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Fuzzy logic control of an obstacle avoidance robot

Fuzzy logic control of an obstacle avoidance robot

引用

IEEE international conference on Fuzzy Systems (FUZZ-IEEE)

作者： Sng Hong Lian Electronics and Communication Department Singapore polytechnics Singapore Singapore

ISBN: (纸本)0780336453

A fuzzy controller is used to control an obstacle avoidance mobile robot. In this classical problem, the aim is to guide a mobile robot along its path to avoid any static obstacles in front of it. Obstacle avoidance in real-time is a mandatory feature for mobile robots in a dynamically unknown environment. the controller presented here uses three sub-controllers. the outputs are summed to produce a concerted effort to control the motors steering the robot away from obstacles. this fuzzy controller was implemented on a miniature robot. this robot is able to overcome its limitation on range accuracy to follow a left wall, maintaining a short distance from it, to avoid obstacles in front of it, and to decide whether a gap is wide enough for a "side-step" manoeuvre.

关键词： Fuzzy logic Fuzzy control Mobile robots control systems Robot sensing systems Stability Fuzzy systems Hierarchical systems Orbital robotics Robot control

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Experimental Study of a Soft Pneumatic Actuator for the Application of Robotic Gripper

Experimental Study of a Soft Pneumatic Actuator for the Appl...

引用

international conference on Power, control and Embedded Systems (ICPCES)

作者： Narendra Gariya Pushpendra Kumar Mohit Makkar Department of Mechanical Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India Mechanical- Mechatronics Engineering Department The LNMIIT Deemed to be University Jaipur Rajasthan India

Soft bending actuators are being used in many applications such as in soft robotics and medical devices due to their compliant behavior and safe interaction. these soft actuators are mainly actuated by pneumatic pressure because of cleaner and safer operations while dealing with delicate objects and human. A soft pneumatic actuator (SPA) with multi-chambered structure is more efficient than a single chamber SPA. In this paper, a multi-chambered SPA is designed and studied experimentally. the designed SPA is fabricated using two different soft hyperelastic materials namely, Ecoflex-0030 and Ecoflex-0050. the fabrication process utilized the 3D printing and casting techniques. From the experimental studies, it is found that the SPA fabricated using Ecoflex-0050 shows more uniform bending. therefore, this SPA is further utilized for developing a soft pneumatic gripper for the robotic application. three fingers of Ecoflex-0050 SPA are used for the soft robotic gripper, which is tested experimentally for handling delicate objects. From the experiments, it has been observed that the developed SPA is able to grasp and hold objects of different shapes and sizes with a load carrying capacity of approximately 650 gm.

关键词： Pneumatic actuators Medical devices Shape Medical services Bending Soft robotics Pneumatic systems

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Mining Top-k Frequent-regular Itemsets from Incremental Transactional Database

Mining Top-k Frequent-regular Itemsets from Incremental Tran...

引用

international conference of Advanced informatics: Concept, theory and Application (ICAICTA)

作者： Bandit Tagmatcha Komate Amphawan Computational Innovation Laboratory Burapha University Chonburi Thailand

ISBN: (纸本)9781538648056

In the past decade, frequent-regular itemset mining (FRIM) has been proposed and applied in a wide range of applications. It aims to discover interesting itemsets frequently and regularly occurring in a static database. However, in real-world applications, the occurrence behavior of items/itemsets may change whenever the database is updated and there may be the situation of overwhelming or none of results generated if the user set inappropriate support threshold. thus, we here introduce a new approach to mine top-k frequent-regular itemsets from incremental transactional database for mining results which allows users to control the number of results. In this approach, a set of k itemsets having highest frequency of occurrence and regularity occurring in a incremental database is generated. To mine such itemsets, an efficient single-pass algorithm called IMTFRI (Incremental Miner of Top-k Frequent-Regular Itemset) is proposed. the partitioned dynamic bit-vector is utilized to maintain occurrence information of each item/itemsets while mining. In addition, to avoid mining on each incremental database from scratch, the mining with baseline frequency setting technique is designed. Last, experimental studies have been conducted to investigate efficiency of IMTFRI algorithm in the terms of computational time and memory usage.

关键词： Itemsets Data mining Heuristic algorithms Partitioning algorithms Technological innovation informatics

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Implementation of Inverse Kinematics on Arduino-Based SAR Robot Leg Design as a control for Robot Motion Maneuverability 8

Implementation of Inverse Kinematics on Arduino-Based SAR Ro...

