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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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Efficient and Accurate Template-based Reconstruction of Deformable Surfaces

Efficient and Accurate Template-based Reconstruction of Defo...

引用

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

作者： Dominik Slomma Shoudong Huang Liang Zhao Faculty of Engineering and Information Technology Robotics Institute University of Technology Sydney Australia School of Informatics The University of Edinburgh Scotland

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

3D surface reconstruction in deformable environments presents significant challenges. Template-based methods have proven robust for achieving accurate reconstructions by utilising images and textured triangulated meshes as reference data. these methods rely on feature detection in both the reference and current images to establish corresponding points, leveraging reprojection and deformation constraints for precise reconstruction. However, challenges arise when features are not uniformly distributed across mesh triangles, potentially resulting in sparse or coarse reconstructions. Moreover, the combined computational cost of reprojection and deformable constraints often leads to prolonged optimisation times. this study aims to enhance efficiency in reconstructing deformations within the field of view. Our approach involves back-projecting vertices from a reference mesh onto the reference image plane and subsequently tracking them directly in the subsequent image. this method assumes the resulting observations are sufficiently accurate, encoding the deformation within this information. By eliminating the re-projection constraint and focusing solely on a deformation constraint based on Euclidean distances between vertices, we significantly reduce computational and memory costs. the results of our proposed algorithm demonstrate a notable reduction in computational cost and memory cost, while maintaining reconstruction accuracy comparable to related methods. the code of our algorithm is publicly available at https://***/DominikSlomma/Efficient-and-Accurate-Template-based-Reconstruction-of-Deformable-Surfaces

关键词： Surface reconstruction Accuracy three-dimensional displays Costs Deformation Linear programming Computational efficiency Image reconstruction Optimization Robots

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Dynamic Parameter Identification and Collision Detection of Robot 6

Dynamic Parameter Identification and Collision Detection of ...

引用

6th international conference on control, robotics and Cybernetics, CRC 2021

作者： Ma, Chaoyang Wang, Weijun Yang, Xiaofeng The 21ST Research Institute of China Electronic Technology Group Corporation The Robotics Engineering Center Shanghai China

ISBN: (纸本)9781665424370

A robot dynamic parameter identification method based on improved linear friction is proposed. In this paper, the Newton Euler method is used to model the dynamics of the robot, and the dynamic expression is derived. Taylor expansion is used to linearize the commonly used nonlinear Stribeck friction model. then the linear model and the minimum inertia parameter set of the robot are analyzed, and a set of minimum inertia parameters of the robot is derived. the linear expression of joint torque with respect to a set of identifiable parameters is obtained. the finite Fourier series is studied as the excitation trajectory of the dynamic parameter identification experiment. Combined with the minimum condition number, the optimization objective function of the excitation trajectory parameters is proposed, and the excitation trajectory parameters are calculated by MATLAB fmincon function. Fourier series is used as the excitation trajectory for experiment, and the identifiable dynamic parameter set is identified by the least square method. Using the dynamic parameters identified by the proposed method for dynamic modeling, the theoretical joint torque of the robot can be obtained, and the correctness and feasibility of the algorithm are verified by collision detection experiments. © 2021 IEEE.

关键词： Trajectories

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Adaptive Containment control for Nonlinear P-Normal Multiagent Systems with Sensor Failures

Adaptive Containment Control for Nonlinear P-Normal Multiage...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Zhirui Li Liang Cao Bohai University College of Mathematical Sciences Jinzhou China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper considers the adaptive containment control problem for a class of nonlinear p-normal multiagent systems (MASs) with sensor failures and unknown time-varying parameters. Unlike the structural features of existing results, the dynamic of each agent is a power exponential function. By using an approach called adding a power integrator technique, the problem of power exponential terms being positive odd in p-normal MASs has been solved. then, a novel control scheme is proposed to resolve sensor failures by using Nussbaum gain technology. Additionally, the fuzzy logic system is utilized to handle the impact of unknown time-varying parameters. In view of the backstepping technique, all signals of the system are demonstrated to be bounded. A simulation example is obtained to evidence the feasibility of the proposed scheme.

