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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51-60 订阅

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

Improved Path Planning Algorithms to Minimize Turning Costs ...

引用

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

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

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

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.

关键词： Industries Costs mechatronics Attitude control Propulsion Turning Path planning Robustness Computational efficiency Robots

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Using Sliding Mode Controller to Trajectory Tracking of the Four Mecanum Wheel Mobile Robot Applied in Automotive Plants

Using Sliding Mode Controller to Trajectory Tracking of the ...

引用

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

作者： Tran Vo Dang Huy Bui Thanh Luan HUTECH Institute of Engineering HUTECH University Ho Chi Minh City Viet Nam Industrial Maintenance Training Center Ho Chi Minh City University of Technology (HCMUT) Ho Chi Minh City Vietnam Vietnam National University Ho Chi Minh (VNU-HCM) Thu Duc city Ho Chi Minh City Vietnam

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

This research paper proposes a mobile robot configuration tailored to optimize transportation processes for the Skoda automobile manufacturing plant. When operating in a factory, the FMWMR is subject to external disturbances and uncertainties, so the sliding mode control (SMC) method is introduced. The control law is derived by selecting an appropriate Lyapunov function based on the robot's dynamic model. Simulation results in Matlab demonstrate the effectiveness of the proposed control algorithm in enabling the robot to follow predefined trajectories.

关键词： Uncertainty Trajectory tracking Simulation Wheels Production facilities Hardware Manufacturing Mobile robots MATLAB Sliding mode control

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Sugar Cane Yield Prediction Using Drone Data Processed by LSTM Algorithm

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

引用

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

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

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

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.

关键词： Accuracy Three-dimensional displays Biological system modeling Production Predictive models Sugar industry Data models Long short term memory Genetic algorithms Drones

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Development of a Soft Gripper Using Kirigami-Inspired Techniques

Development of a Soft Gripper Using Kirigami-Inspired Techni...

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

作者： Efrem Olivio Gomes Shyang-Jye Chang Ilham Saputra Hsu-Feng Chang Department of Mechanical Engineering National Yunlin University of Science and Technology Douliu Taiwan Department of Mechanical Engineering Vocational School Universitas Gadjah Mada Yogyakarta Indonesia

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

This study introduces a soft robotic gripper inspired by Kirigami, designed to improve flexibility and adaptability for handling delicate or irregular objects. The gripper, fabricated using silicone elastomers with strategic Kirigami cuts, allows significant deformation while maintaining structural integrity. Two models were tested on various objects. Model 1 showed superior performance, while Model 2, designed for larger objects, struggled with smaller and heavier items. The gripper demonstrated excellent adaptability, securely gripping diverse objects by conforming to complex geometries. Its potential for gentle handling makes it suitable for biomedical and agricultural applications. Durability tests revealed that the 1.5 mm thickness gripper maintained performance after over 100 cycles, outperforming the 1.0 mm version, which exhibited loosening after fewer uses. Compared to conventional grippers, the Kirigamiinspired design showed enhanced flexibility, precision, and durability, making it ideal for automation tasks. Future refinements in materials and design will further improve its performance.

关键词： Fabrication Adaptation models Shape Biological system modeling Elastomers Soft robotics Object recognition Grippers Optimization Testing

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Interactive Agent Foundation Model: A Meta-Learning Strategy 3

Interactive Agent Foundation Model: A Meta-Learning Strategy

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3rd international conference on Intelligent Systems, Advanced Computing, and Communication, ISACC 2025

作者： Dwivedi, Mani Dwivedi, Anuj Kr. KIET Group of Institutions Delhi-NCR Department of Computer Science and Engineering Ghaziabad India Galgotias College of Engineering and Technology Department of Computer Science and Engineering India

ISBN: (纸本)9798331523893

Artificial intelligence (AI) systems are evolving from static, task-specific models to dynamic, agent-based systems that perform well in a variety of scenarios. We present an Interactive Agent Foundation Model using a novel multi-task agent training methodology that includes many pretraining techniques such as language modelling, visual masked autoencoders, and next-action prediction. This framework's adaptability and versatility have been shown in the robotics, gaming AI, and healthcare sectors, yielding results that are pertinent to the situation. Effective multimodal and multitask learning is made possible by utilizing a variety of data sources, such as textual information, gaming data, robotics sequences, and large-scale video datasets. Our method offers a viable way forward for creating adaptable, proactive, multimodal systems. © 2025 IEEE.

关键词： Robot learning

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Comparative Analysis of PID and LQR Control for Autonomous Vehicle Platoons 3rd

Comparative Analysis of PID and LQR Control for Autonomous V...

