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检索条件"任意字段=International Conference on Methods and Models in Automation and Robotics"

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Frequency Response of a Rigid Rotor on Magnetorheological Fluid Squeeze Dampers

Frequency Response of a Rigid Rotor on Magnetorheological Fl...

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2024 international Russian automation conference, RusAutoCon 2024

作者： Fetisov, Alexander Liu, Yifan Litovchenko, Maksim Orel State University Department of Mechatronics Mechanics and Robotics Orel Russia

The paper presents the results of modeling the dynamic behavior of a rotor system using fluid film bearings and magnetorheological squeeze dampers. A rigid rotor model is used to describe the dynamics. A linearized bearing and damper models are used to describe force interactions in a two-mass system that takes into account the mutual motion of the damper, bearing and rotor. The hydrodynamics models of the bearing and damper are based on the Reynolds equation for the case of non-Newtonian rheological behavior of the lubricant. Dynamic coefficients were calculated for all sets of rotor speed and the applied magnetic field values. The trajectories of rotor motion were obtained on the basis of dynamic coefficients. A harmonic analysis was performed based on the rotor motion trajectories. The controllability of a magnetorheological liquid damper was analyzed based on an estimation of the maximum amplitudes of rotor vibration displacements. © 2024 IEEE.

关键词： Magnetorheological fluids

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Off-Road Lane Detection Using Superpixel Clustering and RANSAC Curve Fitting 15

Off-Road Lane Detection Using Superpixel Clustering and RANS...

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15th international conference on Control, automation, robotics and Vision, ICARCV 2018

作者： Agrawal, Sanskar Deo, Indu Kant Haldar, Siddhant Kranti Kiran, G Rahul Lodhi, Vaibhav Chakravarty, Debashish

ISBN: (纸本)9781538695821

Lane detection is the most important issue to be resolved for successful locomotion of Intelligent Ground Vehicles (IGV). Problems in lane detection often occur in an external setting mainly due to glare or shadow defects. A robust and real-time approach to off-road lane marker detection for IGVs is being presented here. A novel model fitting based lane detection algorithm has been developed. Linear combination of image planes is used which removes the background and uncovers the white lanes. Simple Linear Iterative Clustering is applied to the processed frame and essential thresholding is performed for noise reduction. Two operations namely a novel approach for lane model identification and estimation of chosen lane mode using RANSAC are followed in sequence on the obtained image. The proposed image processing pipeline has been successfully validated in outdoor field conditions. © 2018 IEEE.

关键词： Iterative methods

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Robust Task Execution Through Experience-based Guidance for Cognitive Robots 17

Robust Task Execution Through Experience-based Guidance for ...

引用

international conference on Advanced robotics (ICAR)

作者： Sariel, Sanem Yildiz, Petek Karapinar, Sertac Altan, Dogan Kapotoglu, Melis Istanbul Tech Univ Artificial Intelligence & Robot Lab Istanbul Turkey

ISBN: (纸本)9781467375092

Robustness in task execution requires tight integration of continual planning, monitoring, reasoning and learning processes. In this paper, we investigate how robustness can be ensured by learning from experience. Our approach is based on a learning guided planning process for a robot that gains its experience from action execution failures through lifelong experiential learning. Inductive Logic Programming (ILP) is used as the learning method to frame hypotheses for failure situations. It provides first-order logic representation of the robot's experience. The robot uses this experience to construct heuristics to guide its future decisions. The performance of the learning guided planning process is analyzed on our Pioneer 3-AT robot. The results reveal that the hypotheses framed for failure cases are sound and ensure safety and robustness in future tasks of the robot.

关键词： Robot Task execution experience CASING FAILURE Robustness inductive logic programming Learning methods Learning processes Planning process Heuristics

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A Generic Framework for Behavior Recognition of Complex Activities in robotics

A Generic Framework for Behavior Recognition of Complex Acti...

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25th IEEE international conference on Tools with Artificial Intelligence (ICTAI)

作者： Haeussermann, Kai Zweigle, Oliver Levi, Paul Univ Stuttgart Dept Image Understanding D-70469 Stuttgart Germany

ISBN: (纸本)9781479929719

Considering the current state in service-robotics, an expert is still necessary to add new tasks and execution behaviors by textual and error-prone programming. Under the consideration that humans typically execute same activities almost identical (or at least similar) and further combine simple behaviors to more complex activities, we follow the constitutive assumption that all complex behaviors are composed of a limited set of atomic behaviors. This work introduces a generic framework for spatial-temporal analysis and classification of arbitrary atomic behaviors. Therefore, we propose the combination of Self-Organizing Maps (SOM) and Probabilistic Graphical models (PGM) in order to exploit the advantages of both concepts. In this work, we describe the essential methods of the framework briefly, whereas the data-driven training of the spatial-temporal model and the reasoning process are described in detail. In order to demonstrate the potential and to emphasize the high level of generalization and flexibility in real-world environments, the framework is evaluated in an exemplary scenario.

