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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501-510 订阅

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RobWork: A flexible toolbox for robotics research and education

RobWork: A flexible toolbox for robotics research and educat...

引用

Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Ellekilde, Lars-Peter Jorgensen, Jimmy A. Maersk Mc-Kinney Moller Institute Faculty of Engineering University of Southern Denmark Denmark

ISBN: (纸本)9781617387197

In this paper we will present our open-source robotics software RobWork. the main objective is not to provide a detailed description of our system and compare it to related projects, but to highlight selected features for which we will share our experiences and the considerations behind. the foundation on which we have made design decisions is not only from our own experiences and the 4 years of developing and applying RobWork in research applications. Equally important has also been the feedback from industrial collaborators, which have used the system and with whom we have discussed requirements, use-cases and prioritized the development. Last but not least we have received feedback from hundreds of students, which have used RobWork in their education.

关键词： Open source software

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Minimum jerk trajectory control for rehabilitation and haptic applications

Minimum jerk trajectory control for rehabilitation and hapti...

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19th IEEE international conference on robotics and automation (ICRA)

作者： Amirabdollahian, F Loureiro, R Harwin, W Univ Reading Dept Cybernet Human Robot Interface Lab Reading RG6 6AY Berks England

ISBN: (纸本)0780372727

Smooth Trajectories are essential for safe interaction in between human and a haptic interface. Different methods and strategies have been introduced to create such smooth trajectories. this paper studies the creation of human-like movements in haptic interfaces, based on the study of human arm motion. these motions are intended to retrain upper limb movements of patients that lose manipulation functions following stroke. We present a model that uses higher degree polynomials to define a trajectory and control the robot arm to achieve minimum jerk movements. It also studies different methods that can be driven from polynomials to create more realistic human-like movements for therapeutic purposes.

关键词： human machine interaction minimum jerk theory super position target selection therapy stroke rehabilitation haptic

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An approach to adaptive swarm surveillance using social potential fields 6

An approach to adaptive swarm surveillance using social pote...

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IEEE 6th international Advance Computing conference (IACC)

作者： Budhraja, Akshit Srivastava, Roopak Pradhan, P. M. IIT Roorkee Dept Elect & Commun Roorkee Uttarakhand India

ISBN: (纸本)9781467382861

Swarm robotics is a field of research inspired from how a biological system coordinates in a distributed and decentralized fashion. this distributed autonomous control mechanism makes swarm robotics a better alternative for mobile surveillance application. this paper presents a swarm intelligence algorithm to detect intrusion on a land under surveillance. the system consists of hundreds of robots governed by a set of decentralized control laws. Social Potential Field, a popular approach for distributed autonomous control, is used for the controlling motion of every robot in a swarm. Since intrusion is highly dynamic in nature, a parameter optimization approach using online gradient descent is introduced to make intrusion detection and response fast and effective. An artificial simulation environment consisting of Guard robots, Castle and Invader is created to verify the working of the proposed approach. Computer simulation results are presented for illustration and a comparison is made with the results obtained when the system lacks the ability to adapt to the changing surrounding environment.

关键词： Potential Fields Swarm robotics Parameter Optimization Gradient Descent

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Application of artificial neural network state feedback controller to torque ripple minimization of PMSM 11

Application of artificial neural network state feedback cont...

引用

11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Niewiara, L. Tarczewski, T. Grzesiak, L.M. Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland

ISBN: (纸本)9789897580390

this paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. the novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.

关键词： Neural networks

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Comparative Analysis of Reaching Laws in Sliding Mode control for Electrohydraulic Active Suspension Systems under Complex Road Trajectories 7

Comparative Analysis of Reaching Laws in Sliding Mode Contro...

引用

7th international conference on Mechatronics, robotics and automation

作者： Fattah, Rachid Kenne, Jean-Pierre Benjelloun, Khalid Chebak, Ahmed Mohammed VI Polytech Univ UM6P Green Tech Inst GTI Ben Guerir Morocco Ecole Technol Super ETS Dept Mech Engn Montreal PQ Canada Mohammed V Univ UM5 Ecole Mohammadia Ingenieurs EMI Rabat Morocco

ISBN: (纸本)9798350352481;9798350352474

this paper presents a comparative study on various reaching laws within the sliding mode control approach for electrohydraulic active suspension systems under complex road conditions. Unlike traditional single bump profiles, this study evaluates the performance of constant, exponential, and power reaching laws with scenarios involving a speed bump, a pothole, and a sidewalk. the objective is to enhance vehicle handling and passenger comfort. To address chattering in sliding mode controllers, we explore exponential and power reaching laws. Performance metrics for road holding and passenger comfort are compared with those of a traditional PID control. Simulation results indicate that the exponential reaching law excels in both position and force control, potentially negating the need for hybrid control when used alone. However, hybrid control is necessary for constant rate or power rate reaching laws.

