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A BIM-Enabled robot control system for Automated Integration between Rebar Reinforcement and 3D Concrete Printing (vol 19, e2332423, 2024)

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VIRTUAL AND PHYSICAL PROTOTYPING 2024年第1期19卷

作者： Dua, Song Tenga, Fei Zhuang, Zicheng Zhang, Dong Li, Mingyang Li, Heng Weng, Yiwei Department of Building and Real Estate The Hong Kong Polytechnic University Hong Kong People’s Republic of China School of Civil and Environmental Engineering Fuzhou University Fuzhou People’s Republic of China Singapore Centre for 3D Printing Nanyang Technological University Singapore Singapore

3D concrete printing (3DCP) has attracted significant attention due to the benefits of enhanced productivity and sustainability. However, existing 3DCP techniques face challenges of automation and practicality in integrating conventional rebar reinforcement with printed concrete structures. This study presents an automated robot system coupled with Building Information Modeling (BIM) to address the challenge. Dynamo scripts in BIM were used to generate printing paths, further optimised by a proposed algorithm for incorporating rebar reinforcement. A deep learning model was adopted to identify rebars with large aspect ratios. The average accuracy of rebar recognition is 92.5%, with a position error within 2 mm. A centralised control system was developed for multiple-device communication, including a camera, a robot arm, and a gripper. Finally, a real-time demonstration was conducted, representing the first practical demonstration of an automated robotic system to integrate rebar reinforcement with printed structures using BIM-generated data in the physical world.

关键词： 3D concrete printing rebar reinforcement robot control system deep learning Building Information Modeling

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Development of Balancing robot control system on the Basis of the Second Lyapunov Method with Setpoint-Adaptive Step Size

Development of Balancing Robot Control System on the Basis o...

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International Conference on Complex systems: control and Modeling Problems (CSCMP)

作者： Anton Glushchenko Vladislav Petrov Konstantin Lastochkin Stary Oskol technological institute N.A. A.A. Ugarov (branch) NUST “MISIS” Stary Oskol Russia

ISBN: (纸本)9781728167015

The aim of this research is to develop an adaptive control system of a two-wheeled balancing robot based on a reference model and the second Lyapunov approach. Solving this problem, the following questions are considered: 1) a mathematical model of the robot reference dynamics is developed, 2) using the optimal control theory, a calculation of LQ controller parameters is made, 3) applying the second Lyapunov method, an algorithm to adjust the parameters of such controller is proposed. The step size is calculated in accordance with the proposed formula and depends on the current and previous setpoint values of one of the robot state coordinates. A real balancing robot and its model are used to conduct experiments, over the course of which the mass of the robot is increased by several times. The obtained results show that, despite the robot non-stationarity, the developed adaptive control system is able to follow the reference model output keeping the transient quality close to the desired one.

关键词： adaptive control linear quadratic control Lyapunov methods mobile robots position control robot dynamics transient response Lyapunov methods linear quadratic control robot dynamics step size reference model Position control Mobile robots TRANSIENT RESPONSE adaptive control robot Adaptive control systems robot control system Basis

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Floating robot control system for Monitoring Water Quality Levels in Citarum River

Floating Robot Control System for Monitoring Water Quality L...

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IEEE International Conference on Internet of Things and Intelligence system (IOTAIS)

作者： Reza Putra Pratama Angga Rusdinar Ig. Prasetya Dwi Wibawa School of Electrical Engineering Telkom University Bandung Indonesia

ISBN: (纸本)9781728125176

Water is the primary need of every living thing, with the availability of water for living things, it is very helpful for daily needs. Especially river water in Indonesia has been heavily polluted, the pollution can come from industrial, household, agricultural and fishery waste. Therefore, the purpose of this research is to make a robotic solution to monitor river water quality regularly and can be monitored in real-time. The results obtained from this test are spherical robots and for fuzzy logic controller systems use 5 membership functions for yaw parameters with a sensor reading angle limit value [-90°, 90°]. For the pitch parameter, there are 3 membership functions with the limitation of sensor reading angle value [-32°, 32°]. There is a moving average as a filter to process the reading value of the gyroscope with a sample value of 10 times the reading because the response is following the actual reading and minimal noise. Dispatch of robot control commands can be sent and received in real-time. Haversine Formula calculation results have an accuracy of 92.67076% compared to the calculation of the distance from google maps.

