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检索条件"任意字段=Proceedings of the 2019 2nd International Conference on Control and Robot Technology"

共 3954 条记录，以下是151-160 订阅

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Cutting Force Similarity Calculation in Milling Process Using Siamese LSTM Structure 2

Cutting Force Similarity Calculation in Milling Process Usin...

引用

2nd international conference on Mechatronics and Electrical Engineering (MEEE)

作者： Kwak, Juheon Jo, Wonkeun Lee, Soomin Kim, Hyein Koo, Jeongin Kim, Dongil Ewha Womans Univ Div Artificial Intelligence & Software Seoul South Korea Chungnam Natl Univ Comp Sci & Engn Daejeon South Korea Korea Inst Ind Technol Mfg Syst R&BD Grp Cheonan South Korea Ewha Womans Univ Dept Data Sci Seoul South Korea

ISBN: (纸本)9781665474450

Cutting force is a key factor in machining processes. Cutting force similarity is required for several important issues, namely: stability evaluation, process control, and process parameter setting. This study employed a long short-term memory (LSTM) with Siamese architecture to measure the similarity of the cutting forces in a milling process. The Siamese LSTM was trained with time series data of the vertical cutting force collected from a cutting tool during the milling process to calculate the similarity. For evaluation, dynamic time warping (DTW), a common approach used to calculate the similarity of time series data, was employed for comparison with the Siamese LSTM. Experimental results showed that the proposed Siamese LSTM outperformed the conventional DTW-based similarity calculation.

关键词： similarity cutting force Siamese neural network dynamic time warping Manhattan distance long short-term memory

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Underactuated Path Tracking control of Mole Drilling robot 2

Underactuated Path Tracking Control of Mole Drilling Robot

引用

2nd international conference on Service robotics, ICoSR 2023

作者： Zhu, Yaxin Mu, Ruinan Yuan, Zihao Zhao, Haifeng Technology and Engineering Center for Space Utilization Chinese Academy of Sciences University of Chinese Academy of Sciences Key Laboratory of Space Utilization Beijing China

ISBN: (纸本)9798350304688

Mole drilling robots have garnered considerable attention to overcome the effect by the complex composition of the regolith on the moon and other celestial bodies, especially for the explorations deeper than 5 meters. Due to the underactuated configuration of the robot and the uncertainty of the soil resistance, path tracking control of the robot aiming to round the obstacles becomes a key issue. In this paper, an effective and robust controller based on the backstepping control and the sliding mode control is investigated. Firstly, a simplified dynamic model of the mole drilling robot is derived. Subsequently, a control-oriented error dynamics equation is established in the Serret-Frenet coordinate system and the kinematic controller is designed by introducing the approach angle based on the backstepping method. Undisturbed and disturbed dynamic controllers are respectively given by the Lyapunov stability theory and the sliding mode method. Finally, the dynamic response of the control system and the control input are experimentally verified along a typical straight-circle path. The effect of the uncertainty of the soil resistant is discussed and the reliability are compared between the undisturbed and disturbed controllers. © 2023 IEEE.

关键词： Soils

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Research on Multi-robot Material Picking and Autonomous Path Planning System in Industrial Environment 2

Research on Multi-robot Material Picking and Autonomous Path...

引用

2nd IEEE international conference on Electrical Engineering, Big Data and Algorithms, EEBDA 2023

作者： Jiang, Zhiyao South China University of Technology Shien-Ming Wu School of Intelligent Engineering Guangzhou511442 China

ISBN: (纸本)9781665462532

Industrial 4.0 has been proposed in 2014 and has received many achievements so far under the development of robotics and artificial intelligence. Among all of the research projects on smart factory, transfer robots are one of the most common applications for robotics in industrial field. To improve the navigation accuracy when locating products as well as complete more tasks such as picking materials, multi-robot path planning algorithms are necessary to combine with manipulators like mechanical arms. This work is focused on designing a transfer robot and a mechanical arm for industrial environment. Meanwhile, a modified A∗ algorithm named HCA algorithm is implemented into the multi-robot transfer system with PID controlled mechanical arm. The system can be used to finish transfer missions in large-scale warehouses or narrow industries. To further develop this system, continuous actions should be used instead of discrete ones. Moreover, computer vision methods can be added to the mechanical arm to increase the grasping accuracy and flexibility. © 2023 IEEE.

