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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51-60 订阅

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the polynomial approach to accessibility of nonlinear fractional order difference system 28

The polynomial approach to accessibility of nonlinear fracti...

引用

28th international conference on Methods and Models in Automation and robotics (MMAR)

作者： Pawluszewicz, Ewa Bialystok Tech Univ Fac Mech Engn Wiejska 45 C PL-15351 Bialystok Poland

ISBN: (纸本)9798350362350;9798350362343

the focus of the paper are accessibility (in a finite number of steps) conditions for nonlinear control systems with the Grunwald-Letnikov fractional order h-difference operator. these conditions are presented in terms of the greatest left common divisors of shifted polynomials associated with the given system. the obtained results extend the polynomial approach to accessibility problem of nonlinear discrete-time control systems on fractional case.

关键词： Nonlinear fractional control system Grunwald-Letnikov h-difference operator Shifted polynomials Accessibility

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Trajectory Tracking controller Design for Underactuated AUVs based on Adaptive Robust control 9

Trajectory Tracking Controller Design for Underactuated AUVs...

引用

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

作者： Ma, Tianheng Chen, Zheng Zhejiang Univ Ocean Coll Zhoushan Peoples R China Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou Peoples R China

ISBN: (纸本)9798350350319;9798350350302

In this paper, the trajectory tracking problem for underactuated Autonomous underwater vehicles (AUVs) is investigated. First, a nonlinear 4-DOF AUV model is adopted, considering the unknown parameters and external distances. Two control objectives and corresponding error dynamics are established according to different tracking errors. To achieve accurate AUV tracking control, an adaptive robust control strategy is proposed, combining the backstepping control ideology. this controller could adaptively estimate uncertain model parameters and disturbances recursively and compensate for the estimation errors robustly. theoretical analysis demonstrates that the proposed control scheme can ensure system stability, enhance the transient response, and give great trajectory tracking performance, which is validated again by the numerical simulations.

关键词： Autonomous underwater vehicles (AUVs) Trajectory tracking Adaptive robust control

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Technology of Mobile Robot Localization Assisted byQRCodes 4

Technology of Mobile Robot Localization Assisted byQRCodes

引用

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

作者： Wang, Yumeng Zhou, Qiang Li, Honglin Yue, Haosong School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9798350380323

With the improvement of productivity levels, people's demand for enhanced functionality and expanded application scenarios of mobile robots is increasing. Mobile robots are playing an increasingly critical role in several fields. Ensuring that mobile robots can achieve high-precision localization in various environments has become the basis for its role. However, traditional laser-based localization technologies suffer from significant errors in areas with indistinct environmental features. Firstly, the QR code is deeply studied, including its characteristics, classification and function principle in localization calculation. To address this, a method that utilizes QR codes for assisting in robot localization is proposed. To validate the proposed method, a specific QR code was selected and the key technologies for mobile robot localization were thoroughly studied. the method integrates QR code information using laser-based radar and the Cartographer SLAM algorithm to achieve accurate localization. To verify the research results, a Gazebo simulation platform for mobile robots was established, and the simulations and physical validations of the proposed method were completed. the results show that the QR code assisted localization technology can significantly improve the localization accuracy in the area with not obvious environmental characteristics. Moreover, through the research of mobile robot localization technologies, it has a significant promoting effect on the cultivation of students' engineering practice and innovation ability. © 2024 IEEE.

关键词： SLAM robotics

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Sensor packaging method based on the solid tire sole of wheel-legged robot 4

Sensor packaging method based on the solid tire sole of whee...