引用

8th international conference on Electrical, Electronics and Information Engineering, ICEEIE 2023

作者： Putra, Oditya Andalas Hidayat, Ahmad Yudhistira Fachreza Setiawan, Aldi Ridhoni, Muhammad Syifa Sendari, Siti Mahandi, Yogi Dwi Mustika, Soraya Norma State University of Malang Department of Electrical and Informatics Engineering Malang Indonesia State University of Malang Faculty of Applied Science and Technology Malang Indonesia Universitas Negeri Malang Departemen Teknik Elektro Dan Informatika Malang Indonesia

ISBN: (纸本)9798350340501

the development of robotics has progressed linearly over time. there are many innovations in robot locomotion, such as the use of wheels in terms of robot mobility. However, this solution has limitations when traversing challenging terrain, such as steep or uneven surfaces. To overcome this problem, an innovation was developed that imitates the body structure and movement mechanism of ants using six legs. these robotic legs are equipped with servos, functioning similarly to joints, mirroring those found in real ants. For movement, this robot utilizes inverse kinematics, a process that takes coordinate input and translates it into the required angular degrees for its smart servos. the robotic core system is an Arduino Mega 2560 Pro microcontroller, enabling more extensive and fluid limb movements. However, the leg design must be adjusted to calculate the inverse kinematic angle to ensure the robot's body remains balanced, provide suspension to dampen unwanted vibrations, allow the robot to move freely at various tilts, and minimize the risk of damage when moving at high speeds. this research focuses on structuring the leg design and determining inverse kinematic parameters which aim to maximize robot maneuvering on uneven surfaces. the results of this research are robot realization and robot testing experiments. From the results of the inverse kinematics experiment, it was found that the average error value for the X axis for each leg was 1.64%, the Y axis was 2.61% and the Z axis was 6.88%. © 2023 IEEE.

关键词： Inverse kinematics

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Navigation in the presence of humans

Navigation in the presence of humans

引用

IEEE-RAS international conference on Humanoid Robots

作者： E.A. Sisbot R. Alami T. Simeon K. Dautenhahn M. Walters S. Woods Robotics and Artificial Intelligence Group LAAS/CNRS Toulouse cedex 4 France University of Hertfordshire College Lane Hatfield Herts United Kingdom

Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes explicitly into account the human partner by reasoning about his accessibility, his vision field and potential shared motions. this paper focuses on a navigation planner that takes into account the humans existence explicitly. this planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in a collaborative way with the human. We are conducting research in a multidisciplinary perspective, (1) running user studies and (2) developing an algorithmic framework able to integrate knowledge acquired through the trials. We illustrate here a first step by implementing a human-friendly approach motion by the robot

关键词： Navigation Safety Human robot interaction Humanoid robots Service robots Motion control Cognitive robotics Intelligent robots Artificial intelligence Educational institutions

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Improving Few-Shot Code Generation with Prompt Selection and Augmentation Techniques in Large Language Models

Improving Few-Shot Code Generation with Prompt Selection and...

引用

Computers and Artificial Intelligence Technologies (CAIT), international conference on

作者： On Tai Wu Frodo Kin Sun Chan Yan Nei Law Department of Computer Science The University of Hong Kong Hong Kong Hong Kong Industrial Artificial Intelligence & Robotics Centre Hong Kong

ISBN: (数字)9798331530891

ISBN: (纸本)9798331530907

Few-shot prompting and step-by-step reasoning have enhanced the capabilities of Large Language Models (LLMs) in tackling complex tasks including code generation. In this paper, we introduce a prompt selection and augmentation algorithm aimed at improving mathematical reasoning and robot arm operations. Our approach incorporates a multi-stage example augmentation scheme combined with an example selection scheme. this algorithm improves LLM performance by selecting a set of examples that increase diversity, minimize redundancy, and increase relevance to the question. When combined with the Program-of-thought prompting, our algorithm demonstrates an improvement in performance on the GSM8K and SVAMP benchmarks, with increases of 0.3% and 1.1% respectively. Furthermore, in simulated tabletop environments, our algorithm surpasses the Code-as-Policies approach by achieving a 3.4% increase in successful task completions and a decrease of over 70% in the number of examples used. Its ability to discard examples that contribute little to solving the problem reduces the inferencing time of an LLM-powered robotics system. this algorithm also offers important benefits for industrial process automation by streamlining the development and deployment process, reducing manual programming effort, and enhancing code reusability.

关键词： Codes automation Service robots Large language models Redundancy Process control Manuals Programming Cognition Prompt engineering

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the Internet and Consumption of Pornography A Case of Generation Y in the Czech and Slovak Republic 5th

The Internet and Consumption of Pornography A Case of Genera...

