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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

共 2795 条记录，以下是301-310 订阅

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Object Detection and 6D Pose Estimation for Precise Robotic Manipulation in Unstructured Environments 14th

Object Detection and 6D Pose Estimation for Precise Robotic ...

引用

14th international conference on informatics in control, automation and robotics (ICINCO)

作者： di Castro, Mario Camarero Vera, Jorge Ferre, Manuel Masi, Alessandro CERN European Org Nucl Res Meyrin Switzerland UPM CSIC Ctr Automat & Robot Madrid Spain

ISBN: (纸本)9783030112929;9783030112912

In this paper we present an algorithm for the robust 6D pose estimation with an RGB-D camera in harsh and unstructured environments using object detection. While the pose estimation uses clustering and segmentation to find a robust point in multiple frames to track changes in the position of the camera, its functionality is enhanced with Faster-RCNN for classification and detection, providing the operator with information about the object of interest. this work further facilitates the goal of increasing the robot's autonomy and helping operators to recover 3D reconstructions of the objects to be manipulated with the robot.

关键词： Mobile robots and intelligent autonomous systems Deep learning Faster-RCNN Perception and awareness

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Self-learning Continuous controllers

Self-learning Continuous Controllers

引用

11th international conference on control, automation, robotics and Vision (ICARCV 2010)

作者： Cerman, Otto Husek, Petr Czech Tech Univ Dept Control Engn FEE Prague 16627 6 Czech Republic

ISBN: (纸本)9781424478132

In this paper different approach of adaptation mechanism for fuzzy model reference learning control (FMRLC) method will be introduced. In contrast to original method the proposed procedure guarantees continuity of the fuzzy controller that in reward results in its smooth input-output behaviour (mapping) that eliminates undesirable abrupt changes in the control signal. Additionally, the proposed method shows larger robustness to responses of initial conditions and various reference signals. the advantages of the proposed modification are presented on control of magnetic suspension system. From result comparing rule bases after adaptation there is absolutely smooth control surface in case of proposed method FMRLC in comparison with original FMRLC. With proposed procedure it was achieved similar result regulation to original FMRLC but with more than 4x smaller adaptation gain.

关键词： self-learning controllers fuzzy model reference learning control fuzzy logic

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A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effective Simulation of Soft robotics Systems: Application to CENTAURO Robot 13

A Compliant Actuation Dynamics Gazebo-ROS Plugin for Effecti...

引用

13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kamedula, Malgorzata Kashiri, Navvab Caldwell, Darwin G. Tsagarakis, Nikos G. Ist Italiano Technol Dept Adv Robot Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9789897581984

Despite the important role of simulation in the development and control of robotics systems, the majority of open source simulation tools has however paid no attention to the progress and paradigm change on the robot design in the past 15 years with the consideration of soft actuation technologies as a mean to power new robotic systems. More specifically, the integration of series elastic actuators (SEAs) into robots modifies significantly the dynamics characteristics of the system while the incorporation of the passive compliance into the actuators is not applied in conventional simulators. this paper introduces a scheme for the implementation of the SEA dynamics on a Gazebo-ROS framework exploited for the simulation of a new centaur-like robot. this approach is based on designing a custom control plugin embodying the passive compliance dynamics so that the controller associated with each joint receives both collocated and non-collocated feedback. A simulation comparison with Matlab validating the performance of the designed control plugin is demonstrated. In the end, a whole-body simulation of the centaur robot driven/controlled by the proposed plugin is presented.

关键词： Gazebo-ROS Simulators Legged Robots Flexible Joint Robots Series Elastic Actuators Quadrupeds Humanoids Simulation

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Deep Learning with Transfer Learning Method for Error Compensation of Cable-driven Robot 17

Deep Learning with Transfer Learning Method for Error Compen...

