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

共 24667 条记录，以下是4941-4950 订阅

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A fireworks algorithm based path planning method for amphibious robot

A fireworks algorithm based path planning method for amphibi...

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2021 IEEE international conference on Real-Time Computing and robotics, RCAR 2021

作者： Qi, Yuanyang Liu, Jincun Yu, Junzhi College of Engineering Peking University State Key Laboratory for Turbulence and Complex Systems BIC-ESAT Department of Advanced Manufacturing and Robotics Beijing100871 China College of Information and Electrical Engineering China Agricultural University Beijing100083 China

ISBN: (纸本)9781665436786

This paper proposes a fireworks algorithm based path planning method for amphibious robots that operate in terraqueous environments. Firstly, the amphibious path planning is formulated into a constrained optimization problem by coordinate transformation and line segmentation. Distance, energy consumption, and robot mode switching costs regarding the unconventional characteristics of the amphibious environment are considered. Secondly, the fireworks algorithm (FWA) and the bare bones fireworks algorithm (BBFWA) are briefly introduced. Finally, both methods have been implemented for solving the amphibious path planning problem. Simulation experiments have been conducted to explore the effectiveness and performance of both methods. Results indicate that our proposed path planning method for terraqueous environments is effective, and the fireworks algorithm outperforms the bare bones fireworks algorithm despite the latter surpasses several enhanced variants of the former on certain benchmarks. © 2021 IEEE.

关键词： Motion planning

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Application of hierarchical systems technology in conceptual design of biomechatronic system

Application of hierarchical systems technology in conceptual...

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international conference on Systems Science, ICSS 2013

作者： Miatliuk, Kanstantsin Kim, Yoon Hyuk Bialystok University of Technology Dept. of Automation and Robotics Wiejska 45C Bialystok15-351 Poland Kyung Hee University School of Engineering Yongin446-701 Korea Republic of

ISBN: (纸本)9783319018560

Application of cybernetic technology of conceptual design of biomechatronic surgical robotics system (SRS) originated by systems theory is suggested in the paper. Traditional models of artificial intelligence and mathematics do not allow describing biomechatronic systems being designed on all its levels in one common formal basis, i.e. they do not give connected descriptions of the systems structure, the system as dynamic unit in its environment and the environment construction. To avoid this drawback, the technology of hierarchical and dynamic systems was chosen as a theoretical means for conceptual design and control tasks performing. Furthermore, in comparison with traditional methods the proposed technology gives the description of connected electronic, mechanical, biological, human-machine and computer subsystems of biomechatronic object in common formal basis. Theoretical basis of the coordination technology is briefly considered first. The example of the technology realization in conceptual design of SRS is presented after that in the paper. © Springer international Publishing Switzerland 2014.

关键词： Hierarchical systems

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2nd international conference on robotics, automation and Intelligent Control, ICRAIC 2022

2nd International Conference on Robotics, Automation and Int...

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2nd international conference on robotics, automation and Intelligent Control, ICRAIC 2022

The proceedings contain 50 papers. The topics discussed include: multiple attitude estimation models based on a pressure sensor array;review of human-exoskeleton control strategy for lower limb rehabilitation exoskeleton;multi-source error calibration and observability analysis of integrated inertial navigation system/polarization sensor navigation system;image measurement attribute extraction method under large error condition;salient object detection based on background optimization;classification of CMT additive manufacturing defects based on statistical features;latent-variable-modeling-based fault diagnosis for unknown nonlinear distributed parameter systems with application to snap curing oven;modeling and high-performance trajectory optimization of the industrial robot;non-communicating decentralized multi-robot collision avoidance in grid graph workspace based on dueling double deep Q-network;and combining multi-scale convolutional neural network with long short-term memory neural network for state of charge estimation of lithium-ion batteries.

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Exponentially weighted aggregation of models for Wiener-Hammerstein system modelling

Exponentially weighted aggregation of models for Wiener-Hamm...

