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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31-40 订阅

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Diffusion Actor with Behavior Critic Guidance Algorithm for Offline Reinforcement Learning 7

Diffusion Actor with Behavior Critic Guidance Algorithm for ...

引用

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

作者： Dong, Botao Huang, Longyang Pang, Ning Liu, Ruonan Zhang, Weidong Chen, Hongtian Shanghai Jiao Tong University Department of Automation Shanghai China

ISBN: (纸本)9798350355642

To address the multimodal nature of offline dataset distributions and the overestimation problem associated with out- of-distribution (OOD) actions, this paper introduces the diffusion actor with behavior critic guidance (DABCG) algorithm. the proposed method first employs diffusion models to model the target policy, incorporating a Q-value guidance term into the actor loss to enhance the algorithm's expressiveness while achieving performance that surpasses the behavior policy. the introduction of Q-value guidance ensures that the learned actions are directed toward higher-value regions of the action space, thus facilitating enhanced policy optimization. Furthermore, by integrating behavior critic guidance into the policy evaluation process, the algorithm effectively constrains the overestimation of OOD actions, ensuring robust performance. Experimental results on the D4RL benchmark dataset provide strong empirical evidence supporting the efficacy of the DABCG algorithm. © 2024 IEEE.

关键词： Reinforcement learning

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End-to-end Object Detection System Using Multi-Source Data Fusion for Autonomous Driving 7

End-to-end Object Detection System Using Multi-Source Data F...

引用

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

作者： Zha, Yuchen Guo, Li Chen, Yajie Wu, Yue Wang, Jiabao Li, Runze Anhui Polytechnic University School of Electrical Engineering Wuhu China Nanjing University of Aeronautics and Astronautics School of Automation Nanjing China

ISBN: (纸本)9798350355642

With the rapid development of autonomous driving, modern vehicles are equipped with multiple sensors. Data from these various sensors assist and cross-reference each other, enhancing autonomous driving capabilities. However, the efficient and cost-effective utilization of the vast amounts of data generated by these sensors remains a significant challenge. this study presents an end-to-end multi-source data object detection system based on the YOLOv8 model. By introducing the Pixel Cluster Rotation (PCR) and hint layer, the system enables the fusion of multi-source data without significantly increasing resource requirements. Evaluations show that compared to vision-only object detection, these methods allow the fusion of LiDAR and RGB data with approximately 0.38% additional neural network parameters, resulting in a 2.9% increase in the system's mean Average Precision (mAP). this research can be applied to low-cost platforms with limited system resources, promoting the broader adoption of autonomous driving technology. © 2024 IEEE.

关键词： Sensor data fusion

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Stability analysis of grid-connected inverter with adaptive PLL 5

Stability analysis of grid-connected inverter with adaptive ...

引用

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

作者： Meng, Haocheng Nanjing University of Aeronautics and Astronautics College of Automation Nanjing China

ISBN: (纸本)9781728198880

the adaptive PLL with an automatic gain control module has a good performance in improving the stability margin of the grid-connected inverter in face of varying grid properties. this paper investigates into the impedance model of a grid-connected inverter with adaptive PLL, and theoretically reveals its benefits from the perspective of Nyquist and bode plots. In a frequency domain comparative analysis, adaptive PLL increases the phase margin by 78.6% in the 5mH grid impedance case and make the unstable system stable in the 10mH grid impedance case. MATLAB/Simulink based time-domain simulation results demonstrate an improvement in the output currents quality with less oscillation. Furthermore, FFT analysis of the same cases discussed above shows a 22.11% and a 30.01% thD reduction respectively, indicating an enhancement in decreasing harmonics. © 2020 IEEE.

关键词： Phase locked loops

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Experimental Study on Semi-active Vibration Absorption Method for Flexible Antenna Structure 5

Experimental Study on Semi-active Vibration Absorption Metho...

引用

5th international conference on Mechatronics, robotics and automation, ICMRA 2022

作者： Peng, Jiale Liu, Peng Bian, Yushu Zhang, Yechi Cong, Qiang Guo, Yizhu Beihang University School of Mechanical Engineering and Automation Beijing100191 China Beijing Institute of Spacecraft System Engineering CAST Beijing100194 China

ISBN: (纸本)9781665472654

A semi-active vibration reduction method based on internal resonance is researched to solve nonlinear vibration problems of large flexible antennas. By adjusting the parameters of the vibration absorber, the fourth-order vibration mode of the large-space antenna and the vibration mode of the vibration absorber form 2:1 internal resonance, and the energy channel between them is established. the existence of energy interaction and effectiveness of vibration absorber are verified by experiments. © 2022 IEEE.

关键词： Antennas

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AUV Path Planning Based on Improved Genetic Algorithm 5

AUV Path Planning Based on Improved Genetic Algorithm

引用

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

作者： Tao, Wei Yan, Shaokun Pan, Feng Li, Guanfang Naval Research Academy Pla Beijing China Institute of Csic Jiangsu Automation Research Lianyungang city Jiangsu Prov. China

ISBN: (纸本)9781728198880

the path planning model of AUV is established based on the improved genetic algorithm. In the model, the shortest path length is taken as the main criterion, and the boundary conditions are established with the range of collision avoidance and turning angle as constraints. the reasonable crossover and mutation adaptive probability models are designed. then, the simulation results show that the effectiveness of AUV path planning is verified by a specific example the algorithm can converge quickly, which proves the correctness and feasibility of the path planning model. © 2020 IEEE.

