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

共 1360 条记录，以下是431-440 订阅

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Network-based H∞ Filter Design for T-S Fuzzy systems with a Hybrid Event-triggered Scheme

Network-based H∞ Filter Design for T-S Fuzzy Systems with a...

引用

international conference on robotics and automation Engineering (ICRAE)

作者： Wenqian Xie Kaibo Shi School of Automation Engineering University of Electronic Science and Technology of China Chengdu China School of Information Science and Engineering Chengdu University Chengdu China

ISBN: (数字)9781728189819

ISBN: (纸本)9781728189826

this paper studies the H ∞ filter design problem for a nonlinear system based on Takagi-Sugeno model. Firstly, we propose a hybrid and adaptive event-triggered scheme, which contributes to save the limited communication resource while excluding the Zeno behavior. then, a slack Lyapunov-Krasovskii functional (LKF), the discontinuity and non-positive definiteness of which are allowed in a triggered interval, is constructed. Based on the above methods, sufficient criteria on the exponential stability of the filtering error system with a weighted H ∞ performance are established, the design method of the desired filter is achieved as well. Finally, the obtained result is verified by a tunnel diode circuit system.

关键词： Bandwidth Symmetric matrices Nonlinear systems Fuzzy systems automation Adaptive systems Adaptation models

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Towards Machine Learning based Real-time Fault Identification and Classification in High Power Induction Motors

Towards Machine Learning based Real-time Fault Identificatio...

引用

international conference on robotics and automation Engineering (ICRAE)

作者： Usman Ali Rehan Hafiz Tauseef Tauqeer Usman Younis Waqas Ali Asrar Ahmad Faculty of Engineering Information Technology University Lahore Pakistan Industrial Monitoring and Automation Laboratory National Center of Robotics and Automation Pakistan University of Engineering & Technology Lahore Pakistan Shafi-Reso Chemicals (Pvt.) Ltd Lahore Pakistan

ISBN: (数字)9781728189819

ISBN: (纸本)9781728189826

Motor current signature analysis and vibration analysis techniques have been used for the identification and classification of faults in high power induction motors. Fast fourier transform has been applied to the time domain stator current signal and vibration signal of the induction motor. A comparison of the frequency spectrum has been performed between healthy and unhealthy motor current and vibration signals. Five different machine learning classification algorithms have been used to evaluate the performance of the induction motor. the developed system provides a cost-effective and real-time alternative to the conventional off-line induction motor condition monitoring systems.

关键词： Induction motors Rotors Stator windings Vibrations Machine learning Bars Air gaps

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Combining Vision Sensing with Knowledge Database for Environmental Modeling in Dual-arm Robot Assembly Task

Combining Vision Sensing with Knowledge Database for Environ...

引用

international conference on robotics and automation Engineering (ICRAE)

作者： Zhengwei Wang Yahui Gan Xianzhong Dai Bo Zhou Fang Fang School of Automation Southeast University Nanjing China

ISBN: (数字)9781728189819

ISBN: (纸本)9781728189826

In this paper, focusing on the vision-based dual-arm collaborative assembly, a knowledge-based representation model is proposed. Different from the traditional assembly behavior in which the assembly parameters are obtained by fixing the assembly object at a specified position in a specified posture, the proposed model uses the prior knowledge bound to the model to generate assembly parameters through point cloud matching and calculation. To a certain extent, the dependence and restriction on the fixing device during the assembly process are eliminated. And the proposed is verified on ABB YuMi. the simulations prove that the proposed approach can achieve a good performance for assembly tasks.

关键词： Robotic assembly Robot kinematics Robot sensing systems Task analysis Service robots Manipulators Databases

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Robust Adaptive Trajectory Tracking Control for Uncertain Quadrotor Unmanned Aerial Vechicles in the Presence of Actuator Saturation

Robust Adaptive Trajectory Tracking Control for Uncertain Qu...

引用

IEEE international conference on Control and robotics Engineering (ICCRE)

作者： Rui Zhang Haibo Ji Department of Automation University of Science and Technology of China Hefei P.R.China

ISBN: (数字)9781728167916

ISBN: (纸本)9781728167923

this paper studies the trajectory tracking problem for an uncertain quadrotor unmanned aerial vehicles (UAVs) subject to actuator saturation. Taking uncertainties into account, the adaptive laws of mass and moments of inertia are designed so that their prior knowledge is not required. To handle the actuator saturation, the input error systems are constructed. A robust adaptive control strategy with an inner-outer loop structure is proposed to stabilize the input error systems. Our control scheme ensures the tracking errors are uniformly bounded in the presence of actuator saturation. the numerical simulations verify the effectiveness of our control strategy.

关键词： Actuators Robustness Attitude control Trajectory tracking Unmanned aerial vehicles Trajectory Torque

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AUV Path Planning Based on Improved Genetic Algorithm

AUV Path Planning Based on Improved Genetic Algorithm

引用

automation, Control and robotics Engineering (CACRE), international conference on

作者： Wei Tao Shaokun Yan Feng Pan Guanfang Li Naval Research Academy PLA Jiangsu Automation Research Institute of CSIC

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

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.

