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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101-110 订阅

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A gait control method for bipedal robots based on reward function optimization 4

A gait control method for bipedal robots based on reward fun...

引用

4th international conference on Intelligent Communications and Computing

作者： Pei, Ruoyan Ma, Pengge Zhang, Tong Li, Lan Zhengzhou Univ Aeronaut Zhengzhou Peoples R China Beijing Inst Technol Beijing Peoples R China

ISBN: (纸本)9798331530372;9798331530365

the intelligent control of walking of humanoid robots is one of the key research directions in the field of robotics research, but the traditional motion model's constraint on the center of mass makes it difficult for robots to maintain walking stability and simulate human gait at the same time for its excessive attention on stability. Compared with the traditional deep reinforcement learning algorithm, the DDPG algorithm has the ability to handle continuous action space and high-dimensional state space, and has a wide application prospect in many practical problems. We proposed a bipedal robot control method based on reward function optimization to enable the robot to achieve both stable high-speed movement and human gait imitation. this paper combines the physical characteristics of the bipedal robot to establish a control system based on the DDPG algorithm. At the same time, the reward function is designed to guide the robot to learn the correct walking strategy. through the comparative test, the weight limit ratio of each reward function for the bipedal robot to stably increase the speed is given. the simulation results show that the method proposed in this paper has good practicality and effectiveness.

关键词： Bipedal robot gait control deep reinforcement learning DDPG algorithm reward function

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Electromagnetic Environment control at the Testing Site of Acquisition-type Medical Devices 4

Electromagnetic Environment Control at the Testing Site of A...

引用

4th international conference on Electrical engineering and control Science, IC2ECS 2024

作者： Liu, Miao Liu, Ziming He, Feng Tianjin University Institute of Medical Engineering and Translational Medicine Tianjin China

ISBN: (纸本)9798331510107

It has become a common consensus in the industry to establish specific electromagnetic compatibility standards for medical electrical equipment and systems. this article will introduce the current electromagnetic compatibility standards for medical electrical equipment, and take the electromagnetic compatibility standards and basic performance indicators for electroencephalographs in GB9706.226 as an example, analyzing the impact of electromagnetic compatibility on the performance testing accuracy of medical devices. © 2024 IEEE.

关键词： Electroencephalography

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Multi-scale Spatial Propagation Network for Depth Completion 4

Multi-scale Spatial Propagation Network for Depth Completion

引用

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

作者： Wu, Zhenyu Wang, Haiyang Deng, Xiangyu Dalian Univ Technol Sch Control Sci & Engn Dalian Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Depth Completion focuses on creating an accurate, dense, pixel-wise depth from sparse depth. Prior approaches utilized RGB images as guides and applied spatial propagation to refine initial dense depth maps. However, these methods are constrained by limited receptive fields. they require multiple iterations for full image depth propagation. the large number of parameters and iterations hinders practical applications. To overcome these limitations, this paper presents a Multi-scale Convolutional Spatial Propagation Network. this network effectively broadens the iterative refinement's receptive field and introduces an adaptive neighborhood propagation. Firstly, it performs iterative refinement on multi-scaled depth maps, scaling the receptive field accordingly. Secondly, we introduce an innovative neighborhood selection strategy. this strategy reduces the computational complexity associated with expanding neighborhoods. Additionally, this method introduces direction-aware affinity normalization. During the propagation phase, it adaptively adjusts affinity. this preserves object boundary sharpness. Extensive tests conducted on the NYU Depth v2 dataset confirm the effectiveness of our approach. Compared to other SPN-based methods, our approach achieves efficient neighborhood propagation, and requires only three iterations to produce detailed dense depth maps.

关键词： depth completion multi-scale spatial propagation network NYUv2 dataset

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Research on Longitudinal control of Distributed Electric Drive Vehicle Platoon Based on MPC 24

Research on Longitudinal Control of Distributed Electric Dri...

