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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

共 424 条记录，以下是51-60 订阅

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Data-Driven Frequency-Based Feedforward Control Design for a Robotic Arm Joint

Data-Driven Frequency-Based Feedforward Control Design for a...

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American Control conference (ACC)

作者： Philippe Schuchert Alireza Karimi Laboratoire d'Automatique École Polytechnique Fédérate de Lausanne (EPFL) Lausanne Switzerland

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

next-generation motion control systems require fast and precise control, but advanced control strategies often rely on complex and expensive models. This paper proposes a data-driven approach to tune controllers for a joint used in a robotic arm. This is achieved by using the frequency response at different operating points and designing a low-bandwidth controller robust to multimodel uncertainties, not exciting the nonlinear modes of the system. Tracking performance is improved by tuning an appropriate feedforward controller, and additional constraints are derived to guarantee the stability of this filter. The proposed approach is applied to a joint in an industrial robotic arm.

关键词： Uncertainty Service robots Manipulators Frequency response Stability analysis Feedforward systems Task analysis

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ROS 2 Application to the Safety Monitoring of Collaborative robots

ROS 2 Application to the Safety Monitoring of Collaborative ...

引用

Robotics, Automation and Artificial Intelligence (RAAI), IEEE International conference on

作者： Dong-Won Lim Jackyou Noh Department of Mechanical Engineering The University of Suwon Hwaseong Korea Department of Naval Architecture Kunsan National University Gunsan Korea

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

This paper presents the application of a safety monitoring algorithm for collaborative robots (cobots). Cobots become increasingly common in various workplaces, such as manufacturing lines and even restaurant kitchens. The heavy-duty robots can assist human operators by handling heavy loads, reducing the physical strain of the job. However, safety concerns arise due to the close proximity and direct interaction between cobots and humans. To ensure real-time monitoring of potential accidents, this paper considers the use of a redundant fault detection algorithm. This algorithm relies on comparing outputs from redundant systems or sensor data with the actual robot's performance. Any significant discrepancy between these values signals a potential fault in the robot, triggering an accident alarm. In this study, the Gazebo simulator was employed as the redundant system. Gazebo is a widely-used, open-source 3D robotics simulator that integrates seamlessly with ROS (Robot Operating System). ROS 2, the next generation of ROS, serves as the middleware framework for building and executing robotic applications. The heavy-duty robot was modeled in Gazebo and controlled through ROS 2 nodes for communication and operation. A synthetic fault was introduced in one of the robot's joints, and another Gazebo simulation acted as the real system. Joint positions were monitored, and any deviation from normal operations signaled the presence of a fault. Consequently, integrating Gazebo with ROS 2 provides an effective analytical model to compare against real systems for safety monitoring purposes.

关键词： Three-dimensional displays Fault detection Collaborative robots Robot sensing systems Real-time systems Data models Safety Monitoring Accidents Strain

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Automated Robot Path Planning in an Environment with Obstacles and Gain Points Using Genetic Algorithm

Automated Robot Path Planning in an Environment with Obstacl...

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International conference on Computational Intelligence and Networks (CINE)

作者： Shaswati Patra Suneeta Mohanty Saumya Prasant Kumar Pattnaik School of Computer Engineering KIIT Deemed to be University Bhubaneswar India

ISBN: (数字)9798331516796

ISBN: (纸本)9798331516802

Robot path planning is a well-studied problem in robotics and autonomous systems. In literature, various issues related to robot path planning in an environment with obstacles are discussed where the objectives are to minimize the distance the robot covers to reach the destination, time, cost, etc. In this paper we consider an environment having obstacles and gain points which provide some profit for the robot if it passes through it. Here the objective is to maximize the gain points and minimize the total distance the robot covers to reach the destination without passing through the obstacles. We can not find a deterministic polynomial time algorithm to meet these two objectives. We proposed a genetic algorithm-based approach to find the solution to this problem. We implemented the algorithm in Python and obtained some experimental results described in the paper.

关键词： Costs Heuristic algorithms Path planning Polynomials Mobile robots Collision avoidance robots Biological cells next generation networking Genetic algorithms

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SSCBench: A Large-Scale 3D Semantic Scene Completion Benchmark for Autonomous Driving

SSCBench: A Large-Scale 3D Semantic Scene Completion Benchma...

