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

共 2793 条记录，以下是511-520 订阅

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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...

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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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Design and Evaluation of A Vibrotactile Feedback System to Improve Volitional Myoelectric control for Robotic Transtibial Prostheses: A Preliminary Study 6

Design and Evaluation of A Vibrotactile Feedback System to I...

引用

6th IEEE international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Chen, Baojun Wang, Qining Peking Univ Coll Engn Robot Res Grp Beijing 100871 Peoples R China Beijing Engn Res Ctr Intelligent Rehabil Engn Beijing 100871 Peoples R China

ISBN: (纸本)9781509032877

In this paper, we propose a vibrotactile stimulation system and explore the potential of combining it with volitional myoelectric control for robotic transtibial prostheses. the proposed system consists of six vibrators, three on the anterior side of the thigh and the other three on the posterior side. Six able-bodied subjects and two transtibial amputee subjects participated in the study, and three experiments were performed. the first two experiments were designed to evaluate subjects' ability to perceive vibrotactile stimulations and make fast response. In the third experiment, we aimed to investigate the necessity of adding vibrotactile feedback to the loop of volitional myoelectric control. Experimental results indicate that subjects are able to discriminate stimulations produced by different vibrators, and detect the change of stimulation positions with small time delay. Furthermore, the addition of vibrotactile feedback improves the performance of controlling a virtual ankle to reach target positions. these preliminary results validate the promise of applying the vibrotactile stimulation system for robotic transtibial prosthesis control.

关键词： robotics

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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...

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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...

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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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Enhanced physical interaction performance for compliant joint manipulators using proxy-based sliding mode control 11

Enhanced physical interaction performance for compliant join...

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

作者： Kashiri, Navvab Tsagarakis, Nikos G. Van Damme, Michäel Vanderborght, Bram Caldwell, Darwin G. Department of Advanced Robotics Istituto Italiano di Tecnologia Genova Italy Department of Mechanical Engineering Vrije Universiteit Brussel Brussels Belgium

ISBN: (纸本)9789897580406

the use of typical position controllers for robots working around humans can involve some risks when unintended physical human-robot interactions occur. In order to benefit from a proper tracking performance during normal operations, and a smooth and damped recovery from position errors due to contacts with external objects/agents, Proxy-based Sliding Mode control was proposed. While the efficacy of this controller in fully actuated manipulators was discussed, the employment of this controller in underactuated systems has not been studied so far. this paper introduces a control scheme to implement this controller in a class of underactuated systems. Specifically, the control of flexible joint manipulators possessing passive elastic elements in series with motors is studied. the formulation of Proxy-based Sliding Mode control is adopted according to the stability requirements of this type of dynamic systems, and a torque controller required for the regulation of the the output torque of actuation units is designed using the Feedback Linearization and the Linear Quadratic optimal control approach. the performance of the proposed scheme is demonstrated in dynamic simulation of an anthropomorphic compliant arm.

关键词： controllers

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Physics-Informed AUV Modeling Method and Application Under Current Disturbances 6

Physics-Informed AUV Modeling Method and Application Under C...

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6th international conference on robotics and Computer Vision, ICRCV 2024

作者： Zhao, Yifeng Hu, Zhiqiang Geng, Lingbo Zhang, Shaoze Li, Xinmao Shenyang Institute of Automation State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9798331527426

In this paper, an improved method for modeling the dynamics of an Autonomous Underwater Vehicle (AUV) is proposed, incorporating the impact of ocean currents on AUV navigation. Initially, the concept of Physics-informed Neural Networks (PINN) is introduced, which integrate the AUV dynamics equations with deep neural networks to establish an AUV model capable of long-term forecasting under calm water conditions. By integrating the actual navigation data of the AUV with the established dynamic model in calm water, the current estimation is derived, which is then utilized to adjust the output values of the calm water model. through the implementation of the Model Predictive control (MPC) algorithm based on the modified AUV dynamics model, optimal control strategies for trajectory tracking under the influence of current disturbances are developed. the simulation results demonstrate that the proposed modeling approach can accurately forecast the AUV's navigation status in current conditions. Furthermore, the MPC controller, based on this approach, can proficiently and consistently accomplish AUV trajectory tracking tasks in ocean current environments. this research provides a novel perspective on AUV dynamic modeling and control, with potential implications for various related research fields. © 2024 IEEE.

关键词： Predictive control systems

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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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A new probabilistic path planning algorithm for (dis)assembly tasks

A new probabilistic path planning algorithm for (dis)assembl...

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

作者： thomas, Ulrike Iser, Rene Institute for Robotics and Mechatronics German Aerospace Center Oberpfaffenhofen Germany Institute for Robotics and Process Control Technical University of Braunschweig Germany

ISBN: (纸本)9781617387197

In this paper, a new probabilistic path planning algorithm is described. the algorithm has been developed for assembly planning purposes, but however it can also be used in similar scenarios. Most assembly planning algorithms apply the so called assembly-by-disassembly strategy, therewith planning starts from the goal position of parts and tries to remove single parts or group of parts. Such problems are characterized by the appearance of many narrow passages. thus, we have developed an probabilistic algorithm able to find paths even if many of such passages exist. the idea of our path planner emanates from the particle In each iteration, it propagates new samples, discards bad evaluated samples and assigns higher weights to good examples. the evaluation functions propagates the samples to explore free space as well as to condensate on the border of obstacles, which leads samples to pass narrow passages. We have evaluated our path planning algorithm with different examples and compared it to the well-known RRT and PRMplanners. We could achieve good execution times for realistic industrial assembly tasks.

关键词： Iterative methods

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FlexSEA-Execute: Advanced Motion controller for Wearable Robotic Applications 6

FlexSEA-Execute: Advanced Motion Controller for Wearable Rob...

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6th IEEE international conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Duval, Jean-Francois Herr, Hugh M. MIT Media Lab Ctr Extreme Bion Cambridge MA 02139 USA

ISBN: (纸本)9781509032877

Wearable robots, such as powered prostheses and active exoskeletons, often rely on electric motors for actuation. Emulating biological joint angle and torque profiles requires special sensors, high peak power and advanced real-time controls. Safety is paramount and fail-safe circuits are required to detect and correct problematic situations. A smaller, lighter circuit can lead to a more efficient and affordable robot. Few commercial motor drivers accommodate all of these requirements. In this paper we present FlexSEA-Execute (Figure 1), the advanced motion controller part of FlexSEA, the FLEXible, Scalable Electronics Architecture designed for wearable robotic applications. At 36cm(3) and 34.8g, this PSoC-based design integrates a 8A/25A (continuous/pulse) brushed/brushless motor driver, a safety co-processor, multi-drop RS-485, a strain gauge amplifier, a 6-axis inertial motion unit (IMU), USB, and a programmable expansion connector.

关键词： embedded system control power electronics brushless motor wearable robotics

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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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