关键词： Fuzzy logic Backstepping Optimal control informatics Time-varying systems Signal resolution Multi-agent systems

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A Locust-Inspired Energy Storage Joint for Variable Jumping Trajectory control 16th

A Locust-Inspired Energy Storage Joint for Variable Jumping ...

引用

16th international conference on Intelligent robotics and Applications, ICIRA 2023

作者： Yang, Yongzun Feng, Zhiyuan Jin, Cheng Tang, Lingqi Ma, Songsong Li, Yao School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China

ISBN: (纸本)9789819964949

Jumping is a good solution for small robots over obstacles. Most of the current jumping robots are not energy store adjustable due to the design of the energy storage elements and structures, which limits the effective working space of the robot. the locust is good at jumping. thanks to the excellent structure of the hind legs, the locust can change the degree of compression of the simi-lunar process (SLP) and change the energy storage while maintaining the same jumping stance. Herein, we design a locust-inspired energy storage joint and verified its function on a jumping robot. the motors and wires were used to imitate the muscles and the torsion springs were used to imitate SLP. To accurately describe the energy stored, a static model of the torsion springs was developed. Furthermore, the number of motor revolutions and the stored energy value were also calculated and could be used for subsequent precise control. Six jumping experiments with different compression angles for torsion springs proved the feasibility of the static model. this locust-inspired energy storage joint is the basis for the next robot capable of the omnidirectional, continuous autonomous jumping. © the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Energy storage

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Sample-Based Motion Planning for Multi-Robot Systems 6

Sample-Based Motion Planning for Multi-Robot Systems

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6th international conference on control, automation and robotics (ICCAR)

作者： Muradi, Murad Wanka, Rolf Univ Erlangen Nurnberg Dept Comp Sci Munich Germany BMW Grp Munich Germany

ISBN: (纸本)9781728161396

We present a methodology for robot path planning and smoothing based on the probabilistic roadmap algorithm and simulated annealing algorithm. Furthermore, a fast and accurate collision detection and a suitable format for the abstract description of robot problems are introduced. the methods are tested on the automotive sealing process by applying them to a practical problem.

关键词： robotics motion planning collision detection path smoothing probabilistic roadmap simulated annealing

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Algorithm for Robustness Estimation of Large Deviations in Linear Discrete-Time Systems 17th

Algorithm for Robustness Estimation of Large Deviations in...

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17th international conference on informatics in control, automation and robotics, ICINCO 2020

作者： Vunder, Nina Dudarenko, Natalia Institute of Control Engineering TU Braunschweig Hans-Sommer-Str. 66 Braunschweig Germany Department of Control Systems and Industrial Robotics ITMO University 49 Kronverksky Pr. Saint-Petersburg Russia

ISBN: (纸本)9783030924416

the paper presents the algorithm for robustness estimation of large deviations in free motion of linear discrete-time systems. A tracking discrete-time systems with the modal control law are discussed, where the modal control law is designed taking into account the value of delay and the deviation. Two cases of discrete-time systems with control signal delay are considered in the paper. the first case relates to predictable delay of control signal, and the second one relates to unpredictable delay of control signal. It is assumed that parameters of the system are linearly dependent on the uncertainties. the problem is solved with the state space approach and the sensitivity theory methods. An upper bound estimation of trajectory deviations for discrete-time systems is obtained. the estimation contains the condition number of the eigenvectors matrix of the system state matrix. therefore, sensitivity functions of singular values of the eigenvectors matrix are used to calculate the robustness estimation of the deviations. Based on the obtained equations, an algorithm for the robustness estimation of large deviations in linear discrete-time systems with parametric uncertainties is proposed. the proposed method is compared with an alternative LMI based approach for the peak estimation problem. Advantages and disadvantages of both approaches are illustrated with examples. © 2022, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Sensitivity analysis

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Path Planning of Unmanned Underwater Vehicles in Ocean Current Environment based on Safe Reinforcement Learning Algorithm

Path Planning of Unmanned Underwater Vehicles in Ocean Curre...

