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检索条件"任意字段=7th International Conference on Control and Robotics Engineering, ICCRE 2022"

共 1799 条记录，以下是121-130 订阅

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Prolonging Robot Lifespan Using Fatigue Balancing with Reinforcement Learning 7

Prolonging Robot Lifespan Using Fatigue Balancing with Reinf...

引用

7th international conference on Mechanical engineering and robotics Research (ICMERR)

作者： Costa, Francesco Mozaffari, Saeed Alirezaee, Reza Ahmadi, Madjid Alirezaee, Shahpour Univ Windsor Elect & Comp Engn Dept Windsor ON Canada

ISBN: (纸本)9781665490511

Over the last quarter century, industrial robots have become an indispensable element in modern manufacturing and assembly. While the costs of implementing these robot systems can be high, over time these expenditures are offset by their longevity and productivity. One of the major costs of existing robotic systems is the maintenance and replacement of individual robots. Currently, process and manufacturing robots are programmed by robotic technicians with predetermined motions based on process requirements and product specifications. these repetitive motions tend to wear out specific joints faster than others, causing total robot failure and precipitating the replacement of the entire robot. this paper leverages machine learning algorithms to modify nonproduction critical robot movements to balance the physical load at each joint, with the goal of extending the useful life of these industrial robots in a manufacturing environment. Experimental results show that Q-Learning balanced the average load on robot joints by roughly 14%.

关键词： Industrial Robots lifespan Robot Fatigue robot motor wear load balancing on robot joints Reinforcement learning in robotics

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RoboMaze: Swarm robotics and Coordinated Navigation in Smart City 23

RoboMaze: Swarm Robotics and Coordinated Navigation in Smart...

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23rd IEEE international conference on High Performance Computing and Communications, 7th IEEE international conference on Data Science and Systems, 19th IEEE international conference on Smart City and 7th IEEE international conference on Dependability in Sensor, Cloud and Big Data Systems and Applications, HPCC-DSS-SmartCity-DependSys 2021

作者： Song, John Song, Austin Zhang, Fumin Johns Creek High School Johns CreekGA30022 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30303 United States

ISBN: (纸本)9781665494571

Swarm robotics and coordinated navigation have many important applications in smart cities. For example, on the street, autonomous cars may coordinate with each other to optimize the routes and city traffic;in a building, multiple robots may allow the coordinated search of trapped people in the building after a fire or natural hazard. It is important to study how to design and optimize the coordinated search strategy in those complicated smart city environments. this paper introduces RoboMaze, a simulator for swarm robotics and coordinated navigation study, where the robots may communicate with each other and optimize their paths with the goal of completing the search in a minimum amount of time. RoboMaze has been implemented and demonstrated in multiple software and hardware platforms. It not only greatly facilitates the development and test of new algorithms, but also serves as a wonderful education and outreach tool for smart city awareness. © 2021 IEEE.

关键词： Smart cities Navigation Robot kinematics Education Buildings Software algorithms Swarm robotics

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Terminal control Researching with Application of the Key Points to Assess the Defined Problem Realization 7

Terminal Control Researching with Application of the Key Poi...

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7th international conference on Mechatronics and robotics engineering (ICMRE)

作者： Soloviev, Viktor Lashchev, Andrej Finaev, Valery Gurenko, Boris Brosalin, Dmitry Shpak, Igor Southern Fed Univ Taganrog Russia

ISBN: (纸本)9781665414890

In article it's made the analytical review of articles in which methods and algorithms of terminal control are considered. Terminal control - coordinated movement of a mobile robot (MR) in time and space. the purpose of the terminal control problem solution is searching of such movement control of the mobile object, which provides achievement of the target position from the initial point in a given time with the given tolerance. Since the environment is uncertain, a heuristic approach to solving the problem of terminal control together with automatic motion control of the MR is applied. this paper proposes the application of intelligent evaluation of the terminal state of MR. this is the difference between solving the problem of terminal management with the proposal to introduce into the environment of movement of control (reference) areas (points). At each control point, the parameters of the further movement of the MR are calculated. the method of key areas definition in the motion environment allowing to lower the indeterminacy degree during the solution of the terminal control problem is developed. Empirical researches of the proposed method that showed the effectiveness of the proposed approach to the solution of the terminal control problem are conducted.

关键词： simulation terminal control mobile object program trajectory position-trajectory control

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Low Order Robust control and I/O Decoupling for Minimum Phase Linear MIMO Systems

Low Order Robust Control and I/O Decoupling for Minimum Phas...

引用

Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARC 2002

作者： Galindo, R. Department of Electrical Engineering University of Nuevo Leon Nuevo Leon 66450 Mexico. POB 94

ISBN: (纸本)9810474806

A design procedure for a stabilizing Low-Dynamic-Order-Robust (LOR) stable and proper controller is given. Minimum Phase Multivariable Linear systems are considered in an output feedback scheme. the Robust Performance and Robust Stability Problems are solved simultaneously. It is doing among the set of stabilizing Regular I/O Decoupling controllers. So, a solution to the Robust Regular I/O Decoupling Problem (RDP) is given. Also, conditions for the optimal values are presented. Simulation examples are given.

关键词： robotics

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Neural Network Adaptive control of Hand Rehabilitation Robot Driven by Flexible Pneumatic Muscles 7

Neural Network Adaptive Control of Hand Rehabilitation Robot...

