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检索条件"主题词=Robotics and automation"

共 11731 条记录，以下是131-140 订阅

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Extending Guiding Vector Field to track unbounded UAV paths

Extending Guiding Vector Field to track unbounded UAV paths

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Mael Feurgard Gautier Hattenberger Simon Lacroix Laboratoire d’Analyse et d’Architecture des Systèmes Université de Toulouse CNRS Toulouse France Fédération ENAC ISAE-SUPAERO ONERA Université de Toulouse France

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

A recent advance in vector field path following is the introduction of the Parametric Guiding Vector Field method. It allows for singularity-free vector fields with strong convergence guarantees, usable even for self-intersecting paths. However, the method requires significant gain tuning for practical use. In particular, for unbounded paths, the gains will inevitably become ill-suited for efficient path following. We propose a method to overcome this issue by introducing a dynamic step adaptation strategy, which provides additional normalization properties to the field. This allows the following of unbounded curves and reduces the number of gains to tune. The proposed improvements are verified in simulations using the PaparazziUAV software.

关键词： Adaptation models Autonomous aerial vehicles Vectors Software robotics and automation Tuning Convergence

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Optimizing Ground Sampling Distance for Drone-Based GIS Mapping: A Case Study in Riyadh, Saudi Arabia

Optimizing Ground Sampling Distance for Drone-Based GIS Mapp...

引用

International Conference on robotics and automation Engineering (ICRAE)

作者： Mogahid Farah Abdulaziz Alruwaili Department of Unmanned Aerial Vehicles WAKEB Technology Riyadh Saudi Arabia

ISBN: (数字)9798331518301

ISBN: (纸本)9798331518318

Drone-based Geographic Information Systems (GIS) mapping has become very popular mostly due to it is a cost-effective method to capture high-resolution aerial imagery. This high-resolution drone imagery relies on Ground Sampling Distance (GSD), which itself is an influential factor that affects the accuracy of drone-based mapping. This paper discusses the relationship existing between GSD and the accuracy of GIS mapping using drone imagery. It investigates the trade-off between GSD, flight altitude, and the obtained scene resolution to find the optimal GSD for different mapping applications through a case study in Riyadh, Saudi Arabia. A novel methodology is also introduced to identify the optimal altitude for a drone’s camera in different applications. It aims to obtain the best flying altitude, giving an optimal ratio of accuracy and quality in the captured imagery according to GIS engineers.

关键词： Accuracy Image resolution Robot vision systems Cameras robotics and automation Geographic information systems Drones

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A Tube-Based Reinforcement Learning Approach for Optimal Motion Planning in Unknown Workspaces

A Tube-Based Reinforcement Learning Approach for Optimal Mot...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Laboratory National Technical University of Athens Greece Department of Electrical and Computer Engineering University of Patras

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, a tube-based nearly optimal solution to motion planning in unknown workspaces is presented. The advantages of reactive motion planning are combined with a Policy Iteration Reinforcement Learning scheme to yield a novel solution for unknown workspaces that inherits provable safety, convergence and optimality. Moreover, in simply-connected workspaces, our method is proven to asymptotically provide the globally optimal path. Our method is compared against a provably asymptotically optimal RRT ⋆ method, as well as a relevant reactive method and provides satisfactory performance, closely matching or outperforming the former.

关键词： Reinforcement learning Planning Safety robotics and automation Convergence

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Design and Development of a Three Fingered Under Actuated Prosthetic Hand

Design and Development of a Three Fingered Under Actuated Pr...

引用

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Naqash Ahmad Muhammad Usama Hassaan Iqbal Mubashir Shah Hamza Shabbir Minhas Zareena Kausar Department of Mechatronics and Biomedical Engineering Air University Islamabad Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

The study presented a mechanical design of a three fingered under-actuated prosthetic hand. As multi-fingered prosthetic hands are currently being researched and developed globally, the work began with an examination of the prosthetic hand with less fingers and actuators to reduce weight and cost and to increase adaptively. It has been observed that only three fingers out of the five can cover most of the basic tasks of the usual routine. Whereas actuators for each link make it heavy and complex so under actuation phenomenon is used to get phalanx control where less actuators are used than degree pf freedom. Therefore, this study focuses upon an innovative approach to develop a three fingered prosthetic hand by utilizing under-actuation in order to nullify the complexity and to get a much cheaper solution.

