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

作者： Han, Hongyu Ding, Yibo Yue, Xiaokui Zhang, Haibo Li, Wenbo Chen, Guangshan Northwestern Polytech Univ Sch Astronaut Xian Peoples R China Northwestern Polytech Univ Natl Key Lab Aerosp Flight Dynam Xian Peoples R China Beijing Inst Control Engn Beijing Peoples R China Natl Key Lab Sci & Technol Space Intelligent Cont Beijing Peoples R China Shanghai Aerosp Control Technol Inst Beijing Peoples R China

ISBN: (数字)9781665403870

ISBN: (纸本)9781665403870

A guidance method based on particle swarm optimization (PSO), suitable for expanding the launch window of lunar ascent phase, is developed. Firstly, the dynamic model of Lunar lander is constructed. then, a PSO, whose inertia and acceleration coefficient have been improved, is established to solve the problem of accurate ascent guidance. Finally, the improved algorithm is compared with a traditional one. the results show that the improved PSO can effectively meet the requirement for accuracy: the error of semi major axis is in the order of 10 meters, the error of inclination and right ascension of the ascending node (RAAN) is in the order of 0.01 degrees. For the problem of expanding launch window of lunar ascent phase, RAAN can be transformed from coplanar launch by 10 degrees when using improved method, which is equal to 20 hours of launch delay or advance. Compared with the traditional PSO, improved PSO has significant advantages in solving the problem of accurate lunar liftoff, its convergence is stronger and the accuracy is significantly higher.

关键词： lunar ascent off-plane ascent trajectory design particle swarm optimization

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Research on power modeling of the industrial robot based on ResNet 7

Research on power modeling of the industrial robot based on ...

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

作者： Yao, Ming Zhao, Qinzhi Shao, Zhufeng Zhao, Yanling Tsinghua Univ State Key Lab Tribol Beijing Peoples R China Tsinghua Univ Inst Mfg Engn Beijing Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing Peoples R China China Natl Machine Tool Qual Supervis Testing Ctr Beijing Peoples R China Tsinghua Univ Dept Precis Instrument Beijing Peoples R China Instrumentat Technol & Econ Inst Beijing Peoples R China

ISBN: (数字)9781665403870

ISBN: (纸本)9781665403870

With the development of intelligent manufacturing and the popularization of industrial robots (IR), the energy consumption (EC) of IR become increasingly significant and attract attention from academia and industry. Accurate EC modeling and prediction is the premise and basis for energy efficiency optimization of IR. In recent years, intelligent algorithms like neural networks have been introduced into the EC modeling of IR, and high-precision models can be constructed without complex modeling and parameter identification process. In contrast with the direct modeling method based on mechanism model, data-driven modeling has significant efficiency and application advantages. In this paper, we propose a ResNet-based IR power modeling method. the deep learning algorithm is used to establish the precise mapping between the operating parameters and power of the industrial robot. then, the model is applied to another industrial robot by transfer learning, which realizes the rapid construction and deployment of power models for different IR. the experimental results show that the proposed IR power modeling method can accurately construct the power model and achieve 21.83% less error. After transfer learning, the power model can be accurately constructed even when the amount of data is reduced by 80%, which facilitates the large-scale practical application of IR and their energy efficiency improvement.

关键词： Industrial robotics Power Modeling Deep Learning ResNet Transfer Learning

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the Effect of Status of Robots that Make Mistakes on Desire for Contact and Support for robotics Initiative 7

The Effect of Status of Robots that Make Mistakes on Desire ...

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

作者： Pei, Hai-Run Chen, Qin Lin, Long Lanzhou Univ Technol Sch Econ & Management Lanzhou Peoples R China

ISBN: (纸本)9781665489188

this study innovatively investigates the impact of the status of the robot that makes a mistake on the bad consequences of the mistake in a human-robot team. We used the thought of cognitive ergonomics, blended with affective event theory and the CASA paradigm, to conduct a between-group experiment with the status of robots that make mistakes as the independent variable, negative emotion as the mediating variable, and desire for contact and support for robotics initiative as the dependent variables. 104 students were randomly divided into two corporations for the experiment, with gender balance. the results showed that high status robots resulted in less negative emotions and higher levels of desire for contact and support for robotics initiative. the findings of this paper no longer solely enrich the perception of the terrible consequences of robotic mistakes, however additionally supply essential realistic insights for robotic design.

