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

共 3776 条记录，以下是3371-3380 订阅

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Comparison between Classic control Systems Techniques against Adaptive and Nonlinear control Techniques in a Lower Limb Prostheses 4

Comparison between Classic Control Systems Techniques agains...

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4th international conference on control and robotics engineering (ICCRE)

作者： Aragon, Fermin C. Huegel, Joel C. Vargas-Martinez, Adriana Lozoya-Santos, Jorge de J. Ramirez-Mendoza, Ricardo Morales-Menendez, Ruben Tecnol Monterrey Sch Sci & Engn Monterrey Mexico

ISBN: (纸本)9781728115931

Foot prosthesis have been well documented, not one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive A Previous Work elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle- foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee [1-2]. A large number of motorized prototypes have been developed in prosthetic systems, the actuators, sensors and architectures developed have improved the performance of these for human walking in users who have this motor impairment, however the surgical technique used for amputation as well as the control techniques implemented have not had notable progress. this paper presents the design and simulation of the control system for a lower limb prostheses. three control methods were compared (PD Classic controller, Model Reference Adaptative control (MRAC), and sliding mode control) and the behavior of the model was studied after its linearization and its identification through the matlab toolbox.

关键词： control systems Lower limb Prosthetic control MRAC control Slidingmode control Adaptive control Nonlinear systems

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Adaptive Feed control for Machining with Industrial Robots 4

Adaptive Feed Control for Machining with Industrial Robots

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4th international conference on control and robotics engineering (ICCRE)

作者： Lienenlueke, Lars Wurm, Steffen Storms, Simon Brecher, Christian Rhein Westfal TH Aachen Lab Machine Tools & Prod Engn WZL Dept Automat & Control Chair Machine Tools Campus Blvd 30 D-52074 Aachen Germany

ISBN: (纸本)9781728115931

the sector of machining hard materials like aluminium, steel or nickel-base alloys is dominated by conventional machine tools because they provide high reliability in production time and process accuracy. However, processing soft materials or products with low quality requirements are getting more interesting for standard industrial robots because of their low investment risks and short delivery periods. On the other hand, disadvantages like low absolute accuracy and low structural stiffness limit the area of industrial applications. Current research activities are focusing on compensation algorithms to reduce the static offset induced by process forces. thus, this paper presents an approach of a control system which adapts automatically the feed rate depending on the cutting scenario. Linked with a Computer-Aided-Manufacturing system, predefined machining data is analyzed and stored on a separate Edge-Device. this Edge-Device communicates with the machining spindle and monitors the spindle power to monitor the cutting scenario. On this basis, deviations of the milling tool in the areas of entering and leaving the material could be reduced.

关键词： Industrial robots Machining Process planning control Algorithm Optimization

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LMI-based Global Sliding Mode control Scheme for Time-delayed Chaotic Systems with Input Nonlinearity 4

LMI-based Global Sliding Mode Control Scheme for Time-delaye...

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4th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Mobayen, Saleh Fekih, Afef Afshari, Mona School of Electrical Electronics and Computer Engineering Mapua University Manila Philippines

ISBN: (纸本)9781728100647

this paper proposes an LMI-hased global sliding mode control approach (GSMC) for chaotic systems. the design aims at stabilizing chaotic systems with nonlinear inputs and uncertain time-delays. the proposed GSMC control algorithm is formulated using the stabilization theory of Lyapunov-Krasovskii and the linear matrix inequality (LMI)-based asymptotic stability conditions. A Wang-Chen chaotic system was considered to validate the design. the obtained results demonstrated the validity and performance of the proposed approach. Robustness against external disturbances, nonlinear inputs and time-delays along with the reduced chattering as a result of the elimination of the reaching phase are some of the significant features of the proposed approach.

关键词： Chaotic systems GSMC LMt time-delays

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Extended RTS/CTS control based on Transmission Request Distribution in Wireless Ad-Hoc Networks 4

Extended RTS/CTS Control based on Transmission Request Distr...