关键词： Self-Organizing Maps Probabilistic Graphical models Behavior Recognition

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'LUCAS': The library assistant robot, implementation and localisation

'LUCAS': The library assistant robot, implementation and loc...

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international conference on Computational Intelligence for Modelling, Control and automation/international conference on Intelligent Agents Web Technologies and international Commerce

作者： Behan, Julie O'Keeffe, Derek T. Univ Limerick Dept Elect & Comp Engn Biomed Elect Lab Limerick Ireland

ISBN: (纸本)0769525040

In modern ageing society, robots are been designed to play an increasing role in the lives of elderly people This paper describes a mobile robotic assistant, named 'LUCAS', Limerick University Computerised Assistive System, that is currently being developed to assist elderly individuals with mild cognitive or physical impairments within a library environment. The aim of the project is to provide an assistive socially interactive robotic aid. The main focus of this paper is on the localisation system of 'LUCAS'. A continuous localisation process is used which relies on monocular vision and ultrasonic range readings. The process employ's methods of straight-line-extraction, vanishing point estimation and ultrasonic pattern detection. The correspondence space is reduced by splitting the navigable space into localisation variant regions. The pose is calculated for each localisation hypothesis within the particular region and is used to correct the motion of the robot before it enters the next localisation region.

关键词： robotics

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Legged gaits planning for a novel ePaddle-based amphibious robot

Legged gaits planning for a novel ePaddle-based amphibious r...

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2011 IEEE international conference on robotics and Biomimetics, ROBIO 2011

作者： Sun, Yi Ma, Shugen Department of Robotics Ritsumeikan University 525-8577 Shiga Japan

ISBN: (纸本)9781457721373

In this paper, we present legged walking gaits for an amphibious reconfigurable robot based on a novel eccentric paddle mechanism (ePaddle). The ePaddle mechanism is a novel mechanism that is versatility in locomotion gaits. Five principal kinds of gaits can be achieved, including wheel-like rolling, legged walking, wheel-leg-integrated rolling, and two aquatic paddling gaits. We focus on two types of legged gaits among those possible gaits in this paper. The first one is adopted from a crawl gait that was designed originally for an open-link-based quadrupedal robot. The second legged gait that we introduce is a novel gait which has a duty factor up to 1.0 and keeps a larger static stability margin. The detailed motion planning methods are introduced and verified by simulations and experiments. © 2011 IEEE.

关键词： Wheels

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Instrumented and active exoskeletons for human anatomical joints: Design methodology and applications

Instrumented and active exoskeletons for human anatomical jo...

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2014 IEEE international conference on robotics and Biomimetics, IEEE ROBIO 2014

作者： Cai, Viet Anh Dung Le Nguyen, Van Bidaud, Philippe Faculty of Mechanical Engineering Department of Mechatronics University of Technical Education Ho Chi Minh city Viet Nam Institute of Intelligent Systems and Robotics Pierre et Marie Curie University Paris75005 France

ISBN: (纸本)9781479973965

This paper addresses the design of instrumented single joint and multi-joints active orthoses for musculoskeletal and neuromuscular disorder exploration and functional rehabilitation. The use of these multi-contact exoskeletons, operating a selective limb joint mobilization, allows the measurement and the control of physiological parameters (instantaneous helical axis (IHA) motion, joint motion and torque) of each individual anatomical joint. Passive joints have to be added into the kinematic chain of the exoskeleton in order to eliminate residual stresses in limb/orthose interaction due to misalignment between the device principal axis of rotation and the IHA of the anatomical joint. The kinematic design and the control of spatial orthotic mechanisms to obtain an adaptation and a best-fit to the joints kinematics are discussed afterward. Examples of active orthosis design for knee, elbow joint and lower limbs are also given. © 2014 IEEE.

