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检索条件"任意字段=Proceedings of the 3rd International Conference on Mechatronics and Robotics Engineering"

共 6212 条记录，以下是11-20 订阅

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Improved Path Planning Algorithms to Minimize Turning Costs for a Differential-Drive Autonomous Surface Vehicle 3

Improved Path Planning Algorithms to Minimize Turning Costs ...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Huynh, An Luu, Toan Tran, Minh Nguyen, Hung School of Science Engineering & Technology RMIT University Vietnam Ho Chi Minh city Viet Nam Australian Maritime College University of Tasmania LauncestonTAS Australia

ISBN: (纸本)9798331544546

Technological advancements have facilitated the widespread adoption of Autonomous Surface Vehicles (ASVs) across various sectors of the marine industry, driven by their diverse range of applications. As ASVs are deployed in increasingly complex and challenging marine environments, research studies on path planning and obstacle avoidance have gained significant attention. This paper focuses on the path planning of an ASV equipped with differential drive thrusters, one of the most popular propulsion configurations for ASV. Traditional path-planning algorithms, such as Dijkstra, Greedy Best-First Search, and A∗, were implemented in this study and further modified to incorporate turning costs, optimizing the system by minimizing the number of turns required during operation. Our comparative analysis demonstrates that the Improved Greedy Best-First Search algorithm is considered as the most optimal algorithm to reduce about 37 % number of turns, improve the robustness of the system while remain suitable for small-scale ASVs. © 2025 IEEE.

关键词： Autonomous Surface Vehicle Differential Drive Thrusters Path Planning Turning Cost

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A Cooperative Positioning Method of Connected and Automated Vehicles with Fusion of Data Information of Direction-of-Arrival, Relative Distance and Vehicles Speed 3

A Cooperative Positioning Method of Connected and Automated ...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Kaky, Kani M. Bilgen, Semih Istanbul Okan University Faculty of Engineering and Natural Sciences Istanbul Turkey

ISBN: (纸本)9798331544546

This study explores the potential of cellular-vehicle-to-everything (C-V2X) wireless communications in enhancing AV localization in GNSS-deprived scenarios. Specifically, we propose CV2X-LOCA, a novel unit (RSU)-assisted cooperative localization substructure utilizing only C-V2X channel state information to achieve lane-level precision. CV2X-LOCA comprises four main components: a data processing module, environment parameter correction module, coarse positioning module, and vehicle trajectory filtering module, collectively addressing challenges in dynamic C-V2X networks. Through extensive modelling we demonstrate that CV2X-LOCA attains cutting-edge localization performance even in noisy conditions, with fast-moving vehicles and sparse RSU coverage. The findings offer valuable insights for transportation agencies to make informed decisions regarding cost-effective RSU deployment in the future. © 2025 IEEE.

关键词： Global positioning system

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Estimation of Physical Properties of Unboiled Type Arecanuts Using Load Cell and Ellipsoid Approximation 3

Estimation of Physical Properties of Unboiled Type Arecanuts...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Salunke, Ajit Honnungar, Sunilkumar Don Bosco College of Engineering Department of Mechanical Engineering Fatorda Goa India SDM College of Engineering and Technology Department of Mechanical Engineering Dhavalagiri Karnataka Dharwad India

ISBN: (纸本)9798331544546

The automated sorting of arecanut kernels is a significant challenge that has not been effectively addressed thus far. Scientific grading techniques are necessary given the paradigm change toward investigating alternative uses for arecanuts in industry and the medical field. This research work emphasizes the relatively unexplored aspect of the post-harvest process;quality grading of kernels based on physical properties. The study evaluated the feasibility of employing machine vision for the real-time determination of unboiled arecanut kernel volume and load cell measurements for real-time mass measurement, targeting density-based automated quality grading. The proposed system used a load cell for mass estimation and two webcams placed at right angles to estimate volume using ellipsoid approximation. The study reported that the percentage error for mass measurement was 5.82 %, and for volume measurement, it was 14.29 %. The Spearman's rank correlation coefficient was 0.907 (P3 for volume estimation. The findings indicate a potential for automated quality grading based on physical properties such as density, rather than relying solely on machine vision, which has been the primary focus of most researchers. However, a limitation of the proposed method is that the paired t-test results indicated a significant difference (P © 2025 IEEE.

