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检索条件"任意字段=5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020"

共 159 条记录，以下是21-30 订阅

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Mobile robots in the engineering education setting

Mobile robots in the engineering education setting

引用

5th international conference on automation, robotics and Applications, ICARA 2011

作者： Chew, M.T. Demidenko, S. Gupta, G.S. Huang, L. RMIT International University Vietnam Saigon South Campus Viet Nam School of Engineering and Advanced Technology Massey University New Zealand School of Engineering Auckland University of Technology New Zealand

ISBN: (纸本)9781457703287

Demand for engineering graduates is steadily growing around the world. Attracting more students into engineering has become a task of an emerging importance. Mobile robotics is an excellent tool to fascinate young boys and girls while drawing their interests to such fields as mechanical, electrical, electronic, control and computer engineering. It also allows keeping and further developing this interest during the years of study. this paper presents low-to medium-complexity autonomous mobile robots that could be directly employed at school and university levels to introduce to engineering or be used as platforms for further development by the students. © 2011 IEEE.

关键词： engineering education

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Modeling and control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm 5

Modeling and Control of an Omnidirectional Micro Aerial Vehi...

引用

5th international conference on Soft robotics (RoboSoft)

作者： Szasz, Robert Allenspach, Mike Han, Minghao Tognon, Marco Katzschmann, Robert K. Swiss Fed Inst Technol Zurich ETH Zurich Soft Robot Lab Tannenstr 3 CH-8092 Zurich Switzerland Swiss Fed Inst Technol Zurich ETH Zurich Autonomous Syst Lab Leonhardstr 21 CH-8092 Zurich Switzerland

ISBN: (纸本)9781665408288

Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. the rigid nature of these arms often lack compliance, flexibility, and smoothness in movement. this work proposes to use a soft-bodied robotic arm attached to an omnidirectional micro aerial vehicle (OMAV) to leverage the compliant and flexible behavior of the arm, while remaining maneuverable and dynamic thanks to the omnidirectional drone as the floating base. the unification of the arm with the drone poses challenges in the modeling and control of such a combined platform;these challenges are addressed with this work. We propose a unified model for the flying manipulator based on three modeling principles: the Piecewise Constant Curvature (PCC) and Augmented Rigid Body Model (ARBM) hypotheses for modeling soft continuum robots and a floating-base approach borrowed from the traditional rigid-body robotics literature. To demonstrate the validity and usefulness of this parametrisation, a hierarchical model-based feedback controller is implemented. the controller is verified and evaluated in simulation on various dynamical tasks, where the nullspace motions, disturbance recovery, and trajectory tracking capabilities of the platform are examined and validated. the soft flying manipulator platform could open new application fields in aerial construction, goods delivery, human assistance, maintenance, and warehouse automation.

关键词： automation Trajectory tracking conferences Soft robotics Maintenance engineering Vehicle dynamics Task analysis

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Adaptive control of robotic servo system with friction compensation

Adaptive control of robotic servo system with friction compe...

引用

2011 IEEE 5th international conference on robotics, automation and Mechatronics, RAM 2011

作者： Zheng, Dongdong Na, Jing Ren, Xuemei Herrmann, Guido Longo, Stefano Cryogenic System Section Plant Engineering Division ITER Organization St. Paul Lez Durance 13115 France School of Automation Beijing Institute of Technology Beijing 100081 China Department of Mechanical Engineering University of Bristol BS8 1TR United Kingdom Department of Electrical and Electronic Engineering Imperial College London SW1 7AZ United Kingdom

ISBN: (纸本)9781612842509

Adaptive control design is studied for a class of robotic turntable servo systems with friction dynamics. A newly developed continuously differentiable friction model is utilized, where the explicit model parameters are incorporated into the neural network weights adaptation. To further enhance the adaptation convergence and to reduce the tracking error, a velocity predictor is proposed to develop a composite adaptation law combining the tracking error and the predictor error. Stability analysis and bounds for both errors are guaranteed, and extensive experimental investigations are performed on a two-axis robotic turntable to assess the advantages and the achievable control performance of the proposed schemes. © 2011 IEEE.

关键词： robotics

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A Review of Utility and Cost Functions Used in Frontier-Based Exploration Algorithms 5

A Review of Utility and Cost Functions Used in Frontier-Base...

