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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

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Developing an efficient mobile robot control algorithm in the Webots simulation environment

Developing an efficient mobile robot control algorithm in th...

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IEEE international conference on Industrial Technology (ICIT)

作者： B. Magyar Z. Forhecz P. Korondi Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest XI HUNGARY

Autonomous robots are getting more and more importance with the introduction of the first home robots. It's necessary to implement efficient control algorithms to make them navigate well in both indoor and outdoor environments. The main contribution of this paper is to present an approach for mobile robot control which can be a basis for another step in the development of intelligent autonomous robots. The robot control algorithm is being developed under the Webots professional simulation environment. Two general approaches for robot navigation are also presented: the model-based, which uses complete model of the environment to navigate efficiently, and the behavior-based approach, which uses no or only sparse modeling of the environment for the navigation. The paper consists of five sections. In the first section, an introduction is presented. The second section introduces the webots simulation environment, the ALife contest and some features of the robot controller algorithm. In the third section, the principal problems of navigation are discussed and control scheme for navigation is presented. The fourth and fifth section contains the conclusion and the plans for the future.

关键词： Mobile robots Robot control Navigation Intelligent robots Robot sensing systems robotics and automation Automatic control Infrared sensors Environmental economics Home automation

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Continuum worm-like robotic mechanism with decentral control architecture

Continuum worm-like robotic mechanism with decentral control...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Martin Eder Maximilian Karl Alois Knoll Stefan Riesner Faculty of Informatics Technische Universität München Garching bei München Germany Robotics Technology Leaders GmbH München Germany

ISBN: (纸本)9781479952847

Flexible continuum robots are utilized for operational areas, in which discretely structured robots are not suitable due to their kinematic limitations. Continuum mechanisms feature adaptiveness, which is a prerequisite for constrained spaces. Furthermore, such robots can be integrated within human-robot interaction scenarios. The crucial contribution of this work is a novel intrinsic continuum worm-like robot based on a modular and decentral control architecture. It is actuated by pneumatic artificial muscles (PAMs), which result in an inherently compliant robotic system. To realize the modularity, the setup deploys a central air supply that feeds locally arranged valve cluster units, which are connected with short stub lines. Keeping the supply tubes between the valves and the PAMs short, guarantees a very direct control with good precision. This paper presents an implementation of a continuum robot with four segments comprising twelve degrees of freedom.

关键词： Valves Robot sensing systems Hoses Muscles Pneumatic systems

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Game controller Based On Biomedical Signals

Game Controller Based On Biomedical Signals

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international conference on Methods and Models in automation and robotics

作者： Aleksandra Kawala-Janik Michal Podpora Arkadiusz Gardecki Wojciech Czuczwara Jerzy Baranowski Waldemar Bauer Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology ul. Proszkowska 76 bud. 1 45-756 Opole Poland AGH University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering al. Mickiewicza 30 30-059 Krakow Poland

ISBN: (纸本)9781479987023

Modern, based on biomedical signals interfaces have become recently very complex, however the complexity does not always lead to increased functionality or usability. In particular, when it comes to handicapped users, the currently available solutions are far from satisfactory. In this paper an innovative approach for biomedical signals based interfaced with the implementation of an inexpensive gaming headset Emotiv EPOC was presented. The main goal was to design, and develop an intuitive and user-friendly interface based on implementation of various biomedical signals such as EEG or EMG. The project was primarily intended for handicapped users as a replacement for traditional interfaces such as keyboard or mouse, however its potential use was extended. The proposed system differs from the already existing interfaces mainly because of its versatility to work with various biomedical signals, thus enabling a single interface to be controlled with different devices. Initial investigation has proven that Emotiv EPOC headset could be applied as an inexpensive, easily available on the open market tool for Human-Computer Interaction (HCI) systems for the gaming purpose.

关键词： Information Interfaces Human-Computer Interaction (HCI) User Interfaces electroencephalography (EEG) Brain-Computer Interfaces (BCI) non-integer filter games control gaming

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Search Algorithm of the Order of Object Transportation by Multiple Robots

Search Algorithm of the Order of Object Transportation by Mu...

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2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Shotaro Kamio Hitoshi Iba Department of Frontier Informatics Graduate School of Frontier Sciences University of Tokyo Kashiwa Chiba Japan

To execute a task consisting of multiple subtasks using a robot, we need to determine the subtask execution order. We investigated the problem of cooperative object transport by multiple robots in a previous study. This is a task in which multiple robots carry an object to a specified goal by passing the object between each other. This paper proposes two algorithms that automatically determine the passing order between robots. This is a difficult task to find an optimum solution. Our algorithms reduce the amount of information that the operator needs to give to the robots and makes robot operations easy. The effectiveness of the algorithms was verified through simulation

关键词： Transportation robotics and automation Humanoid robots Intelligent robots informatics Automatic control Path planning Collaborative work Humans Cost function

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Auto fuzzy tuning having minimum structure by using genetic algorithm and delta rule