引用

5th international conference on Internet Science (INSCI)

作者： Smutny, Zdenek Sulc, Zdenek Univ Econ Fac Informat & Stat W Churchill Sq 4 Prague 13067 Czech Republic

ISBN: (纸本)9783030014377;9783030014360

Sexuality influences a number of the motives of people's behavior, e.g. at work, at school, or in free time, and it affects their values and everyday needs. the paper presents exploratory pre-research focused on the sociotechnical aspects connected with pornography consumption, carried out on a sample of Generation Y members from the Czech and the Slovak Republic. the aim of the paper is to describe the behavior and attitudes of Generation Y in connection with the use of ICTs for the purpose of accessing pornographic material and the consumption of pornography outside of privacy, e.g. at school or at work. the conclusion is interesting to social informatician as a basis for further empirical research or theoretical perspectives and company policy makers in connection with Generation Y entering work environment. the respondents access pornography almost exclusively on mobile devices via the Internet (streaming) and prefer free pornographic content. Only 5.9% of men and 3.6% of women stated that they also view porn at school or at work. Although some studies from the UK and US have highlighted the growing consumption of pornography at work, so in this study, the same trend was not identified in the Generation Y from the Czech and the Slovak Republic. A recommendation for organizations is presented in the context of a possible future change of the selected social group attitudes.

关键词： Attitude ICT Internet Policy Porn Social informatics Sexuality Workplace

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Carpet wear classification based on support vector machine pattern recognition approach

Carpet wear classification based on support vector machine p...

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IEEE international conference on Intelligent Computer Communication and Processing (ICCP)

作者： C. Copot S. Syafiie S. Vargas R. de Keyser L. Van Langenhove C. Lazar Department of Automatic Control and Applied Informatics “Gh. Asachi” Technical University of Iasi Romania Department of Electrical energy Systems and Automation Ghent University Belgium Department of Telecommunication Ghent University Belgium Department of Textile Ghent University Belgium

Nowadays, the carpet quality analysis is determined in industry by human experts, because the automated assessment is not capable of matching the human expertise. therefore, the carpet company demands a reliable and economic standardization of carpet wear level. this paper presents a new strategy for analyzing and classifying the texture of the wear carpet surface of 3D image, where 3D image is produced by 3D laser scanner. 2D image is obtained from 3D data resample on different grid sizes. the features extracted are based on Haralick descriptors of co-occurrence matrix. these features are used as inputs to a classifier system, which is based on support vector machine (SVM). Multi-class classification training based on SVM is applied. the performance of the new technique proposed gives an average of over 92% correct labeling.

关键词： Support vector machines Support vector machine classification Pattern recognition Humans Standardization Image analysis Image texture analysis Surface texture Surface emitting lasers Feature extraction

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Intelligent Lost Circulation Monitoring with Unbalanced Data Samples

Intelligent Lost Circulation Monitoring with Unbalanced Data...

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Intelligent control, Measurement and Signal Processing and Intelligent Oil Field (ICMSP), international conference on

作者： Hui Li Dongyue Wang Saisai Bu Jin Kuang Well-Tech R&D Institute China oilfield services limited Hebei China College of Oceanography and Space Informatics China University of Petroleum (East China) Qingdao China

In order to improve the accuracy of intelligent lost circulation monitoring models with unbalanced data samples, a lost circulation monitoring method using the synthetic minority oversampling technique (SMOTE) and bidirectional long short-term memory (Bi-LSTM) network is proposed to efficiently explore the limited and unbalanced drilling data samples. Firstly, the SMOTE algorithm is applied to the field drilling data samples including 10299 data points to produce a new data set that includes 15154 data points. then, a lost circulation monitoring model based on the Bi-LSTM network is established and trained using the balanced new data set. Experimental results demonstrate that the lost circulation recognition accuracy is improved from 88.93% to 98.38% by the proposed method compared with the widely used LSTM model with unbalanced data samples.

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Uncovering manifold structures in Robonaut's sensory-data state space

Uncovering manifold structures in Robonaut's sensory-data st...

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IEEE-RAS international conference on Humanoid Robots

作者： R.A. Peters O.C. Jenkins Center for Intelligent Systems Vanderbilt University School of Engineering Nashville TN USA Department of Computer Science Brown University Providence RI USA

this paper presents results from the application of dimensionality reduction algorithms to sensory-data time-series that were recorded from Robonaut - NASA's humanoid robot while it was being teleoperated through three tool manipulation tasks. the algorithms tested were principal component analysis, multidimensional scaling, and spatio-temporal Isomap. Structures were shown to exist in some cases, but their detection required careful analysis and a correct choice of parameters

关键词： State-space methods Robot sensing systems Robot kinematics Sliding mode control Orbital robotics Grounding Humanoid robots Animals Manifolds Intelligent systems

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