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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81-90 订阅

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Research on Adaptive control Strategy of Five-link Wheel-legged Robot Based on Model Predictive control Linear Active Disturbance Rejection control 4

Research on Adaptive Control Strategy of Five-link Wheel-leg...

引用

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

作者： Zeng, Guoqiang Liu, Fang Ren, Guangwen Han, Xianghong Li, Yan Dong, Xu Anhui University School of Electrical Engineering and Automation Hefei China Hefei Panshi Intelligent Technology Co. Ltd. Hefei China Hefei Tielangtou Education Technology Co. Ltd. Hefei China

ISBN: (纸本)9798331531225

Compared with traditional wheeled or legged robots, wheeled legged robots can maintain better stability in unstable terrain, but nonlinear system control of wheeled legged robots in strongly disturbed terrain still faces challenges. this article proposes an integrated adaptive control strategy that integrates two control models based on the kinematic characteristics of a five link legged robot. Firstly, in order to streamline the complex overall motion model of the robot, the motion of the robot is decoupled into two parts: the body and the legs. Secondly, an MPC-LADRC (Model Predictive control Linear Active Disturbance Rejection control) integrated adaptive control method is proposed, which uses LADRC to correct the MPC optimization problem and improve the stability of the wheeled legged robot in complex terrain. the simulation comparison verification results show that compared with the Anti-interference controller based on LQR (linear quadratic regulator), the MPC-LADRC controller has better control accuracy, speed tracking response, and anti-interference ability. © 2024 IEEE.

关键词： Disturbance rejection

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Design and prototyping of a 4-axis CNC machine for the manufacturing of small accessories 10

Design and prototyping of a 4-axis CNC machine for the manuf...

引用

10th international conference on Mechatronics and robotics engineering (ICMRE)

作者： Junior Sahuanay Taipe, Carlos Andres Huanca Cayo, Eber Univ Catolica San Pablo Arequipa Peru

ISBN: (纸本)9798350394283;9798350394276

the goal of this paper is the construction and operation of a 4-axis CNC (Computer Numerical control) machine, where its mechanical structure and the electronic controller responsible for facilitating movement in the fourth axis will be explained. the Marlin firmware is used to monitor the operation of the XYZ axis motors. the fourth axis has a control system by an independent microcontroller. the selection of machine actuators is rigorously validated through mathematical calculations and an analysis of the physical forces influencing the fourth axis of the CNC machine. the price of this CNC machine will be approximately the same as a 3D printer, and consequently, the size of this machine will reduce compared to a common industrial 4-axis CNC machine.

关键词： CNC machine cascade controller control system angular position milling machine

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Multi-focus Image Fusion Algorithm Based on Improved Lion Swarm Optimization Algorithm 4

Multi-focus Image Fusion Algorithm Based on Improved Lion Sw...

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

作者： Jiang, Keqin Yuan, Dongfeng Zhou, Xiaotian Zhao, Ze Wang, Feng Jiang, Mingyan Shandong Univ Sch Informat Sci & Engn Qingdao Peoples R China Qilu Inst Technol Jinan Peoples R China Shandong Univ Sch Control Sci & Engn Jinan Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Addressing the limitations of the Lion Swarm Optimization (LSO) algorithm, such as its tendency to converge to local optima and its slow convergence rate, we propose an improved LSO algorithm that integrates Gaussian mapping and a somersault foraging strategy. Firstly, we advocate replacing the randomly generated initial population of the original algorithm with chaotic sequences generated via Gaussian mapping, thereby augmenting the diversity within the population. Secondly, the incorporation of the somersault foraging strategy is aimed at enhancing the diversity of optimization positions, thus bolstering the algorithm's resilience against local optima. Simulation experiments conducted on CEC2019 benchmark functions showcase notable enhancements in both convergence speed and solution accuracy with our proposed algorithm. Finally, the application of the improved LSO algorithm to multi-focus image fusion tasks reveals its superior performance in quantitative and visual assessments when compared against conventional techniques and genetic algorithm.

关键词： lion swarm optimization algorithm Gaussian mapping somersault foraging multi-focus image fusion

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Digital Transformation in Mechatronics: ICT Applications in Automation and robotics 4

Digital Transformation in Mechatronics: ICT Applications in ...

