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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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Smart Wheelchairs: Using robotics to Bridge the Gap between Prototypes and Cost-effective Set-ups 16

Smart Wheelchairs: Using Robotics to Bridge the Gap between ...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Aquilina, Matthew Bugeja, Marvin K. Fabri, Simon G. Univ Malta Dept Syst & Control Engn MSD-2080 Msida Malta

ISBN: (纸本)9789897583803

Wheelchairs have improved the lives of many people with limited mobility. Yet, to this day, conventional wheelchairs are still not a viable option for mobility independence in cases of people with severe weakness or poor coordination e.g. Amyotrophic Lateral Sclerosis (ALS). Smart wheelchairs (SWs) overcome many of these limitations by adding an extra layer of intelligence to the system. SWs have so far remained mostly inaccessible to the general public, due to a limited market presence and steep costs. this paper thus presents the design and implementation of a novel SW which makes the upgrade of a commercially available motorised wheelchair to a SW a much simpler process. the system is a complete implementation offering low-level hardware control, a specialised ROS architecture and autonomous navigation algorithms allowing shared user control or fully-autonomous movement. Contrary to most other published works, the focus of this paper is to implement a fully-featured working prototype with minimal hardware complexity and an efficient modular software development environment. Initial practical tests in typical use scenarios showcased the successful operation of the complete system. the developed prototype SW has the potential to restore autonomy to people who are unable to use conventional or powered wheelchairs.

关键词： Smart Wheelchair Assistive Technology ROS Autonomous Navigation Mapping Electronic Hardware Design

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Design Of the Automatic control System For Restaurant Food Delivery Based On PLC

Design Of The Automatic Control System For Restaurant Food D...

引用

international conference on Intelligent informatics and Biomedical Sciences (ICIIBMS)

作者： Lanjun Liang Huailin Zhao School of Electrical and Electronic Engineering Shanghai Institute of Technology Shanghai China

ISBN: (数字)9781728180229

ISBN: (纸本)9781728180236

the paper designs an automatic control system for restaurant food delivery based on PLC, including the mechanical structure and automatic control system design. the mechanical structure of the system includes horizontal delivery subsystems and a vertical delivery subsystem. the automatic control system includes PLC control and the human-machine interface, which realizes the entire system's automation. At the end of the paper, we analyze the whole system's reliability and economy to reflect the characteristics and practicability of the automatic control system.

关键词： Manuals control systems Reliability informatics Man-machine systems System analysis and design Monitoring

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Towards an Advanced ROS Package Generator 16

Towards an Advanced ROS Package Generator

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Remazeilles, Anthony Azpiazu, Jon TECNALIA Parque Tecnol San Sebastian Spain

ISBN: (纸本)9789897583803

this paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML file, and the tool provides the whole skeleton of the nodes, including the interface creation and management. this way, the developer can focus on his real added value, the implementation of the node logic. Compared to advanced node management frameworks proposed in literature, the tool proposed does not require the developer to understand and agree on complex high-level architecture models. the developer only has to select a template model, and to provide the desired interface to get the code generated. the package generation is made possible thanks to package templates, and we provide with the generator tool two templates for creating nodes either in C++ or Python. the user has also the possibility to design his own template, so that he can develop the one that best fits his needs and best practices. the package generator code is accessible on public repository hosting facilities.

关键词： robotics Software Engineering Code Generation

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Robust Calibration Procedure of a Manipulator and a 2D Laser Scanner using a 1D Calibration Target 16

Robust Calibration Procedure of a Manipulator and a 2D Laser...

引用

16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Alberts, Jan Kleinschmidt, Sebastian P. Wagner, Bernardo Leibniz Univ Hannover Inst Syst Engn Real Time Syst Grp Appelstr 9A D-30167 Hannover Germany

ISBN: (纸本)9789897583803

An accurate extrinsic calibration between a robots' exteroceptive sensors and its manipulator is essential for tasks such as mobile manipulation and tactile exploration. Especially for extrinsic calibration of a manipulators' end effector and 2D laser scanner, state-of-the-art approaches often require complex calibration targets or sensors which need to be mounted to the end effector. therefore, such approaches are only suitable to a limited extent for use in mobile robotics. In this paper, we present a simple but effective approach to determine the six degrees of freedom transformation between the end effector of a serial manipulator and the center of a 2D laser scanner. In contrast to other approaches, our approach requires only a 1D target for calibration. Whereas complex calibration geometries often require a tool change for calibration, our approach is also applicable using practical objects like a drill mounted to the end effector. As a consequence, a tool change is not required for recalibration for many applications anymore. To evaluate the performance of our approach, we perform the calibration based on simulated as well as real data. We compare our results against the ground truth of a physically closed transformation chain using the lidars' CAD data.

关键词： Mobile robotics Extrinsic Calibration Mobile Manipulation 2D Laser Scanner LiDAR Parameter Optimization

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Development of a Semi-Rigid Tendon Actuated Limb for robotics Applications

Development of a Semi-Rigid Tendon Actuated Limb for Robotic...

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international conference on robotics and automation Engineering (ICRAE)

作者： Bekarys Nurtay Tomiris Suranshy Michele Folgheraiter School of Engineering and Digital Sciences Nazarbayev University Nur-Sultan Kazakhstan

ISBN: (数字)9781728189819

ISBN: (纸本)9781728189826

this paper presents the design and modeling of a lightweight tendon actuated robotic limb. the mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. this allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories.

关键词： Robots Tendons Robot sensing systems Springs Bending Mathematical model Force

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ICCRE 2020 conference Committees

ICCRE 2020 Conference Committees

引用

IEEE international conference on control and robotics Engineering (ICCRE)

Provides a listing of current committee members and society officers.