Auto fuzzy tuning having minimum structure by using genetic ...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： T. Fukuda H. Ishigami T. Shibata F. Arai Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Shin-Nagoya Thermal Power Station Cyubu Electric Power Company Inc. Nagoya Japan Bio-Robotics Division Robotics Department MITI Mechanical Engineering Laboratory Tsukuba Japan

An auto tuning algorithm of fuzzy inference for Fuzzy neural networks using the genetic algorithm and the delta rule is presented. Some auto-tuning methods are proposed to reduce time-consuming operations by human experts. This tuning method brings the minimal and optimal structure of the fuzzy model. Two types of the fuzzy model are prepared, whose membership functions on the antecedent part consist of triangular and Gaussian type, respectively. The effectiveness of the proposed methods compared with the former methods is shown by simulation. The proposed method has the potential to be applied to robotic motion control, sensing and recognition problems.< >

关键词： Genetic algorithms Humans Fuzzy systems Convergence Fuzzy neural networks control systems Optimization methods Thermal engineering Power generation Mechanical engineering

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PWM Signal Reconstruction to Operate the iBooster Brake for Electric Vehicle: A Reverse Engineering 1

PWM Signal Reconstruction to Operate the iBooster Brake for ...

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1st international conference on Smart Mechatronics, ICSMech 2024

作者： Haq, Muhamad Fajar Imanul Latifah, Faiza Pratama, Mulia Putri, Dewi Indriati Hadi Wahid, Muhammad Rizalul Wahono, Bambang Praptijanto, Achmad Putrasari, Yanuandri Dimyani, Ahmad Nur, Arifin Wardana, Muhammad Khristamto Aditya Suherman Program Study of Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Purwakarta Indonesia Research Organization of Electronics and Informatics National Research and Innovation Agency Research Center for Smart Mechatronics Bandung Indonesia Mechatronics and Artificial Intelligence Universitas Pendidikan Indonesia Purwakarta Indonesia

ISBN: (纸本)9798350368918

The rise of Advanced Driver Assistance Systems (ADAS) has emphasized the need for technologies such as Automatic Emergency Braking (AEB) and Adaptive Cruise control, both of which require brake activation without driver input. Since 2016, automotive manufacturers, particularly in the U.S., have been incorporating AEB technologies in response to safety demands. Bosch's iBooster, an electromechanical brake booster, has gained prominence for its role in autopilot and braking systems, notably in Tesla's Model S and X. The iBooster system can generate full braking pressure in just 120 milliseconds and allows for electronic control while still maintaining manual override capabilities. Tesla's iBooster Gen1, used in its autopilot system, operates via a controlled Area Network (CAN), though the exact method is not publicly available. Honda has also adopted the iBooster Gen1 in the 2018 CR-V, utilizing it for the Brake Assist feature, although details on Honda's CAN network usage remain limited. This paper explores reverse engineering of the iBooster to uncover key hardware and software technologies. The reverse engineering operation entails altering the system's control loop, capturing the pedal sensor signal, and replicating this signal using an Arduino. Additionally, it includes designing circuit schematics and PCBs. The results demonstrate the success of this reverse engineering approach, which uses a work cycle and Pulse Width Modulation (PWM) to interact with the iBooster Gen1. The method produced identical responses to the iBooster with PWM values set at 30%, 40%, and 50%. © 2024 IEEE.

关键词： Advanced driver assistance systems

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Implementation of 8-Puzzles Game on Android Operating System Based on Accelerometer Sensor control

Implementation of 8-Puzzles Game on Android Operating System...

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international conference on Innovation and Intelligence for informatics, Computing, and Technologies (3ICT)

作者： Syahdi Gharizah Ahsan Hilal H. Nuha Satria Akbar Mugitama Hassan Rizky Putra Sailellah Rana Zaini Fathiyana School of Computing Telkom University Bandung Indonesia School of Computing Telkom University Jakarta Jakarta Indonesia

ISBN: (数字)9798331533137

ISBN: (纸本)9798331533144

Game8-Puzzles is a game that is widely known not only in Indonesia but also in the world. The modern 8-Puzzles game has been downloaded up to 100 million times on the Play Store platform. However, there has not been any 8-puzzles game that is played by tilting or rotating the device. This can be an opportunity for innovation by implementing an accelerometer sensor in the game. However, the accelerometer is very sensitive to changes that occur so that sometimes it has results that are not in accordance with the user's wishes. Therefore, an additional method is needed to be able to maximize this integration by adding Proportional Integral Derivative (PID) control. This method has been widely used, especially in industrial fields such as automation and robotics. Its simplicity and ease of implementation make it superior to other methods. Many industrial devices can be linearized without many errors. In this study, the implementation of the 8-puzzles game with accelerometer sensor control was successful even with a low percentage of correct movements. Furthermore, the PID control method was applied in the game and resulted in an increase in the percentage of correct movements by almost 20%. This proves that PID control can function well in the game.