关键词： control engineering computing fuzzy control fuzzy logic fuzzy set theory gyroscopes hydrological techniques river pollution rivers water quality Gyroscopes control engineering computing hydrological techniques River pollution Fuzzy Set Theory Water Quality Fuzzy control rivers Fuzzy logic reading robot control system spherical robot River waters

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Design and Research of 6-DOF robot control system Based on Visual Servo

Design and Research of 6-DOF Robot Control System Based on V...

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International Conference on Intelligent Computing, Automation and systems (ICICAS)

作者： Xin Zhao Jian Zhang Shangteng Qi Wuhan University of Technology Wuhan China

ISBN: (数字)9781728161068

ISBN: (纸本)9781728161075

In recent years, the development of robot technology is very rapid, and robots have been widely used in industry, agriculture, service, medical treatment, military and other fields. In the research of robotics, the research on the architecture of robot control system has always been a hot topic. The information the human brain obtains from the outside world mainly comes from visual perception. Under the general trend of the increasing development of artificial intelligence, it is very important to strengthen vision in robot technology. The vision system can map the three-dimensional object features to the two-dimensional image plane, and then use the obtained image information to control the robot. People want robots to have higher intelligence and stronger adaptability to the environment. The research of robot visual servo is just to meet this requirement. Based on the research of industrial robot control system, this paper focuses on the visual servo control system of 6-DOF robot, and analyzes the performance of the control system.

关键词： industrial robots robot vision visual servoing Visual servoing industrial robots robot control system robot vision control systems robotic Technology robot image information Sight two dimentional images

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Model Checking The robot control system for Live Maintenance of Substation Equipment 9

Model Checking The Robot Control System for Live Maintenance...

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9th International Conference on Information Technology in Medicine and Education (ITME)

作者： Wu, Hongyi Wang, Zhuo Qin, Xiaoyu Shen, Kaihan Yang, Haolin Zheng, Kai Huang, Xin Xian Jiaotong Liverpool Univ Dept Comp Sci & Software Engn Suzhou Peoples R China

ISBN: (纸本)9781538677438

For the purpose of improving the low efficiency of substation control system, the design of innovative robot control system for live maintenance has become a necessity. The paper gives a detailed explanation for the structure of this system from two different angles. Because of the demand of flexible control and the incidence of certain unstable factors, the reliability of performance of the system becomes quite significant. Therefore, this paper applies PRISM to implements probabilistic model checking for the system to decrease risks. Besides, the experimental results are expected to provide suggestions on how to improve the development of robot control system for maintenance. Based on result of multiple experiments, it is recommended to reduce failure rate of single module. Furthermore, for the planning modules, it will improve reliability of robot control system apparently from changing failure rate of once a month to three month. Therefore, improvement of planning module is essential for reducing failure rate of planning module. Safety modules are also important for robot control system although experiment shows that it is difficult to distinguish effect of safety module. Advanced safety module will improve performance of robot control system.

关键词： robot control system Maintenance Model checking PRISM (Continous-Time Markov Chain) CTMC

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Development of 6-DOF Painting robot control system 7

Development of 6-DOF Painting Robot Control System

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7th International Conference on Electronics and Information Engineering (ICEIE)

作者： Huang, Junbiao Liu, Jianqun Gao, Weiqiang Guangdong Univ Technol Guangzhou Guangdong Peoples R China

ISBN: (数字)9781510610811

ISBN: (纸本)9781510610811

With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom) robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

关键词： Painting robot robot control system googol motion controller windows CE system

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A Mirror World-based robot control system

A Mirror World-based Robot Control System

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International Conference on Information systems Engineering

作者： Justin McLin Ngu Hoang Wesley Deneke Patrick McDowell Computer Science & Industrial Technology Southeastern Louisiana University

ISBN: (纸本)9781509048809

This paper describes an approach to establish bidirectional interactions between robots in the physical and virtual worlds, enabling changes that occur to a physical robot to be automatically reflected by its virtual counterpart, and vice versa. To explore this mirror world concept, a general approach is developed to trigger events that propagate changes between physical and virtual robot counterparts. The accuracy and usability of this approach are then evaluated by constructing a physical robot, creating a virtual model of this robot in Unity, and gathering results from test scenarios.