ISBN: (数字)9781728167916

ISBN: (纸本)9781728167923

Provides a listing of current committee members and society officers.

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5th international conference on the Industry 4.0 Model for Advanced Manufacturing, AMP 2020

5th International Conference on the Industry 4.0 Model for A...

引用

5th international conference on the Industry 4.0 Model for Advanced Manufacturing, AMP 2020

ISBN: (纸本)9783030462116

the proceedings contain 26 papers. the special focus in this conference is on Industry 4.0 Model for Advanced Manufacturing. the topics include: Manufacturing process monitoring and control in industry 4.0;on standardization efforts for additive manufacturing;artefacts used for testing 3D optical-based scanners;an approach of development smart manufacturing metrology model as support industry 4.0;intelligent process planning for smart factory and smart manufacturing;model-based manufacturing system supported by virtual technologies in an industry 4.0 context;new trends in machine design within industry 4.0 framework;a cloud computing model for achieving competitiveness of domestic enterprises;Strategic approach for robotics development in SME by value linkage concept;big data analysis as a digital service: Evidence form manufacturing firms;overview of human-robot collaboration in manufacturing;abrasive flow machining of 3D printed metal parts – A scientific review with extension on industrial needs;rejuvenation of business management tools in industry 4.0;Influence of the orientation of steel parts produced by DMLS on the fatigue behaviour;New ISO geometrical product specification standards as a response to industry 4.0 needs;multi-modal multi-agent path finding with optimal resource utilization;the effects of milling and drilling process parameters and different tool path strategies on the quality of the CFRP composites;industry 4.0 in Croatia – Perspective and industrial familiarity with the (new) digital concept;a bending test of the additively produced porous sample;assessing industry 4.0 readiness in manufacturing companies from Serbia;challenges for uncertainty determination in dimensional metrology put by industry 4.0 revolution.

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Learning to Modulate Action of Deterministic Policy for Autonomous Navigation

Learning to Modulate Action of Deterministic Policy for Auto...

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automation, control and robotics Engineering (CACRE), international conference on

作者： Xin Chen Ke Zhu Jianming Zhang State Laboratory of Industrial Control Technology College of Control Science and Technology Zhejiang University Institute of Robotics Zhejiang University

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Unmanned mobile robots are widely used in unknown environments, where the exact overall arrangement of environments may not be available. this paper investigates navigation strategy for mobile robots based on reinforcement learning method to allow mobile robots to navigate in such environments. Deterministic policy gradient algorithm has recently been shown to be effective in complex tasks. However,deterministic policy may not be safe to solve navigation problem in unknown environments due to its determinacy. We propose a learning framework composed of dual policy networks, in which one of the policies acts as a tuner for the other. Multiple simulation results demonstrate that the proposed framework implicitly learns key navigation ability and is more efficient than baseline method.

关键词： Mobile Robot Navigation Reinforcement Learning Deterministic Policy Dual Network

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Symbolic Self-triggered control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications

Symbolic Self-triggered Control of Continuous-time Non-deter...

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： Sasinee Pruekprasert Clovis Eberhart Jérémy Dubut National Institute of Informatics Tokyo Japan Japanese-French Laboratory for Informatics

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. the goal is to compute a controller that satisfies two objectives. the first objective is represented as a specification in a fragment of LTL, which we call 2-LTL. the second one is an energy objective, in the sense that control inputs are issued only when necessary, which saves energy. To this end, we first quantise the state and input spaces, and then translate the controller synthesis problem to the computation of a winning strategy in a mean-payoff parity game. We illustrate the feasibility of our method on the example of a navigating nonholonomic robot.

关键词： Games Stability analysis control systems Aerospace electronics Trajectory Sensors Safety

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Model-Free PID controller Based on Grey Wolf Optimizer for Hovering Autonomous Underwater Vehicle Depth control 5th

Model-Free PID Controller Based on Grey Wolf Optimizer for H...

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5th international conference on Electrical, control and Computer Engineering, InECCE 2019

作者： Tumari, Mohd Zaidi Mohd Zainal Abidin, Amar Faiz Yusof, Ahmad Anas Mohd Aras, Mohd Shahrieel Mustapha, Nik Mohd Zaitul Akmal Ahmad, Mohd Ashraf Centre for Robotics and Industrial Automation Fakulti Teknologi Kejuruteraan Elektrik & Elektronik Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian TunggalMelaka76100 Malaysia Fakulti Kejuruteraan Mekanikal Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian TunggalMelaka76100 Malaysia Fakulti Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka Hang Tuah Jaya Durian TunggalMelaka76100 Malaysia Faculty of Electrical and Electronics Universiti Malaysia Pahang PekanPahang26600 Malaysia

ISBN: (纸本)9789811523168

Traditionally, the wearisome effort is required to tune the PID parameters and always resulting in erroneous system behavior. the objective of the present work paper is to develop a tuning method for model-free PID controller parameters by using Grey Wolf Optimizer (GWO) to control the depth of Hovering Autonomous Underwater Vehicle (HAUV). the speed of HAUV thrusters is controlled by a PID controller where the tuning for three PID parameters is done by using GWO algorithms. Sum Square Error (SSE), percentage overshoot and settling time of the depth response are chosen as the fitness functions. the differential equation of the HAUV system in heave direction is considered with the aim to confirm the design of PID controller. the proposed approach is compared with Sine Cosine Algorithm (SCA). the time response specifications of input tracking of HAUV with the presences of external disturbances, model nonlinearities, buoyancy force, hydrodynamic drag force and added mass on the HAUV system are considered as a control scheme performance while the convergence curve of the fitness function indicates the performance of optimization algorithm. Finally, the suggested tuning method promises a fast depth tracking capability as shown in simulation results. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Autonomous underwater vehicles

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