关键词： robot mistakes status negative emotions desire for contact support for robotics initiative

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Fixed-Time Adaptive Fuzzy Tracking control for Longitudinal Dynamic Model of Hypersonic Vehicles with Nonlinear Parametrization 7

Fixed-Time Adaptive Fuzzy Tracking Control for Longitudinal ...

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7th international conference on robotics, control and Automation engineering, RCAE 2024

作者： Ma, Yongpeng Yang, Shaohua Li, Xia Qufu Normal University College of Engineering Qufu China Qufu Normal University School of Cyber Science and Engineering Qufu China

ISBN: (纸本)9798350355642

this paper studies an adaptive fixed-time output tracking control problem for nonlinearly parametrized hypersonic vehicles. To deal with unknown nonlinearly parametrized dynamics, fuzzy logic systems (FLSs) are used to approximate these nonlinear terms. An adaptive fuzzy control scheme is developed by using a backstepping control method, which ensures that the closed-loop signals are globally ultimately bounded and the tracking errors converge into a small neighborhood of origin within fixed time. Simulation results demonstrate the effectiveness of the proposed control scheme. © 2024 IEEE.

关键词： Hypersonic vehicles

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Cooperative Strategies in Robotic Soccer

Cooperative Strategies in Robotic Soccer

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

作者： Ould-Khessal, Nadir Naing, Maung Yan Sin, Teng Jit Robotics and Automation Group Temasek Engineering School Temasek Polytechnic 21 Tampines Avenue 1 Singapore 529757

this paper describes work done on cooperative strategies in designing a robotic soccer team. the paper focuses on the development of five mobile robots designed based on the small-size RoboCup league (i.e. F-180).

ISBN: (纸本)9810474806

关键词： robotics

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A Spatial Path Following Method for Hyper-Redundant Manipulators by Step-by-Step Search and Calculating 7

A Spatial Path Following Method for Hyper-Redundant Manipula...

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

作者： Ji, Hongcheng Xie, Haibo Yang, Huayong Zhejiang Univ Sch Mech Engn Hangzhou Peoples R China

ISBN: (纸本)9781665489188

A hyper-redundant manipulator has high flexibility and adaptability to conduct exploration or maintenance in a narrow space due to its many degrees of freedom(DOFs). However, the hyper-redundancy of its DOFs brings challenges to motion control. In this paper, a spatial path following method is proposed for motion control of hyper-redundant manipulators. We first generate the desired path through polynomial interpolation using known waypoints. then, the target positions of the joints are searched according to the distance the base moves forward. All joint coordinates are projected onto two orthogonal planes. the angle change of pitch and yaw can be calculated simply in projection planes with current points and target points. Simulations are performed on a 17-DOF snake-like robot, including moving along different expected paths. Results indicate that the proposed method can solve spatial path-following problems with efficiency and accuracy. It can also be applied to control the motion of other hyper-redundant manipulators with similar structures.

关键词： Hyper-redundant manipulators motion control path following

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Research on Matching of Motor control System Based on Electric Drive of engineering Vehicle 7

Research on Matching of Motor Control System Based on Electr...

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

作者： Feng, Zongjun Guangxi Sci & Technol Normal Univ Laibin Guangxi Peoples R China

ISBN: (纸本)9798350345780

In this paper, on the basis of the control research of a single inverter controlling dual motors in the power batterypowered mode for the scenario of parallel motor application in engineering vehicles, the mathematical model applied to electric drive motor control was derived, the motor stator parallel current control strategy was analyzed, and the research of energy-saving operation strategy based on bus-type topology was innovatively proposed. the research equipment was used to develop a reference correlation between the wheelside speed parameter K and the average rotor magnetic field directional parallel control method under loose pavement wheelside slip rotation conditions. In order to improve the starting performance of parallel motors under unbalanced load and reduce the unbalanced degree of parallel motor speed, this experiment applied a parallel control strategy based on weighted vector based on the average rotor magnetic field orientation control. the results show that the machine intelligence level was improved and the energy saving effect of reducing the heat loss of the motor was achieved.

