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Panhellenic Conference on Electronics and Telecommunications (PACET)

作者： Nikolaos D. Kouvakas Fotis N. Koumboulis Dimitrios G. Fragkoulis Department of Digital Industry Technologies School of Science Robotics Automatic Control and Cyber-Physical Systems Laboratory National and Kapodistrian University of Athens Euboea Euripus Campus Greece

This work studies the issue of remotely controlling a single room’s temperature using a central heating system. The models of the components of the heating system setup are derived by equivalent electric circuits. The combined nonlinear description of the process is used to produce a linear approximant. A Proportional, Integral plus Derivative (PID) controller, located at a considerable distance from the process and receiving measurements and transmitting actuation signals via a wireless network, is designed based on the linear approximant and towards room temperature control. A metaheuristic approach, satisfying stability, approximate model matching, asymptotic command following, and disturbance attenuation, is used to calculate the controller parameters. The suggested scheme’s performance is illustrated through simulations.

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6-DOF AUV Identification with MIMO-NARX

6-DOF AUV Identification with MIMO-NARX

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International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Aleksey A. Kabanov Ivan Y. Lipko Kirill V. Dementiev Department of Informatics and Control in Technical Systems Sevastopol State University Sevastopol Russian Federation Robotics and Intelligent Control System Laboratory Sevastopol State University Sevastopol Russian Federation

This paper applies the MIMO NARX neural model to identify AUV with six degrees of freedom. Strongly nonlinear dependencies are modeled using a MIMO NARX model trained using «input-output» experimental data. This results in a grey box model with a partially known internal structure that can be supervised. This is achieved by specifying a certain regressors type, which is feedback to the model input. Obtained results show that the neural model trained by the Levenberg–Marquardt numerical algorithm provides acceptable performance and accuracy. Validation of the model was performed using data from full-scale experiments, which allowed to identify the weaknesses and advantages of the resulting system more accurately.

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Design of Gravity Compensation Scheme for Passive Lifting Method of Multi-degree Freedom Robotic Arm

Design of Gravity Compensation Scheme for Passive Lifting Me...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Jing Sun Chaoran Wei Haotai Chen Bin Wang Xingguang Li Qiang Zhang Space Drive and Manipulation Mechanism Laboratory Beijing Institute of Control Engineering Beijing China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

Before launching a spacecraft, it is necessary to undergo micro low gravity simulations on the ground to test its reliability. The lifting method is not limited by movement time and space, and can simulate long-term low gravity environments. However, the degree of freedom of spatial mechanisms is gradually increasing, and the motion is becoming increasingly complex, making traditional lifting methods unable to meet the needs. In response to the above issues, a lifting gravity simulation scheme for a multi degree of freedom robotic arm that can achieve complex motion is proposed. The design adopts a single sling combined with a hanger to avoid interference during the motion process. Finally, simulation and experiments have proven the feasibility of the scheme - it can achieve efficient unloading without affecting the normal movement of the equipment.

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Graph-Based Collision Avoidance Algorithm Among Swarm Agents

Graph-Based Collision Avoidance Algorithm Among Swarm Agents

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International Symposium on Electrical and Electronics Engineering (ISEEE)

作者： Akif Durdu Mesut Tuncer Berat Yıldız Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Computer Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkiye Department of Electrical and Electronics Engineering Karamanoglu Mehmetbey University Karaman Turkiye

More than one homogenous or heterogenous type unmanned vehicle can work in a coordinated manner and perform large-scale swarm tasks (firefighting, search and rescue, mapping, and military operations, etc.) efficiently in a shorter time by sharing tasks. Collision of these vehicles is among the most significant problems encountered during their work. The crash of the vehicles causes the vehicles to be out of duty and, accordingly, to the mission’s failure. In this study, Quadrotor-type UAVs used as agents can go to any target point by receiving location, speed, and compass information with GPS and IMU sensors. In the application, the agents’ locations were kept and updated in a list in pairs, similar to the traversing process in the Optimized Bubble Sort Algorithm. The projections of the velocity vectors on the agents’ axis (local) on a single coordinate plane are taken to determine the collision situation between these two agents that are traveling instantaneously. These global velocity vectors, whose projections are taken, are re-projected to the edge formed by these two agents in the graph and then subtracted from each other. Suppose the size of the vector is greater than the distance between two agents obtained by any GPS distance algorithm (Pythagoras, Haversine, etc.). In this case, collision is detected, and the separation process is activated. Separation is the process of advancing one agent in the opposite direction of the other until a minimum safe distance is achieved, where one agent entered by the user will not affect the other. Once the separation is complete, the agent moves to the final destination point.

