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检索条件"任意字段=5th International Conference on Robotics, Control and Automation Engineering, RCAE 2022"

共 463 条记录，以下是21-30 订阅

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Real-Time SLAM with Point-Line Features Using EDLines in Unknown Aquatic Environments 6

Real-Time SLAM with Point-Line Features Using EDLines in Unk...

引用

6th international conference on robotics, control and automation engineering, rcae 2023

作者： Li, Yunfan Liu, Xiaocheng Liu, Xinze Han, Peng Zhang, Weidong Chen, Hongtian Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9798350315301

Autonomous navigation of autonomous surface vessels (ASVs) in unknown aquatic environments is challenging. this paper proposes a real-Time point-line feature-based visual simultaneous localization and mapping (SLAM). To solve the problems of inaccurate localization and frequent tracking losses of ASV in poor textural environments, the proposed system introduces line features due to their ability to overcome the interference caused by textureless areas. Futhermore, the edge drawing lines (EDLines) algorithm is applied to extract more efficient line segments in less time. the proposed method is evaluated on both public EuRoc and real outdoor datasets. Experimental results show that the designed system can improve accuracy while ensuring real-Time performance. © 2023 IEEE.

关键词： Mapping

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EAPNet: Enhanced Attention-Guided Network for Fine-Grained Semantic Segmentation 7

EAPNet: Enhanced Attention-Guided Network for Fine-Grained S...

引用

7th international conference on robotics, control and automation engineering, rcae 2024

作者： Huang, Minyu Hou, Beiping Pan, Feng Dong, Jianwei Zhejiang University of Science and Technology School of Automation and Electrical Engineering Hangzhou China China Telecom Corporation Ltd. Quzhou Hangzhou China

ISBN: (纸本)9798350355642

Ground-based cloud observation is essential for meteorological research and climate monitoring. Existing methods for cloud detection and classification in whole-sky images (WSIs) often focus solely on binary segmentation (sky and cloud) or image-level classification, which perform poorly in tasks requiring the classification and segmentation of different cloud types. this paper presents an enhanced attention-guided pyramid network (EAPNet) designed to enhance the accuracy and robustness of fine-grained cloud classification in whole-sky images through deep learning techniques. the key innovations include: 1) the utilization of the pyramid spatial pooling (PSP) module to capture multi-scale contextual information;2) the introduction of the convolutional block attention module (CBAM), which leverages an attention mechanism to enhance feature representation;and 3) an improved decoder module that enhances localization accuracy. Experimental results demonstrate that EAPNet outperforms existing mainstream methods in both cloud classification and segmentation tasks. © 2024 IEEE.

关键词： Semantic Segmentation

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Research on the Method of Sudden Failure Identification for Industrial Robot Gearboxes Based on Acoustic Emission Technology 6

Research on the Method of Sudden Failure Identification for ...

引用

6th international conference on robotics, control and automation engineering, rcae 2023

作者： You, Jun Qiao, Shuai Cheng, Zian Zhang, Hao Yuan, Xuechao Li, Ming Anhui Polytechnic University School of Electrical Engineering Wuhu China Wuhu Googao Automation Technology Co. Ltd Wuhu China Anhui Polytechnic University Anhui Institute of Future Research Wuhu China

ISBN: (纸本)9798350315301

In order to identify sudden failures in industrial robot gearboxes, a fault identification method based on time-frequency domain characteristics of Acoustic Emission (AE) signals is proposed, using the pencil-lead breaking method to simulate fault sources. Firstly, a DS5-16C AE instrument is used to build a gearbox AE acquisition platform, with the resonant frequency of the AE sensor set at 150 kHz and a sampling frequency of 3 MHz. then, according to ASTM AE testing standards, sudden failures are simulated on the surface of a normally operating gearbox using pencil-lead break. Finally, based on calculating time-domain indicators such as the absolute mean, pulse index, and margin index of the raw AE signals, the time-frequency characteristic of the AE signals are further obtained through continuous wavelet transform, thus proposing a time-frequency domain identification method for sudden failures in gearboxes. the research results show that although the characteristic frequency of the same AE signal on the gearbox and the support are 170 kHz and 100 kHz respectively, the pulse index and margin index of the AE signals at different locations can significantly identify sudden failures. © 2023 IEEE.