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IEEE/RSJ International conference on Intelligent robots and systems (IROS)

作者： Yiming Li Sihang Li Xinhao Liu Moonjun Gong Kenan Li Nuo Chen Zijun Wang Zhiheng Li Tao Jiang Fisher Yu Yue Wang Hang Zhao Zhiding Yu Chen Feng New York University Tsinghua University ETH Zurich NVIDIA

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which jointly completes semantic information and geometric details from RGB input. However, progress in SSC, particularly in large-scale street views, is hindered by the scarcity of high-quality datasets. To address this issue, we introduce SSCBench, a comprehensive benchmark that integrates scenes from widely used automotive datasets (e.g., KITTI-360, nuScenes, and Waymo). SSCBench follows an established setup and format in the community, facilitating the easy exploration of SSC methods in various street views. We benchmark models using monocular, trinocular, and point cloud input to assess the performance gap resulting from sensor coverage and modality. Moreover, we have unified semantic labels across diverse datasets to simplify cross-domain generalization testing. We commit to including more datasets and SSC models to drive further advancements in this field. Our data and code are available at https://***/ai4ce/SSCBench.

关键词： Point cloud compression Three-dimensional displays Codes Semantics Benchmark testing Robot sensing systems next generation networking Intelligent robots Autonomous vehicles Automotive engineering

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Poster: Address Resolution Protocol Based Attacks for Multi-Robot systems

Poster: Address Resolution Protocol Based Attacks for Multi-...

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Mobility, Operations, Services and Technologies (MOST), IEEE International conference on

作者： Blake E Todorowski Michael Lane Fox Harris E Laing Kirthan Gaddam Anosh Mian Rohit Eagala Jair Ferrari Md Tanvir Arafin Cyber Security Engineering Department George Mason University Fairfax VA USA

ISBN: (数字)9798350307733

ISBN: (纸本)9798350307740

Robot Operating System (ROS) is a popular open-source middleware that provides a standard robotic application development framework using commercial-off-the-shelf hardware. As the use of ROS becomes widespread, security vulnerabilities in ROS pose critical concerns for the next generation of robotics. For example, when ROS is used for deploying a multi-robot system (MRS), an attacker can target the weaknesses of ROS to compromise the complete multi-robot infrastructure. This work presents a proof-of-concept hardware demonstration of such an attack to examine how networking vulnerabilities can be exploited to compromise a ROS-based MRS. The experiment setup and demonstration code for this work are available at https://***/SPIRE-GMU/MRS_***

关键词： Protocols Operating systems Hardware Multi-robot systems Security Middleware robots

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Multi-modal Sensor Fusion for Learning Rich Models for Interacting Soft robots

Multi-modal Sensor Fusion for Learning Rich Models for Inter...

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IEEE International conference on Soft Robotics (RoboSoft)

作者： Thomas George Thuruthel Fumiya Iida Department of Engineering The Bio-Inspired Robotics Lab University of Cambridge UK Department of Computer Science University College London London UK

Soft robots are typically approximated as low-dimensional systems, especially when learning-based methods are used. This leads to models that are limited in their capability to predict the large number of deformation modes and interactions that a soft robot can have. In this work, we present a deep-learning methodology to learn high-dimensional visual models of a soft robot combining multimodal sensorimotor information. The models are learned in an end-to-end fashion, thereby requiring no intermediate sensor processing or grounding of data. The capabilities and advantages of such a modelling approach are shown on a soft anthropomorphic finger with embedded soft sensors. We also show that how such an approach can be extended to develop higher level cognitive functions like identification of the self and the external environment and acquiring object manipulation skills. This work is a step towards the integration of soft robotics and developmental robotics architectures to create the next generation of intelligent soft robots.

关键词： Visualization Shape control Soft sensors Tactile sensors Soft robotics Predictive models Robot sensing systems

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Research on the Application of Financial Robot under the Background of next generation Information Technology - Taking Sinochem International as an example 6

Research on the Application of Financial Robot under the Bac...

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2021 6th International conference on Electronic Technology and Information Science, ICETIS 2021

作者： Li, Xun Accounting College of Yunnan University of Business and Technology Yunnan Province Kunming650000 China

With the development of the times and the progress of science and technology, the computerized accounting system can no longer meet the problem between the increasing human cost of most companies and the backward high-end talent pool. The transformation of the financial work system is imminent. The emergence of financial robots is undoubtedly an opportunity for the transformation of corporate financial work systems. It has attracted the attention of enterprises due to its unique process automation advantages. To mitigate above issue, this paper analyzes the development, application, and impact of financial robots in enterprises based on a brief introduction to the meaning and development of financial robots, and proposes relevant suggestions for introducing financial robots. © Published under licence by IOP Publishing Ltd.