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Real-time FPGA implementation of the Semi-Global Matching stereo vision algorithm for a 4K/UHD video stream

TechRxiv

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TechRxiv 2023年

作者： Grabowski, Mariusz Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840×2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock (ppc) format and a 64-pixel disparity range. The baseline SGM implementation had to be modified to process pixels in the 4ppc format and meet the timing constrains, however, our version provides results comparable to the original design. The solution has been positively evaluated on the Xilinx VC707 development board with a Virtex-7 FPGA device. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

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SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds

arXiv

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arXiv 2024年

作者： Wang, Yanbo Zhao, Wentao Cao, Chuan Deng, Tianchen Wang, Jingchuan Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China

Although LiDAR semantic segmentation advances rapidly, state-of-the-art methods often incorporate specifically designed inductive bias derived from benchmarks originating from mechanical spinning LiDAR. This can limit model generalizability to other kinds of LiDAR technologies and make hyperparameter tuning more complex. To tackle these issues, we propose a generalized framework to accommodate various types of LiDAR prevalent in the market by replacing window-attention with our sparse focal point modulation. Our SFPNet is capable of extracting multi-level contexts and dynamically aggregating them using a gate mechanism. By implementing a channel-wise information query, features that incorporate both local and global contexts are encoded. We also introduce a novel large-scale hybrid-solid LiDAR semantic segmentation dataset for robotic applications. SFPNet demonstrates competitive performance on conventional benchmarks derived from mechanical spinning LiDAR, while achieving state-of-the-art results on benchmark derived from solid-state LiDAR. Additionally, it outperforms existing methods on our novel dataset sourced from hybrid-solid LiDAR. Code and dataset are available at https://***/Cavendish518/SFPNet and https://***. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion

A Novel Approximation for the Spring Loaded Inverted Pendulu...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ali U. Kilic David J. Braun Department of Mechanical Engineering Advanced Robotics and Control Laboratory Center for Rehabilitation Engineering and Assistive Technology Vanderbilt University Nashville Tennessee USA

The Spring-Loaded Inverted Pendulum (SLIP) is one of the simplest models of robot locomotion. SLIP is commonly used to predict the center of mass motion and derive simple control laws for stable locomotion. However, the SLIP model is not integrable, which means that no closed-form relation can be derived to understand how the design and control parameters of the SLIP model affect stable locomotion. There exist a number of different analytical approximations to the SLIP model when considering small step lengths and symmetric steps. In this paper, we present a novel approximation to the SLIP model without relying on the small step length and the symmetric step assumption. The model was found to accurately predict the stability of the SLIP model for large and asymmetric steps and was used to design a controller to stabilize the SLIP model in a couple of steps.

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Transmission Optimization Based on Industrial Internet Information Model 4

Transmission Optimization Based on Industrial Internet Infor...

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4th International Conference on Machine Learning and Computer Application, ICMLCA 2023

作者： Feng, Haiwen Tian, Hao Wang, Ting Zhu, Jingyang Wang, Xintong School of Software College Shenyang University of Technology Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798400709449

With the standardized development of industrial Internet, the communication among industrial Internet platforms, devices and gateways is more frequent. Due to the problems of heterogeneous data and low data interoperability existing in different devices, the communication between industrial Internet is hindered. With the development of industrial Internet information model, on the basis of reducing data heterogeneity and improving interoperability, it is more difficult to transmit information due to the increase of information content. Therefore, this paper will design an information model transmission optimization method, through the information model XML file content optimization compression, while in the information model may exist in the Chinese information processing, so that it can better compress the Chinese-English information. The results show that the XML file used in information transmission can be compressed by using this optimization method, and it is proved that the proposed optimization method can improve the transmission efficiency. © 2023 ACM.

关键词： Interoperability

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Research on master-slave teleoperation control algorithm based on exoskeleton master hand

Research on master-slave teleoperation control algorithm bas...

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第35届中国控制与决策会议

作者： Jing Hou Yong Jiang Liang Zhao Peng Yu Jinxiang Pian School of Electrical and control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences

In order to obtain a more anthropomorphic experience in remote control,we use a wearable exoskeleton type master hand,which can obtain real-time human upper limb motion *** through the master-slave constraint algorithm,it completes the synchronous control of the slave robot,and then completes a series of tasks that people cannot directly participate *** original control scheme is further optimized,so that the tracking accuracy of the slave end effector is significantly ***,the Denavit-Hartenberg model of the master and slave devices is established through Robotic Toolbox 9.10 robot toolbox,and the workspace of the master and slave devices is analyzed respectively using Monte Carlo ***,the control scheme is designed to make the master exoskeleton complete the high-precision real-time control of the slave ***,the simulation results show that the master exoskeleton can complete the synchronization control of the slave robot,and the terminal accuracy is further improved on the basis of the original algorithm.

关键词： teleoperation exoskeleton master hand robot motion control positioning accuracy

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A 5G-Based Switching Method between a Local controller and an Edge controller 6

A 5G-Based Switching Method between a Local Controller and a...

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6th International Conference on Intelligent robotics and control Engineering, IRCE 2023

作者： Wang, Xiulian Lin, Jinggao Jin, Xi Xia, Changqing Xu, Chi College of Automation and Electrical Engineering Shenyang Ligong University China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350326338

With the rapid development of edge computing, industrial automation has evolved a two-layer distributed computing architecture, including local controllers communicating through wired networks and edge controllers communicating wirelessly. The edge controllers in existing studies use WIFI, which has a limited working distance and requires independent network deployment, so they are unsuitable for future large-scale complex industrial production. At present, 5G technology is undergoing rapid development in the field of industrial automation, with wide coverage and excellent mobility, gradually becoming suitable for future large-scale and complex industrial production scenarios. Therefore, this paper proposed an SW5G method based on 5G, which combined the local controller with the edge controller. The controllers were switched according to the constantly changing 5G network transmission delay, thereby optimizing the overall system control performance. Finally, simulation experiments demonstrated good control performance of SW5G in various network scenarios. © 2023 IEEE.

关键词： controllers

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