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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31-40 订阅

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A Spatial-Temporal Trajectory Planner for Center-articulated Vehicles 4

A Spatial-Temporal Trajectory Planner for Center-articulated...

引用

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

作者： Yang, Yuanshuang Luo, Xi Chen, Kuo Geng, Bo School of Electrical Engineering Yanshan University Qinhuangdao China

ISBN: (纸本)9798331531225

In this paper, a new local trajectory planning algorithm for center-articulated vehicles (CAVs) is proposed to generate safe and collision-free trajectories in structured or semistructured scenarios. the method is based on an optimization framework that is able to maintain high-precision constraints on the motion while ensuring safe obstacle avoidance. By converting the planning problem into an optimal control problem (OCP) and modeling the environment with irregular safety corridors, we are able to fully utilize the available space while ensuring safe obstacle avoidance. In addition, by eliminating all equality and inequality constraints, we reformulate the problem as an unconstrained optimization problem to accelerate the solution process. Simulation results show that our method outperforms the state-of-the-art in terms of efficiency, speed of solution, and safe obstacle avoidance. In order to promote the open-source community, we have made the project engineering open-source on [https://***/Photin1a/***]. © 2024 IEEE.

关键词： Optimal control systems

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A multi-USV Formation control Method Based on BP Neural Network PID controller 4

A multi-USV Formation Control Method Based on BP Neural Netw...

引用

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

作者： Li, Ke Xie, Songbo Zhang, Xianxia Zhou, Gang Shanghai Univ Sch Mech Engn & Automat Shanghai Peoples R China Shandong Laigang Yongfeng Steel Corp Dezhou Shandong Peoples R China

ISBN: (纸本)9798350373141;9798350373158

In this paper, a self-tuning parameters control method for multi-USV formation based on a dual-channel BPNN-PID controller is presented. the kinematic model of USV is analyzed, and the leader-follower formation model is developed. To adapt the PID controller parameters to the changing formation of unmanned surface vehicles, the self-learning and adaptive abilities of the BP neural network are utilized, a BP neural network self-tuning PID parameters method combining BP neural network with traditional PID control for multi-USV formation is proposed. Simulation experiments are conducted to demonstrate the controller's ability to achieve and maintain the multi-USV formation. the BPNN-PID controller saves time in parameter tuning, avoids the need for selecting PID parameters, and achieves the expected effect compared to the traditional PID controller.

关键词： unmanned surface vehicle cluster formation BP neural network PID control

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Behavior-based Vehicle and Implement control with Minimal Communication 4

Behavior-based Vehicle and Implement Control with Minimal Co...

引用

4th international conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2024

作者： Gassen, Eike Berns, Karsten Robotics Research Lab University of Kaiserslautern-Landau Kaiserslautern67663 Germany

ISBN: (纸本)9798350391183

this paper proposes an approach and workflow for autonomous control of implements and vehicles in agriculture. We introduce a control and communication concept for this purpose. the integrated behavior-based control architecture carries out the control. the cross-Application use of a sensor on various existing attachments turns simple implements into intelligent, autonomous ones. this concept is being tested and evaluated on selected implements. © 2024 IEEE.

关键词： behavior-based control system robotics

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Next-Generation Diabetes Care: Robust Adaptive Optimal Glucose control Using Machine Learning, Wearable Integration and Microwave Sensors 4

Next-Generation Diabetes Care: Robust Adaptive Optimal Gluco...

引用

4th international conference on robotics, Automation, and Artificial Intelligence, RAAI 2024

作者： Mobayen, Saleh Rouhani, Seyed Hossein Ke, Ming-Ta Anvari, Shabnam Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Yunlin Douliou Taiwan National Kaohsiung University of Science and Technology Department of Electrical Engineering Kaohsiung City Taiwan Graduate School of Artificial Intelligence National Yunlin University of Science and Technology Yunlin Douliou640301 Taiwan

ISBN: (纸本)9798331520038

Managing diabetes effectively is vital to prevent complications such as heart disease, nerve damage, and kidney issues. this research shows that weight control and tailored interventions can improve blood sugar and metabolic health. this paper reviews the microwave sensor for continuous, real-time glucose monitoring, designed for wearables like smartwatches. By integrating type-2 fuzzy-logic and machine learning, the sensors can offer accurate glucose readings and monitor additional physiological markers, optimizing personalized interventions for type-1 diabetes. this innovation will aim to advance diabetes management with reliable, user-friendly health monitoring. © 2024 IEEE.

关键词： Microwave sensors

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Possibilities of Applying Educational robotics Instudents' Project Activities 4

Possibilities of Applying Educational Robotics Instudents' P...

引用

4th international conference on Technology Enhanced Learning in Higher Education, TELE 2024

作者： Ignatyeva, Emiliya Anatolyevna Chuvash State Pedagogical University Named after I. Ya. Yakovlev Department of Informatics and Technologies Cheboksary Russia

ISBN: (纸本)9798350353532

robotics, representing a synthesis of scientific knowledge, engineering creativity, and programming, is becoming increasingly demanded in educational practice. the author analyzes the results of their own research, based on experience in integrating educational robots into the curriculum for students majoring in pedagogy. these studies confirm that the use of robotics stimulates active student participation in the learning process, enhances their motivation, and improves the assimilation of educational material. the scientific significance of the research lies in its ability to enrich pedagogical theory and stimulate further research in the field of educational robotics © 2024 IEEE.

关键词： Educational robots

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Learning Aerial Docking via Offline-to-Online Reinforcement Learning 4

Learning Aerial Docking via Offline-to-Online Reinforcement ...