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4th international conference on Mathematical Methods and Computational Techniques in Science and engineering, MMCTSE 2020

作者： Hara, Momoka Higaki, Hiroaki Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

In a wireless ad-hoc network where wireless nodes exchange data messages without help of stationary base stations, collisions of control and data messages are reduced and/or avoided by CSMA/CA and RTS/CTS control of wireless LAN protocols. Random backoff timers for avoidance of collisions among RTS control messages provides equally opportunities to transmit data messages to neighbor wireless nodes since the value of the backoff timer monotonically decreases. In usual wireless ad-hoc networks, wireless nodes are not equally distributed and frequency of transmission requests in wireless nodes is also not the same. thus, especially in a region with high density of transmissions and receipts requests for data messages, it is not always possible to receive a response CTS control message even though a wireless node has an opportunity to transmit an RTS control message. Hence, the equal opportunities to transmit an RTS control message is not enough to realize the equal opportunities to transmit a data message. In order to solve this problem, this paper proposes a novel RTS/CTS control to equally provide opportunities to transmit data messages whose receiver node is hard to transmit a CTS control message on response to an RTS control message. Here, a transmission of a CTS control message precedes a transmission of an RTS control message in cases that transmissions of a CTS control message fail repeatedly. © 2020 IOP Publishing Ltd. All rights reserved.

关键词： Carrier sense multiple access

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A one-stage control strategy for planar underactuated manipulators 4

A one-stage control strategy for planar underactuated manipu...

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4th IEEE international conference on Advanced robotics and Mechatronics, ICARM 2019

作者： Wu, Jundong Wang, Yawu Ye, Wenjun Faculty of Engineering and Computer Science Concordia University MontrealQCH3G 1M8 Canada School of Automation China University of Geosciences Wuhan Hubei430074 China

ISBN: (纸本)9781728100647

A one-stage control strategy is proposed for planar underactuated manipulators, which have a passive link not located at the first link. the control objective is to control the end-effector from an initial position to a given target position. To achieve the control objective, a general form of controllers for the active links is proposed. To ensure that the system can be stabilized at its target state, parameters of the proposed controllers are calculated using the differential evolution algorithm. Simulations on specific systems are performed to show the validity of the proposed control strategy. © 2019 IEEE.

关键词： controllers

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Research on the Intelligent Industrial Detection System for Distribution Network Equipment 4

Research on the Intelligent Industrial Detection System for ...

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4th international conference on control and robotics engineering (ICCRE)

作者： Fan, Di Shao, Zhimin Li, Lisheng Sun, Yong Meng, Hailei Zhao, Chenyu State Grid Shandong Elect Power Res Inst Jinan Shandong Peoples R China State Grid Shandong Elect Power Co Jinan Shandong Peoples R China

ISBN: (纸本)9781728115931

With the rapid development of distribution network automation, the efficiency of the production, operation and management of the distribution network equipment need to be improved. the intelligent distribution network equipment includes the distribution overhead line malfunction indicator and the distribution terminal, which are important to the reliability of the power system. It is necessary to ensure the superior performance and reliability of the malfunction indicator and distribution terminal products. So, batch inspection needed carried out. In this paper, the intelligent industrial automatic detection system for the malfunction indicators and distribution terminals is designed. An intelligent industrial detection system is proposed for the batch inspection of distribution network equipment. the system is mainly composed of the automatic detection assembly line, the integrated management system and the control system. the appearance structure inspection, function performance test, data statistics, multi-dimensional analysis and the multiplex display can be performed by the assembly line. Based on the artificial intelligence vision recognition technology, the industrial robot technology and the big data analysis technology, the proposed system realizes the multi-level interaction of the detection procedure, improve the detection speed, and secures the accuracy of the equipment detection. the intelligent detection system is a pilot project for the large-scale and high-precision inspection of the distribution network equipment.

关键词： Process control Intelligent inspection Distribution terminal Malfunction indicator Integrated control system

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Optimization Design and Simulation of an Air Suspension with Auxiliary Chamber and throttle Valve 4

Optimization Design and Simulation of an Air Suspension with...

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4th international conference on control and robotics engineering (ICCRE)

作者： Zhou, Quan Hu, Yuanchao Liu, Qi Xiang, Yun Zheng, Shirui Guo, Zhangwei Wang, Boyun Wuhan Univ Technol Automot Engn Inst Wuhan Hubei Peoples R China Bellevue Coll Washington DC USA

