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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251-260 订阅

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Real-Time Electro-Hydraulic Trajectory Tracking using an Optimized Sliding Mode Control Design with PID Structure

Real-Time Electro-Hydraulic Trajectory Tracking using an Opt...

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international conference on Control and Robots (ICCR)

作者： Rozaimi Ghazali Muhamad Fadli Ghani Mohd Saidi Hanaffi Hazriq Izzuan Jaafar Chong Chee Soon Zulfatman Has Centre for Robotics and Industrial Automation Fakulti Teknologi dan Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka Melaka Malaysia Malaysian Institute of Marine Engineering Technology (MIMET) Universiti Kuala Lumpur Perak Malaysia Department of Engineering and Built Environment Tunku Abdul Rahman University of Management and Technology Penang Branch Campus Pulau Pinang Malaysia Department of Electrical Engineering University of Muhammadiyah Malang Malang Indonesia

the electro-hydraulic actuator (EHA) tracking control using an approach of sliding mode control with a PID structure denoted as SMCPID is described in this paper. the most optimal SMCPID controller variables had been identified using a particle swarm optimization (PSO) approach, which needed the fewest mathematical interpretations. the closed-loop system with the proposed control is assessed for stability using the stability Lyapunov's theory. Simulation and real-time implementation were used to accumulate the tracking control system's control response in association to assess the trajectory tracking control performance. Using a PCIe-6321 card-equipped EHA workbench, multi-sinusoidal trajectory tracking was implemented in real-time. the proposed controller is superior to the conventional sliding mode controller (SMC) for trajectory tracking control, according to experimental data.

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Monitoring System Development for Equipment Upgrade for IIoT

Monitoring System Development for Equipment Upgrade for IIoT

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international conference on Modern Electrical and Energy systems (MEES)

作者： Igor Nevliudov Vladyslav Yevsieiev Svitlana Maksymova Nataliia Demska Nikolaj Starodubcev Oleksandr Klymenko Department of Computer-Integrated Technologies Automation and Robotics Kharkiv National University of Radioelectronics Kharkiv Ukraine «Kapelou» LLC Kyiv Ukraine

this paper presents a monitoring system development. this system is designed to upgrade existing production equipment in order to implement IIoT and CPPS approaches and to use all the advantages of these approaches. Authors constructed proposed monitoring system using ESP32-CAM and Arduino Uno. For the testing one analog-digital sound sensor KY-037, one water level sensor, and two temperature and humidity sensors DHT11 were used. then there was developed hardware and software that allowed to obtain desired results of getting data from sensors and processing them in necessary way. Experimental results showed a possibility of using such a system for existing production equipment upgrade.

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Dialog History Management for End-to-End Task-oriented Dialog systems 5

Dialog History Management for End-to-End Task-oriented Dialo...

引用

5th international conference on Computer Information Science and Artificial Intelligence, CISAI 2022

作者： Nie, Shijia Li, Guanjun Zhang, Xuesong Zhang, Dawei Tao, Jianhua Lv, Zhao School of Computer Science and Technology Anhui University Hefei230601 China NLPR Institute of Automation Chinese Academy of Sciences Beijing100098 China

ISBN: (纸本)9781510662520

End-to-end task-oriented dialogue systems rely heavily on an understanding of the dialog history. this often faces the challenge of inferring which dialog history information is critical to generating responses. In this paper, we address this challenge by leveraging a dialog history manager component that dynamically focuses on dialog history memory. It performs multiple add and forget operations by fusing an enhanced entity representation of dialog history and knowledge base (KB) information as queries, remembering entities relevant to responses and filtering out unimportant information. Experimental results on an open task-oriented dialogue dataset show that our model outperforms the baseline system in terms of effectiveness and produces contextually consistent responses. © 2023 SPIE.

关键词： Knowledge based systems

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

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

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

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

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.