关键词： robots

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Intelligent Humanoid robots in Manufacturing 24

Intelligent Humanoid Robots in Manufacturing

引用

Companion of the 2024 ACM/IEEE International conference on Human-Robot Interaction

作者： Ali Ahmad Malik Tariq Masood Alexander Brem Department of Industrial and Systems Engineering Oakland University Rochester MI USA Design Manufacturing and Engineering Management University of Strathclyde Glasgow Scotland Uk Institute of Entrepreneurship and Innovation Science University of Stuttgart Stuttgart Germany

ISBN: (纸本)9798400703232

Technological evolution in the field of robotics is emerging with major breakthroughs in recent years. This was especially fostered by revolutionary new software applications leading to humanoid robots. Humanoids are being envisioned for manufacturing applications to form human-robot teams. But their implication in the manufacturing practices especially for industrial safety standards and lean manufacturing practices have been minimally addressed. Humanoids will also be competing with conventional robotic arms and effective methods to assess their return on investment are needed. To study the next generation of industrial automation, we used the case context of Tesla's humanoid robot. The company has recently unveiled its project on an intelligent humanoid robot named 'Optimus' to achieve an increased level of manufacturing automation. This article proposes a framework to integrate humanoids for manufacturing automation and also presents the significance of safety standards of human-robot collaboration. A case of lean assembly cell for the manufacturing of an open-source medical ventilator was used for human-humanoid automation. Simulation results indicate that humanoids can increase the level of manufacturing automation. Managerial and research implications are presented.

关键词： assembly automation humanoid lean robots

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A Swarm Control Model Based on Individual Information Interaction 8

A Swarm Control Model Based on Individual Information Intera...

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8th International conference on Big Data and Information Analytics, BigDIA 2022

作者： Li, Wenji Zhang, Qinchang Wang, Zhaojun Ren, Pengxiang Xu, Ning Wang, Dongliang Fan, Zhun Shantou University Department of Electronic Engineering Guangdong China

ISBN: (数字)9781665487962

ISBN: (纸本)9781665487962

A new swarm control model is proposed in this study to address the problem that swarm-robot systems have difficulty in effectively avoiding obstacles and maintaining formation in unknown and complex environments. The proposed swarm control model combines the virtual leader method and the artificial potential field method to solve the problem of easy collision and separation during the movement of a swarm-robot system. In addition, in the proposed control model, the individuals in the swarm-robot system can emerge swarm movement only by some simple behavior rules, thus improving the intelligence of the swarm-robot system. At last, the study sets two repre-sentative environments (a no-obstacles environment and a static and dynamic mixed obstacle environment), which illustrates the performance of the proposed model. © 2022 IEEE.

关键词： Intelligent robots

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A Nonlinear Model Predictive Control Strategy for Trajectory Tracking of Omnidirectional robots 16th

A Nonlinear Model Predictive Control Strategy for Trajector...

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16th APCA International conference on Automatic Control and Soft Computing, CONTROLO 2024

作者： Ribeiro, Jorge Diogo Sobreira, Héber Miguel Moreira, António Paulo Faculty of Engineering University of Porto Porto4200-465 Portugal INESC TEC – Institute for Systems and Computer Engineering Technology and Science Porto4200-465 Portugal

ISBN: (纸本)9783031817236

This paper presents a novel Nonlinear Model Predictive Controller (NMPC) architecture for trajectory tracking of omnidirectional robots. The key innovation lies in the method of handling constraints on maximum velocity and acceleration outside of the optimization process, significantly reducing computation time. The controller uses a simplified process model to predict the robot’s state evolution, enabling real-time cost function minimization through gradient descent methods. The cost function penalizes position and orientation errors as well as control effort variation. Experimental results compare the performance of the proposed controller with a generic Proportional-Derivative (PD) controller and a NMPC with integrated optimization constraints. The findings reveal that the proposed controller achieves higher precision than the PD controller and similar precision to the NMPC with integrated constraints, but with substantially lower computational effort. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Predictive control systems

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