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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41-50 订阅

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Comparison of Two Numerical Methods for Riemannian Cubic Polynomials on Stiefel Manifolds

Comparison of Two Numerical Methods for Riemannian Cubic P...

引用

16th APCA international conference on Automatic control and Soft Computing, controlO 2024

作者： Anahory Simoes, Alexandre Colombo, Leonardo Silva Leite, Fátima IE University P. de la Castellana 259 Madrid28046 Spain Carr. Campo Real km 0 200 Arganda del Rey Madrid28500 Spain Institute of Systems and Robotics University of Coimbra Rua Silvio Lima - Polo II Coimbra3030-290 Portugal Department of Mathematics University of Coimbra Largo D. Dinis Coimbra3000-143 Portugal

ISBN: (纸本)9783031817236

In this paper we compare two numerical methods to integrate Riemannian cubic polynomials on the Stiefel manifold Stn,k. the first one is the adjusted de Casteljau algorithm, and the second one is a symplectic integrator constructed through discretization maps. In particular, we choose the cases of n=3 together with k=1 and k=2. the first case is diffeomorphic to the sphere and the quasi-geodesics appearing in the adjusted de Casteljau algorithm are actually geodesics. the second case is an example where we have a pure quasi-geodesic different from a geodesic. We provide a numerical comparison of both methods and discuss the obtained results to highlight the benefits of each method. © the Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Convergence of numerical methods

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3D Trayectory Data Optimization through an Adaptation of the Douglas-Peucker Algorithm: Application to Surgical robotics 9

3D Trayectory Data Optimization through an Adaptation of the...

引用

9th international conference on control and robotics engineering (iccre)

作者： Manrique-Cordoba, Juliana Cases-Hurtado, Jesus David Romero-Ante, Juan De la Casa Lillo, Miguel Angel Maria Sabater-Navarro, Jose Miguel Hernandez Univ Elche Bioengn Inst Elche Spain

ISBN: (纸本)9798350372694;9798350372700

the advancement of the autonomy level of surgical robots is linked to the improvement in the learning of trajectories made by expert surgeons when performing simple procedures. An initial phase in this learning process involves refining the ability to derive valid robotic trajectories from recorded surgeon maneuvers. Manual trajectories typically involve high point-sampling, posing challenges for integration into learning algorithms. this study aims to obtain resampled trajectories characterized by a significantly reduced point count and the capacity to define parametric key points. this allows for their utilization in instructing a surgical robot to replicate learned trajectories from surgeons, all while preserving critical parameters such as precision and velocity. the article introduces a trajectory simplification algorithm, based on the DouglasPeucker algorithm, designed to minimize the point count in potentially intricate trajectories.

关键词： trajectory re-sampling surgical robotics 3D trajectories data sets for robot learning

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Image Based Visual Servo control with a Two-Axis Inertially Stabilized Platform Using Deep Deterministic Policy Gradient 7

Image Based Visual Servo Control with a Two-Axis Inertially ...

引用

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

作者： Tien Pham Minh Bui Phong Mac Hai Tran Viettel Grp Viettel Aerosp Inst Hanoi Vietnam

ISBN: (纸本)9781665489188

this paper introduces a visual tracking control scheme for the two axes Inertially Stabilized Platform. An adaptive PID controller based on the Deep Deterministic Policy Gradient (DDPG) algorithm is used where it is treated as a Reinforcement Learning Policy. the optimal PID parameters are obtained at each time step via a training process. To effectively train the parameters, we address the problem of handling time delay and uncertainty of the system by presenting an observer system. Simulation results show that our method achieves good performance for various cases of time delay.

关键词： adaptive PID control deep deterministic policy gradient gimbal control reinforcement learning

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Reinforced Safety-Related Condition Awareness in A Motion Planning System for Remote Manipulators in Nuclear Decommissioning 9

Reinforced Safety-Related Condition Awareness in A Motion Pl...

