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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221-230 订阅

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Functional requirements elicitation approach for the design and integration of robotic system for automation

Functional requirements elicitation approach for the design ...

引用

System Reliability and Safety Engineering (SRSE), international conference on

作者： Junru Ren Jing Wu Ole Ravn Lazaros Nalpantidis Department of Electrical and Photonics Engineering Technical University of Denmark Denmark

Implementing robotic systems in industrial production enables manufacturing automation, boosting process engineering efficiency. However, new issues regarding process and product safety are raised due to the introduction of robots. Ensuring operation reliability and product quality in the design phase becomes tricky. In this paper, we aim at reliable design for robotics systems applied in production by investigating safety relations between the automation system and the manufacturing process. Functional modelling is a modern concept to translate the overall system goal into properties, based on which a function-centric procedure is proposed for identifying functional requirements specification on the robot-enabled production during the design phase. To apply the procedure in safety analysis, a form for function-centric hazard identification approach (F-CHIA) is presented based on the previous work, which provides a systematic way to conclude functional safety requirements. A specific case study on the pick-place task in the slaughterhouse using an autonomous manipulator is presented in this paper as an example, showing good applicability and reasonability of the proposed approach.

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Non-uniformly Sampled Relay Auto-tuning Digital PID Control 5

Non-uniformly Sampled Relay Auto-tuning Digital PID Control

引用

5th international conference on automation, Control and Robots, ICACR 2021

作者： Yang, Qing Xin, Chen Wu, Dongsheng Shenyang Ligong University School of Automation And Electrical Engineering Shenyang China

ISBN: (纸本)9781665438490

Relay feedback auto-tuning PID control has been widely used, but the waveform of oscillation test is not pure sinusoidal form, which has a certain influence on the identification of characteristic parameters and the tuning effect of PID parameters. the relay feedback auto-tuning digital PID control system causes the non-sinusoidal oscillation waveform in the form of high order harmonic frequency and frequency aliasing carried on the thorough research in this paper. Bring in the non-uniformly sampled to the relay feedback auto-tuning, the mathematical model of the system after discretization is derived, and building system model for the simulation to verify the effect in the last. © 2021 IEEE.

关键词： three term control systems

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Learning-Based Temporal Logic Control for Continuous POMDPs

Learning-Based Temporal Logic Control for Continuous POMDPs

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robotics, Intelligent Control and Artificial Intelligence (RICAI), international conference on

作者： Keyi Zhang Zhen Kan Department of Automation University of Science and Technology of China Hefei China

Partially Observable Markov Decision Process (POMDP) is a mathematical framework used to model decision problems in partially observable environments. In real-world scenarios, such as robot navigation, we often encounter continuous and uncertain environments. the objective of this study is to address the decision-making problem for agents operating in such uncertain and continuous environments, while dealing with complex tasks. We utilize Inequality Linear Temporal Logic (iLTL) to describe these complex tasks, and integrate a Limit-Deterministic Generalized Büchi Automaton (LDGBA) derived from iLTL with POMDP. this integration allows us to derive effective policies for accomplishing complex tasks. In this paper, we employ a point-based reinforcement learning approach to solve continuous POMDPs. We represent the observation, transition, and belief using Gaussian mixtures and the reward design in reinforcement learning is guided by the automaton. To evaluate the feasibility of our approach, we conduct experiments in a simulated robotic domain and compare the performance with traditional reinforcement learning methods.

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Comparative Analysis of Reaching Laws in Sliding Mode Control for Electrohydraulic Active Suspension systems under Complex Road Trajectories

Comparative Analysis of Reaching Laws in Sliding Mode Contro...

引用

IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Rachid Fattah Jean-Pierre Kenne Khalid Benjelloun Ahmed Chebak Green Tech Institute (GTI) Mohammed VI Polytechnic University (UM6P) Ben Guerir Morocco Department of Mechanical Engineering Ecole de technologie supérieure (ETS) Montreal Canada École Mohammadia d’Ingénieurs (EMI) MOHAMMED V UNIVERSITY (UM5) Rabat Morocco

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

this paper presents a comparative study on various reaching laws within the sliding mode control approach for electrohydraulic active suspension systems under complex road conditions. Unlike traditional single bump profiles, this study evaluates the performance of constant, exponential, and power reaching laws with scenarios involving a speed bump, a pothole, and a sidewalk. the objective is to enhance vehicle handling and passenger *** address chattering in sliding mode controllers, we explore exponential and power reaching laws. Performance metrics for road holding and passenger comfort are compared with those of a traditional PID control. Simulation results indicate that the exponential reaching law excels in both position and force control, potentially negating the need for hybrid control when used alone. However, hybrid control is necessary for constant rate or power rate reaching laws.