关键词： Accelerometers Technological innovation PI control automation Service robots Operating systems Games Robot sensing systems PD control informatics

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Single-Channel EMG-Based Hand Gesture Classification Using Optimized Neural Networks 1

Single-Channel EMG-Based Hand Gesture Classification Using O...

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1st international conference on Smart Mechatronics, ICSMech 2024

作者： Dewangga, Stanley Adi Widodo, Romy Budhi Lomi, Abraham Soetedjo, Aryuanto Universitas Ma Chung Human-Machine Interaction Research Center Department of Informatics Engineering Malang Indonesia Department of Electrical Engineering Malang Indonesia

ISBN: (纸本)9798350368918

The increasing number of people with disabilities has driven the advancement of assistive technology to aid their activities. One of the current developments in assistive technology is bionic hands which involve machine learning to classify hand gestures. This paper presents the outcomes of a study on hand gesture classification using muscle activity signal data from electromyography sensors while performing four types of hand gestures. Data was gathered from eight subjects, with six subjects allocated as training data and two subjects as test data. The data was recorded using a single-channel surface electromyograph sensor placed on the surface of the extensor digitorum muscle. The selected muscle was focused on classifying extension actions at the Metacarpophalangeal (MCP) joint of the thumb, index and middle fingers. Signal data was then feature extracted through preprocessing and model creation stages. The classification model was created using the Artificial Neural Network (ANN) method and leveraging Genetic Algorithms to obtain the most optimal hidden layer configuration to enhance model accuracy. After four rounds of experimentation with Genetic Algorithm hyperparameter tuning, the best model evaluation result from the four experiments is 42.87%. Subsequently, considering the application of Principal Component Analysis (PCA) to reduce feature dimensions and the differences in signal patterns from subjects, the next experiment was conducted without PCA, eliminating some weakly correlated linear features and excluding data from one subject with distinct patterns. In this experiment, the accuracy result on the test data for all gestures increased to 59.52% and 84,85% on train data. © 2024 IEEE.

关键词： Genetic algorithms

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Online Social Robot Navigation in Indoor, Large and Crowded Environments

Online Social Robot Navigation in Indoor, Large and Crowded ...

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IEEE international conference on robotics and automation (ICRA)

作者： Steven Silva Nervo Verdezoto Dennys Paillacho Samuel Millan-Norman Juan David Hernández School of Computer Science & Informatics at Cardiff University UK Research Development and Innovation Center of Computer Systems - CIDIS at ESPOL Polytechnic University Ecuador

New robotics applications require robots to complete tasks in social spaces (i.e. environments shared with people), thus arising the necessity of enabling robots to operate in a socially acceptable manner. Some social spaces tend to be large and crowded (e.g. museums, shopping malls), which require robots to move around while showing appropriate social behaviors (e.g. not interfering with human's comfortable areas). Moving under such conditions is generally called social robot navigation, and there are different approaches to do so. Nonetheless, current approaches are mostly limited to navigate large and outdoor spaces, where both robots and people can easily avoid each other. Other approaches have been tested in indoor environments, however, the test environments tend to be small and largely empty. In this paper, we present an online social robot navigation framework, which allow robots to navigate indoor, large and crowded environments, while showing social behaviors. Our framework consists of 3 modules: 1) world modeling that incorporates a novel Social Heatmap (SH) to represent crowded areas, 2) multilayered path planning that uses sampling-based approaches, and 3) path following control. We extensively benchmark our approach against state-of-the-art approaches in challenging simulated scenarios, and $w$ e also demonstrate its feasibility with the Pepper robot in real-world trials.

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A Deep Reinforcement Learning Approach for Navigation and control of Autonomous Underwater Vehicles in Complex Environments

A Deep Reinforcement Learning Approach for Navigation and Co...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Artemis Stefanidou Elena Politi Christos Chronis George Dimitrakopoulos Iraklis Varlamis Department of Informatics and Telematics Harokopio University Athens Greece

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

The comprehension of the underwater environment is recently being accelerated by technological advances in sensors, robotics and Artificial Intelligence (AI). At the forefront of this evolution, lies the Autonomous Underwater Vehicle (AUV), a sophisticated ocean exploration tool that is capable of performing underwater mapping, leveraging data obtained by onboard sensors. AUVs can navigate autonomously in unknown environments without any human interaction, while their level of autonomy is tightly linked to their path planning strategy. In this study, we perform a comparative analysis of a Deep Reinforcement Learning (DRL) method utilising two neural network models, a Linear Model (LM) that consists only of linear layers, and a Convolutional Model (CM) that consists of convolution layers for feature extraction that are merged with linear layers. Our evaluation focuses on assessing the performance of the proposed models for generating optimal paths in 3D underwater environments based on path length and obstacle avoidance. Through comprehensive simulations, we showcase the efficiency of our solution and present a comprehensive framework tailored for solving path planning problems in 3D complex underwater settings.

关键词： Analytical models Solid modeling Autonomous underwater vehicles Three-dimensional displays Navigation Deep reinforcement learning Robot sensing systems Path planning Artificial intelligence Intelligent sensors

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