关键词： Physiological models

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Motion planning for steep hill climbing

Motion planning for steep hill climbing

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2011 IEEE international conference on robotics and automation, ICRA 2011

作者： Dunlap, Damion Yu, Wei Collins Jr., Emmanuel G. Caldwell, Charmane V. Automation and Dynamics Branch Littoral Warfare Science and Technology Department US Naval Surface Warfare Center United States Department of Mechanical Engineering Florida A and M University Tallahassee FL 32310 United States CISCOR Department of Electrical Engineering Florida A and M University Tallahassee FL 32310 United States

ISBN: (纸本)9781612843865

The motors or engines of an autonomous ground vehicles (AGV) have torque and power limitations, which limit their abilities to climb steep hills, which are defined to be hills that have high grade sections in which the vehicle is forced to decelerate. Traversal of a steep hill requires the vehicle to have sufficient momentum before entering the hill. This problem is part of a larger class of momentum-based motion planning problems such as the problem of lifting heavy objects with manipulators. Hence, solutions to the steep hill climbing problem have much wider applicability. The motion planning here is accomplished using a dynamic model of the skid-steered AGV used in the experiments along with Sampling Based Model Predictive Control (SBMPC), a recently developed input sampling planning algorithm that may be viewed as a generalization of LPA to the direct use of kinodynamic models. The motion planning is demonstrated experimentally using two scenarios, one in which the robot starts at rest at the bottom of a hill and one in which the robot starts at rest a distance from the hill. The first scenario requires the AGV to first reverse direction so that the vehicle can gather enough momentum before reaching the hill. This corresponds to having the vehicle begin at a local minimum, which results in a problem that many traditional model predictive control methods cannot solve. It is seen that, whereas open loop trajectories can lead to vehicle immobilization, SBMPC successfully uses the information provided by the dynamic model to ensure that the AGV has the requisite momentum. © 2011 IEEE.

关键词： Motion planning

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Vehicle parameter independent gain matrix selection for a quadrotor using state-space controller design methods 11

Vehicle parameter independent gain matrix selection for a qu...

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11th international conference on Informatics in Control, automation and robotics, ICINCO 2014

作者： Wilson, Graeme N. Ramirez-Serrano, Alejandro Sun, Qiao Department of Mechanical and Manufacturing Engineering University of Calgary 2500 University Drive NW CalgaryABT2N 1N4 Canada

ISBN: (纸本)9789897580406

With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable hover controller in the presence of disturbances is presented along with simulation of control system performance. Additionally the design of a tracking system, for linear inertial position and yaw, is presented with simulation results. The gain matrix developed for this control system is independent of the specific quadrotor parameters, meaning that this same gain matrix can be used on a wide variety of quadrotors without modification. The hover and tracking controllers designed in this paper proved to perform well in simulation under perturbation disturbances and normally distributed disturbances on the UAVs linear speeds and angular speeds.

关键词： Controllers

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Robust Control Design for a Hopping Robot in Flight Phase using the Sliding Mode Approach 17

Robust Control Design for a Hopping Robot in Flight Phase us...

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17th IEEE international conference on automation Science and Engineering (CASE)

作者： Souza, Guilherme N. Oliveira, Tiago Roux Leite, Antonio C. Pontifical Catholic Univ Rio de Janeiro Dept Elect Engn BR-22451900 Rio De Janeiro RJ Brazil Univ Estado Rio De Janeiro Dept Elect & Telecommun Engn BR-20550900 Rio De Janeiro Brazil Norwegian Univ Life Sci Fac Sci & Technol N-1434 As Norway

ISBN: (纸本)9781665418737

Nowadays, legged mobile robots have increased the interest of the robotics community because such mechanisms have higher versatility and autonomy compared to wheeled mobile robots. Although single-leg or multi-leg mechanisms can cross any terrain, some disadvantages are related to their increased complexity in mechanical design, modeling and control, and higher power consumption. A first case study for the balance and motion planning problem is the hopping robot, which is a nonholonomic system whose motion dynamics of each hopping cycle can be split into flight and stance phases. In this work, we consider the modeling and control design of a one-legged hopping robot in the flight phase by using the sliding mode approach, due to its well-known ability to deal with parametric uncertainties and nonlinear disturbances. Then, two nonlinear controllers are designed and implemented to automatically stabilize the robot joints during the flight in the presence of perturbations caused by the neglected high-order nonlinear terms in the modeling process, unmodeled dynamics and measurement noise. The Lyapunov stability theory is used to demonstrate the stability and robustness properties of the overall closed-loop control systems. Numerical simulations and a comparative analysis are provided to illustrate the performance and feasibility of the proposed control methodology.

关键词： Robust control Uncertainty Power demand Perturbation methods Process control Numerical simulation Stability analysis

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