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IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Yu Wang Yongli Hu Zhenzhong Chu Logistics Engineering College Shanghai Maritime University Shanghai China School of Mechanical Engineering University of Shanghai for Science and Technology Shanghai China

ISBN: (数字)9798350307535

ISBN: (纸本)9798350307542

this article aims to explore path planning for unmanned underwater vehicles (UUVs) using safety reinforcement learning (SRL) algorithms. Specifically, this article implements an SRL algorithm model that can adapt to ocean currents by setting reasonable state space, action space, reward function, and introducing safety constraints based on a real UUV. UUV path planning experiments were conducted in the Gazebo simulation environment using the ROS communication system. Additionally, a wireless communication module was designed for the real UUV. this article provides valuable experience for the research and practical application of UUV path planning based on SRL algorithms.

关键词： Wireless communication Autonomous underwater vehicles Adaptation models Mechatronics Oceans Reinforcement learning Path planning Underwater navigation Safety robotics and automation

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Induction of Vibration Spectrum Data of the Armoured Vehicles

Induction of Vibration Spectrum Data of the Armoured Vehicle...

引用

IEEE international conference on Mechatronics, robotics and automation (ICMRA)

作者： Junfang Hou Juan Li Heping Wang Section of General Mobile Platform Beijing Special Vehicle Research Institute Beijing China

ISBN: (数字)9798350307535

ISBN: (纸本)9798350307542

Aiming at the problem of lack of the measured vibration spectrum for the bench vibration test of the electronic devices on armored vehicle, the vibration spectrum data induction process was proposed. Vibration spectrum data processing method for single working condition based on the upper limit of tolerance was analyzed. the induction method for the comprehensive working conditions based on fatigue damage equivalence principle was proposed, and the vibration spectrum under the comprehensive conditions can be summarized according to the driving speed. the vibration data of the electronic equipment under different roads and different driving conditions were measured for the armored vehicle, and the measured spectrum and normal spectrum were inducted based on the proposed data induction method, which confirms the validity of the vibration spectrum data induction method.

关键词： Vibrations Employee welfare Electronic equipment Power measurement Roads Vibration measurement Fatigue Time measurement Software robotics and automation

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Acoustic Emission control of Fatigue Destruction of thin Aluminium Alloy Structures 6

Acoustic Emission Control of Fatigue Destruction of Thin Alu...

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6th international Scientific conference on Information, control, and Communication Technologies, ICCT 2022

作者： Kuzivanov, Dmitriy Stepanova, Kseniya Fedorov, Alexey Kinzhagulov, Igor Kovalevich, Anastasia Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia

ISBN: (数字)9781665493673

ISBN: (纸本)9781665493673

this paper presents the results of the analysis of AE parameters recorded during the loading of samples with fatigue defects under operating loads. During the loading, the possibility of locating signals at low values of loads that do not exceed the yield strength of the material, and at which it is possible to identify the beginning of the defect development, is shown. Based on the results of experimental work, the possibility of locating cracks in thin-walled structures made of aluminium alloys and assessing their propensity to develop under operating loads using the AE method has been confirmed. the characteristic features in the distribution of informative AE parameters during the development of crack defects in the material, after carrying out repair work according to accepted. © 2022 IEEE.

关键词： Acoustic emissions

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6DoF-ICTC: A Deep Image Feature Extraction Network Combining Transformers and CNNs for 6DoF Pose Estimation 12

6DoF-ICTC: A Deep Image Feature Extraction Network Combining...

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12th international conference on CYBER Technology in automation, control, and Intelligent Systems, CYBER 2022

作者： Zhang, Liming Zhou, Xin Zhu, Baixian Wang, Can Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China Cas Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology China University of Science and Technology of China China Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

In this work, we propose a new image feature extraction network for 6D pose estimation tasks. the majority of existing 6D pose estimation networks are based on the RGBD input, which is the fusion of images and point clouds. they are mainly working on keypoint extraction, point cloud feature extraction, and other tasks, however, image features, on the other hand, mainly rely on CNN networks that are currently advanced. With the development of Vision Transformer in the field of computer vision, the results on ImageNet demonstrate its benefit of extracting global features, and we see new directions that the Transformers can bring to the area of image feature extraction. ICTC is a Transformer paired with a CNN network that fuses the retrieved global features into each pixel and then does local feature extraction. this provides greater robustness to 6D pose estimation In complex situations such as shifting lighting conditions and object occlusion. Our method achieves 96% accuracy using the average ADD metric on the LineMOD dataset, demonstrating our method's effectiveness. © 2022 IEEE.

关键词： Feature extraction

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