引用

4th international conference on control and Intelligent robotics, ICCIR 2024

作者： Yang, Fan Wang, Hongliang School of Mechanical Engineering Nanjing University of Science and Technology Nanjing Jiangsu210094 China

ISBN: (纸本)9798400709937

A multi-objective optimization of the Cooperative Adaptive Cruise control (CACC) method for vehicle platooning is suggested to ensure accurate following of the platoon and simultaneously meet economic requirements. Initially, by examining the platoon's longitudinal motion, a platoon control system is developed using the Model Predictive control (MPC) algorithm. the system aims to optimize safety, adherence to the lead vehicle, and passenger comfort. Furthermore, a drive torque distribution approach is devised to enhance motor energy efficiency and thus boost the economy of platoon driving. Ultimately, simulation tests are conducted under varying cycle conditions to validate the dependability and efficacy of the control system through the comparison of different control algorithms and strategies. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Model predictive control

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Research on the Design of Intelligent Medical Interactive Robot Based on OpenMV 4

Research on the Design of Intelligent Medical Interactive Ro...

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4th international conference on Electronic Information engineering and Computer Science, EIECS 2024

作者： Pan, Baicheng Gong, Fan Zhan, Huijiong Liao, Zhengtao Ou, Yajun Zhou, Yunyu Guangzhou Institute of Science and Technology College of Intelligent Manufacturing and Electrical Engineering Guangdong China

ISBN: (纸本)9798331531409

With the continuous progress of science and technology, image and speech recognition technology has been widely used in many fields. In order to enhance the health management function of the medical interactive robot, an intelligent medical interactive robot based on OpenMV is designed in this study. the STM32 microcontroller is used as the main control, and the OpenMV camera module, speech recognition module and WIFI module are integrated. through these modules, the robot can realize image recognition, voice interaction, open the medicine box, intelligent access to drugs and other functions. At the same time, the WIFI module and the Aliyun platform are used to send and receive data to the WeChat Mini Program, and the user can remotely open the medicine box, manage the medicine and set the reminder on the applet. through a series of tests, the experimental results show that compared with the traditional medical interactive robot, the design improves the convenience and accuracy, and can facilitate the use of the elderly group to the greatest extent. © 2024 IEEE.

关键词： Medical robotics

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Construction of a Cognitive Graph for Intelligent Manufacturing Robot Behavior 4

Construction of a Cognitive Graph for Intelligent Manufactur...

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

作者： Zheng, Xiaoyu Huang, Bin Tian, Guohui Jin, Kexin Shandong University School of Control Science and Engineering Jinan China

ISBN: (纸本)9798331531225

the forms of tasks in intelligent manufacturing are diverse, and their operating environment is also dynamically changing. Effective knowledge representation and reasoning are key foundations for enhancing robots' understanding and execution capabilities of complex tasks. therefore, this article constructs a cognitive graph of robot behavior in the field of intelligent manufacturing based on BERT-BiLSTM-CRF. Firstly, based on the multi-level requirements in robotic operation, a robot behavior corpus is constructed, and the robotic behavior ontology layers Task, Skill, Action, Location, Agent (H), and Object are defined to standardize the semantic structure of behavior. then, using the BERT model to extract language structure and semantic relationship information, deep-level feature representations are obtained from the text;Capture contextual semantic relationships of behavior through the BiLSTM network, and combine the CRF model to globally constrain and optimize the predicted behavior results. Finally, the extracted triplets are stored using neo4j to form a cognitive graph of intelligent manufacturing robot behavior (IMRBCG). the experimental results show that the P, R, and F1-score of the proposed method are 95.51%, 90.66%, and 93.02%, respectively, effectively extracting 8763 behavioral triplets. this cognitive graph provides technical support for the task of the use of planning and collaboration for intelligent manufacturing robots. © 2024 IEEE.