关键词： Active suspension Electrohydraulic system sliding mode control Exponential reaching law Power reaching law Road handling Passenger comfort road trajectories Comparative study PID control

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Intelligent components for miniature drive systems in robotics

Intelligent components for miniature drive systems in roboti...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Haug, Jens Bessey, Reiner Wallner, Herbert Faulhaber, Fritz GmbH and Co. KG 71101 Schönaich Germany

ISBN: (纸本)9781617387197

For small robots as used in service or humanoid robotics, miniature drive systems with high functional density are needed. A novel motor series with a very rugged design, high power density and a low slope of the n/M-curve is presented. Encoder systems to be fitted with the motor are also discussed: Magnetic single chip absolute encoders are compared to linear hall sensors with appropriate signal processing up to 3000 steps per revolution. Finally, a CANopen-compatible motion controller is shown that could be reduced in size to fit into an encoder housing, not protruding over the 22 mm diameter of the motor. With intelligent components tailored to each other, a miniature drive system with highest functional density can be created.

关键词： Signal encoding

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Park-Shield: Two-Wheeler Anti-theft System 6

Park-Shield: Two-Wheeler Anti-Theft System

引用

6th international conference on Computing, Communication, control and automation, ICCUBEA 2022

作者： Pillai, Chanthu S Pedram, Rushal Salumuri, Nishanth Nath, Deepa Pakhrani, Kishita School of Electronics and Communication Engineering Dr.Vishwanath Karad Mit World Peace University Pune India School of Mechanical Engineering Dr.Vishwanath Karad Mit World Peace University Pune India School of Robotics and Automation Engineering Dr.Vishwanath Karad Mit World Peace University Pune India

ISBN: (纸本)9781665484510

In India the number of two-wheelers is greater than the cardinal number of parking spots available, hence people tend to park their vehicles at undesignated spots and open spaces which increases the risk of damage to the vehicle. To prevail over this situation, we contemplated, designed, and came up with a solution. Park Shield predominantly aims towards providing an all-inclusive system for two-wheeler vehicles that notifies the attempts of theft and live location tracking for your vehicle with absolute authentication of the users. the uniqueness of the system is that it can be controlled using an android application with authorized users registered on the database. In case the vehicle is hoisted or hauled, the live location update with an alert notification will be sent to the owner's cellular device via the application. © 2022 IEEE.

关键词： Authentication

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A co-simulation framework for design, test and parameter optimization of robotic systems

A co-simulation framework for design, test and parameter opt...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Ahmed, Mohammed Yoo, Yong-Ho Kirchner, Frank German Research Center for Artificial Intelligence DFKI Bremen Robotics Innovation Center Robert-Hooke-Str.5 28359 Bremen Germany

ISBN: (纸本)9781617387197

In this paper, a co-simulation framework is presented that seamlessly integrates design and simulation tools used for robotic systems from different vendors in addition to the designer own developed tools. this way the individual parts or components of the robotic system no longer need to be designed apart from each other. Furthermore, integrated cosimulation facilitates developing the integration methodology for the design, test and parameter optimization of these components. the presented framework is adopted to build and analyse the model of a six-legged space robot. the trajectory tracking and controller design of its joint actuators are also tuned based on it.

关键词： robotics

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Direct Adaptive Fuzzy control for a Two-Link Space Robot

Direct Adaptive Fuzzy Control for a Two-Link Space Robot

引用

16th international conference on Methods and Models in automation and robotics (MMAR)

作者： Ulrich, Steve Sasiadek, Jurek Z. Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9781457709142

An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.

关键词： adaptive fuzzy control Fuzzy control reference model aerospace robotics control strategy fuzzy logic system controller gain End Point Mentoring Zero follow error Joint space Robot System

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Deep level situation understanding and its application to casual communication between robots and humans

Deep level situation understanding and its application to ca...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Tang, Yongkang Dong, Fangyan Yuhki, Mina Yamazaki, Yoichi Shibata, Takanori Hirota, Kaoru Dept. of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology G3-49 4259 Nagatsuta Midori-ku Yokohama 226-8502 Japan Dept. of Electrical Electronic and Information Engineering Faculty of Engineering Kanto Gauin University 1-50-1 Mutsuura-higashi Kanazawa-ku Yokohama 236-8501 Japan Central 6 1-1-1 Higashi Tsukuba 305-8566 Japan

ISBN: (纸本)9789898565716

the concept of Deep Level Situation Understanding is proposed to realize human-like natural communication among agents (e.g., humans and robots/machines), where it consists of surface level understanding (such as gesture/posture recognition, facial expression recognition, and speech/voice recognition), emotion understanding, intention understanding, and atmosphere understanding by applying customised knowledge of each agent and by taking considerations to careful attentions. It aims to not impose burden on humans in human-machine communication, to realize harmonious communication by excluding unnecessary troubles or misunderstandings among agents, and finally to create a peaceful, happy, and prosperous humans-robots society. A scenario is established to demonstrate several communication activities between a businessman and a secretary-robot/a human-boss/a waitress-robot/a human-partner/a therapy-robot (PARO) in one day.

关键词： Human robot interaction

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