This paper describes a stable trot gait controlsystem for a quadruped robot that enables faster walking with stability. Compared to other gait types, it is possible to walk faster with relatively little energy expend...
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Performance of a Prognostics and Health Management (PHM) system in a fielded application depends on observability from existing monitoring equipment and sensing, which get determined at the design phase. Although vari...
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The proceedings contain 74 papers. The topics discussed include: X-ray image chain synchronization control scheme design and performance evaluation;research on cooperative control strategy of multi-motor system based ...
The proceedings contain 74 papers. The topics discussed include: X-ray image chain synchronization control scheme design and performance evaluation;research on cooperative control strategy of multi-motor system based on fuzzy inference;research and analysis on cavitation of different structures of cone valve ports in pure water;a dual-band bandpass filter with the second passband independently tunable;design of moisture real-time detection system for grain dryer;terminal iterative learning scheme for consensus problem in multi-agent systems with state constraints;comparison between the ultra-wide band based indoor positioning technology and other technologies;intelligent decision-making system for realizing the automatic control of Yangzhuang sluice based on the internet of things technology;performance evaluation method of closed-loop system considering sensor degradation;the optimized design of air heat metering in the fan coil performance test system;and the design and implementation of control and driving system with double position feedback for submarine steering.
The increasing demand for efficient and sustainable agricultural practices has driven the adoption of advanced technologies in farming and nursery operations. This paper introduces a Smart Nursery Management system, l...
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ISBN:
(数字)9798350357509
ISBN:
(纸本)9798350357516
The increasing demand for efficient and sustainable agricultural practices has driven the adoption of advanced technologies in farming and nursery operations. This paper introduces a Smart Nursery Management system, leveraging sensor-based automation and IoT technologies to optimize environmental conditions critical for plant growth. The system integrates soil moisture sensors, light sensors, and a DHT11 module to monitor and control irrigation, lighting, and ventilation processes, ensuring resource efficiency. An ESP32 microcontroller serves as the system's core, enabling real-time data processing and remote control via a user-friendly application. Comparative analysis with traditional nursery management methods reveals significant improvements in water usage efficiency (25% reduction), labor reduction (30% less manual intervention), and enhanced plant growth rates (15% increase in biomass production). The paper also discusses the system’s limitations, potential for expansion, and a cost-benefit analysis, concluding that IoT-based solutions hold transformative potential for nursery management. Future research will focus on integrating advancedsensors and machine learning to enhance predictive capabilities and adaptability.
As expected by 2040, the Philippines will be ranked as the 56th country with the most water stress level in agriculture, one of the Philippines' biggest challenges in irrigation systems. Traditional methods of agr...
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This project introduces an innovative IoT-enabled automated pet feeding system, providing pet owners with a reliable and convenient solution for maintaining regular feeding schedules and monitoring pet activity. The s...
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ISBN:
(数字)9798331504144
ISBN:
(纸本)9798331504151
This project introduces an innovative IoT-enabled automated pet feeding system, providing pet owners with a reliable and convenient solution for maintaining regular feeding schedules and monitoring pet activity. The system features a programmable feeding mechanism and allows for remote control and monitoring through a web-based dashboard, utilizing an ESP32 Wi-Fi Module, load cell, PIR sensors, servo motors, and the ESP32-CAM AI-Thinker module. The Blynk application serves as the user interface, enhancing accessibility and user experience. The system aims to ensure consistent, hygienic food dispensing, precise water distribution, and feeding reminders based on pet behavior, all without human intervention. Testing validates the system's accuracy in food portioning, motion detection, and adaptability to different pet care needs. The system demonstrates significant advancements in automated pet care, contributing to improved pet health, nutrition, and overall well-being.
Vibrotactile haptic sensations are commonly achieved by a Linear Resonant Actuator (LRA) or an Eccentric Rotating Mass (ERM). ERMs dominated the early years of the vibrotactile haptic market in large part due to their...