引用

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

作者： Tao, Yang Feng Yuting Yu, Yushu Beijing Inst Technol Sch Mechatron Engn Beijing Peoples R China

ISBN: (纸本)9798350373141;9798350373158

In this study, we explore the intricate task of executing a docking operation between two quadrotors, utilizing a blend of offline and online reinforcement learning techniques. this multifaceted task is fraught with the catastrophic forgetting problem due to its multiple objectives: it necessitates precise control over the trajectory of the quadrotors, ensures their stability during the docking process, and maintains stable control post-docking. the complexity of these objectives presents significant challenges when applying reinforcement learning directly, often leading to unsuccessful outcomes. To navigate these challenges, we initially developed a rule-based expert controller and amassed a substantial dataset. Subsequently, we employed offline reinforcement learning to train a guided policy, which was then fine-tuned using online reinforcement learning. this approach effectively addressed the out-of-distribution issues typically encountered in online reinforcement learning with guided policies. Notably, our methodology significantly enhanced the success rate of the expert strategy, boosting it from 40% to an impressive 95%(1).

关键词： reinforcement learning control quadrotor

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Underactuated Ship Heading control in Harbor Based on Model-Free Adaptive Sliding Mode control 4

Underactuated Ship Heading Control in Harbor Based on Model-...

引用

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

作者： Li, Wei Han, Junqing Fang, Shuai Du, Yazhen Cao, Yang Jiujiang Branch Tianjin Navigation Instruments Research Institute Tianjin China Maritime College Tianjin University of Technology Tianjin China

ISBN: (纸本)9798350380323

To address the challenges posed by restricted waters, uncertain model parameters, and strong environmental disturbances such as wind and currents during the harbor navigation of underactuated ships, this paper introduces a method for controlling ship heading using partial dynamic linearization, which operates without relying on any model information. Firstly, a partial dynamic linearization model is developed using the system's input-output data, and then the model is adjusted online with changing navigation conditions through pseudo-partial derivative estimation. Additionally, conventional model-free adaptive control methods applied directly to ship heading control in the body coordinate system can result in non-convergent control errors. To solve this problem, this paper introduces a model-free adaptive sliding mode control method. Finally, MATLAB simulation tests and a comparative analysis with the traditional model-free PID control method demonstrate the effectiveness of the proposed control method and its strong robustness against environmental disturbances. © 2024 IEEE.

关键词： Adaptive control systems

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Bio-inspired Design and control strategy of jaw exoskeleton for jaw motion disability 4

Bio-inspired Design and Control strategy of jaw exoskeleton ...

引用

4th international conference on Electrical engineering and Mechatronics Technology, ICEEMT 2024

作者： Wang, Xiaoyun Li, Nengfei Anhui Vocational and Technical College School of Intelligent Manufacturing Hefei China

ISBN: (纸本)9798350356472

this paper proposes a bio-inspired jaw exoskeleton to provide therapeutic exercise for people suffering from jaw motion disability. the inspiration comes from two sides: the mechanism of the device and the control scheme. Model of the jaw movement combined with in-vivo incisor trajectory is used to design the mechanism of the device, while CPG-based control algorithm reproduces the rhythmic jaw movement during mastication and adapts perturbations resembling sensory feedbacks. Mechanical design of jaw exoskeleton is finished, and the attachment can slightly allow sideway motion of the jaw. Experiments with the device under 2 motion profiles are carried out to evaluate the closed-loop control algorithm. © 2024 IEEE.

关键词： Exoskeleton (robotics)

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Adversarial Attacks: Key Challenges for Security Defense in the Age of Intelligence 4

Adversarial Attacks: Key Challenges for Security Defense in ...

引用

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

作者： Xi, Hailong Ru, Le Tian, Jiwei Lu, Bo Hu, Shiguang Wang, Wenfei Air Force Engineering University AFEU Equipment Management and Unmanned Aerial Vehicle Engineering School Xi'an China Air Traffic Control and Navigation School Air Force Engineering University Xi'an China

ISBN: (纸本)9798331531225

the development of Artificial Intelligence (AI) technology has revolutionized various industries. However, the vulnerability of deep learning models, which are the core technology of AI, has been gradually exposed, among which adversarial attacks have become a prominent security issue. Adversarial attacks pose a threat to the reliability of AI systems by adding tiny perturbations to the input data to mislead the model and lead to wrong prediction results. this paper offers an exhaustive overview of adversarial attacks, encompassing their definitions, taxonomies, and the methodologies for crafting adversarial examples. A comparative analysis of the strengths and weaknesses inherent to different adversarial examples generation techniques is presented, alongside an exposition of their critical influence on the security landscape of deep learning technologies. Finally, the discourse concludes with a prospective outlook on the evolving trends in adversarial attacks. © 2024 IEEE.

关键词： Adversarial machine learning

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Hotel Service Robot control System 4

Hotel Service Robot Control System

引用

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

作者： Yu, Hao Gong, Fan Zheng, Qi Guangzhou Institute of Science and Technology Faculty of Intelligent Manufacturing and Electrical Engineering Guangzhou China

ISBN: (纸本)9798331531225

With the advancement of technology and the growing demand for intelligent and efficient services, the traditional hotel service model is increasingly unable to meet people's expectations for personalized and non-contact experiences. In this context, this study proposes an STM32-based control system for hotel service robots. the system integrates motor control, voice recognition, touch screen interaction and an innovative doorbell module to improve service quality. It also runs the bidirectional A∗ path planning algorithm with the help of Raspberry Pi, which enables the robot to navigate autonomously in complex hotel environments and perform precise food delivery and guest guidance tasks. Experimental results show that this system can improve the service efficiency of hotels and reduce the waste of laboratory resources in the traditional hotel industry, thus promoting the transformation of traditional hotels into smart hotels, while improving customer experience, attracting more guests and enhancing the competitiveness of hotels. © 2024 IEEE.

关键词： Robot programming

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