关键词： Industrial robots

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conference Committee

Conference Committee

引用

robotics, control and automation engineering (rcae), international conference on

Lists the conference organizers, sponsors, patrons, speakers, and/or committee members.

ISBN: (数字)9781665459419

ISBN: (纸本)9781665459426

Lists the conference organizers, sponsors, patrons, speakers, and/or committee members.

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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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Noise Reduction and Reconstruction of Acoustic Emission Signals from Industrial Robot Gearboxes Based on Wavelet Transform and CEEMDAN 6

Noise Reduction and Reconstruction of Acoustic Emission Sign...

引用

6th international conference on robotics, control and automation engineering, rcae 2023

作者： Zhang, Hao Guo, Li Wang, Guodong Li, Ming Yuan, Xuechao Anhui Polytechnic University School of Electrical Engineering Wuhu China Anhui Polytechnic University Anhui Institute of Future Research Wuhu China Wuhu Googao Automation Technology Co. Ltd Wuhu China

ISBN: (纸本)9798350315301

In order to reconstruct the acoustic emission (AE) waveform from the original sound emission signals of industrial robot reducers, the method of generating simulated AE signal sources on industrial robot reducers using pencil-lead breaking is commonly employed. this paper proposes a reconstruction method combining wavelet decomposition and Complete Ensemble Empirical Mode Decomposition with Adaptive Noise (CEEMDAN). Firstly, the motor drives the reducer at 900 r/min, and the original AE signals are acquired using a DS5-16C acoustic emission instrument at a sampling rate of 3 MHz. Secondly, the original AE signals are subjected to wavelet analysis to obtain sub-signals, and representative sub-signals are selected for CEEMDAN decomposition and reconstruction of the AE waveform. Finally, Fast Fourier Transform (FFT) and energy proportion analysis are performed on the reconstructed AE waveform to obtain its frequency domain characteristics and energy proportion features. Experimental results demonstrate that the frequency range of 150 kHz to 170 kHz dominates the reconstructed AE waveform, and the noise energy proportion in the signal decreases from 93% to 64%, validating the effectiveness of the proposed method in this paper. © 2023 IEEE.

关键词： Empirical mode decomposition

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Acoustic Emission Signal Characteristics Extraction Based on Improved EMD Method for Industrial Robot Body 6

Acoustic Emission Signal Characteristics Extraction Based on...

引用

6th international conference on robotics, control and automation engineering, rcae 2023

作者： Dong, Shishang Qiao, Shuai Zhang, Hao Gong, Shi Li, Ming Yuan, Xuechao Anhui Polytechnic University School of Electrical Engineering Wuhu China Anhui Polytechnic University Anhui Institute of Future Research Wuhu China Wuhu Googao Automation Technology Co. Ltd Wuhu China

ISBN: (纸本)9798350315301

In order to explore the transmission characteristics of acoustic emission (AE) signals in industrial robot body, the Complete Ensemble Empirical Mode Decomposition with Adaptive Noise (CEEMDAN) method is applied to decompose the AE waveform, and the characteristics of AE signals are analyzed by time-frequency domain analysis. the simulative AE signal generated by pencil-lead breaking was initially acquired using the DS5 acoustic emission instrument with a 3 MHz sampling frequency. Furthermore, the AE signal was analyzed by CEEMDAN to obtain various layers of the Intrinsic Mode Functions (IMF) component, followed by calculation of weight, correlation coefficient, and variance contribution ratio of the original signal. the reconstruction was then utilized to reconstruct the aforementioned AE signal waveform, and the FFT analysis was introduced to analyze the frequency domain characteristics of the reconstructed signal. the findings indicate that the AE signal generated by interior and exterior surface of the body ranges from 144 kHz to 170 kHz and 122 kHz to 155 kHz, respectively. those results suggest that the surface coating of the industrial robot has an un-negligible impact on the transmission of the AE signal. © 2023 IEEE.

关键词： Empirical mode decomposition

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PCA-MD Planetary Gear Damage Identification Method Based on Acoustic Emission Signals 7

PCA-MD Planetary Gear Damage Identification Method Based on ...