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ISBN:
(数字)9781665413084
ISBN:
(纸本)9781665413084
Vibrotactile haptic sensations are commonly achieved by a Linear Resonant Actuator (LRA) or an Eccentric Rotating Mass (ERM). ERMs dominated the early years of the vibrotactile haptic market in large part due to their simplicity and low cost. An ERM produces output proportional to the square of its angular velocity. To achieve a desired force output, the device must accelerate to the associated velocity. In typical open-loop methods of ERM control, this acceleration takes some finite time, a limit on responsiveness. This limitation has led to increased emphasis on LRAs as manufacturers seek improved responsiveness in devices such as smart phones, game controllers, and interfaces for virtual reality systems. Another limitation of ERMs is that they cannot decouple the amplitude of output from the frequency of vibration, despite both being relevant to haptic perception. This work addresses these two deficiencies by presenting a novel closed-loop system comprised of two ERMs. Output is controlled by cascaded velocity and phase control loops-the velocities of the motors controls the output frequency, and the relative phase controls the output amplitude, decoupling the two outputs. Also, changes in relative phase can be performed faster than starting up the motor from rest, improving response time. In this implementation, the switching time from a cancellation state to maximum output is faster than thirty milliseconds. Also introduced are novel counter-balances to cancel parasitic torque, and learning algorithms that leverage symmetry and accelerometer measurements to calibrate the relative alignment of the eccentric masses with sensors.
welding seam recognition is key issue of intelligent welding. Aiming at such requirement, we provide a method to build a compact seam identification system, which is based on laser profile sensor. A cross slide driven...
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ISBN:
(数字)9798350361445
ISBN:
(纸本)9798350361452
welding seam recognition is key issue of intelligent welding. Aiming at such requirement, we provide a method to build a compact seam identification system, which is based on laser profile sensor. A cross slide driven by servo motors is employed to adjust accurate position of laser profile sensor, and corresponding X-Y movement is controlled by STM32F103. Seam recognition algorithm and procedure using least square fitting are developed by C++. Finally, we use the welding seam identification system to have done experimental detections. The test verification shows that recognition accuracy is less than 0.5 degree, which can meet requirements for robotic welding.
Since the accuracy of estimation is affected by the characteristics of the sensors and the operating environment, sensor fusion based on self localization using multiple sensor information has been proposed. In sensor...
Since the accuracy of estimation is affected by the characteristics of the sensors and the operating environment, sensor fusion based on self localization using multiple sensor information has been proposed. In sensor fusion, when a new sensor is used, the position and orientation information of that sensor needs to be specified. Normally, these parameters are known by prior measurement or other means, but to improve accuracy through sensor fusion, it is important to know these values as accurately as possible. However, sensor fusion with these parameters unknown has not been discussed so far. This paper aims to improve the accuracy of state estimation by performing sensor fusion while estimating unknown installation parameters. We also examines whether it is possible to evaluate the accuracy of parameter estimation in such cases. The position and orientation of the Time-of-Flight (ToF) sensors are chosen as parameters. The parameters are added as a estimation target as well as the drone's states, and the Extended Kalman filter (EKF) is used to estimate the expanded system which they are added. It is then verified whether the accuracy of the estimation can be assessed by analysing local observability using the Lie derivative and the degree of observability of the system using the condition number of the observability matrix. Simulations show that simultaneous estimation of the state and parameters by EKF is possible, and that the accuracy of the estimation is improved for arbitrary states. And as a result, the degree of observability using the number of conditions allows a quantitative assessment of the accuracy of state and parameter estimation.
The proceedings contain 180 papers. The topics discussed include: enhancing stochastic resonance by adaptive colored noise and particle swarm optimization: an application to steering control;gain-scheduled drive-based...
ISBN:
(纸本)9781665413084
The proceedings contain 180 papers. The topics discussed include: enhancing stochastic resonance by adaptive colored noise and particle swarm optimization: an application to steering control;gain-scheduled drive-based damping control for industrial robots;an integral design for high performance sensor-less collision detection of serial robots;physical intelligence in the metaverse: mixed reality scale models for twistronics and atomic force microscopy;learning and generalizing variable impedance manipulation skills from human demonstrations;robust contour visual servoing based on b-spline features with temporary occlusion;deep robust control of a mechatronic system with parametric uncertainties;bilateral teleoperation of a multi-robot formation with time-varying delays using adaptive impedance control;development of operation support system based on integration of haptic and image information for ultrasound probe manipulation;and a DOB-based parameter identification method for series elastic actuators without load-side encoder.
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