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检索条件"任意字段=5th International Conference on Informatics in Control, Automation and 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...

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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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Path Planning of Dual Ammunition Loading Robot Based on Velocity Repulsion Field

Path Planning of Dual Ammunition Loading Robot Based on Velo...

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IEEE international conference on automation, Electronics and Electrical Engineering (AUTEEE)

作者： Qicheng Dong Zhigang Xu Junyi Wang College of Mechanical and Electrical Engineering Shenyang University of Aeronautics and Astronautics Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang China

ISBN: (数字)9781665471978

ISBN: (纸本)9781665471985

Aiming at the problems of slow charging speed of single ammunition loading robot and complicated path planning of dual robots, a path planning method of dual ammunition loading robots based on velocity repulsion field is proposed. Firstly, a robot collision detection system is established, and the robot is simplified by the form of sphere enclosing, so that the collision detection between robots can be converted into geometric distance detection; secondly, the collision-free motion path of the double-charged robot is planned by using the velocity repulsion field algorithm; finally, the experimental verification is carried out in matlab. the results show that the algorithm can effectively plan the collision-free path of the robot, which satisfies the work requirements and verifies the reliability and effectiveness of the algorithm.

关键词： Electrical engineering Loading Fixtures Programming Reliability engineering Path planning Stability analysis

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An Advanced Human-inspired Compliant Peg-in-hole Solution for the Industrial Assembly of Almost Arbitrarily Shaped Lithium-ion Battery Packs

An Advanced Human-inspired Compliant Peg-in-hole Solution fo...

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international conference on control, Mechatronics and automation (ICCMA)

作者： Moritz Böker Markus Joos Timo Hufnagel NODE Robotics GmbH Heilbronn Germany BÄR Automation GmbH Heilbronn Germany Department of Mechanics and Electronics Heilbronn University Heilbronn Germany

ISBN: (纸本)9781665490498

Lithium-ion battery packs based on the common 18065 cell vary in shape, size and other geometric parameters. If produced in small batch production, they are still mostly assembled manually. this paper completes our former publication concerning an advanced compliant human-inspired approach to solve the battery-based peg-in-hole problem, where the peg is represented by the battery and the holes being provided by the battery pack. While the original contribution focuses on bringing the peg to the hole if displacement errors of up to several millimeters occur, the here presented strategies are about centering and lowering the peg into the hole itself. the algorithms were implemented on an industrial robot plant, specially developed in cooperation with the German battery pack manufacturer ANSMANN AG. By only using the inbuilt coarse force torque sensors of a UR5e collaborative robot and geometric constraints, it can assemble a variety of different battery packs. the plant has been tested for several months on customer site, mounting thousands of batteries with a success rate of more than 99.5%.

关键词： Lithium-ion batteries Torque Service robots Shape Force Collaboration Production

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Adaptive Terminal-Integral Sliding Mode Force control of Elastic Joint Robot Manipulators in the Presence of Hysteresis 5th

Adaptive Terminal-Integral Sliding Mode Force Control of Ela...

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5th international conference on Advanced Intelligent Systems and informatics (AISI)

作者： Azar, Ahmad Taher Serrano, Fernando E. Koubaa, Anis Kamal, Nashwa Ahmad Vaidyanathan, Sundarapandian Fekik, Arezki Prince Sultan Univ Coll Engn Riyadh Saudi Arabia Benha Univ Fac Comp & Artificial Intelligence Banha Egypt Univ Tecnol Ctr Amer UNITEC Tegucigalpa Honduras Prince Sultan Univ Riyadh Saudi Arabia Polytech Inst Porto ISEP INESC TEC CISTER Porto Portugal Gaitech Robot Shanghai Peoples R China Cairo Univ Fac Engn Elect Power & Machine Dept Giza Egypt Vel Tech Univ Avadi Res & Dev Ctr Chennai 600062 Tamil Nadu India Univ Mouloud Mammeri Tizi Ouzou Elect Engn Adv Technol Lab LATAGE Tizi Ouzou Algeria

ISBN: (纸本)9783030311292;9783030311285

In this paper, an adaptive terminal-integral sliding mode force control of elastic joint robot manipulators in the presence of hysteresis is proposed. One of the most important issues that is solved in this study is that the hysteresis phenomenon is considered something that provokes losses in the manipulator motion and controller errors. Force control is necessary because it can be implemented and very useful in the area of industrial robotics such as collaborative and cooperative robotics. therefore, it can be implemented for precise control in which robot-operator or robot-robot interaction is needed. An adaptive terminal-integral sliding mode force control is proposed by considering the hysteresis and the effects between the end effector and a flexible environment. Force control has not been studied extensively nowadays and even less for elastic joint robot manipulators. thus, to improve the system precision control, the adaptive sliding mode controller (ASMC) is designed by a Lyapunov approach obtaining the adaptive and controller laws, respectively. As an experimental case study, two links elastic joint robot manipulator is considered by obtaining the elastic joint model with hysteresis using a Bouc-Wen model.