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7th international conference on Mechatronics and robotics engineering (ICMRE)

作者： Sha, Feifei Meng, Wei Ai, Qingsong Xie, Sheng Q. Wuhan Univ Technol Sch Informat Engn Wuhan Peoples R China Univ Leeds Sch Elect & Elect Engn Leeds W Yorkshire England

ISBN: (纸本)9781665414890

the aim of this study is to design a reliable and stable controller for hand rehabilitation robot driven by flexible pneumatic muscles(FPMs) for post stroke patients. Position control is key to perform effective rehabilitation robotic exercise. However, it is difficult to achieve precise control due to the nonlinearity and hysteresis of the flexible muscles. the efficient control system is required to realize the high-precision control of the joint angle. In this paper, to achieve the stability and anti-interference ability of the system, an improved neural network adaptive control(INNAC) method is proposed. the neural network is used to estimate the unknown items and the adaptive control is used to realize the adaptive characteristics in the unknown environment, so as to realize the stability and high precision control of the control system when encountering human interferences. Finally, experiments were carried out on robot with human participants for five fingers movement assistance. the results show that the control system can achieve good control effect and anti-interference ability.

关键词： neural network flexible pneumatic muscles robotics adaptive control

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Handling of randomly located moving parts using FPGA-based realtime vision

Handling of randomly located moving parts using FPGA-based r...

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Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARCV 2002

作者： Hirai, Shinichi Tsuboi, Tatsuhiko Zakouji, Masakazu Shibata, Mizuho Department of Robotics VLSI Center Ritsumeikan University Kusatsu Shiga 525-8577 Japan

ISBN: (纸本)9810483643

We will develop a manipulator system that can handle randomly located, moving parts. Vision algorithm to detect the planar motion of a part is implemented on an FPGA-based realtime vision system. Trajectory of a manipulator is replanned in realtime according to the detected location of a part. We will present the control architecture and will show experimental results.

关键词： Robots

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Design and Development of Speech-control Robotic Manipulator Arm

Design and Development of Speech-Control Robotic Manipulator...

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Proceedings of the 7th international conference on control, Automation, robotics and Vision, ICARC 2002

作者： Salleh, Sh-Hussain Sze, Hong Kai Swee, Tan Tian Digital Signal Processing Group Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia

ISBN: (纸本)9810474806

this paper presents a speech-control robotic manipulator arm via personal computer and self-built robotic arm. It describes the software we developed to collect, process and train the speech database. First, the specifications of the robotic arm will be explained. the algorithms involved will also be briefly discussed. Finally, the result will show the ability of this system to control robotic manipulator arm with human's voice.

关键词： Robotic arms

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Nerual Network System For Ground Robot Path Planning and Obstacle Avoidance 7

Nerual Network System For Ground Robot Path Planning and Obs...

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7th international conference on Mechatronics and robotics engineering (ICMRE)

作者： Parkhomenko, Vladimir Medvedev, Mikhail Inst Robot & Control Syst Dept Elect Engn & Mechatron Res & Dev Taganrog Russia

ISBN: (纸本)9781665414890

the article considers the movement of a ground robot in the environment with fixed obstacles. the obstacle positions before the beginning of robot functioning are unknown. the obstacles are detected using lidar. It is proposed to use neural networks as planners of direction of avoiding the detected obstacle. the neural network consisting of two cascades is proposed. the first cascade classifies the current situation into two classes. Class 1 is the situation that does not require maneuvering, whether class 2 is the situation that requires maneuvering. the second cascade for situations that require maneuvering chooses the direction of obstacle avoidance. the results of neural network training (the deep learning neural network is used) are presented, as well as results of numerical simulation and physical experiments. the advantages of cascade network are shown, compared to the network that classifies the situation into three classes: no maneuver is required, right maneuver is required, left maneuver is required.

关键词： path planning ground robot uncertain environment neural network

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Event-triggered Suboptimal control Based Adaptive Reinforcement Learning 7

Event-triggered Suboptimal Control Based Adaptive Reinforcem...

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7th international conference on robotics and Artificial Intelligence (ICRAI)

作者： Ma, Tengcong Song, Ruizhuo Univ Sci & Technol Beijing Beijing Peoples R China

ISBN: (纸本)9781450385855

the paper presents event-triggered suboptimal control based adaptive reinforcement learning. Linear quadratic optimal control requires the use of all state variables feedback, but in engineering practice, not all states can be measured or easy to be measured. therefore, suboptimal control becomes very significant. Under event-triggered (ET) mechanism, we give the expression of suboptimal control, propose a novel triggering condition and prove the stability of close-loop system. Adaptive Q-learning is a kind of reinforcement learning, which is used to structure critic network. Finally, simulation example is represented to show the proposed is valid.

关键词： Event-triggered Suboptimal control Reinforcement Learning Adaptive Q-learning

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Design of a Leader-follower Formation Fying System Using Real Local Information 7

Design of a Leader-follower Formation Fying System Using Rea...

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7th international conference on robotics and Automation engineering (ICRAE)

作者： Oh, Koog-Hwan Choi, Young-Cheol Lee, Jae-Gyeong Korea Elect Technol Inst Smart Elect Res Ctr Gwangju 61011 South Korea Korean Agcy Technol & Stand Maengdong Myeon 27737 Chungcheongbuk South Korea Korea Electrotechnol Res Inst Precis Control Res Ctr Chang Won 51543 Gyeongsangnam D South Korea

ISBN: (纸本)9781665489188

this paper presents a leader-follower formation flying system using real local information. We propose a vision-based pan-tilt color tracking system and range sensor to obtain local information. Our approach relies on detecting color marker mounted on the leader UAV to measure the relative angles between two UAVs. We use the range sensor for measuring the relative distance based on the time of flight of radio signals. the UAV hardware platforms are developed to obtain the real local information using our approach. the controller and software system of the pan-tilt color tracking system are also designed. Based on obtained local information, which are measured by the designed hardware system, formation control law is designed for the leader-follower formation flying. Experimental results show that the designed system and controller are able to carry out the leader-follower formation flying using real local information.

关键词： leader-follower formation relative information local information UAV system

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