关键词： Suspensions (mechanical systems) PI control Mechatronics Roads Simulation Trajectory Electrohydraulics PD control robotics and automation Sliding mode control

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Optical Character Recognition of Medical Records Based on Deep Learning

Optical Character Recognition of Medical Records Based on De...

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robotics and Computer Vision (ICRCV), international conference on

作者： Wanting Jing Ziyi Liu Shuoshuo Zhang Yunru Yin Congyan Chen School of Automation Southeast University Nanjing P.R.China School of Electrical Engineering Southeast University Nanjing P.R.China

Retrieving the medical records of the insured is a crucial step in the insurance company’s claim investigation and helps to prevent insurance fraud. Due to the huge workload and sometimes even additional expenses incurred by entrusting a third party, it’s necessary to develop a medical record processor, which can automatically recognize medical records. Optical character recognition (OCR) has been a hot research topic in recent years owing to its outstanding ability to transmute scanned images and other visuals into text. A deep-learning-based OCR software was developed for the detection and recognition of medical records recognition and automatic calibration of medical records OCR in both Chinese and English are studied and realized, including classifying the physical drawings and scanned copies and removing the seal on the medical record sheet of scanned ones. Based on the observations from the analysis we give several suggestions related to the design and implementation of medical record processing approaches.

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Research on Autonomous Charging Method for Quad-Rotor Drone Based on Magnetic Induction Coupling

Research on Autonomous Charging Method for Quad-Rotor Drone ...

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international conference on Control and Robots (ICCR)

作者： Haoyi Zheng Sen Zhang Wendong Xiao Shunde Innovation School University of Science and Technology Beijing Foshan China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

the limited battery capacity carried by drones has greatly affected their endurance. When the drone detects a low battery during operation, if it can replenish energy independently, it will greatly improve the drone's operating range and working time, which has profound significance for the normal operation of drones in automation scenarios. In response to the issue of autonomous charging for unmanned aerial vehicles, this article proposes a method for autonomous charging of quadcopter unmanned aerial vehicles. the method of using machine vision to recognize Apriltag markers enables the drone to accurately land at the charging position. the structure of a rounded rectangular coupling coil allows the drone to wirelessly obtain electricity. the system hardware circuit uses the LCC-S compensation structure to improve the transmission efficiency of the system. the experimental results indicate that this system can provide power to the drone. the method proposed in this article provides a reference for achieving autonomous energy acquisition of unmanned aerial vehicles.

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Discrete element analysis for effects of recoating blade and surface morphology of substrate on powder spreading quality 5

Discrete element analysis for effects of recoating blade and...

引用

5th international Symposium on Hydrogen Energy and Energy Technologies, HEET 2022

作者： Tang, Cheng Ming Zhao, Ji Bin Zhao, Yu Hui Wang, Zhi Guo Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

A discrete element method model was established to simulate 316L stainless steel powder spreading process in selective laser melting. the effects of recoating blade speed, assigned gap width and substrate surface morphology on the powder spreading quality was studied. the results showed that lower recoating speed and larger gap width benefited the quality of powder layer. When the angle between the moving direction of recoater and laser scanning direction was greater than 45 °, the density level of the powder layer on the SLM processing surface was higher than that of the flat substrate and more uniform. the quality of the powder layer on the milled surface varied with position obviously, and the maximum density was between the other two types of surfaces, while uniformity of the powder layer was worse than the other two surfaces. this study shows that the quality of powder layer can be controlled by adjusting the setting parameters of the recoater and the surface morphology of the substrate. © Published under licence by IOP Publishing Ltd.

关键词： Surface morphology

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Pulse Signal Recognition Based on EfficientNetV2_ResBlock Network

Pulse Signal Recognition Based on EfficientNetV2_ResBlock Ne...

