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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

共 1356 条记录，以下是101-110 订阅

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Decision Tree Based Decision Optimization Algorithm for Yangqin Performance 5

Decision Tree Based Decision Optimization Algorithm for Yang...

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

作者： Wei-Lun, Lin China University of Geosciences School of Automation Wuhan China

ISBN: (纸本)9781665472654

As a traditional folk music, the yangqin has a large gap in the extraction of performance style and features compared with western instruments, and the existing decision making of the yangqin played by a robotic arm has relatively low utilization of the instrument surface. To address this research gap, this paper develops a decision tree based decision optimization algorithm for yangqin performance, which obtains the subsequent assignment results from the previous assignment results, the relative position of the central axis of the instrument surface, and other parameters. this paper illustrates the feasibility of this method from the principle, and designs several sets of controlled experiments to demonstrate that this method can effectively reduce the load of the robotic arm system, increase the utilization range of the instrument surface, and make the allocation results more similar to human habits. © 2022 IEEE.

关键词： Decision trees

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Development of a Simulation Environment for Robot Soccer Game with Deep Reinforcement Learning and Role Assignment 5

Development of a Simulation Environment for Robot Soccer Gam...

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5th World Robot conference Symposium on Advanced robotics and automation, WRC SARA 2023

作者： Zhong, Hanzhong Zhu, Haier Li, Xiang Tsinghua University Department of Automation China Tsinghua University Tsinghua Shenzhen International Graduate School China

ISBN: (纸本)9798350307320

the robot soccer game has been recognized as an excellent scenario to test the gaming algorithm of multi-agent systems. this paper develops a new simulation platform for the robot soccer game, and it has the advantage of open architecture, such that the formation control scheme, the path planning strategy for multiple robots, and many other algorithms can be implemented and tested. Specifically, both a Deep Reinforcement Learning (DRL) scheme and a role-assignment-based method have been successfully realized in this platform to drive multiple robots to play the soccer game, including 2V2,3V3,4V4, and so on. It is believed that the developed simulation environment can be used for data collection and transfer learning (TL), hence bridging the gap of Sim2Real technique in actual implementations. © 2023 IEEE.

关键词： Reinforcement learning

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Trajectory Control for Wheeled Mobile Robots Robot with Longitudinal Slippage 5

Trajectory Control for Wheeled Mobile Robots Robot with Long...

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5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Li, Tianlong Ren, Mengwei Du, Jian Bai, Jianjun Sun, Tao School of Modern Information Technology Zhejiang Institute of Mechanical and Electrical Engineering China School of Automation Hangzhou Dianzi University Hangzhou310018 China Key Lab for Iot and Information Fusion Technology of Zhejiang Hangzhou310027 China China Datang Corporation Science and Technology General Research Institute Ltd. 100040 China

ISBN: (纸本)9798350357950

this article addresses the trajectory tracking control problem of a mobile robot with unknown longitudinal slip by introducing the slip ratio and an adaptive method for stability. We establish a kinematic model of Wheeled Mobile Robots (WMR) and design a new Lyapunov equation to extend the attractive domain of steering angle error. Cross terms are introduced to eliminate the need for separate consideration of the traditional Lyapunov equation. Unknown slip is represented as an unknown parameter in the kinematic model and estimated using an adaptive law. the asymptotic stability of the tracking error system is proved. Our proposed control law demonstrates improved stability and effectiveness compared to two reference trajectories, as confirmed by simulations. © 2023 IEEE.

关键词： adaptive control kinematic model longitudinal slippage parameter adjustment Trajectory tracking

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Improved 2D LiDAR Adaptive Matching Localization Method Based on Gradient Features 5

Improved 2D LiDAR Adaptive Matching Localization Method Base...

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5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Zhang, Wenyang Li, Ping Yu, Wenjie Zhang, Guoliang School of Automation Chengdu University of Information Technology Chengdu China

ISBN: (纸本)9798350357950

Aiming at the problem that the 2D LiDAR reflective intensity feature of reflector in indoor laser multilateral localization is easily affected by the environment, which makes the multilateral localization method ineffective, an improved 2D Li-DAR adaptive matching localization method based on gradient features is proposed. First, the 2D LiDAR detects and generates gradient features in real time after the laser target is prearranged at the indoor edge, and then the laser target is preprocessed by the gradient features. Secondly, the template matrix and feature matrix are constructed and matched in real time to realize the ID adaptive matching of the laser target. Finally, the least squares method is used to solve the robot localization coordinates in the framework of the multilateral localization method. the experimental results show that the method in this paper can solve the environmental limitations of the reflector and 2D LiDAR multi-lateral localization method and maintain its absolute localization advantage, which is characterized by high localization accuracy, stronger robustness and lower cost. © 2023 IEEE.