关键词： Three term control systems

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Smart Educational robotics Laboratory Ecosystem for Remote control of robotic Manipulators Through Telepresence Technologies 2

Smart Educational Robotics Laboratory Ecosystem for Remote C...

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2nd international conference on technology Enhanced Learning in Higher Education, TELE 2022

作者： Kondratyev, Sergey Pikalov, Vladimir Muravyev, Artem Evseev, Alexei Lipetsk State Technical University Automation and Computer Science Faculty Lipetsk Russia

ISBN: (纸本)9781665470070

This paper discusses a smart laboratory robotics system designed to allow students remote connection and work with robotic manipulation devices and applications, as well as for teaching and conducting collaborative research projects in the field of electrical engineering and automation. A scheme of connecting all the necessary robotic devices and video cameras to the main server in the laboratory for the possibility of connecting to a remote desktop is presented. The developed solution for remotely connecting students to a physical robotic cell, which is connected to the lab server, is presented. Thanks to the proposed system, it was possible to conduct a debugging of new solutions for the control of robotic manipulation systems on a particular connected technological equipment. A telepresence system with real-time video streaming of physical robotic cell was developed to monitor the behavior of the robotic system remotely in order to understand the process of the connected devices clearly after the solution was uploaded to the robot controller. © 2022 IEEE.

关键词： Remote control

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Structural Segmentation and Large Language Model Make Behavior Tree More Explainable 2

Structural Segmentation and Large Language Model Make Behavi...

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2nd international conference on Artificial Intelligence, Human-Computer Interaction and robotics, AIHCIR 2023

作者： Su, Hang Zhao, Xiaoqing Li, Fu Guo, Zhengyang Wu, Yunlong Wang, Yanzhen Tianjin China Tianjin China Tianjin China

ISBN: (纸本)9798350360363

Behavior trees have found extensive applications in the field of robotics due to their modular and reusable characteristics. They are employed to enable autonomous actions in robots, including control of robot motion, assessment of the robot's state, and the planning of the robot's action sequences. Behavior trees offer the advantage of effectively representing complex behaviors and adapting well to various environments and tasks. However, when reusing behavior trees constructed for prior projects, comprehension of the functional-ity of intricate behavior trees can pose a challenge for technical personnel. To expedite the comprehension of new behavior trees and enhance task development efficiency, this paper introduces a method for behavior tree explanation based on behavior tree segmentation and large language models. This method performs structural segmentation of behavior trees based on the hierarchical structure of tasks. It leverages the natural language capabilities of open-source large language models to obtain function explanations of behavior trees, thereby assisting technical personnel in understanding their functional-ity. Through experimentation, the paper initially demonstrates the feasibility of utilizing large language models to interpret behavior trees. It further validates that the superiority of the proposed methodology in terms of accuracy and stability compared to the mere utilization of the intrinsic capabilities of large language models. © 2023 IEEE.

关键词： robot programming

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Optimization Design of Hydraulic Press Servo control Algorithm Based on Fuzzy PID 2

Optimization Design of Hydraulic Press Servo Control Algorit...

引用

2nd international conference on Artificial Intelligence and Autonomous robot Systems, AIARS 2023

作者： Liu, Hongmei Anhui Sanlian University School of Electronic and Electrical Engineering Anhui Hefei230601 China

ISBN: (纸本)9798350324358

Hydraulic press is an important molding machine tool. It uses liquid as the working medium to transfer energy to realize various pressure processing processes, and is widely used in aerospace, military, shipbuilding, nuclear power, automobile and other manufacturing fields. Hydraulic press is a large and complex manufacturing equipment operating under extreme conditions such as high pressure, long stroke, large inertia, etc. The position control and operation reliability of its movable crossbeam are critical to product accuracy and equipment safety. Finally, this paper verifies the importance of the fuzzy PID hydraulic press servo control algorithm to the hydraulic start control servo system through simulation experiments, and proves the innovation, feasibility and important value of the design concept in this paper. The fuzzy PID digital control algorithm proposed in this paper can actively overcome the static error of the system, with small lag and no overshoot, and stronger anti-interference ability. Reasonable use of PID regulator not only improves the position control accuracy of the system, but also reduces the performance requirements of other components except the feedback components. © 2023 IEEE.