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2024 IEEE international conference on Control Science and systems Engineering, ICCSSE 2024

作者： Lin, Dongmei Yang, Xiaodong Yang, Yuhe Chen, Fuming Chou, Yongxin College of Electrical and Information Engineering Lanzhou University of Technology Lanzhou China Medical Support Center The 940th Hospital of Joint Logistics Support Force of Chinese People's Liberation Army Lanzhou China School of Electrical and Automation Engineering Changshu Institute of Technology Changshu China

ISBN: (纸本)9798331517199

In the process of pulse signal recognition analysis, methods in the time domain, frequency domain, and time-frequency domain are difficult to deeply extract the nonlinear features of pulse signals. Moreover, traditional machine learning requires manual feature definition and cannot perform self-learning of features. therefore, this paper proposes a pulse signal recognition analysis method based on the EfficientNetV2_ResBlock network. Compared with previous methods that use features for pulse recognition, this paper uses two-dimensional images for pulse recognition, fully retaining the feature information of the pulse signals and improving recognition accuracy. Using GAF (Gramian Angular Field), the one-dimensional pulse time series is converted into two-dimensional images. the Efficient-NetV2_ResBlock network model is used to analyze and recognize pulse signals and to establish a pulse signal classification model. Experimental results show that the proposed model achieves an average recognition accuracy of 97.9% for pulse recognition, with the recognition accuracy for abrupt pulse and floating pulse reaching 100%. Compared with other convolutional neural networks, the proposed model has higher accuracy, shorter training time, and fewer network parameters. © 2024 IEEE.

关键词： Convolutional neural networks

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Design and Operation Requirements for a Foot and Ankle Prosthesis

Design and Operation Requirements for a Foot and Ankle Prost...

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Communications, Information, Electronic and Energy systems (CIEES), international conference on

作者： Arman Uzbekbayev Nursultan Zhetenbayev Aidos Sultan Kassymbek Ozhikenov Teodor Iliev Gani Sergazin Department of Robotics and Technical Means of Automation Institute of Automation and Information Technologies Satbayev University Almaty Kazakhstan Dept. of Telecommunications University of Ruse Ruse Bulgaria

ISBN: (数字)9798350352863

ISBN: (纸本)9798350352870

the loss of mobility due to amputation or severe damage to the ankle joint can significantly reduce a person's quality of life. the ankle joint and foot play a key role in maintaining balance, movement, and weight support, making the development of prostheses that restore these functions a critical task in biomedical engineering. this article examines the main design and operational requirements for ankle joint prostheses. It begins by analyzing the anatomical and biomechanical characteristics of the joint, followed by a discussion of conditions that necessitate prosthetic replacement, including traumatic injuries, vascular diseases, and degenerative joint changes. An overview of existing solutions, their limitations, and an analysis of current technological innovations are provided. the article justifies the need for the development of prostheses with optimized weight and mechanical parameters, capable of energy transmission and reproducing natural movements to enhance mobility and user independence.

关键词： Ankle Biomechanics Technological innovation Solid modeling Torque Shock absorbers Torque measurement Springs Foot Prosthetics

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A Local Planning Method Based on Minimum Snap Trajectory Generation and Traversable Region for Inspection of Airport Roads 5

A Local Planning Method Based on Minimum Snap Trajectory Gen...

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5th international conference on automation, Control and Robots, ICACR 2021

作者： Zha, Tianjun Li, Yang Sun, Lei Institute of Robotics And Automatic Information System Nankai University Tianjin300353 China

ISBN: (纸本)9781665438490

the security inspection of airport Roads is an important assignment of the aviation safety. However, the traditional manual ways can't satisfy the requirements for security and high precision. So, it is necessary to replace the traditional methods with the airport road safety inspection robots. To guarantee the precision of inspection and the security of the inspection equipment, the generated trajectory of inspection robots is demanded to be of high stability. In order to achieve this, in this paper, the minimum snap trajectory method is introduced. Some improvements are also made to solve the problems coming from the application of the method in mobile robots. the proposed method generates a local path from the local map by ARA*, then the traversable region is got according to the local path and local map, finally a stable local trajectory is generated by the improved minimum snap trajectory method. © 2021 IEEE.

关键词： Inspection

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