关键词： Autonomous underwater vehicles

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Kinematics and Workspace Analysis of Target Alignment Sensor for ICF 5

Kinematics and Workspace Analysis of Target Alignment Sensor...

引用

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

作者： Zhang, Luchun Zhang, Yanan Shen, Linyong Qian, Jinwu Shanghai University School of Mechatronics Engineering and Automation Shanghai China

ISBN: (纸本)9781728198880

Inertial confinement fusion(ICF) is one of the main ways to realize controllable thermonuclear fusion energy. It has high precision requirements for the aiming and positioning of experimental targets. the target alignment sensor for ICF is used to achieve beam-target coupling, and its adjustment accuracy will directly affect the accuracy of the target experiment. First, this article introduces the function and structure of the ICF target alignment sensor(TAS). then, the inverse kinematics solution of the 6-PTRT parallel manipulator with parallel posture adjustment mechanism is calculated, and the constraints of the inverse solution are given. Finally, the three-dimensional search method is used to search the working space of the parallel robot in a given attitude and convert it into the working space at the end of the target alignment sensor. © 2020 IEEE.

关键词： Inverse kinematics

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Study Case: Teleoperated Voice Picking Robots prototype as a logistic solution in Honduras 5

Study Case: Teleoperated Voice Picking Robots prototype as a...

引用

5th international conference on control and robotics engineering (ICCRE)

作者： Ordonez Avila, Jose Luis Jimenez, Hector Marquez, Tania Munoz, Carlos Max Carrazco, Alberto Elena Perdomo, Maria Miselem, David Nolasco, David Univ Tecnol Ctr Amer Fac Engn San Pedro Sula Honduras

ISBN: (纸本)9781728167916

this paper provides a general description of the steps followed to construct an automated Voice Picking Robot. the proposed unit can avoid obstacles, identify objects picking and placing them at their right location. the model is equipped with wireless connectivity to allow its remote control, and it features four wheels and 45-degree rollers. the robot materials are aluminum plates, Polylactic Acid plastic, six NEMA 17 stepper motors, and the ATmega3287P microcontroller. Testing conducted on the robot functioning demonstrates that it behaves as expected and that it can become a useful technological aid in a variety of logistics, industrial, or manufacturing processes.

关键词： automation logistics robotics industrial application

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Design and research of agricultural environmental monitoring system based on wireless sensor 5

Design and research of agricultural environmental monitoring...

引用

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

作者： Jie-Ru, Sun Xiao-Ning, Chen Anhui University School of Electrical Engineering and Automation Hefei Anhui230601 China

ISBN: (纸本)9781728198880

In order to solve the traditional agricultural environment monitoring wiring cost high, data accuracy low, power consumption and other problems. A wireless sensor based agricultural environment control system was designed. With STM32F103C8T6 series 32-bit microcontroller as the main control chip, the sensor acquisition, NRF24L01 radio frequency and GPRS wireless data communication can realize parameter acquisition and transmission. Use solar energy to power the system. Upper computer software can store and display data and control equipment in real time. the experimental results show that the data measured by the system has high precision. To meet the design requirements, the system has the advantages of low power consumption and expansibility, and realizes the real-time monitoring of agricultural environment. It has the value of popularization and application. © 2020 IEEE.

关键词： Solar energy

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A Method of Prediction for Transformer Malfunction Based on Oil Chromatography 5

A Method of Prediction for Transformer Malfunction Based on ...

引用

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

作者： Wu, Hao Zhou, Yang Yang, Chuanqi Zhu, Hongmei Hao, Dongxin Ren, Shuangzan State Grid Shaanxi Electric Power Research Institute Xi'an China Institute of Electrical and Automation Engineering Wuhan University Hubei Wuhan China

ISBN: (纸本)9781728198880

Electric power transformer is one of the most necessary part in power system, and hence, it's significant to diagnose the transformer malfunction in advance;A methods of prediction for transformer malfunction based on oil chromatography is described;4 models for time series prediction are illustrated, and the specific methods for model identification and ordering are explained;the time series model was applied to predict transformer malfunction in the oil chromatography analysis example, and accurate results were obtained, which shows that the method described in this paper can effectively predict the concentration of dissolved gas in transformer oil in future, and diagnose the types of malfunctions so that meet the actual need of projects. © 2020 IEEE.

关键词： Forecasting

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A Study of Workpiece Targeting Based on Improved Blob Analysis 5

A Study of Workpiece Targeting Based on Improved Blob Analys...

引用

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

作者： Chen, Wei Li, Zechen Zhang, Jing Yi, BaiCheng Qingdao University of Science and Technology School of Automation and Electrical Engineering Qingdao China Qingdao Beihai Shipbuilding Heavy Industry Co. LTD. Qingdao Beihai Shipbuilding Heavy Industry Co. LTD. Qingdao China

ISBN: (纸本)9781728198880

In order to meet the accurate positioning of the target workpiece by the industrial robot and obtain the workpiece coordinate information. In this paper, taking a circular workpiece as an example, a targeting study based on the Blob analysis algorithm is presented. Image threshold segmentation, connectivity analysis and other methods are used to complete the positioning of the workpiece target. To further improve the target localization accuracy, edge detection operators and curve fitting methods are introduced to improve the original Blob analysis algorithm. the experimental results show that this method can obtain the coordinate information of the target workpiece more accurately, and the accuracy can meet the robotic grasping needs of the industrial field. © 2020 IEEE.

关键词： Computer vision

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