引用

international conference on methods and models in automation and robotics

作者： Pawel Wachel Zygmunt Hasiewicz Wroclaw University of Science and Technology Wroclaw Poland

In the paper the problem of Wiener-Hammerstein system (LNL) modelling by exponentially weighted aggregation of models is discussed. The class of systems under consideration admits almost any LNL objects even with infinite memory and virtually arbitrary nonlinear characteristic. Given the set of various possible models of the true system (being e.g. the result of prior identification attempts), the proposed approach yields mixed model that efficiently mimics input-output relationship of the genuine LNL system. Detailed analysis of the approach demonstrates good theoretical properties of the resulting (aggregated) model, whereas numerical simulations illustrate practical aspects of the considered method.

关键词： models Wiener-Hammerstein LNL

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Development of a mobile platform for a remote medical teleoperation robot

Development of a mobile platform for a remote medical teleop...

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international conference on methods and models in automation and robotics (MMAR)

作者： Janusz Jakubiak Michał Drwięga Adam Kurnicki Department of Cybernetics and Robotics Faculty of Electronics Wroclaw University of Science and Technology Wroclaw Department of Cybernetics and Robotics Faculty of Electronics Wroclaw University of Science and Technology Wyb. Wyspianskiego 27 50-370 Wrocław Automation and Metrology Department Lublin University of Technology Lublin

The paper presents a development of a mobile platform for a robot dedicated for remote USG examination. The design process uses a component based approach for system development and platform functions are implemented within the Xenomai-OROCOS-ROS (XOR) software framework. The paper presents how the testbed platform Carol evolved to the new ReMeDi platform prototype and elaborates the new low level controller and changes in mechanical and sensory systems.

关键词： Wheels Robot sensing systems Mobile communication Safety Hardware Prototypes

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Delegation for Authority and Autonomy: An Assignment and Coordination Model

Delegation for Authority and Autonomy: An Assignment and Coo...

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IEEE international conference on Systems, Man, and Cybernetics (SMC)

作者： Lee, Douglas W. Bass, Ellen J. Drexel Univ Coll Comp & Informat Philadelphia PA 19104 USA Drexel Univ Coll Nursing & Hlth Profess Philadelphia PA 19104 USA

ISBN: (纸本)9781479938407

In systems that support dynamic allocation of work across human and autonomous agents, mechanisms for the delegation of authority are required. A case study inspired by the Uberlingen mid-air collision is presented demonstrating an instantiation of a delegation assignment and coordination model. The scenario includes multiple delegation assignments issued from two sets of delegating agents to the same set of adopting agents. For one aircraft, two delegation assignments are made: a clearance from an air traffic controller and an opposing resolution from flightdeck traffic collision alerting automation. For the other aircraft, one delegation assignment is made (a resolution from flightdeck traffic collision alerting automation that is coordinated with the other traffic's automation and that makes the effect of the air traffic control clearance hazardous). The example demonstrates how the agents involved in Uberlingen assigned and accepted multiple, coupled delegations and highlights issues arising from available information and the timing of assignments that may interfere with adherence to coordination procedures. This example indicates the need to extend methods for modeling of delegation assignment and coordination in order to inform the design of autonomous agents, associated procedures, and decision support.

关键词： air traffic control collision avoidance decision support systems U?berlingen mid-air collision air traffic controller authority delegation autonomous agents autonomy delegation decision support dynamic allocation flightdeck traffic collision human Adaptation models Aerospace control Aircraft automation Availability Dynamic scheduling Resource management Air traffic controllers delegation Intelligent agents dynamic allocation Air Traffic Control spacecraft control automation decision making support Aircraft dynamic scheduling Collision avoidance management of resources decision support systems Adaptation models Authority

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A Framework to Support Dependability Evaluation of WSNs from AADL models 20

A Framework to Support Dependability Evaluation of WSNs from...

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20th IEEE conference on Emerging Technologies and Factory automation (ETFA)

作者： Martins, Mara Portugal, Paulo Vasques, Francisco Univ Porto Fac Engn FEUP Rua Campo Alegre 823 P-4100 Oporto Portugal Univ Porto Fac Engn INESC TEC P-4100 Oporto Portugal Univ Porto Fac Engn IDMEC P-4100 Oporto Portugal

ISBN: (纸本)9781467379298

Wireless Sensor Networks (WSNs) have been widely considered as a promising solution to support different types of applications on industrial environments. Many of these applications impose strict dependability requirements, since a system failure may result in economic losses, or damage for human life or to the environment. The absence of an effective approach enabling the dependability evaluation of WSNs prevents system designers to forecast these type of scenarios or to optimize decisions regarding the criticality of the devices, network topology, levels of redundancy and network robustness that minimize the occurrence of faults. To bridge the gap between research achievements and industrial development, we present in this paper a framework to support the dependability evaluation of WSNs based on the automated generation of analytical dependability models from high level AADL (Architecture Analysis and Description Language) architecture models. The main objective of this framework is to relieve the end user from a deep knowledge of dependability modeling techniques and evaluation methods, focusing on their knowledge of the behavior and structure of the system.