关键词： Smart manufacturing

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A Review of the development of Visual SLAM 4

A Review of the development of Visual SLAM

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

作者： Dai, Zhengao Soochow University School of Future Science and Engineering Suzhou China

ISBN: (纸本)9798331531225

Simulated Localization and Mapping (SLAM) technology is one of the core technologies in the navigation field of autonomous mobile robots and unmanned aerial vehicles, which enables the machines to simultaneously locate themselves and build environmental maps through visual sensors (such as cameras). this technology has important applications in the fields of self-driving cars, augmented reality, and automatic navigation. this paper aims to provide a comprehensive overview of visual SLAM, focusing on its theoretical basis, key technologies, and development in the past decades. this paper first summarizes the basic principle and classification of SLAM technology, and then deeply discusses the theoretical basis of visual SLAM, including image processing, computer vision, state estimation, and kinematics. then, the paper introduces the development of key technologies of visual SLAM in detail. Finally, this paper discusses the application of visual SLAM in UAV navigation, robot exploration, and virtual reality, and points out the limitations of current technology and the future research direction, including multi-sensor fusion, deep learning application, real-time performance improvement and SLAM technology in antagonistic environment. the main contribution of this review is to sort out the latest progress of visual SLAM in detail and look forward to the future development trend and potential research direction. © 2024 IEEE.

关键词： SLAM robotics

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STM32-Based Single-Phase Inverter Power Supply Design 4

STM32-Based Single-Phase Inverter Power Supply Design

引用

4th international conference on Computer Science, Electronic Information engineering and Intelligent control Technology, CEI 2024

作者： Wen, Shiduo Wang, Ziyi Beijing University of Chemical Technology College of International Education China

ISBN: (纸本)9798350378542

Sinusoidal pulse width modulation (SPWM) signals in motor control [1] In this paper, the basic method of generating SPWM signal on STM32 microcontroller is introduced. this paper firstly introduces the basic method of generating SPWM signals on STM32 microcontroller, and then improves the existing code and realizes the corresponding algorithm in MATLAB. the improved method not only improves the readability and maintainability of the code, but also increases the waveform type selection and PID control functions, which makes the generation of SPWM signals more flexible and precise. © 2024 IEEE.

关键词： MATLAB

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A control Algorithm for an Aerial Co-Manipulation System 4

A Control Algorithm for an Aerial Co-Manipulation System

引用

4th international conference on Industrial Automation, robotics and control engineering, IARCE 2024

作者： Chen, Fan Zhang, Xinyue Li, Yuxin Wang, Yixin Southwest University of Science and Technology Mianyang China Southwest University of Science and Technology Mianyang China Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9798350380323

During aerial co-manipulation, addressing the disturbances caused by the motion of the lower UAV on the aerial dexterous manipulation platform and the perturbations induced by the manipulation platform's own movement, as well as the issue of the inadequate number of existing simulation platforms, this study introduces an adaptive sliding mode control approach that leverages radial basis function neural networks and establishes a simulation platform for aerial comanipulation within the Gazebo environment. In the control method, the Lagrangian equation is employed for standardized modeling, and the model is simplified through projection. the universal approximation property of neural networks is utilized for adaptive rate optimization. Additionally, a sliding mode algorithm grounded on the exponential reaching law is implemented to bolster robustness. To further mitigate chattering, the hyperbolic tangent function is employed. Finally, the results were verified through trajectory tracking in Matlab/Simulink, ensuring that the system converged in about 1 second and achieved micron-level multi-channel tracking error accuracy, effectively reducing chatter. the Gazebo simulation platform sets up three aerial dexterous manipulation platforms capable of performing basic aerial tasks, and control stability is verified using PID algorithms. © 2024 IEEE.

关键词： Radial basis function networks

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Analysis of Motion control Methods for Underwater Robots 4

Analysis of Motion Control Methods for Underwater Robots

引用

4th international conference on Electrical engineering and control Science, IC2ECS 2024

作者： Zhou, Ruojin Zhao, Minyi Long, Ling Xia, Yutao Southwest Minzu University College of Electrical Engineering Chengdu China

ISBN: (纸本)9798331510107

the working environment of underwater robots is complex and variable, and the control precision of their movement is a difficult point to ensure the safe operation of underwater robots. this paper proposes three motion attitude control methods in response to the hydrodynamic force acting on the underwater robot during operation, and conducts multiple simulations on the robot in MATLAB to analyze and compare the control methods and point out the advantages and disadvantages of each method. It provides reference for researchers working on the motion control of underwater robots. © 2024 IEEE.

关键词： Microrobots

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