ISBN: (纸本)9781728115931

With the continuous improvement of automobile shock absorption technology and the improvement of people's living standards, people's requirements for ride comfort are constantly improving. Designing new suspensions to reduce vehicle vibration has become an important research direction in the field of automotive engineering. Conventional air suspensions are primarily air springs that use a single working chamber, the stiffness of which cannot be adjusted according to road conditions. therefore, this paper introduces the design of auxiliary air chamber and throttle valve to break through the limitations of conventional air suspensions, so that it can change the equivalent stiffness of air suspension according to road conditions, and further improve the shock absorption of the suspension. In this paper, a new air suspension mathematical model is firstly established to obtain the equivalent stiffness of the air spring. then the random road roughness model is constructed to obtain the random road surface excitation. Finally, the random road surface excitation, air spring equivalent stiffness and vehicle parameters are introduced into the 4 degree-of-freedom half-vehicle model to obtain the acceleration signal of the vehicle body. then we compare the acceleration signals of the vehicle body under the throttle valve with different opening degrees. According to the simulation results of this paper, the newly designed air suspension can effectively improve the ride comfort, and can adjust the air spring stiffness by changing the opening degree of the throttle valve to adjust the ride comfort of the vehicle.

关键词： Air suspension auxiliary chamber throttle valve 4 degree-of-freedom half-vehicle model ride comfort

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the Autonomous Underwater Vehicle Adaptive control Algorithm Based on Particle Filter 4

The Autonomous Underwater Vehicle Adaptive Control Algorithm...

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4th international conference on robotics and Automation engineering, ICRAE 2019

作者： Zhukov, Anton Diachenko, Vladimir Saint-Petersburg Russia

ISBN: (数字)9781728147406

ISBN: (纸本)9781728147406

this paper presents adaptive tracking control algorithm based on particle filter for an autonomous underwater vehicle (AUV). the algorithm extends the model based control algorithm to reject disturbance forces. Particle filter is used to estimate disturbance forces, which are very common for the water environment and can be caused by hydrodynamics effect, an ocean current, and autonomous underwater vehicle parameters uncertainties. At the end of paper numeric simulation of movement AUV by spiral trajectory is presented to study effectiveness proposed estimation and control algorithms. © 2019 IEEE.

关键词： Autonomous underwater vehicles

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2019 4th international conference on robotics and Automation engineering, ICRAE 2019

2019 4th International Conference on Robotics and Automation...

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4th international conference on robotics and Automation engineering, ICRAE 2019

ISBN: (纸本)9781728147406

the proceedings contain 39 papers. the topics discussed include: EEG motion artifacts removal for robotic motion control using brain computer interface;encoding topology information for deep reinforcement learning with continuous action space;an experimental ferromagnetic wall climbing and paint fixing robot control by an upper computer with color discrimination and its development prospect;method combining machine vision and machine learning for reed positioning in automatic aerophone manufacturing;automatic GTAW robot arc length control based on particle filter;comparative assessment of reinforcement learning algorithms in the task of robotic manipulation of deformable linear objects;automation of quality control measurement of deformable object formed by translation of closed planar curve along an elliptical path;and aerodynamic investigation on a novel paper-folding micro annular aerial robot.

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Nonlinear Disturbance Observer Based T-S Fuzzy Logic control of Pneumatic Artificial Muscles 4

Nonlinear Disturbance Observer Based T-S Fuzzy Logic Control...

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4th IEEE international conference on Advanced robotics and Mechatronics (ICARM)

作者： Chen, Cheng Huang, Jian Wu, Dongrui Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Minist Educ Image Proc & Intelligent Control Key Lab Wuhan 430074 Peoples R China Beijing Adv Innovat Ctr Intelligent Robots & Syst Beijing 100081 Peoples R China Huazhong Univ Sci & Technol Sch Artificial Intelligence & Automat Wuhan 430074 Peoples R China

ISBN: (纸本)9781728100647

As a new type of actuator, pneumatic artificial muscle (PAM) possesses lots of superior characteristics, which make it extensively used in the robotics field, especially in rehabilitation engineering. But the complex dynamics such as time-varying parameters and hysteresis make it difficult to achieve high precision trajectory tracking control. In order to achieve accurate tracking performance and enhance the robustness of the controller, this paper proposes a nonlinear disturbance observer based T-S fuzzy logic controller (NDOTS). Based on the three-element model of PAM, T-S fuzzy modeling is utilized to decompose the nonlinear model into a series of linear models, which make it possible to use the linear system control theory in the controller design. the MATLAB LMI Toolbox is applied to get the feedback gains. A Lyapunov candidate is designed to analyze the stability of the system. the experimental results of attaching loads on the PAM validate the proposed NDOTS controller.

关键词： Pneumatic Artificial Muscle(PAM) T-S Fuzzy Logic control Nonlinear Disturbance Observer(NDO) Trajectory Tracking control

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