引用

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

作者： Huang, Chao Wang, Yaodong Guo, Min Hong, Meng Wuhan University of Technology Hubei Provincial Engineering Research Center of Robotics&Intelligent Manufacturing Wuhan China

ISBN: (纸本)9798331531225

For wheel-legged robots, the unique wheel-legged structure significantly influences the dynamics and kinematic behavior of the foot during ground contact. this paper presents a resistive strain gauge sensor integration scheme for solid tires, wherein sensors are embedded within the tires to actively monitor the touchdown information of the foot-end. A method is proposed for embedding the solid tires in circumferential arrays to capture the plantar strain state, which supports the control system of wheel-legged robots. To evaluate the effectiveness of this sensor package, a simulated impact experiment was conducted to simulate the wheel-legged ground contact. the experimental results demonstrate that the strain gauge embedding method effectively detects the strain response of solid tires under impact. Since ground contact information is crucial for the autonomous switching of the wheel-legged structure in robots, the successful implementation of this sensing system for ground contact monitoring holds significant potential for both research and practical engineering applications. © 2024 IEEE.

关键词： Strain gages

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Application of Untiree GO 1 in ORB-SLAM3 Map Building 4

Application of Untiree GO 1 in ORB-SLAM3 Map Building

引用

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

作者： Bai, Yuxuan School of Computing and Artificial Intelligent Southwest Jiaotong University Chengdu China

ISBN: (纸本)9798350380323

With the increasing urbanization, the proliferation of highways has significantly increased the workload involved in highway maintenance. In particular, the maintenance inspection of tunnels plays a crucial role in ensuring the safety and functionality of these vital transportation infrastructures. Robots for intelligent highway tunnel maintenance inspections present a promising solution to alleviate the associated costs and efforts. this research focuses on utilizing the Unitree GOI robot dog, equipped with the ORB-SLAM3 algorithm, for efficient tunnel maintenance detection. this study outlines the process of setting up the GOI robot dog environment from the ground up and employing ROS2 to transmit video captured by the binocular fisheye camera mounted on the robot dog to a customer PC. Subsequently, the ORB-SLAM3 algorithm is executed on the customer PC for map building to overcome the the problem that GOI dog machine does not have enough computility. through successful experimentation, this study demonstrates the feasibility of employing the GOI robot dog in conjunction with the ORB-SLAM3 algorithm to generate accurate maps of real tunnel environments. this study improves the reliability of the GOI dog operation and solves the problem of the bad result of map building due to insufficient computility and indistinct images. © 2024 IEEE.

关键词： SLAM robotics

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Research on Gait Planning for Elderly Biomimetic Robot Dogs 4

Research on Gait Planning for Elderly Biomimetic Robot Dogs

引用

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

作者： Wang, Wenting Huang, Xuanzhi Pan, Xiang He, Pengfei Guangxi Vocational University School of Computer and Information Engineering Nanning China

ISBN: (纸本)9798331531225

this study conducts an in-depth exploration of the gait issues of bionic robotic dogs for elderly care. the main objective of this research is to improve the model predictive control (MPC) algorithm through deep learning technology to enhance the gait control capabilities of bionic robotic dogs. Specifically, we aim to address the limitations of traditional control methods when dealing with dynamic environments. enable robots to walk more naturally in complex scenarios and interact effectively with humans. To this end, we will explore the combination of deep learning and MPC algorithms, aiming to achieve greater flexibility and adaptability. A deep neural network is used for learning and predicting gait data, which is integrated with the MPC algorithm to adjust gait control strategies through real-time feedback. through a large number of simulation experiments and practical tests, we have verified the effectiveness of the proposed method. the contribution of this research lies in the proposal of a deep learning-based MPC algorithm, which significantly enhances the gait control performance of bio-mimetic robotic dogs. © 2024 IEEE.