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Model-free Adaptive Control of Dielectric Elastomer Actuator 16th

Model-free Adaptive Control of Dielectric Elastomer Actuator

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16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Mao, Dun Zhang, Yue Wu, Jundong Wang, Yawu School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

ISBN: (纸本)9789819964918

Soft robots are usually driven by soft actuators, and the dielectric elastomer actuator (DEA) is recognized as one of the most promising soft actuators. However, the DEA has complex nonlinear char- acteristics, which brings great challenges to its control. So, how to use the appropriate method to control the DEA has become a problem worth pondering. this paper proposes three model-free adaptive control (MFAC) methods to realize the tacking control of the DEA. these meth- ods avoid the complex process of establishing the dynamic model of the DEA, and only need the input and output data to control. thus, these methods have a strong adaptability and generalization ability. To verify the effectiveness of the proposed methods, some simulations are imple- mented. More importantly, some actual experiments are implemented to further demonstrate the validity of the methods. the root-mean-square errors (RMSEs) of the simulation results are less than 0.35%, and the RMSEs of the actual experimental results can be maintained at about 6.5%, which fully reflects the excellence of the proposed methods. © the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Mean square error

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Distributed Multi-target Tracking by Multi-AUV Based on PMB Filter in Underwater

Distributed Multi-target Tracking by Multi-AUV Based on PMB ...

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

作者： Yuexing Zhang Yiping Li Shuo Li Junbao Zeng Liang Li Yiqun Wang Hailin Wang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China

this paper focuses on the problem of multi-target tracking (MTT) by multiple Autonomous underwater vehicles (AUVs). It presents a distributed information fusion method to improve the robustness and performance of AUVs in MTT. In this method, each AUV locally obtains the posterior probability density function (pdf) of multi-target using local measurements based on the Poisson multi-Bernoulli (PMB) filter. In addition, a target-wise fusion rule based on generalized covariance intersection is proposed, allowing the locally obtained multi-target pdf to be shared between AUVs and fused effectively. the simulation results show that the proposed method performs well for underwater MTT by multi-AUV.

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Research on Improved ICP for 3D Reconstruction of Lightning Arrester

Research on Improved ICP for 3D Reconstruction of Lightning ...

引用

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

作者： Senjian Lu Beiping Hou Qinlong Zhang Yangbin Zheng Fangkun Shao Shihao Ge Wen Zhu School of Automation and Electrical Engineering Zhejiang University of Science and Technology Hangzhou China Zhejiang International Science and Technology Cooperation Base of Intelligent Robot Sensing and Control China Technology

the lightning arrester is an electrical device used to prevent damage to the insulation of electrical equipment caused by over voltages, including lightning and switching impulses. Creepage distance, umbrella distance, and diameter are crucial parameters for lightning arrester protection. However, traditional manual detection methods are laborious and cumbersome. Moreover, due to the highly symmetrical structure of the lighting arrester itself, the traditional methods have difficulties such as easy reverse registration, etc. this paper proposes an approach for obtaining multi-angle point cloud maps by using robotic arm and depth camera, and a quadratic point cloud registration algorithm is presented, it incorporates both the FGR (fast global registration) registration and improved ICP (Iterative Closest Point) registration algorithms. Specifically, the FGR registration algorithm is initially employed for the approximate registration of two point-cloud, and then the KICP (ICP uses KDTREE to accelerate the ICP algorithm) is used for fine registration. the experimental results demonstrate that the average registration time is 60% faster than traditional method with high registration accuracy. therefore, this method has good Real time performance and robustness for reconstructing lightning arrester.

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Human-Like Dexterous Manipulation for the Anthropomorphic Hand-Arm Robotic System via Teleoperation 16th

Human-Like Dexterous Manipulation for the Anthropomorphic ...

