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检索条件"主题词=Robotics and automation"

共 11731 条记录，以下是151-160 订阅

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Hybrid Particle Swarm Optimization with Quasi-Newton Local Search for Quadrotor Altitude and Attitude Control

Hybrid Particle Swarm Optimization with Quasi-Newton Local S...

引用

International Conference on robotics and automation Sciences (ICRAS)

作者： Ishaq Hafez Rached Dhaouadi Department of Electrical Engineering American University of Sharjah Sharjah United Arab Emirates

ISBN: (数字)9798350352504

ISBN: (纸本)9798350352511

This paper presents a novel Hybrid Particle Swarm Optimization with Quasi-Newton method (HPSO-QN) for tuning Proportional-Integral-Derivative (PID) controllers in quadro-tor altitude and attitude stabilization. The proposed HPSO-QN method combines the global search capability of Particle Swarm Optimization (PSO) with the local search strength of the Quasi-Newton (QN) method to improve the optimization of the controller gains while avoiding local minima. Additional penalty conditions are integrated into the algorithm to maintain system stability throughout the optimization process. Comparative results with the standard PSO demonstrate that the proposed HPSO-QN method achieves significant performance improvements in robustness and precision. Statistical analysis of the cost functions confirms that the average is 2.3 times lower and the standard deviation is 30.4 times lower compared to SPSO, emphasizing its effectiveness in quadrotor control systems.

关键词： Attitude control Statistical analysis Simulation Stability criteria Robustness Particle swarm optimization robotics and automation

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POAQL: A Partially Observable Altruistic Q-Learning Method for Cooperative Multi-Agent Reinforcement Learning

POAQL: A Partially Observable Altruistic Q-Learning Method f...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Lesong Tao Miao Kang Jinpeng Dong Songyi Zhang Ke Ye Shitao Chen Nanning Zheng National Key Laboratory of Human-Machine Hybrid Augmented Intelligence National Engineering Research Center for Visual Information and Applications and Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Multi-Agent Path Finding (MAPF) is an important issue in multi-agent cooperation. Many studies apply MultiAgent Reinforcement Learning (MARL) to solve MAPF in partially observable settings. The objective of cooperative MARL is to maximize the cumulative team reward. Nevertheless, in partially observable settings, the team reward is misleading due to unpredictable factors from the behavior and state of unobserved agents. To address this issue, we propose a Partially Observable Altruistic Q-learning (POAQL) method. POAQL considers the cumulative reward of the observed subteam instead of the whole team, where Altruistic Q-learning plays an important role in learning the subteam action value. In addition, we design a new conflict resolution without additional guidance to emphasize the cooperative nature of MARL frameworks. Experimental results show that POAQL outperforms existing reinforcement learning methods in terms of efficiency and performance.

关键词： Q-learning Costs robotics and automation

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Reconstruction of Residual Stress Fields on Workpiece Surface Using Surrogate Models

Reconstruction of Residual Stress Fields on Workpiece Surfac...

引用

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

作者： Junjie Tang Kuanmin Mao School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (数字)9798350343335

ISBN: (纸本)9798350343342

The knowledge of the distribution of residual stress fields on mechanical component surfaces holds significant implications for ensuring dimensional stability of workpieces and mitigating fatigue crack initiation. To address the limitations of current detection methods in capturing continuous stress fields, the bivariate high-order polynomial surrogate model incorporating L2 regularization terms was proposed to characterize stress components. The reconstruction analysis of surface stress fields was conducted by measuring a set of discrete sampling points as initial values. Analyses of two discrete experimental datasets were used to demonstrate the effectiveness of this approach in accurately approximating stress values, while maintaining robust generalization capabilities. The influence of sampling point position on reconstruction accuracy was analyzed by reducing the dataset size, providing a novel proposal for surface stress field reconstruction and sampling point selection.

关键词： Surface reconstruction Accuracy Surface stress Computational modeling Polynomials Stability analysis Residual stresses Surface cracks robotics and automation Stress measurement

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PDAOD: An Unsupervised Domain Adaptation Method for Orchard Apple

PDAOD: An Unsupervised Domain Adaptation Method for Orchard ...

引用

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

作者： Zhiyu Yang Yanan Li School of Computer Science and Engineering Wuhan Institute of Technology Wuhan China Hubei Key Laboratory of Intelligent Robot Wuhan Institute of Technology Wuhan China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

Traditional unsupervised domain adaptation methods are limited in agricultural object detection due to small target sizes and cluttered backgrounds. The PDAOD-Net model is introduced, offering the capability to dynamically distribute attention between localization and classification tasks in a flexible manner. By utilizing point confidence matrix alignment to achieve precise domain adaptation, experiments show that PDAOD-Net achieves superior performance on apple orchard datasets, outperforming existing methods by approximately 5.8% in AP.

