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17th international conference on Intelligent robotics and Applications, ICIRA 2024

17th International Conference on Intelligent Robotics and Ap...

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

ISBN: (纸本)9789819607884

The proceedings contain 197 papers. The special focus in this conference is on Intelligent robotics and Applications. The topics include: Design and Kinematics Characteristic analysis of a 3-PURU/S Photoelectric Stabilized Platform;vibration analysis and Test of Working Arm of the Anchor Drilling Robot;design and Optimization of Vibration Sieve for Specific Sandy Soil and Its Screening Motion Parameters;Design of a Trajectory-Tracking Controller for OMRs Based on Minimizing Tire Wear;conceptual Design, Control System Development and Prototype Fabrication of a 5-Axis Hybrid Machining Robot for Handicraft Carving;twin Mushroom Picker Suspension Chassis Design Facing the Narrow Space;Kinematic Calibration Method Based on Point Cloud Measurement for 3-RPS Parallel Robot;design and analysis of a Multi-panel Solar Array with Struts;design and analysis of a Consecutive Aquatic Jumping Robot Inspired by Water-Dwelling Frog Hind Legs;design of Multi-Mode Morphing Wings Based on Multi-Stable Beam-Type Metastructures;kinematic Modeling and analysis of Robotic Axial Tilt Errors;Minimum Jerk Trajectory Planning for a Redundant Actuated Three-DOF Cable-Suspended Parallel Robot with Parallelogram Architecture;Kinematic analysis and Control Strategy Research of Hydraulic Robotic Arm Drive Module 2-UPS+U Parallel Mechanism;design and Envelope Grasping analysis of Deployable Manipulator for Space Capture;design, Modelling and Experiment of a Spatial Multi-locomotion Tensegrity Mobile Robot;Inverse Dynamics Model Learning for Robotic Manipulator Based on Swarm Optimization AdaBoost-LSTM;design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot;thermal-Structural analysis of a Deployable Metamorphic Robotic Grasper with Finite Element Method;design and analysis of an Origami-Inspired Gripper with Passive Bistable Grasping Capability;pneumatic Gripper Design Concurrent Shape Topology Optimization.

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Kinematic analysis and Control Strategy Research of Hydraulic Robotic Arm Drive Module 2-UPS+U Parallel Mechanism 17th

Kinematic Analysis and Control Strategy Research of Hydrauli...

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17th international conference on Intelligent robotics and Applications

作者： Nie, Shenglong Chen, Bo Liu, He Li, Yichao Xu, Yundou Yao, Jiantao Zhao, Yongsheng Yanshan Univ Parallel Robot & Mechatron Syst Lab Hebei Prov Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Minist Natl Educ Key Lab Adv Forging & Stamping Technol & Sci Qinhuangdao 066004 Hebei Peoples R China

ISBN: (纸本)9789819607709;9789819607716

In this article, we propose a lowdegree-of-freedom parallel mechanism known as the 2-UPS+U parallel structure. This mechanism features a double-triangle configuration and exhibits unique structural properties, resulting in a coupled system with multivariable input and output. In terms of kinematic analysis, Firstly, we establish the closed-loop directed transformation graph of the mechanism. Then, using the D-H method, we determine the position and orientation of the end-effector. Finally, we solve the inverse position problem of the mechanism through a geometric approach. Aiming at the common synchronous loop problem in hydraulic system, the control strategy of double hydraulic cylinder drive is designed. The validity of our kinematic analysis is confirmed by simulation models constructed in Adams simulation software which demonstrate consistent results with theoretical calculations, thus affirming its accuracy. The 2-UPS+U parallel mechanism finds common application in hydraulic drive units for hydraulic robotic arms. The findings from this research are highly significant as they contribute to enhancing control precision in hydraulic-driven joints.

关键词： The 2-UPS+U Parallel Mechanism Kinematics Double hydraulic cylinder drive Synchronizing loop Hydraulic Robotic Arm

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

17th International Conference on Intelligent Robotics and Ap...

