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检索条件"任意字段=IEEE International Symposium on Computer-Aided Control System Design"

共 7944 条记录，以下是81-90 订阅

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RPC: A Modular Framework for Robot Planning, control, and Deployment

RPC: A Modular Framework for Robot Planning, Control, and De...

引用

2025 ieee/SICE international symposium on system Integration, SII 2025

作者： Bang, Seung Hyeon Gonzalez, Carlos Moore, Gabriel Kang, Dong Ho Seo, Mingyo Gupta, Ryan Sentis, Luis The University of Texas at Austin Department of Aerospace Engineering and Engineering Mechanics TX78712 United States The University of Texas at Austin Department of Electrical and Computer Engineering TX78712 United States The University of Texas at Austin Department of Mechanical Engineering TX78712 United States

ISBN: (纸本)9798331531614

This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC enables users to thoroughly evaluate and develop control algorithms for robotic systems. While existing software frameworks provide some of these capabilities, integrating them into a cohesive system can be challenging and cumbersome. To overcome this challenge, we have modularized each component in RPC to ensure easy and seamless integration or replacement with new modules. Additionally, our framework currently supports a variety of model-based planning and control algorithms for robotic manipulators and legged robots, alongside essential debugging tools, making it easier for users to design and execute complex robotics tasks. The code and usage instructions of RPC are available at https://***/shbang91/rpc. © 2025 ieee.

关键词： Robot programming

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The Practice and Application of Edge Deployment Technology in Power Scene Action Recognition system

The Practice and Application of Edge Deployment Technology i...

引用

2024 international Conference on Power, Electrical Engineering, Electronics and control, PEEEC 2024

作者： Hou, Mingguo Tang, Kai Liu, Dongsheng Nari Group Corporation Jiangsu Nanjing211106 China

ISBN: (纸本)9798350378917

This article aims to discuss the application and practice of edge deployment technology in power scene action recognition system. In order to realize the intelligent upgrade of EPS and improve the real-time and accuracy of motion recognition, this article constructs a power scene motion recognition system based on edge deployment technology, and carries out system simulation experiments. Research methods include system requirements analysis, overall architecture design, deployment strategy formulation of edge computing nodes, selection and optimization of motion recognition algorithm, and design of data transmission and storage scheme. The experimental results show that the system has obvious advantages in real-time, accuracy and stability, and can meet the actual needs of electric power system (EPS) better than the previous centralized deployment scheme. It is concluded that edge deployment technology has great application potential in power scene action recognition, which is expected to provide strong support for the security and intelligent upgrade of EPS. © 2024 ieee.

关键词： Power systems computer aided design

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design and Simulation of Multi-target Strategy Based on Multi-dimensional UAV Series Detection 7

Design and Simulation of Multi-target Strategy Based on Mult...

引用

7th ieee international Conference on Information systems and computer aided Education, ICISCAE 2024

作者： Wenjie, Gao Rongxiang, Lv Yuelin, He Headquarters of Army Artillery Air Defense Academy Hefei China

ISBN: (纸本)9798350350760

This paper proposes an innovative tandem multi-target search coordination control strategy to solve the challenge of multi-UAV searching multi-targets simultaneously in a complex unknown environment. First, we combine the closed-loop adjustment and cooperation mechanism to develop an enhanced response threshold multi-objective task assignment model based on the multi-objective assignment model of the target response threshold, which effectively solves the problem of uneven distribution of UAVs and enhances the efficiency of series detection. Secondly, we apply the two-dimensional extended Particle swarm optimization to the multi-dimensional UAV system and combine it with an improved adaptive inertia weight method to form a multi-dimensional extended particle swarm optimization algorithm with improved adaptive inertia weight. This effectively prevents the particles from falling into the local optimum and enhances the search efficiency. Finally, we integrate these two improved techniques into the UAV’s series search process. Compared with the traditional extended particle swarm optimization algorithm, this method significantly reduces the system energy consumption and search time and is verified by numerical simulation. ©2024 ieee.