引用

5th international conference on robotics and automation engineering, ICRAE 2020

作者： Da Silva Lubanco, Daniel Louback Pichler-Scheder, Markus Schlechter, thomas Scherhaufl, Martin Kastl, Christian Sensors and Communication Linz Center of Mechatronics GmbH Linz Austria Automotive Mechatronics and Management University of Applied Sciences Upper Austria Wels Austria

ISBN: (纸本)9781728189819

Frontier-based exploration can be used in a wide-range of robotics applications. For example, a common utilization of exploration algorithms is in Urban Search and Rescue (USAR). In order to define the next place a robot shall visit, cost or utility functions in frontier-based exploration are often employed. In this paper we compare five different cost or utility functions known in the scientific community which are used in frontierbased exploration algorithms. this paper seeks to address two main goals: (1) to provide and explain utility and cost functions which are used in the exploration problem along with steps of how to implement them;(2) to show the results of each algorithm using a simulated environment. Finally, a discussion about the peculiarities and notable differences between the exploration methods as well as the consequences of their differences is presented. © 2020 IEEE.

关键词： robotics

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IntellWheels - A development platform for intelligent wheelchairs for disabled people

IntellWheels - A development platform for intelligent wheelc...

引用

5th international conference on Informatics in control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo Artificial Intelligence and Computer Science Lab-LIACC Faculty of Engineering University of Porto 4200-465 Porto Rua Dr. Roberta Frias s/n Portugal

ISBN: (纸本)9789898111319

Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper describes a development platform for intelligent wheelchairs called IntellWheels. the intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. the paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.

关键词： intelligent wheelchair intelligent robotics human-robots interfaces

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Rotor field oriented control strategy of multiphase induction motor

Rotor field oriented control strategy of multiphase inductio...

引用

2011 IEEE 5th international conference on robotics, automation and Mechatronics, RAM 2011

作者： Hu, Haofeng Yang, Jiaqiang College of Electrical Engineering Zhejiang University Hangzhou 310027 China Social Robotics Lab. Interactive Digital Media Institute National University of Singapore 119613 Singapore Singapore

ISBN: (纸本)9781612842509

Based on studying the transform theory of the multiphase system and the rotor field oriented control (RFOC) of multiphase induction motor (IM), the mathematical modulation of RFOC used in multiphase IM with closed-loops of harmonic currents is modeled. It can be used to solve the problems of harmonic currents in the conventional vector control of multiphase IM. the fundamental current and each of harmonic currents can be controlled independently for decoupling. the harmonic currents can be restrained effectively. In the paper, a nine-phase IM is proposed to verify the hypothesis. Experimental results confirm the theoretical analysis well. the paper further achieves the technology of electronic pole changing (EPC) under RFOC of multiphase IM. It is feasible for multiphase IMto realize pole-changing without cutting off the power and the EPC proposed could effectively extend the operational range of constant power in multiphase IM. © 2011 IEEE.

关键词： Vector control (Electric machinery)

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Adaptive impedance control for robot-aided rehabilitation of ankle movements 5

Adaptive impedance control for robot-aided rehabilitation of...

引用

5th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2014

作者： Ibarra, Juan C. Pérez Dos Santos, Wilian M. Krebs, Hermano I. Siqueira, Adriano A. G. Department of Mechanical Engineering University of São Paulo São Carlos Brazil Center for Advanced Studies in Rehabilitation Center for Robotics of São Carlos University of São Paulo Brazil Department of Mechanical Engineering Massachusetts Institute of Technology BostonMA United States Department of Neurology University of Maryland School of Medicine BaltimoreMD United States

ISBN: (纸本)9781479931262

this paper summarizes our on-going efforts to design adaptive assist-as-needed impedance controllers for ankle rehabilitation. Two robot assistance control strategies were evaluated: the first one attempted to normalize the combined robot and patient impedance via a complementary robot stiffness based on the estimate of the patient's stiffness and the second one searched for an optimal solution that minimized a cost function relating the rehabilitation goal and the interaction between patient and robot. For both strategies, the robot level of assistance was adapted based on patient's performance on distinct video games (serious games). Preliminary experimental results, employing the Anklebot in one stroke patient, confirmed the feasibility of the proposed control schemes in helping the subject to complete the tasks with optimal assistance from robot.