关键词： genetic algorithm autonomous underwater vehicle path planning

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Dynamic Modeling for Dielectric Elastomer Actuators Based on LSTM Deep Neural Network

Dynamic Modeling for Dielectric Elastomer Actuators Based on...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Huai Xiao Jundong Wu Wenjun Ye Yawu Wang School of Automation Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems China University of Geosciences Wuhan Hubei China Gina Cody School of Engineering and Computer Science Concordia University Montreal Quebec Canada

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

this paper proposes a dynamic model for dielectric elastomer actuators (DEAs) based on the long-short term memory (LSTM) deep neural network. the fabrication of the DEA and the framework of the experimental platform are introduced firstly. the behaviors of the DEA are analyzed through several sets of experiments, which shows the DEA has obvious memory behavior (i.e., the hysteresis behavior and creep behavior), where the hysteresis behavior is a symmetry and rate-dependence. Considering that the traditional neural network is difficult to describe the memory property, the LSTM deep neural network is constructed as the dynamic model of the DEA. then, such neural network is trained according to the experimental data. Finally, the comparation results of the experimental data and the model output verify the effectiveness as well as the generalization ability of the dynamic model.

关键词： Mathematical model Neural networks Hysteresis Actuators Logic gates Soft robotics

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Video Flame Recognition Based on Feature Fusion and Extreme Learning Machine

Video Flame Recognition Based on Feature Fusion and Extreme ...

引用

automation, Control and robotics Engineering (CACRE), international conference on

作者： Chen Zhong Zhijia Tian Hongjun Ding Ke Wang Shenyang Fire Science and Technology Research Institute of MEM State Key Laboratory of Robotics and Systems Harbin Institute of Technology

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

this paper proposes a video flame detection method based on Extreme Learning Machine(ELM). Visual Background Extractor++(ViBE++) algorithm is used to extract the dynamic foreground features of flame video images, and combined with color histogram threshold analysis, the flame region in the image is segmented. By extracting and processing the flame geometrical features such as roundness, sharpness and gravity center, the dynamic and static features of flame image are fused, thus the suspected flame area is screened out. Using the geometric features of suspected flame area and based on ELM model, the training and classification of sample sets are performed. Experimental results show that this method has higher operating speed and accuracy under the condition of less environmental interference.

关键词： video flame detection extreme learning machine feature fusion

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Sliding Mode Control of Uncertain Discrete-Time Nonlinear systems Based on Disturbance Observer

Sliding Mode Control of Uncertain Discrete-Time Nonlinear Sy...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Shuyi Shao Mou Chen Xiaohui Yan Qijun Zhao College of Aerospace Engineering NUAA Nanjing Jiangsu China College of Automation Engineering Nanjing University of Aeronautics and Astronautics (NUAA) Nanjing Jiangsu China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

this paper designs a discrete-time sliding mode (DTSM) controller for a class of uncertain discrete-time nonlinear systems (DTNSs) subject to bounded time-varying disturbances. By making use of the neural network (NN), the problem of system uncertainties is tackled. the time-varying disturbances are processed based on a designed NN-based discrete-time disturbance observer (DTDO). By taking advantage of the NN and DTDO, a DTSM control approach is developed, and all signals are proven to be bounded for the entire closed-loop system under the designed DTSM controller. Finally, a cart-inverted pendulum system is employed to statement the availability of the proposed control technology.

关键词： Artificial neural networks Uncertainty Control systems Robots Nonlinear systems Disturbance observers MIMO communication

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Adaptive Backstepping Control for Piezoelectric Micro Actuating System with Input Saturation

Adaptive Backstepping Control for Piezoelectric Micro Actuat...

引用

international conference on Advanced robotics and Mechatronics (ICARM)

作者： Ying Li Ying Feng School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

Piezoelectric actuators have been attached more importance in the field of high-precision micro actuating due to their excellent performance. However, the presence of the hysteresis nonlinearity and input saturation problems in this smart material actuators have caused adverse effects on their performance, including reduced operational accuracy and damage to the actuators. To eliminate the negative effects of hysteresis and compensate for input saturation, an adaptive backstepping controller with an anti-windup auxiliary compensation system is developed in this paper. the proposed approach shows good tracking performance for the piezoelectric micro actuating system introducing, which also proves that the anti-windup technology can handle the input saturation effects well.

关键词： Hysteresis Piezoelectric actuators Adaptation models Backstepping Adaptive systems

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Multi-quadrotor Cooperative Area Coverage Mission Planning Based on DQN

Multi-quadrotor Cooperative Area Coverage Mission Planning B...

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international conference on Advanced robotics and Mechatronics (ICARM)

作者： Jiaxin Dong Xinde Li Yihai Liu Ministry of Education Key Laboratory of Measurement and Control of CSE School of Automation Southeast University Nanjing China Jiangsu Automation Research Institute Lianyungang China

ISBN: (数字)9781728164793

ISBN: (纸本)9781728164809

this paper studies the construction and area division of multi-quadrotor collaborative area coverage mission planning environment model. the deep Q-network(DQN) algorithm is applied to multi-quadrotor area coverage mission planning problem, and a DQN-based multi-quadrotor area coverage mission planning method is proposed. the method has the advantages of good coverage effect, high execution efficiency, reusability and strong practicability.

关键词： Planning Cameras Robots Mechatronics Indexes Mathematical model Task analysis

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