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检索条件"任意字段=8th International Conference on Control and Robotics Engineering, ICCRE 2023"

共 1838 条记录，以下是11-20 订阅

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Vibration Suppression control System for High-Speed Transfer-Robot with Adjustable Length Loading Arm 8

Vibration Suppression Control System for High-Speed Transfer...

引用

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

作者： Yamamoto, Yuichiro Yamashita, Takahito Kumagai, Yusuke Tasaki, Ryosuke YMG Corp Ltd Toyohashi Aichi Japan Aoyama Gakuin Univ Mech Engn Sagamihara Kanagawa Japan

ISBN: (纸本)9798350345650

To develop high-speed transport system using gantry loaders that performs transfer tasks in the factories. the transfer velocity is designed using IPC for the loader motion. In addition to the conventional horizontal movement, the loading arm is assumed to be extended during transfer. Experiments using a lab-scale transfer system and a flexible pillar of the gantry loader will validate the effectiveness of the proposed method.

关键词： gantry loader vibration suppression control 2-dimensional transfer flexible transfer system

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Mobile Robot Model Predictive control Approach: Case Study of an Irrigation Canal 8

Mobile Robot Model Predictive Control Approach: Case Study o...

引用

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

作者： Ranjbar, Roza Martin, Javier G. Maestre, Jose M. Etienne, Lucien Duviella, Eric Camacho, Eduardo F. Univ Seville Dept Syst & Automat Engn Seville Spain IMT Nord Europe Dept CERI Digital Syst Lille France

ISBN: (纸本)9798350345650

We propose a stochastic model predictive control (SMPC) in combination with a mobile robot to address a control problem for an irrigation canal with uncertain dynamics. We impose tightened constraints over the sampling time of the prediction horizon to make the controller calculate the best route for the robot to gather new measurements for the MPC controller. this MPC strategy with a robot in the loop is validated using a numerical model of an ASCE Test Canal as a case study.

关键词： stochastic MPC mobile robot uncertainty water systems automation

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control Design and Implementation of Robotic Massage Based on Finger Pressing Motion Analysis 8

Control Design and Implementation of Robotic Massage Based o...

引用

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

作者： Harada, Naoya Akiduki, Takuma Kitazaki, Michiteru Tasaki, Ryosuke Aoyama Gakuin Univ Dept Mech Engn Sagamihara Japan Toyohashi Univ Technol Dept Mech Engn Toyohashi Japan Toyohashi Univ Technol Dept Comp Sci & Engn Toyohashi Japan

ISBN: (纸本)9798350345650

this paper aims to analyze the force information that a massage therapist acquires during treatment, the estimation of the condition of the recipient, and the laws of decision making based on this information, and to plan robotic movements based on this information. In order to reproduce expert manual therapy with a robotic arm and hand, the treatment movements and finger pressing forces were measured and analyzed. To discover characteristic movements by comparing them for each practitioner and treatment position. To elucidate the parameters necessary to design the basic finger pressing movements. Based on the analysis results, the amount of pushing and applied force during the treatment were imitated. Simulating the amount of push and force is not sufficient for the recipient. A control that feeds back the recipient's movement and applied force is necessary. the robot massages in response to the recipient's movements through repetitive control. We confirmed the improvement of target force tracking by repetitive control.

关键词： Robotic massage Finger pressing analysis Force control

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Motion control of Liquid Containers with Slosh Constraints during High-Speed three-Dimensional Transfer 8

Motion Control of Liquid Containers with Slosh Constraints d...

引用

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

作者： Nakagawa, Ryuji Yamashita, Takahito Tasaki, Ryosuke Aoyama Gakuin Univ Dept Mech Engn Sagamihara Kanagawa Japan

ISBN: (纸本)9798350345650

In many plants, there exist a lot of liquid transfer systems. the acceleration during transfer causes sloshing (liquid vibration) in the container, which can lead to overflow and changes in properties, requiring transfer that suppresses sloshing. However, transfer without sloshing requires many sensors and complicated models for control design. Moreover, previous sloshing suppression has been used for horizontal transferring, but flexible transferring in a production line is needed to enable high-mix low-volume production. therefore, this paper proposes a method to suppress sloshing when liquid containers are transferred along a three-dimensional path. To cope with changes in the natural angular frequency of the liquid surface due to vertical acceleration, a time-varying notch filter is designed and combined with a low-pass filter to suppress sloshing. In particular, we demonstrate the effectiveness of the proposed method by conducting sloshing suppression experiments in a petri dish, which easily overflows.

关键词： motion control three-dimensional transfer sloshing articulated robot

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Impact, Attention, Influence: Early Assessment of Autonomous Driving Datasets 8

Impact, Attention, Influence: Early Assessment of Autonomous...

引用

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

作者： Bogdoll, Daniel Hendl, Jonas Schreyer, Felix Gowda, Nishanth Faerber, Michael Zoellner, J. Marius FZI Res Ctr Informat Technol Karlsruhe Germany Karlsruhe Inst Technol Karlsruhe Germany

ISBN: (纸本)9798350345650

Autonomous Driving (AD), the area of robotics with the greatest potential impact on society, has gained a lot of momentum in the last decade. As a result of this, the number of datasets in AD has increased rapidly. Creators and users of datasets can benefit from a better understanding of developments in the field. While scientometric analysis has been conducted in other fields, it rarely revolves around datasets. thus, the impact, attention, and influence of datasets on autonomous driving remains a rarely investigated field. In this work, we provide a scientometric analysis for over 200 datasets in AD. We perform a rigorous evaluation of relations between available metadata and citation counts based on linear regression. Subsequently, we propose an Influence Score to assess a dataset already early on without the need for a track-record of citations, which is only available with a certain delay.