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17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Akhmetzyanov, Aydar Rassabin, Maksim Maloletov, Alexander Fadeev, Mikhail Klimchik, Alexandr Innopolis Univ Ctr Technol Robot & Mechatron Components Innopolis Russia

ISBN: (纸本)9789897584428

this paper proposes the application of Deep Learning methods for kinematic error compensation. Particular attention is paid to simulation-based error estimation and the use of the Transfer Learning method for error compensation to reduce physical experiments with a real robot. the obtained results were applied and validated for 4-dof (degrees of freedom) cable-driven parallel robot. the problem of error compensation for the cable-driven parallel robot is highly non-linear. Nevertheless, deep learning-based methods for a considerable training dataset provides better accuracy than simple linear error compensators. To overcome this drawback, we applied the transfer learning method and used the knowledge of robot kinematics simulated in Unity. Unity cable-driven robot simulation was implemented, and the central hypothesis was verified first in the simulated environment. the proposed Transfer Learning method allowed to speed up the process of robotics system integration and recalibration due to the significant sample efficiency improvement.

关键词： Cable-driven Robot Kinematics Compensation Deep Learning Transfer Learning robotics

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An implementation of high availability in networked robotic systems

An implementation of high availability in networked robotic ...

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4th international conference on informatics in control, automation and robotics

作者： Anton, Florin Daniel Borangiu, theodor Anton, Silvia Univ Politehn Bucuresti Dept Automat & Appl Informat RO-060032 Bucharest Romania

ISBN: (纸本)9789728865832

In today's complex enterprise environments, providing continuous service for applications is a key component of a successful robotized implementing of manufacturing. High availability (HA) is one of the components contributing to continuous service provision for applications, by masking or eliminating both planned and unplanned systems and application downtime. this is achieved through the elimination of hardware and software single points of failure (SPOF). A high availability solution will ensure that the failure of any component of the solution - either hardware, software or system management, will not cause the application and its data to become permanently unavailable. High availability solutions should eliminate single points of failure through appropriate design, planning, hardware selection, software configuring, application control, carefully environment control and change management discipline. In short, one can define high availability as the process of ensuring an application is available for use by duplicating and/or sharing hardware resources managed by a specialized software component. A high availability solution in robotized manufacturing provides automated failure detection, diagnosis, application recovery, and node (robot controller) re integration. the paper discusses the implementing of a high availability solution in a robotized manufacturing line.

关键词： networked robotics high availability fault tolerant systems resource monitoring resource control

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Domain Optimization for Hierarchical Planning based on Set-theory 17

Domain Optimization for Hierarchical Planning based on Set-T...

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17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian Feiten, Wendelin Zhang, Jianwei Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany Univ Hamburg Fac Math Informat & Nat Sci Vogt Kolln Str 30 D-22527 Hamburg Germany

ISBN: (纸本)9789897584428

the design of planning domains for autonomous systems is a hard task, especially when different parties are involved. We present a domain optimization algorithm for hierarchical planners that uses a set-based formulation. Due to an automatic alignment we can compose models from different sources to a larger domain for efficient planning. the combination of domain optimization and hierarchical planning can handle large scale domains very efficiently. Our algorithm reduces the effects of the non-optimality that comes with the hierarchical approach. We demonstrate the scalability with a task and motion planning problem. In the scenario of a robotic assembly with up to 62 parts and plan lengths of over 1000 steps the planning times are kept within 15 minutes. We show the execution of our plans on a real-world dual-robot setup.

