracking the solar trajectory, workspace and dexterity indices are proposed. then, the genetic algorithm is employed to optimize the dimension parameters of the parallel solar tracker based on the workspace and dexterity indexes. After optimal design, its workspace can reach approximately 90% of the ideal space, and the average dexterity index is reduced to approximately 2.71. the parallel solar tracker with optimized dimension parameters can track the solar trajectory for most of the day.

关键词： Solar concentrators

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YOLOV5-based target detection for ground litter picking robot 4

YOLOV5-based target detection for ground litter picking robo...

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4th international conference on Machine Learning and Intelligent Systems engineering (MLISE)

作者： Liu, Qun Yu, Hongxia Shenyang Univ Technol Sch Artificial Intelligence Shenyang Peoples R China

ISBN: (纸本)9798350375084;9798350375077

In order to create a good urban outlook, places such as scenic spots and parks urgently need the assistance of garbage picking robots, and this thesis proposes an algorithm to improve YOLOv5s for the classification and recognition of ground garbage, relying on the garbage picking robots based on vision technology. CARAFE up-sampling is introduced in the neck network, CARAFE can expand the sensory field, better utilize the information of the feature map, and reduce the occurrence of leakage detection;BiFPN feature pyramid structure is used to replace the FPN+PAN structure of the original network, and BiFPN can obtain more information about the underlying features, enhance the extraction ability of the detection network, and improve the detection effect of small targets;in order to make the model can be deployed to the hardware platform of the grasping system, lightweight convolutional PConv is introduced into the C3 module of the neck network to reduce the number of parameters of the algorithmic model and improve the detection efficiency of the algorithm;finally, the effectiveness of the improved YOLOv5s-CBC is verified through experiments.

关键词： component detection Garbage recognition Garbage classification robotics

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RDDepth: A lightweight algorithm for monocular depth estimation 4

RDDepth: A lightweight algorithm for monocular depth estimat...

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4th international conference on Computer, control and robotics (ICCCR)

作者： Xiong, Gang Qi, Juntong Peng, Yan Ping, Yuan Wu, Chong Shanghai Univ Inst Artificial Intelligence Shanghai Peoples R China EFY Intelligent Control Hainan Technol Co Ltd R&D Ctr Haikou Hainan Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Current monocular depth estimation algorithms have complex structures and high computational costs, making it difficult to deploy on embedded devices. To address these issues, this paper proposes a lightweight monocular depth estimation algorithm: RDDepth, which aims to achieve fast and accurate depth estimation on embedded devices. Firstly, RegNet is adopted as the Backbone to balance the accuracy and computational cost of the algorithm;Secondly, DenseASPP is used to replace ASPP in the Neck to enhance the accuracy of depth estimation;thirdly, channel pruning is applied to the Neck and Head of the algorithm to reduce the parameters and computational complexity;Finally, to improve the accuracy of depth estimation, an improved loss function is proposed. Experiments are conducted on the public dataset KITTI, and the algorithm is deployed on the NVIDIA Jetson Xavier NX. Experimental results show that, compared to the baseline, RDDepth increases the FPS with FP16 accuracy by 4.34 times to 44.01 FPS, reduces the parameters by 4.7 times, and lowers the GFLOPs by 8.17 times, while also reducing the root mean square error (RMSE) by 0.34. In all, RDDepth achieves significant improvements in all aspects and can perform real-time and accurate monocular depth estimation on embedded devices.

关键词： Monocular Depth Estimation RegNet DenseA-SPP NVIDIA Jetson Xavier NX

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