关键词： robotics Autonomous Driving Datasets Influence Impact Attention Scientometrics Bibliometrics

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GarRobot: Design, Construction and control of a Teleoperated Climbing Robot Inspired by Geckos 8

GarRobot: Design, Construction and Control of a Teleoperated...

引用

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

作者： Ayala, Naomi Isabel Lopez Altamirano, Jose Carlos Aguilar Duke, Alicia Maria Reyes Univ Tecnol Ctr Amer UNITEC San Pedro Sula Honduras

ISBN: (纸本)9798350345650

Analysis and inspection tasks are increasing more within the industry, especially where the integrity of materials is essential. this is the case of non-destructive testing, where evaluations are required not to damage nor destroy the surfaces, and where tasks may be set in high or narrow environments. this research shows the design, construction, and control of a climbing robot prototype using a structure, movement pattern, and adhesion system inspired by geckos, implementing the Internet of Robotic things, for the usage in field of non-destructive testing (NDT). the experimental results show that the prototype is structurally stable and coordinated after implementing a movement pattern with three limbs attached at all times, with a determined position according to the kinematic model. the robot demonstrates a payload capacity of 26.2% of its own weight. In addition, the robot scales smooth surfaces with an inclination of up to 90 degrees without leaving a mark or damaging the surface. the graphical interface effectively displays the environment data collected by the robot to the user. As an improvement, the degree of inclination to which the robot can climb can be increased by increasing the torque of the servomotors.

关键词： Gecko Inspired Robot Climbing Robot Internet of Robotic things Payload Capacity Non-Destructive Testing

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Visual Feedback control of Print Trajectory in FDMType 3D Printing Process 8

Visual Feedback Control of Print Trajectory in FDMType 3D Pr...

引用

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

作者： Ishikawa, Shinichi Tasaki, Ryosuke Aoyama Gakuin Univ Dept Mech Engn Sagamihara Japan

ISBN: (纸本)9798350345650

In recent years, additive manufacturing of FDM: Fused Deposition Modeling type 3D printing has been rapidly developed. However, failures in molding are inevitable, leading to loss of time and materials. In this study, we propose a motion control method that suppresses failures during the build process by using visual feedback control with an RGB camera. A camera installed near the nozzle detects the molding line and generates a new path from the coordinates obtained by the camera, thereby realizing path modification in real-time. In this paper, we conducted experiments to verify the effectiveness of the proposed path modification method and evaluated the tracking and modification effects. Moreover, we conducted a modeling experiment with visual feedback and confirmed the effectiveness of the vision-based path modification method to suppress failures beforehand. this vision-based compensation system is expected to contribute to automation and quality improvement of the additive manufacturing process and the production system.

关键词： 3D printing visual feedback path planning

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Intelligent Hermite Neural control for Reaction Wheel Inverted Pendulums 8

Intelligent Hermite Neural Control for Reaction Wheel Invert...

引用

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

作者： Hsu, Chun-Fei Chen, Bo-Rui Tamkang Univ Dept Elect Engn New Taipei 25137 Taiwan Natl Yang Ming Chiao Tung Univ Dept Elect & Comp Engn Hsinchu 30010 Taiwan

ISBN: (纸本)9798350345650

In order to solve the problem that the reaction wheel inverted pendulum (RWIP) is highly nonlinear, unstable and underactuated nature, this study proposes an intelligent Hermite neural control (IHNC) system which has two main components: one is a speed controller and the other is a neural controller. the speed controller is designed to overcome the effect of reaction wheel rotation speed on the inverted pendulum. the neural controller, which employs a Hermite broad-learning neural network (HBNN), is designed to drive the pendulum at an upward unstable balance point and keep it controlled there. the HBNN extends the network structure in terms of width and internal feedback loop to achieve fast learning and dynamic mapping capabilities. Finally, the experimental results demonstrate the effectiveness of the proposed IHNC system.

关键词： reaction wheel broad-learning system Hermite neural network parameter learning

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2023 8th international conference on robotics and Automation engineering Quantifying the Performance of Deep Neural Networks in Predicting Curvature and Force Output Response of a Pneumatic Soft Actuator

2023 8th International Conference on Robotics and Automation...

引用

international conference on robotics and Automation engineering (ICRAE)

作者： Ememobong N. Livinus Maria Elena Giannaccini Andrew Starkey Sumeet S. Aphale Artificial intelligence Robotics and Mechatronic Systems Group (ARMS) School of Engineering University of Aberdeen Aberdeen UK

Soft robotics promises new opportunities for solving problems that were limited by rigid robots due to their compliant physical structure. Pneumatic Soft Actuators (PSA) are a class of soft robots that have gained popularity due to their cost-effective manufacturing and high force-generating capability. Due to their highly nonlinear dynamics, accurate prediction of their response to input pressure (curvature) as well as force output is challenging. Artificial Neural Networks were employed to this effect. this work shows a comparative analysis of three variants of the recurrent neural network used in this paper for predicting the behavior of soft robotic actuators. Each network was trained using the same data set to predict the position, curvature, and applied force by the soft robotics on an external force. the result shows the different performance of the three models, evaluating them using Mean Square Error (MSE), Root Mean Square Error (RMSE), and Mean Absolute Error (MAE). the Long Short-term Memory (LSTM) model outperformed both the Gated Recurrent Unit (GRU) and Recurrent Neural Network (RNN) models, producing the lowest error in the three metrics.

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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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