关键词： Unmanned aerial vehicles (UAV)

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design Challenges in HPC for AI/ML Applications 17

Design Challenges in HPC for AI/ML Applications

引用

17th ieee international symposium on Embedded Multicore/Many-core systems-on-Chip, MCSoC 2024

作者： Rajan, Vikram Kumar, Niwaran Chandra Ranjan, Nihar Krishna, Amgothu Murali Bharat Electronics Limited Product Development and Innovation Centre Bangalore India

ISBN: (纸本)9798331530471

High-performance computing (HPC) and Artificial Intelligence (AI) are two areas of computing that are seeing fast-paced growth. The HPC systems have evolved to incorporate the capability of running mid-level AI algorithms for C4I (Command, control, Communications, computers and Intelligence) networks. HPC solutions can be used at the edge or in the cloud. They are used to solve large-scale computing problems, which makes it suitable for a wide range of problems. They are able to perform this in reasonable cost and time. AI enables HPC systems to more intelligently process workloads and make full use of the processing capability. With a variety of CPUs, GPUs, TPUs, and ASICs, design of the system architecture to keep pace with the advancing technology is an uphill task. In the current paper, we discuss about one such HPC system of CPUs and GPUs and the challenges involved in architecture and design. Specifically, on ensuring the bandwidth between the CPU and GPU and ensuring the thermal performance of the system. © 2024 ieee.

关键词： Graphics processing unit

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Development of a Novel Mechanical Layer Jamming Cable-driven Soft Actuator for Soft Gripper system

Development of a Novel Mechanical Layer Jamming Cable-driven...

引用

2025 ieee/SICE international symposium on system Integration, SII 2025

作者： Uahchinkul, Chinvudh Muramatsu, Satoshi Inagaki, Katsuhiko Tokai University Course of Science and Technology Kanagawa259-1292 Japan Tokai University Department of Applied Computer Engineering Kanagawa259-1292 Japan

ISBN: (纸本)9798331531614

Soft actuators have many advantages, such as flexibility and safe interaction with the environment. Despite these advantages, they still lack the stiffness to carry the high load. The layer jamming mechanism can be applied to the actuator to increase stiffness, and a vacuum can control the stiffness of the mechanism. However, the typical jamming mechanism has a risk of air leakage, and vacuums are bulky to some systems. In order to solve this problem, we have developed a novel mechanical layer jamming for the cable-driven soft actuator in this paper. Our design uses the actuator body to generate the compression force to the layer at the middle of the actuator's body to increase the actuator's stiffness. The result shows the effectiveness of our mechanical layer jamming in increasing the stiffness of the actuator when adding the load to the tip of the actuator. In addition, we have applied our actuator to the soft gripper system, which successfully grasped various objects and changed the stiffness of the actuator. © 2025 ieee.

关键词： Grippers

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computer-aided Six-Axis Industrial Robot Motion Optimization Trajectory control Ansys Workbench Simulation Verification Research 6

Computer-Aided Six-Axis Industrial Robot Motion Optimization...

引用

6th ieee international Conference on Civil Aviation Safety and Information Technology, ICCASIT 2024

作者： Wang, Tian Zhang, Yi Chizhou Vocational and Technical College Department of Mechatronics and Automotive Chizhou247000 China

ISBN: (纸本)9798350389418

This paper proposes a trajectory control method for six-axis industrial robot motion optimization based on computer-aided design (CAD) and Ansys Workbench platform. First, this paper reduces unnecessary motion conflicts and optimizes its working path by co-optimizing the motion of each axis of the robot. Secondly, Ansys Workbench is used to simulate the system, the motion parameters of the six-axis robot in actual work are input into the system, an accurate motion model is constructed, and the effectiveness of the algorithm is verified by simulation. The simulation results show that the algorithm not only significantly improves the stability of the robot motion, but also reduces the motion time and energy consumption. In addition, this paper also analyzes the simulation data in detail. The results show that after motion optimization, the trajectory accuracy of the robot is improved by 15 %, the work efficiency is improved by 12 %, and the energy consumption is reduced by 8 %. The study shows that the combination of the simulation platform based on Ansys Workbench and the optimization algorithm can not only effectively improve the motion control ability of the six-axis industrial robot, but also provide strong support for further intelligent manufacturing. © 2024 ieee.

关键词： Industrial robots

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Quantitative Verification and design Space Exploration Under Uncertainty with Parametric Stochastic Contracts 22

Quantitative Verification and Design Space Exploration Under...

引用

ieee/ACM 41st international Conference on computer aided-design (ICCAD)

作者： Oh, Chanwook Lora, Michele Nuzzo, Pierluigi Univ Southern Calif Los Angeles CA 90007 USA Univ Verona Verona Italy

ISBN: (纸本)9781450392174

This paper proposes an automated framework for quantitative verification and design space exploration of cyber-physical systems in the presence of uncertainty, leveraging assume-guarantee contracts expressed in Stochastic Signal Temporal Logic (StSTL). We introduce quantitative semantics for StSTL and formulations of the quantitative verification and design space exploration problems as bi-level optimization problems. We show that these optimization problems can be effectively solved for a class of stochastic systems and a fragment of bounded-time StSTL formulas. Our algorithm searches for partitions of the upper-level design space such that the solutions of the lower-level problems satisfy the upper-level constraints. A set of optimal parameter values are then selected within these partitions. We illustrate the effectiveness of our framework on the design of a multi-sensor perception system and an automatic cruise control system.