关键词： Industries Actuators Costs Assistive technologies Three-dimensional printing Complexity theory Reliability robotics and automation Elbow Prosthetic hand

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Attitude Control for Morphing Quadrotor through Model Predictive Control with Constraints*

Attitude Control for Morphing Quadrotor through Model Predic...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Na Zhao Yudong Luo Chaojun Qin Xi Luo Rong Chen Yantao Shen Department of Computer Science and Technology Dalian Maritime University Dalian China Yichang Testing Tech. Research Institution Yichang China Department of Electrical and Biomedical Engineering University of Nevada Reno NV USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Morphing quadrotors that can be potentially applied to confined spaces such as warehouses, tanks, and pipelines have flourished in recent years. Most work has focused on the mechanical feasibility of the morphing systems and high-level flight controller design, with limited discussions on low-level control. In this paper, a constrained model predictive control (MPC) is proposed and applied to solve the attitude control problem of a morphing quadrotor. Prior to controller design, a custom-built morphing quadrotor is introduced with the kinematic and dynamic models established and corresponding issues and challenges presented. In the controller, to eliminate the steady-state error, an embedded integrator is adopted by exploiting the differential variables; then, the constraints of the morphing quadrotor are incorporated into the MPC formulation to simulate real flight conditions, and an orthonormal function is employed to approximate the control input sequences in the controller to alleviate the computational burden. In the comparative studies, several scenarios are considered to demonstrate the effectiveness of the proposed control strategy in attitude control.

关键词： Attitude control Pipelines Kinematics Stability analysis Steady-state State-space methods robotics and automation

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Longitudinal Control Volumes: A Novel Centralized Estimation and Control Framework for Distributed Multi-Agent Sorting Systems

Longitudinal Control Volumes: A Novel Centralized Estimation...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： James Maier Prasanna Sriganesh Matthew Travers The Robotics Institute Carnegie Mellon University USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Centralized control of a multi-agent system improves upon distributed control especially when multiple agents share a common task e.g., sorting different materials in a recycling facility. Traditionally, each agent in a sorting facility is tuned individually which leads to suboptimal performance if one agent is less efficient than the others. Centralized control overcomes this bottleneck by leveraging global system state information, but it can be computationally expensive. In this work, we propose a novel framework called Longitudinal Control Volumes (LCV) to model the flow of material in a recycling facility. We then employ a Kalman Filter that incorporates local measurements of materials into a global estimation of the material flow in the system. We utilize a model predictive control algorithm that optimizes the rate of material flow using the global state estimate in real-time. We show that our proposed framework outperforms distributed control methods by 40-100% in simulation and physical experiments.

关键词： Decentralized control Estimation Prediction algorithms Real-time systems Recycling Task analysis robotics and automation

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Data Analysis of Public Opinion Dissemination in Online Emergencies Based on the SEIR Model

Data Analysis of Public Opinion Dissemination in Online Emer...

引用

Advanced Information, Mechanical Engineering, robotics and automation (AIMERA), IEEE International Conference on

作者： Tian Ziyu Pang Yunkun Tong Dong School of Economics and Management Beijing Institute of Graphic Communication Beijing

ISBN: (数字)9798350343335

ISBN: (纸本)9798350343342

The dissemination of online public opinion is influenced by multiple factors, including social network structure, individual behavior, and information dissemination mechanisms, exhibiting characteristics such as suddenness, complexity, and difficulty in containment. The rapid spread of premeditated malicious events can pose a serious threat to social order. This study aims to explore the influencing factors of public opinion dissemination speed in public emergencies. It adopts the SEIR model from the medical field to analyze the evolution of online public opinion during such events. This model categorizes the population into four groups: susceptible, exposed, infected, and recovered, for constructing a simulation model. Through data analysis, we found that effective strategies for responding to and guiding public opinion, as well as controlling the source of online public opinion, can contribute to improving the online public opinion environment. This study offers decision support and serves as a valuable reference for scientifically responding to online public opinion and formulating reasonable strategies.