关键词： Weighing

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Sugar Cane Yield Prediction Using Drone Data Processed by LSTM Algorithm 3

Sugar Cane Yield Prediction Using Drone Data Processed by LS...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Arakawa, Kotetsu Shimizu, Ryusei Kikuchi, Shota Capi, Genci Hosei University Graduate School of Science and Engineering Dept. of Mechanical Eng. Tokyo Japan

ISBN: (纸本)9798331544546

Sugarcane is an essential crop in southwestern Japan, particularly in Okinawa and Kagoshima, where it sustains local economies and supports large-scale sugar production. Traditional yield prediction relies on labor-intensive field surveys and is increasingly challenged by a shortage of skilled labor, resulting in potential inaccuracies. This work proposes an innovative approach to sugarcane yield prediction by combining Long Short-Term Memory (LSTM) models with Genetic Algorithms (GA) to optimize model performance. Drone-based data collection methods are also explored, leveraging aerial imagery to provide additional predictive features. The proposed model demonstrates the effectiveness of integrating time-series and spatial data, offering a scalable and accurate solution for improving yield forecasting and supporting efficient operations in sugarcane production. © 2025 IEEE.

关键词： 3D Map building Drone navigation Sugar cane yield prediction

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Incremental Sliding-Mode Control for Morphing Flight Vehicles Subject to Mismatched Uncertainties and Input Saturations 3

Incremental Sliding-Mode Control for Morphing Flight Vehicle...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Hua, Siyu Wang, Xugang Wang, Zhongyuan Lee, Heow Pueh National University of Singapore School of Energy and Power Engineering Nanjing University of Science and Technology Department of Mechanical Engineering China School of Energy and Power Engineering Nanjing University of Science and Technology China National University of Singapore Department of Mechanical Engineering Singapore

ISBN: (纸本)9798331544546

This work focuses on a novel incremental sliding mode controller (ISMC), integrated with an anti-windup compensator (AW), for a morphing flight vehicle subject to uncertainties and input saturations. The ISMC consists of two loops based on a control-oriented model of the morphing vehicle with symmetric-sweep wings. Theoretical analysis shows that there is no need to apply chattering reduction methods as the ISMC itself is a continuous function without any approximation compared to conventional sliding mode control structures. The ISMC also has demonstrated enhanced robustness against matched uncertainties and, notably, mismatched uncertainties. Furthermore, it exhibits some anti-saturation capability. By incorporating the AW design, the system achieves improved robustness against uncertainties and input constraints with reduced model dependency. The advantages of ISMC-AW are validated through comparative simulations under multiple uncertainties. Compared with an adaptive sliding mode controller combined with an anti-saturation auxiliary system (ASMC-AS), the proposed ISMC-AW demonstrates smaller tracking errors, a higher convergence rate, and lower vibration amplitudes, and it can help the actuator exit the saturation region rapidly. © 2025 IEEE.

关键词： Sliding mode control

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Implementation of an Embedded Electronic Control System for a Functional Prosthetic Hand 3

Implementation of an Embedded Electronic Control System for ...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Parra, Magno Abarca, Victoria E. Elias, Dante A. Pontificia Universidad Católica del Perú Biomechanics and Applied Robotics Research Laboratory Lima Peru

ISBN: (纸本)9798331544546

The advancement of electronics enables the development of more complex functional prosthetics with more capabilities and functionality. The prosthetics currently developed do not leave the laboratory environment due to their complexity or the requirement to operate in conjunction with laboratory computing equipment. Therefore, it is essential to develop prosthetics that can operate outside of the laboratory environment while maintaining maximum functionality. Consequently, an electronic control system is developed that can be embedded in a functional prosthetic hand, which is then trained in real-time through electromyography (EMG) using a classification algorithm based on machine learning. The system allows the prosthetic hand to assume six different positions and be controlled by electromyography, recognizing flexion and extension movements of the wrist. This results in a control system that can be fully embedded in the prosthetic hand, with an appropriate weight and size to maintain the aesthetics and functionality of the prosthesis. © 2025 IEEE.