关键词： Hysteresis Flexible structures robotics Force control Integral sliding mode control Terminal sliding mode control

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Autonomous Navigation with Open Software Platform for Field Robots 14th

Autonomous Navigation with Open Software Platform for Field ...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Post, Mark A. Bianco, Alessandro Yan, Xiu T. Univ Strathclyde 75 Montrose St Glasgow Lanark Scotland

ISBN: (纸本)9783030112929;9783030112912

In this chapter, we present an autonomous monitoring robot platform for agricultural farms and fields that is built using low-cost off-the-shelf hardware and open source software so as to be affordable for farmers. We provide a review of the current state of the art in autonomous agricultural robots and summarize the challenges that they must overcome. Our work comprises two main components: (1) the system architecture and hardware selected for a fully autonomous agricultural robot platform for automated monitoring and intervention tasks, and (2) the sensor fusion, local planning, and navigation software based on the Robot Operating System (ROS) framework with inclusion of design details and testing results. the challenges faced, solutions tested, and successes achieved with respect to the hardware and software architectures for this robot are presented in the interest of guiding future solutions for autonomous agricultural navigation and planning. We evaluate our approaches in outdoor farm field environments as well as indoor environments serving as an analogue for greenhouse navigation, and show how the properties of the environment affect the accuracy of the mapping and localisation tasks.

关键词： Field robotics Sensor fusion Navigation Agriculture ROS

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Combined capacitive pressure and proximity sensor for using in robotic systems 15th

Combined capacitive pressure and proximity sensor for using ...

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15th international conference on Electromechanics and robotics Zavalishin’s Readings, ERZR 2020

作者： Krestovnikov, Konstantin Cherskikh, Ekaterina Zimuldinov, Eldar St. Petersburg Institute for Informatics and Automation of the Russian Academy of Sciences 39 14th Line St. Petersburg199178 Russia

ISBN: (纸本)9789811555794

Circuit solution and primary transducer of combined capacitive pressure and proximity sensor are described. Principle of operation of the developed interface circuit is shown;its principal electrical circuitry is explained. Design and structure of a primary capacitive transducer is considered for further use within the combined sensor. the dependence of the output signal from the force, applied to the prototype sensor, is empirically obtained and shows linear pattern in the working range of the sensor from 0 to 2.6 kg, whereas the sensitivity to the applied pressure was 2252 value/kg in output values of ADC. Graphical dependences of output signal are obtained from the distance between the sensor and the things being observed and consisting of different types of stuff. Mean value of interface circuit sensitivity to approaching object is 6.7 value/mm on the decreasing span of the characteristic curve in the range between 0 and 10 mm. the presented sensor can be employed in manipulators to control object grip, as well in feet of humanoid robot for zero moment point calculation and detection of approach to bearing surface. © the Editor(s) (if applicable) and the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.

关键词： Manipulators

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2020 5th international conference on control, robotics and Cybernetics, CRC 2020

2020 5th International Conference on Control, Robotics and C...

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5th international conference on control, robotics and Cybernetics, CRC 2020

ISBN: (纸本)9781728186245

the proceedings contain 51 papers. the topics discussed include: an improved method of cross-lingual image captioning based on fluency-guided;algorithm optimization for printed circuit board production scheduling problem;linear time-varying MPC-based steering controller for vehicle trajectory tracking considering the effect of road topography;single image dehazing based on enhanced generative adversarial network;KMEANS algorithm clustering for massive ais data based on the spark platform;Prandtl-Ishlinskii model identification strategy based on an improved particle swarm optimization algorithm;and research and application of image processing technology in the AGV system based on smart warehousing.

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5th EAI international conference on Future Access Enablers for Ubiquitous and Intelligent Infrastructures, FABULOUS 2021

5th EAI International Conference on Future Access Enablers f...