引用

4th IEEE international conference on ICT in Business Industry and Government, ICTBIG 2024

作者： Vajpayee, Deepshikha Gupta, Nagesh Joshi, Vaishali Symbiosis University of Applied Sciences School of Computer Science and Information Technology Indore India

ISBN: (纸本)9798331518981

Mechatronics, a multidisciplinary field and transformed the conventional methods to dynamic and autonomous systems. the emergence of robotics and technology in various sectors marks a significant revolution in the industry specially in manufacturing, construction, food, and pharmaceutical industries. this ensured quality, efficiency and precision in the concerned industries. Based on this background, it is from this perspective that the paper addresses transformatory work in collaborative robots, automation technologies, and robotic manipulators through object recognition, human-robot interaction, and machine learning applications. Reviewing the key technologies- machine vision, thermography etc. that transformed the quality control across the industries, enhancing the reliability and precision and efficiency of the *** robots and manipulators in conjunction with the da Vinci Surgical System represent huge promise for surgical purposes and therapeutic interventions within medicine. Discuss some of the challenges in the path planning for system adaptability and insist on the need for robust data in medical robotics, besides the key success factors for adopting robotics in every other sector. this research marks how the growing role of robotics, which includes changing industries that are driving the Fourth Industrial Revolution, offset labor shortages, and growing global demands, is being found. © 2024 IEEE.

关键词： Motion planning

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Steel Surface Defect Detection Based on Improved YOLOv7 4

Steel Surface Defect Detection Based on Improved YOLOv7

引用

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

作者： Li, Ming Wei, Lisheng Zheng, Bowen Anhui Polytech Univ Sch Elect Engn Wuhu Peoples R China Anhui Key Lab Elect Drive & Control Wuhu Peoples R China

ISBN: (纸本)9798350373141;9798350373158

Aiming at the current problem of steel surface defect detection with low accuracy and slow speed, which can easily lead to misdetection and omission, an algorithm for steel surface defect detection based on improved YOLOv7 is proposed. Firstly, the GAM (Global Attention Mechanism) attention mechanism is introduced, while CNeB and C3C2 are added to improve the feature extraction ability of the model by reducing the information approximation and amplifying the global interaction representation. Secondly, the WIoU (Wise-IoU) loss function is used to improve the convergence speed at the late stage of model training. Finally, the improved YOLOv7 is compared with other models. the experimental results show that the algorithm of this paper has an average detection accuracy (mAP) of 72.9% on the NEU-DET dataset, which is 4.1% higher compared with the original YOLOv7 algorithm, and the detection time is reduced by 63.6% under the same conditions, which verifies the effectiveness and feasibility of this paper's algorithm, and it has a certain value of application in industrial applications.

关键词： target detection defect detection YOLOv7 GAMAttention loss function

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the Research Progress on Teleoperation and Interactive control Technology of Power Operation Robots 4

The Research Progress on Teleoperation and Interactive Contr...

引用

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

作者： Xie, Guoshan Guo, Lijuan Luo, Chuansheng Pang, Hai Song, Guanjun Guangxi Power Grid Co. Ltd. Electric Power Research Institute Nanning China Guangxi Power Grid Co. Ltd. Nanning Power Supply Nanning China

ISBN: (纸本)9798331531225

As the operational demands of power systems grow, the application of teleoperated robots in the power sector has advanced. Traditional live-line robots have improved inspection efficiency and accuracy, while new teleoperated robots integrate technologies such as force feedback, immersive visual interaction, and deep learning. these innovations enable natural human-machine interaction, precise control, and intelligent analysis. this paper summarizes key technologies in teleoperation and interaction control for power operation robots and outlines future trends, including multi-channel teleoperation based on force feedback. Future developments will focus on multi-channel shared control and power big model-assisted operation, with closer integration with computer graphics, enhancing both operator-robot interaction and the robots' decision-making and operational precision. © 2024 IEEE.

关键词： Remote control

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Variable control Gain Design for Longitudinal control for an Autonomous Vehicle 4

Variable Control Gain Design for Longitudinal Control for an...

引用

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

作者： Belkheir, Ayoub Mellouli, El Mehdi Žuraulis, Vidas Haidi, Touria Fez Morocco Vilnius Gediminas Technical University Department Of Automobile Engineering Vilnius Lithuania Casablanca Morocco

ISBN: (纸本)9798350309508

this paper presents a designed variable gain control low for controlling longitudinal dynamics in the absence/presence of perturbations of an autonomous vehicle starting by modeling the system in the state space. Followed by defining the sub-set and modeling the perturbations. then, concluded with the designed control law expression with stability analysis improvement and simulation at the end of the paper to show the strongest and the effectiveness of the controller. © 2024 IEEE.