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

ISBN: (纸本)9789819607914

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 international conference on Machine Learning, pattern Recognition and Automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Research on Semantic SLAM Algorithm Based on Deep Learning 4

Research on Semantic SLAM Algorithm Based on Deep Learning

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4th international conference on Computer Vision and pattern analysis, ICCPA 2024

作者： Wang, Xiulian Shi, Zihao College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China

ISBN: (纸本)9781510682528

In practical applications, mobile robots or UAVs often need to navigate and locate in a dynamic environment, but traditional SLAM algorithms often perform poorly in the face of dynamic environments. Therefore, dynamic SLAM has become one of the research hotspots. In order to solve the problems of low positioning accuracy and poor robustness of traditional visual SLAM in dynamic scenes. In this paper, an improved algorithm based on ORBSLAM3 is proposed. Under the condition of keeping the original framework unchanged, the algorithm adds a new semantic thread, combines Mask R-CNN to segment the image frame, extracts the keyframes for optimization, removes the feature points of the dynamic object, and retains the feature points of the original static object. Finally, comparative experiments are carried out based on the TUM dataset, and the final results show that the proposed algorithm is superior to the existing algorithms, and the positioning accuracy and robustness are improved. © 2024 SPIE.

关键词： SLAM robotics

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

17th International Conference on Intelligent Robotics and Ap...

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

ISBN: (纸本)9789819607792

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

17th International Conference on Intelligent Robotics and Ap...

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

ISBN: (纸本)9789819607822

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Image Enhancement for UAV Visual SLAM Applications: analysis and Evaluation 1

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international conference on Brain Inspired Cognitive Systems (BICS)

作者： Tian, Yikun Yue, Hong Ren, Jinchang Univ Strathclyde Dept Elect & Elect Engn Glasgow G1 1XW Scotland Robert Gordon Univ Natl Subsea Ctr Aberdeen AB21 0BH Scotland

ISBN: (数字)9789819714179

ISBN: (纸本)9789819714162;9789819714179

Although simultaneous localisation and mapping (SLAM) has been widely applied in a wide range of robotics and navigation applications, its applicability is severely affected by the quality of the acquired images, especially for those in unmanned aerial vehicles (UAV). In this paper, comprehensive analysis and evaluation of the methods for enhancement of the UAV images are focused, especially the models for denoising of the UAV images using spatial-domain analysis, transform domain analysis and deep learning. Experiments on publicly available datasets are conducted for performance evaluation, along with both qualitative and quantitative results. Surprisingly, deep learning-based approaches did not perform particularly well as these did in other computer vision tasks such as object detection and recognition. Useful discussions are suggested how to further explore this interesting topic.

关键词： Unmanned Aerial Vehicle (UAV) visual SLAM image enhancement denoising dehazing

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A Numerical Method for the Compliance analysis of Continuum Robots 5

A Numerical Method for the Compliance Analysis of Continuum ...

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5th international conference on robotics, Intelligent Control and Artificial intelligence, RICAI 2023

作者： Dai, Yicheng Wang, Sheng Wang, Xin Yuan, Han 518055 China Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China

ISBN: (纸本)9798350357950

Continuum robots are characterized by their high compliance and dexterity. However, these features also lead to a reduction in accuracy. While many literature on continuum robots address aspects such as design, kinematics, and statics, there are few in-depth studies on the compliance of these robots. This paper introduces a numerical approach for obtaining the compliance of continuum robots, taking into account the influences of cable tensions, external loads, and gravity. Based on this method, an analysis to examine the compliance of a two-section cable-driven continuum robot within its workspace under various load conditions is conducted. Results indicate that the robot's compliance is correlated with the external load and the shape of the robot. Moreover, the compliance of the robot in the x direction and y direction is highly related with the distance between the robot's tip end and axes. These conclusions could be useful for the active compliance control of the robot. © 2023 IEEE.

关键词： compliance analysis compliance model continuum robot

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

17th International Conference on Intelligent Robotics and Ap...

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

ISBN: (纸本)9789819607761

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