关键词： 2D LiDAR gradient feature indoor localization laser target multilateral localization

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Research on Mine Dust and Fire Detection System Based on Recurrent Neural Network 5

Research on Mine Dust and Fire Detection System Based on Rec...

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5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Chen, Baoyuan Ccteg Changzhou Research Institute Jiangsu Changzhou213015 China Automation Co. Ltd. Jiangsu Changzhou213015 China

ISBN: (纸本)9798350357950

Mine dust and fire are the main secure problems that directly threaten mine safety production. therefore, the necessary detection methods is pretty essential to guarantee the safety of miners. However, existing detection methods are concentrated on the sensors results, which observe the videos or images to analyze the potential risks. these sensor-based methods are easily influenced by the complex underground mine environment and cause incorrect predictions. In this work, we utilize the recurrent neural network named long shot term memory (LSTM) units to dispose time-series data from sensors information to predict the mine dust situation and fire risks. Additionally, we combine the proposed network with a multi-source fusion model, which can decrease the influence from environment factors and improve the detection accuracy. Finally, we utilize the proposed model in the real mine system to evaluate the performance. From our simulation results, we can observe that our model can precisely detect the risks with more than 80% accuracy. © 2023 IEEE.

关键词： Detection model Dust and fire Mine disaster Recurrent neural network

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Evaluating Miniature Robot Surgical Scissors 5

Evaluating Miniature Robot Surgical Scissors

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5th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Bao, Zhuo Fan Diller, Eric Univ Toronto Dept Mech & Ind Engn 5 Kings Coll Rd Toronto ON M5S 3G8 Canada

ISBN: (数字)9781665459730

ISBN: (纸本)9781665459730

Proper methods are not available to evaluate miniature robot surgical scissors' abilities. this paper proposes agar gel as a reference cutting material for comparison between miniature robot surgical scissors of different designs. Trends in material properties (yield strength and fracture toughness) of agar were determined to correlate positively with its concentration by weight through experimentation. this indicates that agar tends to become more resistant to fracture nucleation and crack propagation with increasing agar concentration. then, using novel magnetic robot surgical scissors, a cutting test showcased a positive correlation between agar cutting difficulty and its concentration. thus, given increasing difficulty to cut with increasing agar concentration, agar gel could serve as a potential standard to compare miniature robot surgical scissors cutting capabilities.

关键词： Resistance Correlation automation Market research Robots Standards Material properties

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A Hybrid Dynamic Modeling Method for External Torque Estimation of Robot Manipulators 5

A Hybrid Dynamic Modeling Method for External Torque Estimat...

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5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Yuan, Hanqing Ren, Shanrong Yao, Jun Mao, Jianliang College of Automation Engineering Shanghai University of Electric Power Shanghai China School of Automation Southeast University Nanjing China

ISBN: (纸本)9798350357950

this paper introduces a hybrid modeling approach designed to estimate external forces in robot manipulators, with a focus on achieving high-precision force estimation while minimizing reliance on force/torque sensors. Traditional methods used for robot dynamics modeling and identification often grapple with unmodeled dynamics, system measurement noise, filtering delays, and equipment vibrations, all of which contribute to significant errors in the resulting dynamic models. To address these challenges, this paper leverages neural networks to mitigate the discrepancies in the physical model. the process commences with the application of the Newton-Euler method to perform dynamic modeling of the robot manipulators. Subsequent parameter identification is conducted to establish the physical model governing the robot manipulators' dynamics. Building on this physical model, a backpropagation (BP) neural network is employed to create a data-driven model of the model errors, thereby further enhancing model accuracy. To validate the effectiveness of this approach, external torque estimation experiments were carried out on a six-axis robot manipulators platform utilizing a Beckhoff controller. the experimental results affirm the method's capability to significantly improve the accuracy of external torque estimation in scenarios where force/torque sensors are unavailable. © 2023 IEEE.