关键词： Hierarchy Planning Autonomy Robotic Assembly

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Sensor Fusion of a 2D Laser Scanner and a thermal Camera 14

Sensor Fusion of a 2D Laser Scanner and a Thermal Camera

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Gleichauf, Johanna Pfitzner, Christian May, Stefan TH Nurnberg Georg Simon Ohm Kesslerpl 12 Nurnberg Germany

ISBN: (纸本)9789897583049

In order to increase the robustness of localisation and victim detection in low visibility situations it is necessary to fuse several sensors. the most common sensor used in robotics is the 2D laser scanner which delivers distance measurements. In combination with a camera the gained information can be supported by visual information about the environment. thermal cameras are ideal for finding objects with a certain temperature, but they do not deliver distance information. the difficulty in fusing these two sensors is, that a correspondence between each distance measurement and its corresponding pixel within the thermal image needs to be found. As the laser scanner only displays one plane, this is not an intuitive task. A special triangular calibration target, covering all six degrees of freedom and being visible for both sensors, was developed. In the end the transformation between each laser scan point and its corresponding thermal image pixel is given. this allows for assigning every laser measurement within the field of view a corresponding thermal pixel. the final application will enable detection of human beings and display the distance required to reach them.

关键词： Sensor Fusion Calibration 2D Laser Scanner thermal Camera

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Simultaneous Localization and Mapping Using Adaptive Appearance Based Loop-Closing Detection

Simultaneous Localization and Mapping Using Adaptive Appeara...

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IEEE international conference on automation, Quality and Testing, robotics

作者： Majdik, Andras Lupea, Diana Lazea, Gheorghe Vajta, Laszlo Tech Univ Cluj Napoca Robot Res Grp Cluj Napoca Romania Budapest Univ Technol & Econ Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9781467307024

Visual appearance based scene recognition has been widely studied in the past decade. However, such systems still present failures in dynamic, heterogeneous urban environments. this paper presents a methodology in order to integrate an advanced Adaptive Appearance Based Loop-Closing Detection algorithm into a graph optimization based Simultaneous Localization and Mapping algorithm. the system described uses stereo visual data, captured in discrete locations in order to detect loop-closure situations and to build, respectively update the topological map of a large, complex environment.

关键词： robotics SLAM loop-closure visual-appearance

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Nonlinear Identification of a Continuous Stirred-Tank Reactor using WSDP Models

Nonlinear Identification of a Continuous Stirred-Tank Reacto...

引用

11th international conference on control, automation and Systems (ICCAS)/Robot World conference

作者： Nguyen-Vu Truong Intelligent Robotics and Automation Laboratory (IRAL) Institute of Applied Mechanics and Informatics Vietnam Academy of Science and Technology Viet Nam

ISBN: (纸本)9788993215038

this paper presents the application of Wavelet based State Dependent Parameter (WSDP) models to the identification of a Continuous Stirred-Tank Reactor (CSTR). Here, in order to characterize the process dynamics which is highly nonlinear and multi-variable dependent, 2-D WSDP model is used. the simulation results demonstrate the effectiveness and advantages of the identified model.

关键词： Tanks (containers)

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Mathematical model for walking robot with shape memory alloy ankle

Mathematical model for walking robot with shape memory alloy...

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4th international conference on informatics in control, automation and robotics

作者： Petrisor, Anca Bizdoaca, Nicu George Rosca, Daniela Degeratu, Sonia Rosca, Adrian Petrisor, Raducu Univ Craiova Fac Electromech Engn Craiova Romania

ISBN: (纸本)9789728865832

the paper presents a simultaneous force and length variation mode in shape memory alloy (SMA) robotic application. the robotic ankle contains four SMA actuators and a spherical articulation. In order to assure a high efficient robotic architecture, the mechanical and the control structure have to assure a real-time response to the work environment changes. the load variations or the difference between the moment of full contact step and the non contact moment for a waking robot are the standard situations for a SMA robotic ankle. the paper is divided in five sections. First section makes a short introduction in the physical description and conventional applications of shape memory alloy materials. then, are presented the mathematical model for robotic ankle, the walking robot geometrical structure and the causality ordering of the active pair of legs, in this case with one free joint. In the last section some experimental results are presented. these results were obtained by using MATLAB programs, conceived by authors, for design and simulation of walking robots control algorithms.

关键词： robotics shape memory alloy applications robotic ankle walking robot mathematical mode

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