关键词： Position control

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Research on Intelligent control technology of Maglev robot Based on Neural Network 2

Research on Intelligent Control Technology of Maglev Robot B...

引用

2nd international conference on Computer, control and robotics, ICCCR 2022

作者： He, Qin Kong, Min Wenhua College Mechanical and Electrical Engineering Department Wuhan China

ISBN: (纸本)9781665466745

The fusion of magnetic levitation technology and robot is an important direction in the research of precision robot. Aiming at the motion characteristics of magnetic levitation robot realized by elastic deformation, this paper proposes that in the aspect of intelligent target positioning of magnetic levitation robot, multi-target recognition and detection calculation method of convolution neural network is used to accurately locate the target object;in the model-based torque control structure, the magnetic levitation robot is established. The parallel processing RBF neural network model of the inverse motion problem of the floating robot could improve the solution speed while maintaining a certain accuracy. In order to improve the trajectory tracking accuracy of the maglev robot, BP neural network has been used based on the traditional sliding mode variable structure control. Simultaneous interpreting the mapping relationship between the master control module and the sensor, the neural network algorithm reduces the network weight by means of error back propagation. Then, when the heading angle and longitudinal velocity of the maglev robot are time-varying, the path following has been controlled. The application of these strategies would have a certain reference value for the effective intelligent control of Maglev robot. © 2022 IEEE.

关键词： Neural network models

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Second international conference on Informatics, Networking, and Computing, ICINC 2023

Second International Conference on Informatics, Networking, ...

引用

2nd international conference on Informatics, Networking, and Computing, ICINC 2023

ISBN: (纸本)9781510674745

The proceedings contain 42 papers. The topics discussed include: a lightweight image super-resolution network based on large receptive field information distillation;a classification model for signals of seismic events based on vision transformer;improved UNILM model based on keyword technique;a hospital positioning system based on BLE beacons;personalized differential privacy approach in the federated learning scenario;a power communication scheme integrating 5G network and SD-WAN;research on dynamic robust visual SLAM method based on deep learning;position control of mobile robot based on deep reinforcement learning;multi-modal deep feature fusion for superheat identification in aluminum electrolysis;and joint decision-making of communication waveform and power based on Q-Learning.

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proceedings - 2023 2nd Asia conference on Electrical, Power and Computer Engineering, EPCE 2023

Proceedings - 2023 2nd Asia Conference on Electrical, Power ...

引用

2nd Asia conference on Electrical, Power and Computer Engineering, EPCE 2023

ISBN: (纸本)9798350310818

The proceedings contain 40 papers. The topics discussed include: black start scheme of wind-storage combined system based on virtual synchronous generator control;a left ventricle segmentation based on boundary weighted loss and residual feature aggregation;a natural language understanding model based on encoding fusion for power marketing indicator answering;a ship network security assessment model;adaptive large-scale multi-objective evolutionary optimization based on reference solution guidance;analysis of key influencing factors and optimization strategy for safety boundary of converter station;assessment of a multi-step lstm-based ensemble strategy for short-term grid modal parameters forecast;authenticity and uncertainty analysis of enterprise carbon verification data;black start scheme of wind-storage combined system based on virtual synchronous generator control;communication encryption scheme of 5G power trading private network based on dynamic key;and conducted electromagnetic disturbance prediction of electric power robot motor drive system.

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Design of Universal Integrated robot Joint and Its Applications in Multiple Fields 2

Design of Universal Integrated Robot Joint and Its Applicati...

引用

2nd international conference on Automation, robotics and Computer Engineering, ICARCE 2023

作者： Ren, Hongxi Qiang, Ligang Zhang, Kangjun Song, Dingan Xiao, Taokang Li, Li Guizhou Aerospace Control Technology Co. Ltd Aerospace Jiangnan Group Co. Ltd Guiyang China

ISBN: (纸本)9798350308341

This article mainly focuses on the design and prototype development of a universal integrated joint, and analyzes the design of the joint and the motor used. By verifying and optimizing weak materials such as enameled wires, heat shrink tubes, and lead wires, and applying them to the entire product, core components such as motors and rotary transformers can have a longer lifespan in complex environments. At the same time, universal interfaces are designed for joints to ensure that integrated joints can be widely used in various fields such as rehabilitation, medical exoskeletons, and nuclear industrial robots. Finally, practical use cases are provided in the article. © 2023 IEEE.

关键词： Industrial robots

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