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5th EAI international conference on Future Access Enablers for Ubiquitous and Intelligent Infrastructures, FABULOUS 2021

ISBN: (纸本)9783030784584

the proceedings contain 31 papers. the special focus in this conference is on Future Access Enablers for Ubiquitous and Intelligent Infrastructures. the topics include: Categorizing IoT Services According to Security Risks;analysis of IoT Concept Applications: Smart Home Perspective;SMART Production System with Full Digitalization for Assembly and Inspection in Concept of Industry 4.0;production Quality control Using the Industry 4.0 Concept;smart Factory Environment: Review of Security threats and Risks;embedded Machine Learning for Machine Condition Monitoring;analysis of Aviation Pollution in the Selected Regions of the World;Smart UAV Monitoring System for Parking Supervision;object Detection and Mapping with Unmanned Aerial Vehicles Using Convolutional Neural Networks;a Self-organized Adaptation of Spreading Factor for LoRa Radio Layer Based on Experimental Study;information and Communication Architecture of the Passenger Information System on the Railway Network of the Republic of Croatia;application of Gaussian Process Estimation for Magnetic Field Mapping;user Quality of Experience Comparison Between Skype, Microsoft Teams and Zoom Videoconferencing Tools;investigating Protected Health Information Leakage from Android Medical Applications;Multifunctional SMART Air Cleaner;augmented Reality as a Tool of Increasing of Competitiveness of Enterprise;sustainable Constructions Supported by Ecological Smart Technologies;the Utilization of Renewable Energy Sources in the Construction and Maintenance of Transport Infrastructure;evaluation Methods of Investments to Mobile Applications and Smart Technology in Construction Projects;robust Stability and Performance Investigation of Electrohydraulic Steering control System;a Design of Energy Efficient Nanorouting Protocol Using Greedy Algorithm;flash Crowd Management in Beyond 5G Systems.

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Exploration of Technological advancements and IoT in Smart Grid

Exploration of Technological advancements and IoT in Smart G...

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international conference on Contemporary Computing and informatics (IC3I)

作者： Nishant Jakhar Omdev Dahiya Rainu Nandal Kamaldeep Joshi Department of CSE University Institute of Engineering and Technology Maharishi Dayanand University Rohtak India School of Computer Science and Engineering Lovely Professional University Punjab India

the Internet of things is, an extensively regularly occurring technology that connects ordinary objects to the internet to of fer comfort and a selection of functionalities; even as the Smart Grid (SG) is described as an energy grid, this is integrated with a complete ICT community. the SG is a collection of billions of intelligent devices, including smart appliances, monitoring devices, and more actuators, and sensors are all part of the picture. this text analyses the numerous ordinary software necessities for the internet of factors deployed in smart Grids. It makes a piece of powerful advice concerning innumerable principles and innovations, and the Smart Grid is preferred. It additionally gives an outline of numerous packages and riding elements of intelligent Grid. the cutting-edge era has diagnosed the importance of communication among various clever devices via the internet of things (IoT) collaboration. Wise device integration alongside load distribution enables price-effective energy aid control. therefore, this paper gives a green framework for dynamic automated and load distribution in IoT through intelligent grids. Our dynamic load levelling structure, which is divided into three sections, is extremely eco-friendly. the primary phase demonstrates pre-processing, while the second phase demonstrates IoT distribution and verbal exchange. the final stage is the grid-based object interconnection section. A levelling strategy was utilized to test load clusters for the purpose of comparing our framework. Because of its consistency, the impacts indicate that it can retain energy assets.

关键词： Technological innovation Text analysis Computer architecture Software Smart grids Internet of things informatics

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2020 5th international conference on control and robotics Engineering, ICCRE 2020

2020 5th International Conference on Control and Robotics En...

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5th international conference on control and robotics Engineering, ICCRE 2020

ISBN: (纸本)9781728167916

the proceedings contain 46 papers. the topics discussed include: an integrated vision-based detection-tracking-estimation system for dynamic localization of small aerial vehicles;HandAid: a seven DoF semi-autonomous robotic manipulator;impact of actuator torque density on expected robot life - a dynamic model;work safety assessment through contextual analysis with computer vision;robust range-Doppler registration with HD maps;face detection and recognition of the seven emotions via facial expression: integration of machine learning algorithm into the NAO robot;autonomous sweep modeling and collision detection of underground pipelines in 3D environment;and development of autonomous mobile robot platform equipped with a drive unit consisting of low-end in-wheel motors.

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