关键词： Predictive control systems

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Formation control of Multiple Unmanned Aerial Manipulators 18

Formation Control of Multiple Unmanned Aerial Manipulators

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18th international conference on control Automation robotics and Vision

作者： Vidya, A. P. Gajbhiye, Sneha Indian Inst Technol Palakkad Dept Elect Engn Palakkad Kerala India

ISBN: (纸本)9798331518509;9798331518493

this paper presents the control of multiple unmanned aerial manipulators that perform various manipulator tasks keeping a given formation. the Software-in-loop simulation is utilised to test and validate three cooperative algorithms, i.e., line formation tracking a piecewise continuous trajectory, circular trajectory in a cyclic pursuit, and finally a pick and place operation during formation. We employed leader-follower strategies and performed experiments using the Robot Operating System, Gazebo, and PX4. During the formation process, the manipulator is tested for various poses yet it maintained stability and followed the designated path. Performance of the proposed controller and algorithms are evaluated through real-time simulation analysis.

关键词： Software testing

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Multi differential gear train AGV fine positioning system and control method 4

Multi differential gear train AGV fine positioning system an...

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

作者： Xu, Haiting Xu, Bo Sun, Tao Shi, Zhenyu Gong, Bo Peng, Shuo Liu, Zhanhe Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin China Tianjin University Tianjin China

ISBN: (纸本)9798331531225

this paper provides a multi-differential gear train AGV precise positioning system and control method, which solves the problems of poor autonomous positioning accuracy and low efficiency of multi-differential gear train AGV. the test results show that the positioning system and control method have low cost, simple structure and high precision. the angle error is less than ± 1 °, the horizontal and vertical error is less than ± 1mm, and the adaptability is strong. the positioning accuracy can be set freely, which is worth popularizing in large area on the differential gear train AGV. © 2024 IEEE.

关键词： Gear trains

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Experimental system of active-passive integrated vibration isolation for robot with weak rigid support 4

Experimental system of active-passive integrated vibration i...

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

作者： Chen, Lele Yin, Jiawei Huang, Liang He, Bin Zhan, Yuhan Xue, Lei Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai China COMAC Shanghai Aircraft Manufacturing Co. Ltd Aviation Manufacturing Technology Research Institute Shanghai China

ISBN: (纸本)9798331531225

In the manufacturing and assembly process of domestic large airplanes, the vibration in the surrounding environment greatly affects the working efficiency and precision of automated equipment. According to the vibration characteristics of the cabin environment, a multi-degree-of-freedom vibration isolation platform mechanism of robotics with weak rigid support applied in the cabin section of the aircraft is proposed, an experimental platform for the vibration isolation capability of a single outrigger is constructed, and a finite element analysis is carried out on the fixed frame of this experimental platform to verify its reliability. © 2024 IEEE.

关键词： Degrees of freedom (mechanics)

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INN: A Deep Correction Network for High-Dynamic Inertial Navigation 4

INN: A Deep Correction Network for High-Dynamic Inertial Nav...

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

作者： Gu, Tao Cong, Li Yang, Jing Guo, Yuzhu Wang, Lina School of Automation Science and Electrical Engineering Beihang University Beijing China School of Electronic Information Beihang University Engineering dept. Beijing China National Key Laboratory of Science and Technology on Aerospace Intelligence Control Beijing China

ISBN: (纸本)9798350380323

Inertial navigation has gained extensive application because it solely relies on built-in Inertial Measurement Unit (IMU) devices. Nevertheless, due to its inherent accumulative integral error, inertial navigation is often integrated with other external devices in practical situations, which unfortunately leads to unavoidable privacy breaches. To address these issues, an Inertial Navigation Neural Network (INN) is designed to generate high-precision position estimations without relying on any other auxiliary information. the INN model consists of attitude correction and velocity regression modules. the attitude module employs a convolutional network to correct the attitude information, and the obtained rotation matrices are then fed into a recurrent neural network to regress incremental velocities and produce high-precision positions. the proposed model is validated on the simulated trajectories based on the Precise Strapdown Inertial Navigation System (PSINS) toolbox. Experimental studies demonstrated that the proposed method has a significant corrective effect on high-dynamic strapdown inertial navigation settings. the accumulated position errors are an order of magnitude smaller than those of traditional track reckoning algorithms and achieved a comparable performance with integrated navigation. © 2024 IEEE.

关键词： Inertial navigation systems

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