关键词： Virtual worlds robotics Mirror worlds robotics robot robot control system Virtual Mirrors

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Optimization of hybrid robot control system using artificial hormones and fuzzy logic 4

Optimization of hybrid robot control system using artificial...

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4th Iranian Joint Congress on Fuzzy and Intelligent systems (CFIS)

作者： Fakhrzad, Mohammad Bagher Rahdar, Moheb Ali Univ Yazd Dept Ind Engn Univ Blvd Safayieh Yazd Iran

ISBN: (纸本)9781467385459

This paper presents a method for hybridizing artificial hormones controller with type-2 fuzzy controller. Artificial hormones robot control system provides the ability to self-control, while the fuzzy controller is appropriate for nonlinear systems with time delay and dynamic systems. This paper presents three feasible scenarios of hybridizing two controllers. controller performance indicators, such as settling time, overshoot, steady state error, and integrals known as feedback error performance indices (integral absolute error [IAE], integral squared error [ISE], integral time-weighted absolute error [ITAE], integral of time multiplied by the squared error [ITSE]), were studied and compared. The results of the hybrid controller for each of the scenarios show that it has better performance than any of the fuzzy and artificial hormone controllers alone. Energy consumption in the base and hybrid controllers was compared. The results show that the energy consumption for the hybrid controller is 20 to 30% less than the base controller.

关键词： robot control system hybrid controller artificial hormone controller fuzzy type-2 controller performance indices

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Optimization of hybrid robot control system using artificial hormones and fuzzy logic

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JOURNAL OF INTELLIGENT & FUZZY systemS 2016年第3期30卷 1403-1410页

作者： Fakhrzad, Mohammad Bagher Rahdar, Moheb Ali Univ Yazd Dept Ind Engn Univ Blvd Safayieh Yazd Iran

关键词： robot control system hybrid controller artificial hormone controller fuzzy type-2 controller performance indices

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Dual-Channel EtherCAT control system for 33-DOF Humanoid robot TOCABI

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IEEE ACCESS 2023年 11卷 44278-44286页

作者： Ahn, Junewhee Park, Suhan Sim, Jaehoon Park, Jaeheung Seoul Natl Univ Grad Sch Convergence Sci & Technol Dept Intelligence & Informat Seoul 08826 South Korea Seoul Natl Univ Grad Sch Convergence Sci & Technol Dept Intelligence & Informat ASRI Seoul 08826 South Korea Adv Inst Convergence Technol AICT Grad Sch Convergence Sci & Technol Dept Intelligence & Informat Suwon 16229 South Korea

Multi-axis actuation robotics systems comprising many joints with a floating base require more stability and safety than fixed robots and thus require more considerations. In this paper, we describe the implementation of a real-time EtherCAT control system for the TOCABI humanoid robot with 33 degrees of freedom (DOFs) is described. The focus is on the development of a high-performing EtherCAT MainDevice, which enables control of the robot's high DOF at fast communication cycles. We also explore the use of a dual-channel EtherCAT MainDevice as a redundancy mechanism to handle communication disruptions and show that this configuration reduces the burden on the communication network and increases the communication cycle, leading to good real-time performance. To demonstrate the advantages of the system, we examine the performance of the EtherCAT communication and evaluate the impact of RTnet on real-time performance, demonstrating that a high-performing EtherCAT MainDevice having hard real-time capabilities can be established using open-source software. The results of this work demonstrate the potential of using dual channels in EtherCAT MainDevice configurations and utilizing open-source software to implement low-cost EtherCAT MainDevice systems. The paper's contribution to the field is its indication of developing stable robot systems with high DOF, which require hard real-time capability, even with open-source software.

关键词： Real-time systems robots Humanoid robots Linux control systems robot sensing systems Kernel Framework humanoid robot real-time robot control system

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