关键词： Analytical models Data analysis Social networking (online) Differential equations Reliability theory Mathematical models Data models Stability analysis Public healthcare robotics and automation

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Hybrid Steganography: Leveraging Chaotic Encryption and CNN for Robust Image Hiding

Hybrid Steganography: Leveraging Chaotic Encryption and CNN ...

引用

IEEE International Conference on Mechatronics, robotics and automation (ICMRA)

作者： Xiaoqing Niu Guohong Yi Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

This paper presents a robust image information hiding method integrating Convolutional Neural Networks (CNN) and image encryption based on the Lorenz three-dimensional chaotic system. We introduce chaotic image encryption technology based on the Lorenz three-dimensional system into the CNN-based image steganography framework. Leveraging the high sensitivity and unpredictability of the Lorenz system, the original secret image is first encrypted to render it visually imperceptible. During the image hiding phase, the encrypted secret image is embedded into the carrier image using an improved CNN-based image information hiding model. This model capitalizes on CNN’s powerful automatic learning and feature extraction capabilities to achieve information hiding, resulting in a steganographic image. In the information extraction phase, the steganographic image serves as the input for the decoder network within the model, where the decoder decrypts it to retrieve both the carrier image and the encrypted secret image. Finally, the secret image is decrypted using the Lorenz chaotic encryption algorithm. Analyses of PSNR/SSIM and visual quality demonstrate that the proposed hybrid image steganography scheme offers high security and robustness, effectively preventing distortion of the secret image.

关键词： Steganography Visualization Sensitivity Mechatronics Information retrieval Robustness Encryption Decoding Convolutional neural networks robotics and automation

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Analysis of Posture Influence on Memory Using fNIRS-BCI

Analysis of Posture Influence on Memory Using fNIRS-BCI

引用

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Ali Mustafa Hammad Nazeer Noman Naseer Department of Mechatronics and Biomedical Engineering Air University Islamabad Pakistan

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This study explores the impact of three varied body postures-sitting, standing, and upper-body movement on human memory using functional near-infrared spectroscopy (fNIRS) based brain- computer interface (BCI). The study involves two distinct cognitive activities i.e., the mental arithmetic and picture recall activity. The fNIRS brain signals from 10 healthy subjects (5 male and 5 female) were recorded, and pre-processed. After extracting features, supervised learning was used for classification to analyze how altering body postures affects the memory The Gaussian Naïve Bayes (NB), Decision Tree (DT), and Random Forest (RF) classifiers were applied. For the Mental Arithmetic Activity, sitting posture emerged as the optimal posture, demonstrating the maximum achieved accuracy of 84.2%. Conversely, for the Picture Recall Activity, the upper-body movement emerged as the optimal posture, achieving the maximum accuracy of 87.4%. Through comprehensive analysis, this research contributes insights into the intricate relationship between body postures and cognitive functions.

关键词： Computer interfaces Radio frequency Accuracy Supervised learning Feature extraction Bayes methods Functional near-infrared spectroscopy robotics and automation Random forests Arithmetic

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Solving Sequential Manipulation Puzzles by Finding Easier Subproblems

Solving Sequential Manipulation Puzzles by Finding Easier Su...

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IEEE International Conference on robotics and automation (ICRA)

作者： Svetlana Levit Joaquim Ortiz-Haro Marc Toussaint Learning & Intelligent Systems Lab TU Berlin Germany Science Of Intelligence Cluster of Excellence Machines in Motion Laboratory New York University USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they require interdependent regrasps and solving hard motion planning *** this paper, we propose to search over sequences of easier pick-and-place subproblems, which can lead to the solution of the manipulation puzzle. Our method combines a heuristic-driven forward search of subproblems with an optimization-based Task-and-Motion Planning solver. To guide the search, we introduce heuristics to generate and prioritize useful subgoals. We evaluate our approach on various manually designed and automatically generated scenes, demonstrating the benefits of auxiliary subproblems in sequential manipulation planning.

关键词： Navigation Manuals Search problems Planning Task analysis robotics and automation

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