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16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Huang, Yayu Wang, Zhenghan Shen, Xiaofei Liu, Qian Wang, Peng Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science and Innovation Chinese Academy of Sciences 999077 Hong Kong

ISBN: (纸本)9789819964918

Teleoperation has the potential to enable robots to replace humans in high-risk scenarios and catastrophic events, performing manipulation tasks efficiently and securely under human guidance. However, achieving human-like dexterous manipulation remains challenging, particularly for anthropomorphic hand-arm robotic systems with high degrees of freedom. Accurately capturing the operator’s motion and providing real-time intuitive feedback to enhance the sense of telepresence place substantial demands on human-robot perception and interaction. Moreover, the inherent physical and functional differences between anthropomorphic hand-arm robots and humans pose challenges in ensuring the accuracy and reliability of dexterous teleoperation. To overcome these challenges, we present an integrated approach involving an anthropomorphic hand-arm robot system, a wearable motion capture and force feedback system, and a set of motion mapping and force mapping methods. We conducted experiments on both simulation and real-world platforms to evaluate the usability and effectiveness of our proposed approach, with the results demonstrating significant advancements in achieving human-like dexterity via teleoperation. © the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

关键词： Remote control

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Indoor Fingerprint Positioning Method Based on Real 5G Signals 23

Indoor Fingerprint Positioning Method Based on Real 5G Signa...

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7th international conference on Machine Learning and Soft Computing, ICMLSC 2023

作者： Wang, Changhao Xi, Jin Xia, Changqing Xu, Chi Duan, Yong Shenyang University of Technology Shenyang110870 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9781450398633

Indoor positioning services are being used more and more widely. However, existing indoor positioning techniques cannot simultaneously take into account low cost, ease of use, high precision, and seamless switching between indoor and outdoor positioning. With the maturity of 5G techniques, 5G-based indoor positioning is gradually being paid attention to. 5G-based indoor positioning does not require additional equipment, and supports flexible indoor and outdoor switching under the same system. However, the 5G-related information used in existing research on 5G indoor positioning is not open to users. therefore, in this paper, we propose an indoor fingerprint positioning method based on measured 5G signals. this method first collects 5G signals in the positioning area, and processes them to form a fingerprint database. then, a machine learning algorithm is used to match the signal to be located with the fingerprint database to obtain the positioning result. Finally, we conduct experiments in real field, and the experimental result demonstrates that the positioning accuracy of our proposed method can reach 96%. © 2023 ACM.

关键词： 5G mobile communication systems

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BLIP-Adapter: Bridging Vision-Language Models with Adapters for Generalizable Face Anti-spoofing 18

BLIP-Adapter: Bridging Vision-Language Models with Adapters ...

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18th IEEE international Joint conference on Biometrics, IJCB 2024

作者： Zhang, Bin Zhu, Xiangyu Gao, Li Zhang, Xiaoyu Lei, Zhen Chinese Academy of Sciences Institute of Information Engineering China University of Chinese Academy of Sciences School of Cyber Security China China Mobile Financial Technology Co. Ltd. China Chinese Academy of Sciences State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation China University of Chinese Academy of Sciences School of Artificial Intelligence China Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics Hong Kong Institute of Science & Innovation Hong Kong

ISBN: (纸本)9798350364132

Face anti-spoofing is essential for ensuring the security of facial recognition systems against spoofing attacks. Recent methods have transferred Vision-Language models to face anti-spoofing (e.g., FLIP and CLIPC8), demonstrating that learning perception from supervision in natural language can enhance the model's detection performance. However, such methods exhibit limited depth in the interaction between images and texts, resulting in poor performance on fine-grained understanding tasks such as face anti-spoofing. Besides, the lack of diversity in image-text pairs for face anti-spoofing further hinders such methods from playing their best. To address these issues, we propose a novel fine-tuning strategy for Vision-Language models in face anti-spoofing. this strategy introduces the Bootstrapping Language-Image Pre-training model (BLIP), known for its novel interaction mechanisms and superior image-text comprehension, to construct a more generalized feature representation for face anti-spoofing. Furthermore, we propose an Adapter module for the text branch to reduce the negative impact of insufficient data diversity and catastrophic forgetting. Extensive experiments conducted on various cross-domain testing benchmarks demonstrate the significant superiority of our method over the state-of-the-art, highlighting its effectiveness and robustness. © 2024 IEEE.

关键词： Visual languages

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