关键词： Stiffness

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Design of Directional Bird Dispersal Device in Substation Based on Infrared Sensing 5

Design of Directional Bird Dispersal Device in Substation Ba...

引用

5th international conference on robotics, control and automation engineering, RCAE 2022

作者： Luo, Hanwu Chen, Shikuan Li, Wenzhen Li, Fang Song, Yifeng Jing, Fengren Yang, Zhenyu East Inner Mongolia Electric Power Company Limited. Inner Mongolia010010 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781665459419

In order to reduce the impact of bird activities on the operation of power equipment, important power stations such as substations and converter stations are equipped with dispelling birds devices that can continuously output acoustic, optical and electrical signals for dispelling birds. However, due to the lack of target orientation for dispelling birds, birds can quickly produce adaptability, resulting in a significant decline in the effect of dispelling birds. In this paper, a directional dispersal device for substation birds based on infrared sensing is designed for directional aiming dispelling birds. Firstly, an improved image template matching method is used to complete the identification and location of bird targets. then bird's directional tracking and dispersion control algorithm based on PID is proposed. Finally, the experiment proves that the device has the characteristics of high positioning accuracy and fast-tracking speed for the dispersal of birds, which can quickly and effectively dispel moving birds accurately. © 2022 IEEE.

关键词： three term control systems

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A neurally inspired robotic control algorithm for gait rehabilitation in hemiplegic stroke patients 5

A neurally inspired robotic control algorithm for gait rehab...

引用

5th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics, BioRob 2014

作者： Mishra, Abhishek Ghosh, Rohan Coscia, Martina Kukreja, Sunil Chisari, Carmelo Micera, Silvestro Haoyong, Yu thakor, Nitish V. Singapore National University of Singapore Singapore Johns Hopkins University United States Department of Bioengineering National University of Singapore 9 Engineering Drive 1 Singapore117575 Singapore SINAPSE NUS NASA CA93524 United States Translational Neuro Engineering Lab Center for Neuroprosthetics School of Engineering Lausanne Switzerland Biorobotics Institute Scuola Superiore Sant'Anna Pisa Italy SINAPSE NUS 28 Medical Drive Singapore117456 Singapore

ISBN: (纸本)9781479931262

Cerebrovascular accident or stroke is one of the major brain impairments that affects numerous people globally. After a unilateral stroke, sensory motor damages contralateral to the brain lesion occur in many patients. As a result, gait remains impaired and asymmetric. this paper describes and simulates a novel closed loop algorithm designed for the control of a lower limb exoskeleton for post-stroke rehabilitation. the algorithm has been developed to control a lower limb exoskeleton including actuators for the hip and knee joints, and feedback sensors for the measure of joint angular excursions. It has been designed to control and correct the gait cycle of the affected leg using kinematics information from the unaffected one. In particular, a probabilistic particle filter like algorithm has been used at the top-level control to modulate gait velocity and the joint angular excursions. Simulation results show that the algorithm is able to correct and control velocity of the affected side restoring phase synchronization between the legs.

关键词： Exoskeleton (robotics)

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Adaptive Positioning System Design Using AR Markers and Machine Learning for Mobile Robot 5

Adaptive Positioning System Design Using AR Markers and Mach...

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5th international conference on Computer Science and engineering (UBMK)

作者： Seckin, Ahmet Cagdas Adnan Menderes Univ Comp Engn Dept Aydin Turkey

ISBN: (数字)9781728175652

ISBN: (纸本)9781728175652

Positioning is an important issue in areas such as navigation, robotics, automation, aerospace and aviation. Indoor positioning systems are becoming increasingly important, especially in areas such as industry, resource management and crowd sourcing. the study a system for mobile robot positioning is designed, the working area is fixed, but the visual positioning system can be moved. the site estimate of the designed system was carried out by Machine Learning. Successful results were achieved with the MLP and SVM methods used. It has been observed that MLP type networks provide lower RMSE values due to the algorithms used in position estimation. Although this value is taken from very different positions and from different angles, the achievement of low results proves the adaptability of the system. Long-term operation of the designed system was also tested and it was observed that the system was able to estimate the position of the robot that passed the route points with an average error of 0.895 cm.

关键词： positioning augmented reality robotics machine learning image processing

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