关键词： Artificial limbs

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Industrial Ahu Control Improvements using Fuzzy Logic for Energy Efficiency and Comfort 3

Industrial Ahu Control Improvements using Fuzzy Logic for En...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Sulaiman, Syahmirullah Rusydi, Muhammad Razif, Muhammad Swee, Alan Tan Thiam Hashim, Hairulazwan Shabani, Hikma Universiti Tun Hussein Onn Malaysia Faculty of Engineering Technology Johor Malaysia IETCO EnergyCap Sdn Bhd Selangor Malaysia School of Electrical and Communications Engineering Papua New Guinea University of Technology Lae Papua New Guinea

ISBN: (纸本)9798331544546

This study focuses on how fuzzy logic control can improve the efficiency and performance of Air Handling Unit (AHU) systems. Traditional methods of controlling AHUs, like fixed-frequency operation, often waste energy, cause unstable temperatures, and wear out equipment faster. To solve these problems, a fuzzy logic controller was designed to regulate motor frequency and motorized valve positions based on real-time inputs from Supply Air Temperature (SAT) and Return Air Temperature (RAT). The controller used Modbus communication to exchange data between Variable Frequency Drive (VFD). The system was tested over 21 days at a commercial building, comparing its performance to fixed-frequency settings between 40 Hz to 50 Hz configuration. The results showed that fuzzy logic control could reduce energy usage by up to 38% and stable temperatures. This research shows that fuzzy logic can improve energy efficiency and comfort in HVAC systems, making it a useful solution for modern building management. © 2025 IEEE.

关键词： Telecontrol equipment

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Latent 3D Scene Graph with Aligned Visual-Language Perception for Object-Goal Navigation 3

Latent 3D Scene Graph with Aligned Visual-Language Perceptio...

引用

3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Zhang, Jianwei Zhou, Kang Yang, Junjie Li, Xiaojian College of Engineering Southern University of Science and Technology Shen Zhen China School of Computer Science City University of Hong Kong Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shen Zhen China

ISBN: (纸本)9798331544546

Object-goal navigation requires agents to accurately locate and navigate to specified target objects in complex indoor environments. Existing methods primarily rely on single visual observations or simple semantic matching, making it difficult to effectively understand 3D scene relationships between target objects, which leads to inefficient path planning during navigation. Furthermore, the feature discrepancy between visual and language modalities poses challenges for accurate target identification. To address these issues, we propose Latent 3D Scene Graph with Aligned Visual-Language Perception (LSGAP), a novel approach that explicitly models 3D scene relationships between objects through depth perception and latent 3D scene graph construction. Meanwhile, we leverage multimodal pretraining strategies to achieve effective visual-language feature alignment, enhancing the model's target recognition capabilities. This end-to-end architectural design improves spatial cognition ability and enables more efficient navigation decision-making. We conduct extensive experimental evaluations in the AI2THOR interactive environment to validate the effectiveness of our navigator. © 2025 IEEE.

关键词： Depth perception

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2025 3rd international conference on mechatronics, Control and robotics

2025 3rd International Conference on Mechatronics, Control a...

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mechatronics, Control and robotics (ICMCR), international conference on

2025 3rd international conference on mechatronics, Control and robotics.

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

2025 3rd international conference on mechatronics, Control and robotics.

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Deployment of Large Language Models to Control Mobile Robots at the Edge 3

Deployment of Large Language Models to Control Mobile Robots...

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3rd international conference on mechatronics, Control and robotics, ICMCR 2025

作者： Sikorski, Pascal Schrader, Leendert Yu, Kaleb Billadeau, Lucy Meenakshi, Jinka Mutharasan, Naveena Esposito, Flavio Aliakbarpour, Hadi Babaias, Madi Saint Louis University Computer Science Department Saint Louis United States Saint Louis University Aerospace & Mechanical Engineering Department Saint Louis United States

ISBN: (纸本)9798331544546

This paper investigates the possibility of intuitive human-robot interaction through the application of Natural Language Processing (NLP) and Large Language Models (LLMs) in mobile robotics. This work aims to explore the feasibility of using these technologies for edge-based deployment, where traditional cloud dependencies are eliminated. The study specifically contrasts the performance of GPT-4-Turbo, which requires cloud connectivity, with an offline-capable, quantized version of LLaMA 2 (LLaMA 2-7B.Q5 K M). These results show that GPT-4-Turbo delivers superior performance in interpreting and executing complex commands accurately, whereas LLaMA 2 exhibits significant limitations in consistency and reliability of command execution. Communication between the control computer and the mobile robot is established via a Raspberry Pi Pico W, which wirelessly receives commands from the computer without internet dependency and transmits them through a wired connection to the robot's Arduino controller. This study highlights the potential and challenges of implementing LLMs and NLP at the edge, providing groundwork for future research into fully autonomous and network-independent robotic systems. © 2025 IEEE.

关键词： Mobile robots

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