关键词： dynamics modeling neural network models parameter identification robot manipulator

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Method of automatic biomedical signals interpretation for safety supervision and optimisation of the exoskeleton-aided physiotherapy of lower extremity 24

Method of automatic biomedical signals interpretation for sa...

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4th international conference on robotics and Control Engineering, RobCE 2024

作者： Falkowski, Piotr Oleksiuk, Jan Jeznach, Kajetan Aktan, Mehmet Emin Lukasiewicz Research Network Industrial Research Institute for Automation and Measurements PIAP Poland Warsaw Poland Warsaw University of Technology Warsaw Poland Bartin University Bartin Turkey

ISBN: (纸本)9798400716782

Rehabilitation robots help physiotherapists in performing repetitive and tiring tasks. Moreover, they are also capable of automating therapy. However, for such an application, they require algorithms assessing patient's performance and monitoring their safety. In therapy of lower extremities aided with exoskeletons, biosignal measurements can be used additionally to dynamics parameters to provide the mentioned analyses. the paper presents a concept of assessing the treatment based on electromyography of selected muscular groups and assessing the patient's emotional states based on electroencephalography. the preliminary measurements enabled defining expected muscular activity dependent on the extremity configuration and emotional states based on the frequency analysis of the scalp regions. the presented methodology contains measurement flow, interpreting algorithms, and reactions of the systems to the defined states. Use of this can contribute to the development of minimally supervised systems for home-like environment use. the presented universal method is easily transferable to the exoskeleton-based systems, even different in terms of kinematics. Furthermore, it can also be analogically introduced to the systems dedicated to the upper extremities. Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Electroencephalography

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Research on trajectory planning method of the collaborative manipulator 5

Research on trajectory planning method of the collaborative ...

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2023 5th international conference on Information Science, Electrical, and automation Engineering, ISEAE 2023

作者： Zhao, Lide Xiao, Qian Chen, Hao Li, Qian Institute of Automation Qilu University of Technology Shandong Academy of Sciences Shandong Provincial Key Laboratory of Robot and Manufacturing Automation Technology Jinan250014 China

ISBN: (纸本)9781510667440

To make the operation trajectory of the collaborative manipulator smoother and solve the problems of turning point displacement and velocity abrupt change, the 5-3-5 joint interpolation method is used to transition the operation trajectory. First, establishing a robotic arm simulation model used an improved D-H parameter method in the MATLAB robotics toolbox. then, to verify the rationality of the model structure of the robotic arm, the forward and reverse kinematics analysis is carried out, and the reachable space is analyzed by the Monte Carlo method. Finally, the gripping trajectory simulation of the collaborative robotic arm is carried out. the simulation results show that the operation trajectory after the transition processing of the 5-3-5 joint interpolation method can make the operation of the collaborative manipulator more stable. © COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.

关键词： Inverse kinematics

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Cell Extraction automation in Single Cell Surgery using the Aspiration Method 5

Cell Extraction Automation in Single Cell Surgery using the ...

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5th international conference on Manipulation, automation, and robotics at Small Scales (MARSS)

作者： Abu Zanouneh, Basil Mills, James K. Univ Toronto Dept Mech & Ind Engn Toronto ON M5S 3G8 Canada

ISBN: (数字)9781665459730

ISBN: (纸本)9781665459730

Biological cell micromanipulation is the precise in-vitro study and handling of individual cells, where small errors can be disastrous. An important example is embryo biopsy, in which a blastomere is extracted from a cleavage-stage embryo for genetic profiling, without damaging the embryo and affecting its viability. Today, the success rates of manually performed biopsies are relatively low due to human errors, leading to excessive embryo damage and prolong surgery times. In this paper, the automation of the extraction of a blastomeres from an early-stage embryo using the aspiration method and image feedback is presented. Computer-controlled micromanipulators combined with computer vision algorithms are used for automated extraction of a predefined number of cells, and detecting the extraction event. Preliminary proof of concept experiments to extract a single cell from a 2-cell cleavage-stage embryos obtained success rates ranging from 80 - 95% for different extraction stages, providing a set of tools for moving towards a fully automated single-cell surgery procedures.

关键词： Computer vision Embryo automation Micromanipulators Biopsy Surgery Genetics

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