The following topics are dealt with: control of autonomous and semi-autonomous systems; robotics in medicine; artificial intelligence; biped robots; multi-agent systems; climbing and walking robots; nonholonomic mobil...
The following topics are dealt with: control of autonomous and semi-autonomous systems; robotics in medicine; artificial intelligence; biped robots; multi-agent systems; climbing and walking robots; nonholonomic mobile robots control; mechanical systems control; trajectory planning algorithms; and manufacturing systems.
Aerial-ground robotic system is a potential candidate for autonomous applications such as target tracking, inspection, agriculture, and environmental mapping. Tracking motion between UAV (unmanned aerial vehicle) and ...
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Aerial-ground robotic system is a potential candidate for autonomous applications such as target tracking, inspection, agriculture, and environmental mapping. Tracking motion between UAV (unmanned aerial vehicle) and AGV (autonomous ground vehicle) is one of the basic collaborative tasks of the system during execution of collaborative missions. UAV is spatially omnidirectional, thus, can trivially track AGV to provide navigation guidance from a vantage point. AGV is also required to track UAV for providing continuous support (payload and tethered charging) during a mission. However, ground vehicle tracking aerial vehicle is not given much attention in literature. Moreover, nonholonomic AGVs are not suitable for effective collaboration due to their poor mobility. Consequently, they hinder the overall efficiency of collaborative missions. Thus, in this work, we introduce the combination of 4-WISD (4 wheeled independent steering and driving) vehicle and UAV to address these problems. As 4-WISD ground vehicles are expensive in the market from the research perspective, a 4-WISD vehicle is also developed in the current research. ROS (robot Operating System)-based control package is developed for the vehicle for general usage. Then, vision-based strategies for ground vehicles (nonholonomic and 4-WISD vehicles) are developed to track aerial vehicle in GPS (Global Positioning System) denied and outdoor conditions. Ground vehicles are localized using monocular camera of UAV and IMU (Inertial Measurement Unit) sensors. Kinematic tracking controllers have been developed for ground vehicles using sliding mode control method. Lyapunov stability is proven for the controllers. Experiments have been performed on the hardware to validate the tracking strategies. Tracking controllers show satisfactory performance and are suitable for outdoor and GPS denied conditions. A basic qualitative comparison of tracking performance of both ground vehicles is also presented. Combination of UAV a
The proceedings contain 75 papers. The special focus in this conference is on Advanced Manufacturing and Automation. The topics include: Chip Mounting Optimization Algorithm Based on an Improved Particle Swarm Algorit...
ISBN:
(纸本)9789819626243
The proceedings contain 75 papers. The special focus in this conference is on Advanced Manufacturing and Automation. The topics include: Chip Mounting Optimization Algorithm Based on an Improved Particle Swarm Algorithm;research on 3D Model Classification and Retrieval Based on Graph Convolutional Neural Network;research on 3D Model Retrieval Technology Based on Audio Fingerprint and Contour View;offline Palletizing Research Based on Greedy Tabu Search Algorithm;current Research Status and Future Development of Contact Dispensing Research;analysis of Research Status and Development Trends in Flow Measurement Technology;research Status and Application of Acceleration and Deceleration control Algorithms;Research on Improved APF-RRT* Vehicle Global Path Planning Algorithm Based on KD-Tree;research on robot End Position Variations and Active motion Compensation Framework on Offshore Platform;sensorless Force Observer and Impedance control for Physical Human-robot Interaction;prediction of Rolling motion of Ship-Borne Wave Compensation Platform;a Review of Small-Sample Target Detection Research;A Self-Learning NSGA-III Approach for Many-Objective Flexible Job Shop Scheduling Problem Based on Reinforcement Learning;AGV Path Planning for Transmission Assembly Line Based on IRPA-PDERL Algorithm;algorithm for Image Enhancement of Reflected Metal Surfaces of Workpieces;deep Learning Model for Metal Gear Defect Detection;research on a Method for Detecting Surface Defects of Rubber Bushings by Enhancing Feature Extraction Capability;review of Research on Battery Defect Detection and Recovery;summary of Distributed Flexible Operation workshop Scheduling Research;fake News Detection by Granularity Enhanced Multimodal High-Order Interaction Network;Metal Surface Defect Detection Method Based on Improved YOLOv7;lightweight Vision-Based Wafer Defect Detection.
We propose the Cooperative Aerial robot Inspection Challenge (CARIC), a simulation-based benchmark for motion planning algorithms in heterogeneous multi-UAV systems. CARIC features UAV teams with complementary sensors...
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This paper proposes a motioncontrol scheme which belongs to the class of the control schemes known as sliding-mode control with disturbance estimation. A novel adaptive fuzzy disturbance estimator works as an estimat...
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This paper proposes a motioncontrol scheme which belongs to the class of the control schemes known as sliding-mode control with disturbance estimation. A novel adaptive fuzzy disturbance estimator works as an estimator of a major part of robot dynamics. The adaptation algorithm is derived by using the Lyapunov stability theory and provides global asymptotic stability of the state errors, resulting in the sliding-mode regime. The structure of the disturbance estimator is optimized by the introduction of three fuzzy logic subsystems, based on the physical properties of the robot mechanism. This also significantly lowers the computational burden and enables real-time implementation. Performance of the proposed controller scheme, as well as some practical design aspects, are demonstrated by the control of a direct-drive robot.
In this PaPer we consider two stage controllers for motioncontrol of robot manipulators with joint flexibilities. The dynamic equations of a manipulator with flexible joints are reparametrized in a model, with two bl...
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ISBN:
(纸本)3540541691
In this PaPer we consider two stage controllers for motioncontrol of robot manipulators with joint flexibilities. The dynamic equations of a manipulator with flexible joints are reparametrized in a model, with two blocs, suitable for control laws design. A passivity based adaptive compensator is proposed to control the reduced complexity model (the first bloc) with IntegraL (I) adaptation algorithms. The second stage uses a computed torque with a robust stabilization loop. The stability and robustness properties of this control scheme are analysed and the performances of the controllers are evaluated in simulation study and compared to other schemes. The proposed scheme allows the use of the controllers proposed for rigid manipuLators.
The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the des...
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The biped robot "Johnnie" is designed to achieve a dynamically stable gait pattern, allowing for high walking velocities. Very accurate and fast sensors were developed for the machine. In particular, the design of the three-dimensional-orientation sensor and the six-axes force-torque sensor are presented. The control scheme is based on the information from these sensors to deal with unstructured terrain and disturbances. Two different implementations are investigated: a computed torque approach and a trajectory control with adaptive trajectories. Walking speeds of 2.4 km/h have been achieved in experiments.
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