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检索条件"任意字段=7th International Conference on Electrical Engineering, Control and Robotics, EECR 2021"

共 190 条记录，以下是1-10 订阅

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2021 7th international conference on electrical engineering, control and robotics, eecr 2021

2021 7th International Conference on Electrical Engineering,...

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7th international conference on electrical engineering, control and robotics, eecr 2021

the proceedings contain 52 papers. the topics discussed include: analysis of terrain navigability in underwater terrain aided navigation;the railway detection via adaptive multi-scale fusion processing;temperature experiment and compensation algorithm design for fiber gyros in rapid startup inertial navigation system;a simulation study on the optimization of flow channel pattern in high temperature proton exchange membrane fuel cell;coordinated target tracking of two UAVs based on game theory approach and Lyapunov guidance vector fields;demand factor forecasting method of design for communication and signal building electric systems by kernel density estimation;a novel intestinal diagnosis system based on inchworm-like micro robot with wireless power transfer;and design and analysis of a single adjustable damping force robotic leg working with magnetorheological technology.

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

Proceedings of the 7th International Conference on Control, ...

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

ISBN: (纸本)9810474806

the proceedings contains 291 papers from the 7th international conference on control, automation, robotics and vision, ICARCV 2002. the topics discussed include: A robust mmwave radar sensor for underground applications;signal-adapted wavelets for Doppler radar system;neural network based visual control;development of pneumatic cellular robots forming a mechanical structure;a linear compositional model for analyzing and classifying image textures;vibration analysis and optimal control in self-servo track writer and cooperative strategies in robotic soccer.

关键词： Radar

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Indoor UWB Localization Algorithm for Multi-robot and Its Application 7th

Indoor UWB Localization Algorithm for Multi-robot and Its Ap...

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7th international conference on Wireless Communications, Networking and Applications, WCNA 2023

作者： Wang, Shuo Xu, Zhihao Liu, Kaiwen Liao, Yuanjiang Li, Xiaorong Zhong, Yule Institute Robotics Ningbo University of Technology Ningbo China

ISBN: (纸本)9789819624089

Multi-robot are difficult to accurately locate in complex indoor space environments, with high real-time requirements and the inability to utilize satellite signals, thus limiting their application range. this article studies relevant algorithms based on the demand for indoor localization solutions in open intelligent manufacturing factories, existing UWB localization methods and principles. By measuring the distance value between the tag and the base station, and then using these distance values to calculate the tag coordinates, localization function can be achieved. Designed a localization scheme, built an indoor multi-robot UWB localization system, achieved precise positioning, and successfully verified the effectiveness of its algorithm. By combining multi-robot motion control technology with UWB positioning, it can be applied to indoor logistics transportation, achieve automatic data collection, and reduce costs and increase efficiency. © the Author(s) 2025.

关键词： Multipurpose robots

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Motion control of a Chain of Wheeled Robots

Motion Control of a Chain of Wheeled Robots

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international Youth conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Grechko D.V. Sionov P.D. Adamov B.I. Pankrateva G.V. Department of Robotics Mechatronics Dynamics and Machine Strength National Research University “MPEI” Moscow Russia

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

this article is devoted to the kinematic and dynamic analysis of the movements of a system of two robots with a differential drive connected by a cylindrical joint. the objectives of the article are the construction of algebraic differential equations describing the dynamics of the system, as well as the development of motion control of this system. the equations of motion of the considered mechanical system in the presence of nonholonomic connections is presented. the relations limiting the initial conditions on the coordinates of the centers of each of the robots, due to geometric connections, are obtained. Based on the results of motion modeling, the reliability of the kinematic model and the operability of the proposed control are shown. Numerical simulation of the controlled mechanics of the system was carried out in the SimInTech dynamic modeling environment.

