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

共 2796 条记录，以下是481-490 订阅

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Robust Sliding Mode control of a Quadrotor With Disturbance Rejection for Enhanced Stability and Performance 6

Robust Sliding Mode Control of a Quadrotor With Disturbance ...

引用

6th international conference on robotics and automation in Industry, ICRAI 2024

作者： Ullah, Hameed Zarin, Owais Ahmad, Irfan Ahmad, Sarfraz Abbas, Ansar Lippiello, Vincenzo University of Naples Federico II Department of Electrical Engineering and Information Technology Naples Italy Riphah International University Department of Electrical Engineering Islamabad Pakistan School of Bilbao - EIB/BIE University of the Basque Country - UPV/EHU Automatic Control Group ACG Department of Automatic Control and Systems Engineering Rafael Moreno 3 Bilbao48013 Spain CEME Department of Electrical Engineering Islamabad Pakistan

ISBN: (纸本)9798350355703

this research presents a comprehensive analysis of quadrotor stabilization and trajectory tracking control using Proportional-Integral-Derivative (PID) and Sliding Mode control (SMC) with integrated disturbance rejection. the nonlinear dynamics of the quadrotor are formulated using the Newton-Euler approach, accounting for six degrees of freedom. the PID controller is implemented as a baseline, while the SMC is designed for enhanced robustness to model uncertainties and external perturbations, with a disturbance observer for managing time-varying disturbances. A rigorous Lyapunov stability proof ensures global asymptotic stability of the SMC-controlled system. Extensive simulations evaluate both controllers in terms of tracking accuracy, control effort, and robustness to external disturbances. Results show that SMC outperforms PID in dis-turbance rejection, tracking accuracy, and robustness, making it ideal for UAV applications in complex environments. © 2024 IEEE.

关键词： Sliding mode control

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Time delay compensation by fuzzy control in the case of master-slave telesurgery

Time delay compensation by fuzzy control in the case of mast...

引用

6th IEEE international Symposium on Applied Computational Intelligence and informatics, SACI 2011

作者： Precup, Radu-Emil Kovacs, Levente Haidegger, Tamas Preitl, Stefan Kovacs, Adalbert Benyo, Balazs Borbely, Endre Benyo, Zoltan Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Dept. of Mathematics Politehnica University of Timisoara Timisoara Romania Kandó Kálmn Faculty Óbuda University Budapest Hungary

ISBN: (纸本)9781424491094

Telesurgery means the remote application of interventional medical techniques;a concept that is currently widely practiced around the world for short distance through master-slave robot systems. the concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. the current paper suggests a fuzzy control solution for telesurgical applications aiming at the alleviation of the disturbing effects of large latencies with the concept of remote surgical robotics. the fuzzy control solution is supported by a cascade control system structure with two proportional-integral-derivative (PID) controllers in the inner and outer control loops and designed by Kessler's Extended Symmetrical Optimum empirical criteria. the PID controller in the outer loop is next replaced by Takagi-Sugeno-Kong PID-fuzzy controllers which combine several separately designed PID controllers. the combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Tagaki-Sugeno-Kong PID-fuzzy controllers. © 2011 IEEE.

关键词： three term control systems

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Fast and simple model for free hanging, pre-impregnated carbon fibre material 15

Fast and simple model for free hanging, pre-impregnated carb...

引用

15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Nielsen, Ole W. Schlette, Christian Petersen, Henrik G. Maersk Mc-Kinney Moller Institute University of Southern Denmark Campusvej 55 Odense M5230 Denmark

ISBN: (纸本)9789897583216

Automated one-of-a-kind grasping and draping of pre-impregnated (prepreg) fiber plies onto complex molds is a hitherto unsolved problem. In the project FlexDraper, we have gathered an international consortium with industrial keyplayers for addressing this gap. Our approach is based on model- and simulation-based control of the shaping of the plies during the draping procedure, which requires fast computable models in the draping control loop. In this paper, we present such a fast computable mathematical model for the shape of free hanging prepreg fiber plies with perpendicular fiber directions, where the ply is held (clamped) at a set of locations that are not too far apart. Rather than using expensive physically based models, e.g. FEM simulations, our model is only based on interpolations between the held locations satisfying curve length constraints in fiber directions. the paper also contains experimental tests for the accuracy of the model. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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A training simulator for teleoperated robots deployed at CERN 15

A training simulator for teleoperated robots deployed at CER...