关键词： Lyapunov functions

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Architecture Capability Indicator System of Command and control System 24

Architecture Capability Indicator System of Command and Cont...

引用

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

作者： Zhao, Beilei Yao, Jing Liu, Xi Wuhan Digital Engineering Institute Wu Han430205 China

ISBN: (纸本)9798400709937

this article first introduces the process of establishing a meta-model for decomposing group activities, providing task meta-model, resource meta-model, and control meta-model respectively. then, based on these three meta-models, the group activity process is decomposed, and the transformation relationship of architecture from task to requirement, from requirement to capability is studied. then, this article establishes an indicator system for requirement matching capability, operational adaptability, and structural adaptability, and provides a process for establishing a comprehensive architecture capability indicator system when combined with specific practical systems. Finally, classification and quantitative calculation of indicators are given in the article. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Command and control systems

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Dynamic Model Simplification and Fuzzy Rule control of Flexible Manipulator 24

Dynamic Model Simplification and Fuzzy Rule Control of Flexi...

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4th international Joint conference on robotics and Artificial Intelligence, JCRAI 2024

作者： Wei, Lai Li, Xiaopeng Zhou, Sainan Gao, Yu Northeastern University Shenyang China Ningxia Institute of Science and Technology Shizuishan China

ISBN: (纸本)9798400710100

the dynamic equations governing the servo system of the flexible manipulator incorporating second-order mode and two-dimensional deformation is too complicated to be used as the controlled object. To achieve accurate control, the dynamic equation must be simplified to make it accurate and easy to calculate. Firstly, the Lagrange equation is employed to establish the system dynamics equation. Four simplified methods of dynamics model are proposed, and the deformation is obtained from the original equation and four simplified dynamics equations with different parameters are compared. then, based on fuzzy rules, an enhanced fuzzy compensation SMC strategy is introduced, aiming to enhance control performance. through simulation analysis and physical control experiments, it has been demonstrated that utilizing the tanh function within the fuzzy compensation SMC approach can alleviate the chattering phenomenon and decrease acceleration errors. the outcomes also indicate that this control strategy exhibits low variance and standard deviation, underscoring its stability and consistency. Consequently, the combined control approach advocated in this study is deemed highly applicable to flexible manipulators, offering a substantial enhancement in control accuracy. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Fuzzy rules

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Fuzzy Active Disturbance Rejection control Technology for Quadcopter UAV in Flying Manipulator Arm 4

Fuzzy Active Disturbance Rejection Control Technology for Qu...

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

作者： Meng, Shuai Wang, Junlin Zhang, Xinyue Li, Yuxin Chen, Fan School of Information Engineering Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9798350380323

As the core content of the flight manipulator system to provide a stable platform for the operation of the manipulator and achieve accurate grasping, the attitude angle control must have strong anti-interference control ability. In order to improve the robustness of the aircraft, a fuzzy active disturbance rejection control strategy for the quadrotor in the flight manipulator system was proposed. Based on the fact that the traditional ADRC integrates fuzzy control logic into the design of the nonlinear error feedback control law, which reduces the difficulty of adjusting the parameters of the traditional ADRC, and the fal function is used in the design of the traditional ADRC extended state observer, when the deviation is large, the gain of the observer will increase sharply, resulting in the decrease of the anti-interference ability of the system. For the above problems, the faln function is used, when the error is large, this function limits the gain of the system, so as to enhance the immunity of the system. the attitude model of the quadcopter UAV was built in the MATLAB/Simulink simulation environment, and the simulation effect of the traditional PID attitude control was compared under the condition of interference. the simulation results show that the designed attitude controller has good anti-interference ability under the condition of external interference. According to the attribute information of the physical platform, a 1:1 virtual simulation model is built in Solidwork, which can be imported into the Gazebo virtual physical simulation platform to verify the control effect of the controller, providing a method for the virtual simulation of the flight manipulator. According to the attribute information of the physical platform, a 1:1 virtual simulation model is built in Solidwork, which can be imported into the Gazebo virtual physical simulation platform to verify the control effect of the controller, providing a method for the virtual simulation of the fl

关键词： Disturbance rejection

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