关键词： Robot kinematics Dynamics Wheels Kinematics Numerical simulation Mathematical models Angular velocity Numerical models Mobile robots Robots

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Estimation of the Suboptimal control Accuracy in the Fastest Possible Bringing of a Physical Pendulum to an Arbitrary Position

Estimation of the Suboptimal Control Accuracy in the Fastest...

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international Youth conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Olga M. Kapustina Alexander I. Kobrin Anastasia D. Zhuravleva Robotics Mechatronics Dynamics and Strength of Machines Department National Research University “MPEI” Moscow Russian Federation

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

the approximate suboptimal control synthesis is considered in the classical problem of the fastest transfer of a nonlinear inertial oscillator (satellite in a circular orbit, a person on a mobile transport device, elements of controlled manipulators, exoskeletons) to an arbitrary position, in which the angular velocity is zero. the control engine torque magnitude is limited by k. In this paper, the control accuracy is estimated by mismatch of the time it takes the phase point to reach the same terminal position, when moving along different trajectories, starting from the suboptimal dispersal curve. In that case no complex numerical construction of the optimal dispersal curve is required. For various sufficiently large k, when relay control is realized by no more than one switching, and arbitrary terminal positions, not necessarily equilibrium, the accuracy estimates of the suboptimal method, phase portraits of controlled movements, switching curves, and suboptimal dispersal curves are presented.

关键词： Accuracy Torque Satellites Robot kinematics Estimation Switches control systems Trajectory Relays Oscillators

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Investigation of Algorithms of Multi-Agent Robot Swarm control in the Task of Finding the Shortest Path

Investigation of Algorithms of Multi-Agent Robot Swarm Contr...

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international Youth conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Andrey D. Razorvin Oleg V. Glukhov Anton I. Martynov Konstantin I. Sokolov Pavel Y. Anuchin Vladislav A. Yushin Radio Systems Department National Research University “MPEI” Moscow Russian Federation

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

In this paper, algorithms for multi-agent robot heap control are examined to address the task of finding the shortest path for each robot-agent. three algorithms are considered: a common-sense-based method (COM), the particle cluster optimization method (PSO), and the ant algorithm (ACO). A mathematical model of the swarm of robots and agents was developed, and a modeling environment was created for testing and comparing the algorithms in terms of execution time and path length. the most efficient algorithm was then implemented on physical robots. Experimental results confirm the simulation data and demonstrate the practical applicability of the proposed algorithms in real scenarios.

关键词： Power engineering Urban areas Clustering algorithms Swarm robotics Robot sensing systems Reliability engineering Mathematical models Trajectory Particle swarm optimization Testing

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Dynamic Analysis of a Quadruped Robot

Dynamic Analysis of a Quadruped Robot

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international Youth conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Saypulaev G.R. Saypulaev M.R. Sokiranskaya E.K. Fernando M.J. Mohamed A.M. Kazarinova A.S. Departmentof Robotics Mechatronics Dynamics and Machine Strength National Research University “MPEI” Moscow Russia

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

this article presents a spatial dynamics of a quadruped robot Mini Cheetah with different numbers of supporting legs. the aim of the work is to construct and analyze a dynamic model of a four-legged robot taking into account a different number of supporting legs. To obtain a dynamic model, the concepts of Lagrange mechanics were applied. For the unsupported phase of the robot's motion, a solution to the inverse problem of dynamics is obtained. For the single-support phase of motion, a decomposition of the system of equations of motion into two subsystems of a lower order is obtained. For the two-support phase of motion, a software control of the robot's motion is obtained, represented by a solution to the direct problem of dynamics. the results of the work can be used in the design and manufacture of new four-legged robot.

关键词： Legged locomotion Robot motion Power engineering Inverse problems Dynamics Mathematical models Software Numerical models Quadrupedal robots Robots

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Geometry and Kinematics of a Mobile Platform with a Rocker-Bogie Suspension During its Spatial Movement on an Uneven Surface

Geometry and Kinematics of a Mobile Platform with a Rocker-B...