关键词： Location awareness Adaptation models Mechatronics Object detection robotics and automation

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Food Vending Machine

Food Vending Machine

引用

Futuristic Technologies in Control Systems & Renewable Energy (ICFCR), International Conference on

作者： Satheesh Kumar K.G. Nikitha Jacob Sooraj P.S Steffin James Binu Mathew Dept. of Electronics and Communication Engineering Amal Jyothi College of Engineering Kanjirappalli Kerala India

ISBN: (数字)9798331504601

ISBN: (纸本)9798331504618

Food vending machines have become ubiquitous in modern urban environments, providing convenient and accessible options for individuals seeking on-the-go sustenance. Due to better quality products and fast processing speed, users of such food vending machines are increasing in metropolitan cities. This project focuses on the design and construction of a food vending machine system which includes a highly efficient dispensing unit with an intuitive user interface, and a robust payment processing and authentication system. The dispensing unit incorporates cutting-edge robotics and automation technologies to ensure swift and precise delivery of selected food items. The user interface has been designed for optimal user experience, offering a seamless and intuitive interaction for customers to navigate and select desired products. A secure and reliable payment processing and authentication system have been implemented to safeguard transactions and user data. The integrated nature of these components resulted in an innovative, intelligent vending machine system that optimizes user satisfaction, operational efficiency, and overall reliability.

关键词： Technological innovation Renewable energy sources Urban areas Authentication QR codes User interfaces User experience Reliability robotics and automation Standards

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Continual Driving Policy Optimization with Closed-Loop Individualized Curricula

Continual Driving Policy Optimization with Closed-Loop Indiv...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Haoyi Niu Yizhou Xu Xingjian Jiang Jianming Hu Department of Automation Tsinghua University

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The safety of autonomous vehicles (AV) has been a long-standing top concern, stemming from the absence of rare and safety-critical scenarios in the long-tail naturalistic driving distribution. To tackle this challenge, a surge of research in scenario-based autonomous driving has emerged, with a focus on generating high-risk driving scenarios and applying them to conduct safety-critical testing of AV models. However, limited work has been explored on the reuse of these extensive scenarios to iteratively improve AV models. Moreover, it remains intractable and challenging to filter through gigantic scenario libraries collected from other AV models with distinct behaviors, attempting to extract transferable information for current AV improvement. Therefore, we develop a continual driving policy optimization framework featuring Closed-Loop Individualized Curricula (CLIC), which we factorize into a set of standardized sub-modules for flexible implementation choices: AV Evaluation, Scenario Selection, and AV Training. CLIC frames AV Evaluation as a collision prediction task, where it estimates the chance of AV failures in these scenarios at each iteration. Subsequently, by re-sampling from historical scenarios based on these failure probabilities, CLIC tailors individualized curricula for downstream training, aligning them with the evaluated capability of AV. Accordingly, CLIC not only maximizes the utilization of the vast pre-collected scenario library for closed-loop driving policy optimization but also facilitates AV improvement by individualizing its training with more challenging cases out of those poorly organized scenarios. Experimental results clearly indicate that CLIC surpasses other curriculum-based training strategies, showing substantial improvement in managing risky scenarios, while still maintaining proficiency in handling simpler cases.

关键词： Training Information filters Libraries Safety Task analysis Surges robotics and automation

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Chance-Aware Lane Change with High-Level Model Predictive Control Through Curriculum Reinforcement Learning

Chance-Aware Lane Change with High-Level Model Predictive Co...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Yubin Wang Yulin Li Zengqi Peng Hakim Ghazzai Jun Ma Robotics and Autonomous Systems Thrust The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China Computer Electrical and Mathematical Science and Engineering Division King Abdullah University of Science and Technology Thuwal Saudi Arabia Division of Emerging Interdisciplinary Areas The Hong Kong University of Science and Technology Hong Kong SAR China HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Lane change in dense traffic typically requires the recognition of an appropriate opportunity for maneuvers, which remains a challenging problem in self-driving. In this work, we propose a chance-aware lane-change strategy with high-level model predictive control (MPC) through curriculum reinforcement learning (CRL). In our proposed framework, full-state references and regulatory factors concerning the relative importance of each cost term in the embodied MPC are generated by a neural policy. Furthermore, effective curricula are designed and integrated into an episodic reinforcement learning (RL) framework with policy transfer and enhancement, to improve the convergence speed and ensure a high-quality policy. The proposed framework is deployed and evaluated in numerical simulations of dense and dynamic traffic. It is noteworthy that, given a narrow chance, the proposed approach generates high-quality lane-change maneuvers such that the vehicle merges into the traffic flow with a high success rate of 96%. Finally, our framework is validated in the high-fidelity simulator under dense traffic, demonstrating satisfactory practicality and generalizability.