关键词： engineering vehicle Motor drive Energy-saving control Bus topology

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Advanced Electromagnetic Wheel Robot 7

Advanced Electromagnetic Wheel Robot

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

作者： Shaqaq, Sultan A. Inspect Dept Saudi Aramco Dhahran Saudi Arabia

ISBN: (纸本)9781665490511

the Fourth Industrial Revolution (4IR) promotes innovation and robotic deployments in the oil and gas industry to improve quality and safety. this paper discusses a robot in the shape of a wheel, with an electromagnetic conductive outer surface and an inner compartment, able to move horizontally and vertically on ferrous assets in oil and gas plants, without the need of scaffolding and man-lifts, to inspect high elevated assets. this use resulted in reduced operational cost by significantly eliminating scaffolding, reducing manhours, and downtime while improving safety by minimizing man-lifts. this robot has a number of magnetic elements located around the inner chamber of the housing;these elements being coupled to a first end of a power drive included in the robotic device. In addition, the control system in the robot provides on-demand magnetism to overcome 90-degree bends with selective magnetism to move in either direction (forward or backward) from the bend. this robot combines multipurpose technology, such as a magnetic force sensor to detect the magnetic force on the wheel. Additionally, the element could be used as a Magnetic Flux Leakage (MFL) sensor, to detect anomalies and an ultrasonic testing (UT) sensor for thickness measurement. Both sensors controlled by an advanced microprocessor.

关键词： Fourth Industrial Revolution (4IR) robotics Magnetic Flux Leakage (MFL) Ultrasonic Testing (UT) Inspection Wheels and Electromagnetic

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A Practical Framework for Multi Agent Experiments in Aerial robotics 7

A Practical Framework for Multi Agent Experiments in Aerial ...

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

作者： Knox, Samuel J. C. Crann, Verdon J. Amiri, Peyman Crowther, William J. Univ Manchester Dept MACE Manchester England

ISBN: (纸本)9781665490511

A framework is presented for distributed control of rotary wing aerial robots using open-source flight controller firmware, commercial communication and computing hardware in an outdoor visual line of sight test environment. the work builds upon existing documented frameworks that focus mainly on laboratory based experiments. the research context is evaluation of novel rules for safe intersection of high-density aerial traffic flows. the framework is based on the use of a PX4 flight controller, Linux onboard computer running bespoke flight management code, MAVlink WiFi Bridge and WiFi module on each flight vehicle, and a ground control station running QGroundcontrol and a bespoke graphical user interface for interaction with vehicles and control of the overall experiment. SITL functionality is provided using Gazebo for physical simulation. Communication is via WiFi, with an individual radio control transmitter for each vehicle provided as backup. the developed framework was evaluated using a fleet of 10 multirotor vehicles based on 1kg class racing drones operating in a test volume approximately 100x100x100m. engineering evaluation results are presented in the form of an technical issue register which highlights the engineering challenges that had to be solved to achieve a practical working system. Results are then presented for an example drone traffic intersection experiment in which two helical traffic flows are joined without conflict using flight rules running local to each drone. the proposed framework has been shown to be scalable to up to 10 vehicles, with addition of further vehicles being limited by WiFi router performance. the framework is hardware agnostic as far as possible and is extensible to use for a range of different distribute control experiments.

关键词： Aerial robotics Distributed control Unmanned Traffic Management

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Temporal finite elements for target control dynamics of mechanisms

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COMPUTERS & STRUCTURES 2007年第17-18期85卷 1399-1408页

作者： Eriksson, Anders Royal Inst Technol KTH Mech SE-10044 Stockholm Sweden

this paper discusses a temporal finite element description in the analysis of dynamics of mechanical systems, with a special emphasis on problems where target control is desired. this is defined as a situation where forces are sought for the movement of a structure from an initial to one or more specified target states. the primary applications lie in robotics and in bio-mechanical forward simulations of musculoskeletal systems. A temporal discretization of the movement and forces is introduced. By interpolating simultaneously displacements and velocities in the spatial discrete degrees of freedom, a collocation over the time interval can be used to decide the necessary system. the needed control can be optimized for chosen criteria on the integrated force components. the temporal interpolation of control forces and discrete displacements introduces a degree of continuity in the obtained results. the viewpoint allows variation of many aspects of problem formulation, and leads to efficient solutions for systems of high complexity but moderate size. (c) 2006 Civil-Comp Ltd. and Elsevier Ltd. All rights reserved.

关键词： musculoskeletal system biomechanics dynamics target states mechanisms finite element approximation

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