关键词： Stochastic systems

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A Data Distribution Service-Based Simulation Platform Monitoring system 6

A Data Distribution Service-Based Simulation Platform Monito...

引用

2023 ieee 6th international Conference on Information systems and computer aided Education, ICISCAE 2023

作者： Ren, Jianxin Yao, Peng Zhao, Manfei Wang, Haofeng Gao, Tong Shao, Zonglin Beijing Institute of Computer Technology and Application Beijing China

ISBN: (纸本)9798350313444

This paper designs a simulation platform monitoring system implemented by data distribution services to solve the problem that traditional network transmission is not flexible enough in the simulation platform monitoring system. First, an user profile based system monitoring network architecture is proposed;Second, we design a profile based board level automatic data distribution service establishing method;Third, the system monitoring software is designed to ensure that the whole system is controllable by monitoring each board and sending modified profiles;The experiments show that the proposed simulation platform monitoring system based on data distribution service proposed in this paper has the advantages of perfect quality of service control strategy, high quality of service, strong scalability and flexibility. © 2023 ieee.

关键词： data distribution service network architecture simulation

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Motion Analysis and design of Bionic Swimming Robot

Motion Analysis and Design of Bionic Swimming Robot

引用

2024 international Conference on Cyborg and Bionic systems

作者： Yang, Yuanshao Xia, Mingkai Wu, Naike Zhang, Junhan Univ Michigan Dept Mech Engn Ann Arbor MI 48109 USA

ISBN: (纸本)9798350388039;9798350388046

Targeting transport is an emerging field in the medical industry that is attempting to obtain a more precise cure for the diseased area. This transport process requires a robot transporter to reach the target. This project aims to develop an E. coli-based swimming robot for precisely delivering medicine to the appointed target area. Key parameters influencing motion are selected through preliminary kinematic analysis in a uniform, viscous fluid. By using the recursion method and differential equation calculation, this project simulated the trajectory related to the robot's movement and derived the controlling equation. computer aided design (CAD) models are developed under macroscopic dimensions and simulations are performed in liquid environments for validation under microscopic dimensions. A path planning algorithm and a control program with feedback and feedforward control are also developed to stabilize the system. This project has tested the feasibility of different motions under different sets of design specifications and thrust setups, and optimized the related design specifications in the unified viscous flow by Computational Fluid Dynamics (CFD) analysis. In addition, a control system for the swimmer's obstacle avoidance and path planning was designed, based on the thrust configurations as inputs. The influence of environment parameters and the robot's structure is investigated. A robot model capable of moving in a two-dimensional environment is developed correspondingly, which supports further studies' field tests of micro-robots targeting transport.

关键词： Viscous flow

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Extending Memory Compatibility with Yosys Front-End in the VTR Flow 34

Extending Memory Compatibility with Yosys Front-End in the V...

引用

34th international Workshop on Rapid system Prototyping - Shortening the Path from Specification to Prototype

作者： Azadi, Alireza Arjomand, Amir Kent, Kenneth B. Univ New Brunswick Fredericton NB Canada

ISBN: (纸本)9798400704109

Verilog-to-routing (VTR) is an open source computer aided design (CAD) framework that is widely used for research purposes. VTR provides researchers with a comprehensive set of benchmarks and FPGA architectures to test, compare and verify their designs and CAD algorithms. VTR employs Odin, Yosys and a combination of Yosys+Odin as its front-ends for elaborating digital designs written in Verilog. Yosys is a standalone synthesis framework that is maintained separately. In order to take advantage of Yosys' latest upgrades, it is essential to upgrade VTR in tandem with Yosys to keep up with its latest changes. In our study, we investigated the integration of the latest available version of Yosys into VTR. In the course of this research, we encountered a challenge stemming from a memory incompatibility in newer versions of Yosys. Our primary research question became how to effectively facilitate netlist conversion from Yosys to Odin to overcome this incompatibility issue. We then showcase how this upgrade affects our benchmark suite, highlighting the notable changes in circuit quality and the tool performance. Our post-upgrade evaluations reveal that the STA (static timing analysis) time of placement and the placement time itself exhibited improvements of up to 11.53% and 10.43%, respectively.

关键词： Field Programmable Gate Arrays Electronic design Automation Free and Open Source Software Yosys Verilog to Routing

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