引用

7th international conference on robotics, control and automation engineering, rcae 2024

作者： Qiao, Shuai Dong, Shishang Zhang, Hao You, Jun Li, Ming Guo, Li Cheng, Zian Yuan, Xuechao Anhui Polytechnic University School of Electrical Engineering Wuhu China Anhui Polytechnic University Anhui Institute of Future Engineering Wuhu China Anhui Polytechnic University Anhui Institute of Future Research Wuhu China Wuhu Coogao Automation Technology Co. Ltd Wuhu China

ISBN: (纸本)9798350355642

In order to study the damage identification of planetary gears in a reducer, a PCA-MD (Principal Component Analysis-Mahalanobis Distance) method for damage identification of planetary gears based on Acoustic Emission (AE) signals was proposed. In this paper, AE signals were collected using a DS5-16C Acoustic Emission instrument and RS-2A piezoelectric ceramic sensors, with a sampling frequency of 3MHz and a preamplifier gain of 40dB. First, a set of AE signals from healthy planetary gears was collected as a reference signal, and damage to the planetary gears was simulated on the experimental platform, collecting AE signals in the damaged state. then, noise interference in the signals was removed through Empirical Mode Decomposition (EMD), and 13 feature parameters of the denoised AE signals were calculated. through PCA, the 13-dimensional feature parameters were reduced to 2 dimensions, simplifying the complexity of data processing without losing the original valid information. Finally, the parameters obtained after dimensionality reduction were combined with Mahalanobis Distance (MD) to further establish a method for identifying damage in planetary gears of reducers. the damage condition of the planetary gears was judged by calculating the Mahalanobis distance between healthy and damaged signals. the experimental results showed that the PCA-MD method could identify early damage in planetary gears. © 2024 IEEE.

关键词： Epicyclic gears

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Cheese Production Based on Industry 4.0 automation and Simulation in the Company "vakilact" 7

Cheese Production Based on Industry 4.0 automation and Simul...

引用

7th international conference on robotics, control and automation engineering, rcae 2024

作者： Cruz Mendez, Jhans Miguel Katherine Melo Susanibar, Lady Marcalaya Laura, Daniela Jasmin Samuel Medina Jimenez, Carlos Universidad Continental Department of Industrial Engineering Huancayo Peru Universidad Continental Department of Industrial Enginnering Huancayo Peru

ISBN: (纸本)9798350355642

Cheese production in Peru has reached 145,765 tonnes in 2022, according to the report issued by the Agraria, on the other hand, cheese is the second most consumed dairy product, even so, in Peru much of the production is still maintained by artisanal processes which can result in fatigue and stress for workers. In addition, the lack of automation in production plants not only limits the ability to scale up production to meet growing demand, but can also affect the quality and consistency of the final product. In this context, the present research work proposes to analyse the cheese production processes in the company "Vakilact"with the aim of proposing a cheese production based on Industry 4. 0 of automation and simulation, for which an inspection of the company was carried out, to analyse the current processes, after which time was taken, to then establish the processes in sequence with the DAP, DOP, to establish the number of operations, transports, inspections, storage, distance, after which the tool of the Ishikawa diagram was used to determine the problems and causes that originate within the company, to be expressed by means of the Pareto diagram. Finally, the cheese production process was analysed, focusing on the application of advanced technologies and automated systems to ensure quality and efficiency at all stages. Key operations are detailed, from pH control and pasteurisation to pressing, ripening and storage of the cheese. Pneumatic presses, robotic arms and conveyor belts were considered, this would improve efficiency and accuracy allowing Vakilact to be more flexible and responsive to market demands, controlled from the HMI screen where we ensure quality control, resource optimisation and integration of advanced technologies to ensure excellence in cheese production. © 2024 IEEE.

关键词： Cheeses

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Research on autonomous control technology of underwater unmanned swarm based on center transfer 5

Research on autonomous control technology of underwater unma...

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2020 5th international conference on automation, control and robotics engineering (CACRE)

作者： Wei Tao Yan Miao Biqin Xiao Hongrui Li Guanfang Li Naval Research Academy PLA Jiangsu Automation Research Institute of CSIC

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

the research status of underwater unmanned swarm control technology is briefly analyzed and its cooperative control system based on center transfer is constructed. A hybrid hierarchical information fusion structure and its joint optimization model is set up followed by simulation. the results show that the constructed decentralized underwater unmanned swarm autonomous control system can realize fast and stable tracking for target, and satisfy the application requirements.

关键词： Center transfer Underwater unmanned swarm Information fusion Cooperative locating and tracking

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