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3rd international conference on Emerging Electronics and Automation, E2A 2023

作者： Nandhini, M. Rabik, M. Mohamed Department of Mechatronics Engineering SRM Institute of Science and Technology KTR Tamil Nadu Chennai India

ISBN: (纸本)9789819768011

The advent of autonomous driving technology has spurred interest in autonomous vehicle platooning to enhance traffic efficiency and road safety. This research conducts a comparative analysis of two prominent control techniques, Proportional-Integral-Derivative (PID) control and Linear Quadratic Regulator (LQR) control, in the context of autonomous vehicle platooning. The study aims to assess the significance of these control strategies in achieving and maintaining desired inter-vehicle distances and overall platoon coordination. The analysis considers several critical factors, including control performance, adaptability, robustness, and continuity, to comprehensively evaluate PID and LQR controllers. While PID controllers offer simplicity and ease of tuning, LQR controllers are known for their precision and optimization capabilities. The research investigates how these control methods perform in various scenarios, considering factors such as changing vehicle dynamics and external disturbances. Consequently, this research aims to assess how effective PID and LQR control systems are in achieving and maintaining desired inter-vehicle distances and overall platoon coordination. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Two term control systems

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Study on Vibration Analysis of Autonomous Refueling Crane for Tank Truck 3rd

Study on Vibration Analysis of Autonomous Refueling Crane fo...

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3rd international conference on Information Control, Electrical engineering, and Rail Transit, ICEERT 2023

作者： Wang, Wei Dong, Beibei Xue, Wenbo Zhang, Sheng Yuan, Mingxin Jiangsu Automation Research Institute Jiangsu Lianyungang222061 China School of Mechatronics and Power Engineering Suzhou Institute of Technology Jiangsu University of Science and Technology Zhangjiagang215600 China Zhangjiagang Industrial Technology Research Institute Jiangsu University of Science and Technology Zhangjiagang215600 China

ISBN: (纸本)9789819746194

The crane tube is currently the main equipment used for refueling tank trucks, and the residual vibration at the end of the crane tube directly affects the accuracy of autonomous refueling. The vibration mechanism of the autonomous refueling crane is analyzed emphatically in this paper. Firstly, the dynamic model of the autonomous refueling crane for the tank truck is established based on the Lagrangian method. Secondly, the structure of the autonomous refueling crane model is simplified using Solidworks, and the complex structure is integrated. Finally, the vibration of the simplified autonomous refueling crane model is analyzed by finite element analysis using Ansys Workbench software. The simulation results show that there are two main reasons affecting the vibration at the end of the crane tube, that is, the sudden change of the input signal from the refueling will excite the low-order modal vibration of the autonomous refueling crane, and the external disturbance will also cause the vibration of the autonomous refueling crane. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Vibration analysis

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A Hybrid Nut Sorting System: Utilizing Machine Vision and Augmented Information for Efficient Human-Robot Collaboration

A Hybrid Nut Sorting System: Utilizing Machine Vision and Au...

引用

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

作者： Kanisorn Sangchai Wongsakorn Adirekkittikun Kevin Vivatanaprasert Methasit Boonpun Wongpakorn Chokthitirath Nutdanai Thipyophat Robotics and Artificial Intelligence Faculty of Engineering International School of Engineering Chulalongkorn University Bangkok Thailand

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

Efficient sorting and classification of nuts is a critical task in various industries, yet current methods often rely on machine vision systems that inspect each nut individually, making the process time-consuming and inefficient. Additionally, most processes are fully automated, lacking the option for human monitoring or intervention. The novelty of this paper lies in the development of a hybrid nut sorting system that combines machine vision with augmented information to facilitate efficient human-robot collaboration. Unlike traditional fully automated systems that exclude human involvement, our approach integrates a projector-based visual aid to provide real-time, easily interpretable information for manual or semi-automated sorting. Additionally, the system incorporates a CoreXY robot path and mechanism, enabling collaboration between humans and robots. The detection system consistently identifies nuts of different sizes with reliable accuracy, particularly for simultaneous multi-object detection compared to singular detection methods. As a hybrid sorting system, our solution also allows humans to manually sort nuts at a faster rate than the machine while utilizing the system's assistance.

关键词： Visualization Accuracy Machine vision Human-robot interaction Collaboration Size measurement Path planning Classification algorithms Reliability Sorting

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

Implementation of an Embedded Electronic Control System for ...

引用

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

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

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

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.

关键词： Wrist mechatronics Laboratories Control systems Robot sensing systems Electromyography Real-time systems Classification algorithms Time factors Prosthetic hand

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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

A Cooperative Positioning Method of Connected and Automated ...

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

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

ISBN: (数字)9798331544546

ISBN: (纸本)9798331544553

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.

关键词： Location awareness Wireless communication Satellites mechatronics Transportation Satellite navigation systems Trajectory Noise measurement Vehicle dynamics Robots

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