this paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). the system, developed in Object Pascal, allows real time localization and contr...
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ISBN:
(纸本)9789898111319
this paper describes a robust localization system, similar to the used by the teams participating in the Robocup Small size league (SLL). the system, developed in Object Pascal, allows real time localization and control of an autonomous omnidirectional mobile robot. the localization algorithm is done resorting to odometry and global vision data fusion, applying an extended Kalman filter, being this method a standard approach for reducing the error in a least squares sense, using measurements from different sources.
the automatic sorting system is one of the important robotic systems in the field of logistics. Discrete queue theory is used to analysis the steady-state waiting queue length in automatic robotic sorting system. the ...
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Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. the absence of the need for water leads to easier proce...
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ISBN:
(纸本)9789897583803
Single-sided air-coupled ultrasonic inspection has some beneficial properties compared to water-coupled ultrasonic inspection or double-sided ultrasonic testing. the absence of the need for water leads to easier process handling on the one hand e.g. when manufacturing aircraft components. On the other hand, because the process is single-sided, reachability is a minor problem compared to double-sided testing and end-effectors and fixtures can be designed in a less complex and more compact way. However, the nature of lamb waves requires that the geometrical relation of the transmitter and the receiver varies during the inspection process. In this paper, a prototype of an adaptive end-effector is introduced that was developed to implement this requirement and results of first evaluation tests are presented.
this paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is deve...
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ISBN:
(纸本)9789728865832
this paper describes a mobile robotic platform and a software framework for applications and development of robotic experiments integrating teleoperation. and autonomy. An application using supervised learning is developed in which the agent is trained by teleoperation. this allows the agent to learn the perception to action mapping from the teleoperator in real time, such that the task can be repeated in an autonomous way, with some generalization. A radial basis function network (RBF) trained by a sequential learning algorithm is used to learn the mapping. Experimental results are shown.
the proceedings contain 52 papers. the topics discussed include: a teleoperation method based on posture shared control strategy;distributed robust h-infinity control based on load frequency control of interconnected ...
ISBN:
(纸本)9781665467841
the proceedings contain 52 papers. the topics discussed include: a teleoperation method based on posture shared control strategy;distributed robust h-infinity control based on load frequency control of interconnected energy under bounded disturbances;non-constant distance control for vehicle platoon system;semi-active suspension damping control based on single acceleration sensor;event-triggered adaptive dynamic programming of load frequency control;phase-based dynamic movement primitives for powered knee-ankle prosthesis control;research on influencing factors of plant target precision spray;a three dimensional guidance and control method for suicide UAV and the flight test verification;and data-free knowledge distillation for privacy-preserving efficient UAV networks.
Robots intended for human-robot interaction are currently designed to fill simple roles, such as task completer or tool. the design emphasis remains on the robot and not the interaction, as designers have failed to re...
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ISBN:
(纸本)9789898111319
Robots intended for human-robot interaction are currently designed to fill simple roles, such as task completer or tool. the design emphasis remains on the robot and not the interaction, as designers have failed to recognize the influence of robots on human behavior. Cybernetic models are used to critique existing models and provide revised models of interaction that delineate the paths of social feedback generated by the robot. Proposed robot roles are modeled and evaluated. Features that need to be developed for robots to succeed in these roles are identified and the challenges of developing these features are discussed.
the ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. the paper focuses on the localizatio...
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ISBN:
(纸本)9789728865832
the ANSER project (Airport Night Surveillance Expert Robot) is described, exploiting a mobile robot for autonomous surveillance in civilian airports and similar wide outdoor areas. the paper focuses on the localization subsystem of the patrolling robot, composed of a non-differential GPS unit and a laser rangefinder for map-based localization (inertial sensors are absent). Moreover, it shows that an augmented state vector approach and an Extended Kalman filter can be successfully employed to estimate the colored components in GPS noise, thus getting closer to the conditions for the EKF to be applicable.
the use of AI-based risk mitigation is increasing to provide safety in the areas of smart manufacturing, automated logistics etc, where the human-robot collaboration operations are in use. this paper presents our work...
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ISBN:
(纸本)9781728161396
the use of AI-based risk mitigation is increasing to provide safety in the areas of smart manufacturing, automated logistics etc, where the human-robot collaboration operations are in use. this paper presents our work on implementation of fuzzy logic system (FLS) and reinforcement learning (RL) to build risk mitigation modules for human-robot collaboration scenarios. Risk mitigation using FLS strategy is developed by manually defining the linguistic values, tuning the membership functions and generating the rules based on ISO/TS15066:2016. RL-based risk mitigation modules are developed using three different Qnetworks to estimate the Q-value function. Our purpose is twofold: to perform a comparative analysis of FLS and RL in terms of safety perspectives and further to evaluate the efficiency to accomplish the task. Our results present that all the proposed risk mitigation strategies improve the safety aspect by up to 26% as compared to a default setup where the robot is just relying on a navigation module without risk mitigation. the efficiency of using FLS model is maintained to the default setup, while the efficiency of using RL model is reduced by 26% from the default setup. We also compare the computation performance of risk mitigation between centralized and edge execution where the edge execution is 27.5 times faster than the centralized one.
the automation project with vision based positioning by using ABB IRB 140 robot is proposed, the coordinate transformation and camera calibration is applied, two types gas leakage test for HP dryers are proposed and t...
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ISBN:
(纸本)9781538676417
the automation project with vision based positioning by using ABB IRB 140 robot is proposed, the coordinate transformation and camera calibration is applied, two types gas leakage test for HP dryers are proposed and the image processing algorithms for welding points of gas leakage test by dividing three areas of chassis are proposed. For this purpose, the robotic automation system has been installed and the real-time experimental studies are performed to show the effectiveness of the vision based positioning ABB IRB 140 robot for the gas leakage test by presentation the derivations of welding points positions.
To explore the feasibility of avoiding the confident error (or hallucination) of generation models (GMs), we formalise the system of GMs as a class of stochastic dynamical systems through the lens of controltheory. N...
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ISBN:
(纸本)9798331518509;9798331518493
To explore the feasibility of avoiding the confident error (or hallucination) of generation models (GMs), we formalise the system of GMs as a class of stochastic dynamical systems through the lens of controltheory. Numerous factors can be attributed to the hallucination of the learning process of GMs, utilising knowledge of controltheory allows us to analyze their system functions and system responses. Due to the high complexity of GMs when using various optimization methods, we cannot figure out their solution of Laplace transform, but from a macroscopic perspective, simulating the source response provides a virtual way to address the hallucination of GMs. We also find that the training progress is consistent withthe corresponding system response, which offers us a useful way to develop a better optimization component. Finally, the hallucination problem of GMs is fundamentally optimized by using Laplace transform analysis.
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