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9th international conference on control and robotics engineering (iccre)

作者： Zhang, Kaigiang Pawar, Vijay M. Orr, Lachlan Rei, Ricardo J. Louro Sugawara, Yoshimasa Sakaue, Tomoki Fumiaki, Abe Cryer, Alice Caliskanelli, Ipek Skilton, Robert UK Atom Energy Author UKAEA Abingdon England UCL London England Imperial Coll London London England AtkinsRealis Co Epsom England Tokyo Elect Power Co Holdings TEPCO HD Fukushima Japan TEPCO HD Fukushima Japan UKAEA Abingdon England

ISBN: (纸本)9798350372694;9798350372700

Motion planning of remote manipulators is a challenging task in nuclear decommissioning practice. Operators have to consider different safety-related factors to plan safe motions in such critical applications. Novel motion planning systems assist operators in planning collision-free motions. However, there is no effective way to reinforce the operators' awareness of multiple safety-related conditions, which are beyond the considerations of standard motion planning requirements in other application fields. this paper presents a human-machine interaction approach that monitors safety-related conditions and reinforces operators' awareness, when potential risks likely emerge. three functions, which reinforce the awareness of manipulator-environment clearance, radiation exposure, and system limits, are implemented to realize the proposed interaction approach and reduce operators' cognitive load. A pilot study was carried out using a motion planning system enhanced with the proposed approach. the effectiveness has been qualitatively verified through the pilot study.

关键词： motion planning human-centred systems nuclear decommissioning remote operation field robotics

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Adaptive Backstepping Fuzzy control for Elevation Equilibrator Electro-Hydraulic Servo System 7

Adaptive Backstepping Fuzzy Control for Elevation Equilibrat...

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7th international conference on Automation, control and robotics engineering (CACRE)

作者： Yang, Shanping Han, Biao Zhang, Shaoguang Zhang, Kun Engn Univ PLA Training Base Army Xuzhou Jiangsu Peoples R China

ISBN: (数字)9781665403870

ISBN: (纸本)9781665403870

An ABFC (adaptive backstepping fuzzy control) strategy is presented for one elevation equilibrator electro-hydraulic servo system of vehicle-mounted artillery with nonmatching uncertainty and parameters time-varying. Method of backstepping is used to overcome the problem of nonmatching uncertainty, adaption laws are adopted to eliminate the unknown parameters online. Fuzzy control is adopted to reduce the switching chattering phenomenon. Co-simulation results show that the ABFC strategy tracks the desired tracking trajectory well. the designed controller has nicer robustness and lower steady-state errors.

关键词： Backstepping Co-simulation Nonmatching Adaptive Fuzzy

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Dance Gestures Recognition for Wheelchair control 8

Dance Gestures Recognition for Wheelchair Control

引用

8th international conference on control and robotics engineering (iccre)

作者： Rocha, Juan Martinez Luna, Jhedmar Callupe Monacelli, Eric Foggea, Gladys Passedouet, Maflohe Delaplace, Stephane Hirata, Yasuhisa Univ Paris Saclay Versailles Engn Syst Lab Velizy Villacoublay France Mobilis Immobilis Cie Les Clayes Sous Bois France Tohoku Univ Smart Robots Design Lab Sendai Japan

ISBN: (纸本)9798350345650

Wheelchair dance is an inclusive activity that gives more and more people with disabilities the opportunity to express themselves, exercise and improve their quality of life. In this article we present the development of a wearable sensor system capable of detecting dance gestures to command Voting, an electric wheelchair developed by the authors for dance purposes. thus, with the support of the professional wheelchair dance teacher Gladys Foggea and the choreographer Maflohe Passedouet, thirteen dance gestures were defined, consisting of 7 simple gestures and 6 complex gestures. these gestures were used to train the algorithm of the proposed system. In order to find the appropriate algorithm and parameters for the present application, three classifiers were evaluated for their accuracy: SVM, KNN and Random Forest. then, the most suitable parameterisation was determined by iterating each parameter for each classifier. As a result of this evaluation, it was found that the most suitable classifier was Random Forest, which achieved an accuracy of 97.7%. In addition, no difference in accuracy was observed between the detection of simple and complex gestures. Finally, the authors consider the result to be suitable to control Volting dance wheelchair, the implementation of which will be carried out in the next stage of the research.