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15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel Department of Systems and Control Engineering University of Malta Msida Malta Engineering Department EN-STI CERN Geneva Switzerland Centre for Automation and Robotics UPM-CSIC Universidad Politecnica de Madrid Madrid Spain

ISBN: (纸本)9789897583216

this paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. the robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. the resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Virtual reality

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A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot 6

A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot

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6th international conference on robotics and automation Engineering, ICRAE 2021

作者： Chengbo, Li Xiaoming, Wang Zixi, Huang Guangyao, Pang Xinyu, Han Yaguang, Lin Dalian Free Trade Zone No. 1 High School Dalian China Key Laboratory of Modern Teaching Technology Ministry of Education Xi'an China School of Computer Science Shaanxi Normal University Xi'an710119 China Shenzhen Middle School Shenzhen China Wuzhou University School of Data Science and Software Engineering Wuzhou China Singapore Polytechnic Advanced Robotics and Intelligent Control Centre Singapore

ISBN: (纸本)9781665406970

the application of robots to assist humans in earthquake rescue has always been an important topic that researchers are constantly studying. CoSpace Rescue is an abstract modeling and simulation of earthquake rescue and a simulation platform for studying robot rescue search algorithms. Its mathematical model is a multi-objective optimization problem. In this paper, we propose a search algorithm design framework for the CoSpace Rescue robot. Based On this framework and the idea of the heuristic search algorithm, we design and implement the 'Multi-objective Optimal Dynamic Adaptive On-Demand Search Algorithm'. the results of the experiment show that the algorithm can dynamically adapt to the changes in the environment and significantly improve the search efficiency of the rescue robot. © 2021 IEEE.

关键词： Earthquakes

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Data-Driven MPC for Collision-Free Robot Manipulation: An Online Deep Reinforcement Learning Approach 6

Data-Driven MPC for Collision-Free Robot Manipulation: An On...

引用

6th international conference on control and robotics, ICCR 2024

作者： Baselizadeh, Adel Khaksar, Weria Torresen, Jim University of Oslo Department of Informatics Oslo Norway Norwegian University of Life Sciences Department of Mechanical Eng. and Tech. Management Ås Norway

ISBN: (纸本)9798331518158

this paper presents a novel approach for integrating Nonlinear Model Predictive control (NMPC) with Deep Rein-forcement Learning (DRL) for collision-free path planning of a robot manipulator within dynamic environments. the primary aim is to dynamically adjust NMPC parameters in real-time using a DRL architecture in response to changing environmental conditions, thereby achieving an optimal balance between set-point control and obstacle avoidance. Various established online DRL methods are integrated with the NMPC controller to assess the effectiveness of the proposed learning-based approach in facilitating collision-free robot manipulation. Extensive simulation experiments confirm the effectiveness of the learning-based NMPC control framework, revealing significant improvements in robot maneuvering. these improvements encompass successful collision-free path planning with a 39% enhancement, reducing setpoint control errors by 53 %, and accelerating path planning by 30% compared to conventional NMPC approaches with fixed parameters tuned by a human expert. the results highlight the dynamic adjustment of NMPC parameters by DRL, contributing to safer and more efficient robot manipulation in dynamic environments. © 2024 IEEE.

关键词： Deep reinforcement learning

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Identifying the left ventricle optimally in cardiac mr images by comparing state-of-the-art segmentation methods 14

Identifying the left ventricle optimally in cardiac mr image...