关键词： Costs Reinforcement learning Numerical simulation Vehicle dynamics Task analysis robotics and automation Predictive control

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Sea-U-Foil: A Hydrofoil Marine Vehicle with Multi-Modal Locomotion

Sea-U-Foil: A Hydrofoil Marine Vehicle with Multi-Modal Loco...

引用

IEEE International Conference on robotics and automation (ICRA)

作者： Zuoquan Zhao Yu Zhai Chuanxiang Gao Wendi Ding Ruixin Yan Songqun Gao Bingxin Han Xuchen Liu Zixuan Guo Ben M. Chen Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Autonomous Marine Vehicles (AMVs) have been widely used in many critical tasks such as surveillance, patrolling, marine environment monitoring, and hydrographic surveying. However, most typical AMVs cannot meet the diverse demands of different marine tasks. In this article, we design a new type of remote-controlled hydrofoil marine vehicle, named Sea-U-Foil, which is suitable for different marine scenarios. Sea-U-Foil features three distinct locomotion modes, displacement mode, foilborne mode, and submarine mode, which enable the platform flexible mobility, high-speed and high-load capacities, and superior concealment. Specifically, the submarine mode makes Sea-U-Foil unique among previous studies. In addition, the performance of Sea-U-Foil in foilborne mode outperforms those of most current unmanned surface vehicles (USVs) in terms of speed and payload. To the best of our knowledge, we are the first to introduce a new type of AMV that can work in displacement mode, foilborne mode, and submarine mode. We elaborate on the design principles and methodologies of Sea-U-Foil first, then validate the effectiveness of its tri-modal locomotion through extensive experiments.

关键词： Sea surface Attitude control Trajectory tracking Surveillance Design methodology Task analysis robotics and automation

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Wearable Wheel-legged Device for Load Carriage

Wearable Wheel-legged Device for Load Carriage

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

作者： Shanjin Zhang Junfei Wang Jiyuan Wu Mengqian Tian Xingsong Wang Gang Chen School of Mechanical Engineering Southeast University Nanjing China

ISBN: (数字)9798350352474

ISBN: (纸本)9798350352481

In military operations, soldiers often need to carry high-quality combat equipment, which inevitably puts greater pressure on the human body. Studies have shown that high loads and high instantaneous impact forces can cause adverse damage to the musculoskeletal system of the human body. In view of this situation, the wheel leg load device (WLD) designed in this research can effectively improve this problem. In this study, the usefulness of WLD was evaluated. Three volunteers performed five different sets of experiments on a treadmill. Data on the subject’s oxygen consumption and plantar strength during the experiment were collected. According to biomechanical analysis, WLD reduced the peak pressure when the subject was carrying a heavy load, and showed high performance when carrying a high-quality load. In a 20 kg load, oxygen consumption increased by 0.8% for every 1 kg of weight added on the WLD (an average increase of 1%/kg for a 70 kg load); Compared to the backpack’s 1.43%, it shows a great advantage. At the same time, WLD can reduce the instantaneous impact force, which has the effect of reducing the risk of overuse injury.

关键词： Performance evaluation Legged locomotion Musculoskeletal system Mechatronics Force Exoskeletons Wheels robotics and automation Injuries Military equipment

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A non-magnetic dual-mode linear pneumatic actuator: initial design and assessment

A non-magnetic dual-mode linear pneumatic actuator: initial ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Timothée Portha Laurent Barbé François Geiskopf Jonathan Vappou Pierre Renaud ICNRS INSA Strasbourg France

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

A pneumatic linear actuator is presented and evaluated. Designed to operate in demanding environments such as MRI, it is developed to be used with two motion control modes: 1) a step-by-step mode with tooth-based gripping to ensure precision, 2) a continuous mode available locally for fine positioning. The actuator can also be disengaged to enable direct handling by an operator, for example for comanipulation. The design is presented. A prototype, developed in the medical context, is implemented and characterized. A specific step-by-step control sequence is then elaborated based on its characterization. Testing of the dual-mode actuation is finally described. The complementarity between the two motion modes and possible adaptations of the original design are discussed.

关键词： Actuators Transducers Force Prototypes Robot sensing systems Synchronization robotics and automation

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