关键词： Wheelchair dance gesture recognition wheelchair control machine learning

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Selected Topics of Artificial Intelligence in robotics 7

Selected Topics of Artificial Intelligence in Robotics

引用

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

作者： Kwiecien, Joanna AGH Univ Sci & Technol Dept Automat Control & Robot Al Mickiewicza 30 PL-30059 Krakow Poland

ISBN: (纸本)9781665490511

the paper is focused on the selected area of artificial intelligence (AI) applications, and presents only two examples relating to robotics and robotic systems. It is particularly interested in swarm intelligence method applied to path planning problems, and machine and deep learning approaches to anomaly detection. Based on existing methods of AI, we discuss important aspects for the application of AI technologies to view some research problems from robotics perspective.

关键词： path planning mobile robots anomaly detection artificial intelligence swarm algorithms

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Research on the PID control Method for Indoor Heating Temperature Based on the Improved Coati Optimization Algorithm 9

Research on the PID Control Method for Indoor Heating Temper...

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9th international conference on control and robotics engineering (iccre)

作者： Wang, Weixin Geng, Liqing Yang, Genghuang Huo, Yang Tianjin Univ Technol & Educ Sch Automat & Elect Engn Tianjin Peoples R China Tianjin Univ Technol & Educ Tianjin Key Lab Informat Sensing & Intelligent Co Tianjin Peoples R China Oumingzhuang Biotechnol Tianjin Co Ltd Tianjin Peoples R China

ISBN: (纸本)9798350372694;9798350372700

the proposed solution addresses the issues of high overshoot and long response time in traditional PID control methods for complex nonlinear heating systems with large inertia and pure lag. the Improved Coati Optimization Algorithm (ICOA-PID) introduces an enhanced controller. Firstly, the heating system's primary and secondary piping transfer function models are established. Secondly, the Coati Optimization Algorithm (COA) has been improved in four aspects: the introduction of the chaotic mapping mechanism, nonlinear inertial weighting factors, t-distribution variation, and the coati alarmist mechanism, and the test is carried out using the CEC2022 function set, which performs well in solving most of them in dimension 20;meanwhile, the data are plotted in boxplots. It can be observed that ICOA has both the smallest mean height and the smallest interquartile range (IQR). these verify that the ICOA is able to converge more rapidly, with a greater degree of accuracy and stability than other algorithms. Finally, the simulation experiments were conducted, the step response plot demonstrated that the rise time of the ICOA-PID controller was reduced by 5 seconds in comparison to the pre-improvement period, and by approximately 10 seconds in comparison to the DBO-PID controller. Additionally, the amount of overshoot was reduced by 2% in comparison to the pre-improvement period;the fitness value curves indicate that the fitness value of the ICOA-PID controller is consistently minimized, indicating that it identifies the most optimal set of PID parameters. the error curve exhibits a rapid and pronounced decline, indicating the optimization of parameters to achieve both dynamic responsiveness and static accuracy within the system. the aforementioned results substantiate that the IOCA-PID control methodology is more effective in meeting the indoor thermal demand demands of winter users compared to other algorithmic controllers, and thus possesses certain practical relevance fo

关键词： COA algorithm central heating system PID control

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conference Committees

Conference Committees

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IEEE international conference on control and robotics engineering (iccre)

Provides a listing of current committee members and society officers.

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Acceleration Frequency Characteristic Compensation method of Electro-hydraulic Shaking Table 7

Acceleration Frequency Characteristic Compensation method of...

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7th international conference on Automation, control and robotics engineering (CACRE)

作者： Zhang, Boxin Guan, Guangfeng Dalian Maritime Univ Naval Architecture & Ocean Engn Coll Dalian Peoples R China

ISBN: (数字)9781665403870

ISBN: (纸本)9781665403870

Electro-hydraulic shaking table (EHST) is the key equipment for vibration simulation. Feed-forward inverse model compensation (FIMC) control method is presented to compensate the acceleration frequency characteristic of the EHST. Firstly, the augmented UD identification recursive extended least square (AUDI-RELS) algorithm is used to identify the acceleration model of the EHST. the model order and the parameters are determined based on the loss function value. Secondly, the approximate inverse model of the non-minimum phase system is built based on the zero phase error method. thirdly, the Lagrange function is used to design controllers and compensate for magnitude errors caused by zero phase error tracking control (ZPETC). Experimental results of the acceleration frequency characteristic analysis verify the validity of the FIMC control method.

关键词： Electro-hydraulic shaking table Zero phase error control System identification Lagrange function optimization

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