引用

14th international conference on informatics in control, automation and robotics, ICINCO 2017

作者： Xiong, Jingjing Yang, Yongming Wang, Zhenzhou State Key Labs for Robotics Shenyang Institute of Automation Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang Liaoning Province China

ISBN: (纸本)9789897582646

In medical diagnosis, the movement of the left ventricle (LV) could be used to estimate the volume of the left ventricle and the dyssynchrony of the heart, which can provide the basis for diagnosis of heart diseases. Identification of the LV endocardium, especially the images with poor image quality and images in apical or basal slices, is still a very challenging problem. In this paper, an automatic segmentation method based on threshold is proposed. this method works well in image both with good quality and bad quality. We tested the proposed SDD method with other 15 state-of-the-art segmentation methods by 104 frames of testing Cardiac MR images from Computing and Computer Assisted Intervention (MICCAI) 2009 challenge. Finally, we assessed the deviation between the automatically segmented and benchmark manual contours. the proposed method achieved 0.9172 average Dice metric, 1.9817 mm average perpendicular distance (APD). these results compared with other methods indicate that the proposed SDD method is an effective and viable method to identify the boundary of left ventricle. © 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved.

关键词： Heart

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Towards a SLAM solution for a robotic airship

Towards a SLAM solution for a robotic airship

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3rd international conference on informatics in control, automation and robotics

作者： Castro, Cesar Bueno, Samuel Victorino, Alessandro CenPRA Comp Vis & Robot Div RodSP 65Km 143-6 BR-13069901 Campinas SP Brazil INRIA ICARE project 2004 F-06902 Sophia Antipolis France

ISBN: (纸本)9728865600

this article presents the authors ongoing work towards a six degrees of freedom simultaneous localization and mapping (SLAM) solution for the Project AURORA autonomous robotic airship. While the vehicle's mission is being executed in an unknown environment, where neither predefined maps nor satellite help are available, the airship has to use nothing but its own onboard sensors to capture information from its surroundings and from itself, locating itself and building a map of the environment it navigates. To achieve this goal, the airship sensorial input is provided by an inertial measurement unit (IMU), whereas a single onboard camera detects features of interest in the environment, such as landmark information. the data from both sensors are then fused using an architecture based on an extended Kalman filter, which acts as an estimator of the robot pose and the map. the proposed methodology is validated in a simulation environment, composed of virtual sensors and the aerial platform simulator of the AURORA project based on a realistic dynamic model. the results are hereby reported.

关键词： SLAM localization mapping Kalman filtering UAVs

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Proceedings of the 6th international conference on informatics Engineering and Information Science (ICIEIS 2024) 1

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1000年

作者： Yimin Zhou

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A behaviour-based manipulator for multi-robot transport tasks

A behaviour-based manipulator for multi-robot transport task...

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20th IEEE international conference on robotics and automation (ICRA)

作者： Bouloubasis, AK McKee, GT Schenker, PS Univ Reading Dept Comp Sci Reading RG6 6AY Berks England

ISBN: (纸本)0780377362

In this paper we report on the design, implementation and testing of a manipulator for a multirobot task involving the transport of an extended payload by two robots. the overall task involves three main manipulation components, namely payload pickup, terrain traversal and putdown at the deployment site. the manipulator was specifically designed to meet the requirements of these manipulation operations. It comprises three main components, a two-degree of freedom arm, a passive but compliant one-degree of freedom wrist, and an active gripper mechanism. Low-level control is accomplished using a small network of PIC microcontrollers. A key design goal of the control architecture was software and hardware modularity: separate modules drive the motors, measure encoder counts and support a range of low-level behaviors suitable for the task. Several sensors were specifically designed to enhance the compliance of the system. High-level control is based on an on-board laptop computer. the paper describes the motivation, the design and implementation, and the experimental results to date.

关键词： manipulators behaviors compliance cooperative robotics modularity

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