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international Youth conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Saypulaev G. R. Gribov A. E. Gribova O. V. Department of Robotics Mechatronics Dynamics and Machine Strength National Research University “MPEI” Moscow Russia

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

this article presents mathematical modeling of the motion geometry and kinematics of a mobile platform with a rocker-bogie suspension during its spatial movement on an uneven surface. the aim of the work is to construct equations linking the generalized coordinates and velocities of the system during continuous motion of the robot on the support surface, taking into account the non-slip of the contact points. In particular cases of robot motion on horizontal and inclined planes, solutions of the equations of motion geometry relative to the generalized coordinates of the system are obtained. In the particular case of flat motion of the robot platform along a horizontal plane, a solution of the inverse kinematics equations is found. the results of the work can be used in developing robot motion control systems and planning optimal motion trajectories.

关键词： Geometry Robot motion Power engineering Inverse problems Robot kinematics Kinematics Mathematical models Trajectory Planning Mobile robots

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Optimal control of a Wheeled-Exoskeleton Using Linear Quadratic Regulator and Kalman Filter

Optimal Control of a Wheeled-Exoskeleton Using Linear Quadra...

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international Youth conference on Radio Electronics, electrical and Power engineering (REEPE)

作者： Delshan Deeb Igor V. Merkuryev Department of Robotics Mechatronics Dynamics and Strength of Machines National Research University “MPEI” Moscow Russian Federation

ISBN: (数字)9798331531836

ISBN: (纸本)9798331531843

Exoskeletons are increasingly gaining attention due to their role in medical rehabilitation and restoring mobility in individuals with movement impairments. However, traditional exoskeleton designs face limitations due to the use of a rigid structure and reliance on complex control algorithms. this work proposes integrating exoskeletons with a wheeled base to enhance mobility, alongside developing an optimal control strategy using a Linear Quadratic Regulator (LQR) combined with a Kalman filter to stabilize the system's vertical equilibrium. the dynamic model of the system is derived using Euler-Lagrange equations, yielding nonlinear differential equations that are linearized and written in state-space form. A control strategy based on minimizing a quadratic cost function is implemented to optimize energy efficiency. To address disturbances from sensor noise, the Kalman filter is employed to improve algorithmic robustness. Simulation results demonstrate the transient response of the exoskeleton's joint angles to initial conditions under feedback control and noise filtering. the controller successfully tracks predefined trajectories while maintaining equilibrium, validating the algorithm's ability to stabilize the system. Additionally, the proposed model's energyefficient performance highlights its potential for advancing the design of wheeled exoskeletons in medical and assistive applications.

关键词： Transient response Regulators Simulation Heuristic algorithms Exoskeletons Noise Optimal control Mathematical models Trajectory Kalman filters

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Design and analysis of a single adjustable damping force robotic leg working with magnetorheological technology 7

Design and analysis of a single adjustable damping force rob...

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7th international conference on electrical engineering, control and robotics, eecr 2021

作者： Jiang, Yifan Li, Qimin An, Zijian College of Mechanical Engineering Chongqing University Chongqing400044 China

Aiming at the problems of leg's huge impact faced by legged robot in running movements, an adjustable damping force robotic leg working with magnetorheological technology was designed. the mechanism of how the magnetorheological damper adjusts the damping force of the robotic leg is analyzed. Based on SLIP model, the dynamic of the robotic leg was established. With Foot contact force, the displacement of the hip joint in the vertical direction and the loss of leg's energy as the optimization objectives, the optimal damping force at different velocity was obtained by weight optimization algorithm, and the curve of the optimal damping force of the leg varying with the speed of the body is fitted. the cushioning capacity of the leg was simulated and verified at a speed of 4 meters per second, and the results showed that the structure with adjustable damping force meet the requirements of high cushion performance in running movements. © Published under licence by IOP Publishing Ltd.

关键词： robotics

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