关键词： system failures End users Frameworks

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Occupational diseases forecasting for Polish coal mining based on Prophet algorithm

Occupational diseases forecasting for Polish coal mining bas...

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international conference on methods and models in automation and robotics (MMAR)

作者： Nataliia Kashpruk Marta Kraszewska Jerzy Baranowski Mariusz Kapusta Department of Automatic Control and Robotics AGH University of Krakow Kraków Poland Faculty of Civil Engineering and Resource Management AGH University of Krakow Kraków Poland

In paper, forecasting models using Prophet algorithm for occupational diseases incidence rate for Polish coal mining are presented. Prior to this, data is analyzed and approach for building forecasting models in Prophet is described in details. Forecasting models for occupational diseases incidence rate are revealed, respectively for all sectors in Poland, mining industry and finally for coal mining including only pneumoconiosis. Improved forecast accuracy with presented models might provide coal mine enterprises more precise data, supporting safety management in those organizations.

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Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic Mechanism Based on Screw Theory 15

Simulation of Kinematic Accuracy of a 6-DOF Serial Robotic M...

引用

15th IEEE international conference on Advanced robotics and Its Social Impacts (IEEE ARSO)

作者： Lang, Shihui Xin, Hongbing Yu, Zhangguo Beijing Technol & Business Univ Sch Mat Sci & Mech Engn Beijing 100048 Peoples R China Beijing Inst Technol BAICIRS Beijing 100081 Peoples R China

ISBN: (纸本)9781728131764

In order to improve and control the accuracy of robot system, Based on the theory of matrix differential expression presented in reference 1 and independent action principle of errors, the models of structural parameters, clearances and the comprehensive shape and position errors of mechanism are established and the error synthesis is obtained in the form of vector sum. Furthermore, the repeatable position accuracy of a 6-DOF serial robotic mechanism has been accomplished by Monte Carlo method,which provides a new method for error analysis of robot mechanism and a reference basis for precision optimization design.

关键词： Monte Carlo methods

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Localization of Abnormality using Finite Element Modeling of Prostate Glands with Robotic System: A Preliminary Study

Localization of Abnormality using Finite Element Modeling of...

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4th IEEE RAS and EMBS international conference on Biomedical robotics and Biomechatronics (BioRob) / Symposium on Surgical robotics

作者： Lee, Hyosang Kim, Yeongjin Shin, Yong Kyun Ahn, Bummo Rha, Koonho Kim, Jung Korea Adv Inst Sci & Technol Dept Mech Engn Taejon 305701 South Korea Harvard Med Sch Dept Radiol Cambridge MA 02139 USA Yonsei Univ Coll Med Urol Sci Inst Dept Urol Seoul South Korea

ISBN: (纸本)9781457712005

Combined with medical robotic system, mechanical property characterization of the prostate could enhance the diagnosis and localization of prostate cancer. However, despite the importance of localization, complex geometry and boundary conditions of the prostate make localization difficult. This paper proposes a method for localizing abnormality using finite element modeling of the prostate glands. Ex-vivo experiment was performed to resected human prostate tissue for six regions of the prostate using robotic system which was previously designed to induce sweeping palpation. For each region, three dimensional prostate computational models from the CT image segmentation were developed for mechanical property characterization and local property criteria construction. The measured force responses were applied to the prostate model fittings and mechanical property of ex-vivo experiments were estimated. By using comparative study with local property criteria from the prior indentation study, suspicious regions were localized. The results showed that the suspicious regions were discriminated and the sensitivity was 66.7%.

关键词： Robots Prostate cancer Finite element methods Probes Loading Force

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