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5th International Conference on Electrical Engineering and control Applications, ICEECA 2022

作者： Bouhabza, Khedidja Guiatni, Mohamed Bouzid, Yasser Hamerlain, Mustapha Complexe Systems Control and Simulators Laboratory Ecole Militaire Polytechnique Bordj El Bahri Alger Algeria Robotics Laboratory Head Centre de Développement Des Technologies Avancées Algiers Algeria

ISBN: (纸本)9789819700448

The Optimized controller is established for controlling the reconfigurable UAV, which has been designed to enable various morphologies whilst keeping the performance of a standard quadrotor. These design adjustments allow the quadrotor to negotiate restricted spaces horizontally or vertically while also altering its speed to the task and surroundings and enhancing energy autonomy. The method of Ant Colony-based Optimization determines the ISM controller gains and ensures optimal exchange between errors tracking and energy consumption. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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Quantitative analysis of the main components in ceramic raw materials based on the desktop LIBS analyzer

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Plasma Science and Technology 2022年第8期24卷 46-54页

作者： Peng ZHANG Lanxiang SUN Haibin YU Peng ZENG State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016People's Republic of China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016People's Republic of China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110016People's Republic of China

The concentrations of SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiO,and loss on ignition(L.O.I.) are the main inorganic components of geological *** of the eight oxides and *** also the main indicators of concern in the production of building *** analysis of the eight oxides and *** performed using fiber-laserbased laser-induced breakdown spectroscopy(LIBS).A combination of continuous background deduction,full width at half maximum(FWHM) intensity integral and spectral sum normalization was proposed for data *** the data processing combined the continuous background deduction,FWHM intensity integral and spectral sum normalization,the mean absolute errors(MAEs) of the calibration of L.O.I.,SiO,Al2O,KO,NaO,CaO,MgO,Fe2Oand TiOwas reduced from 2.03%,12.06%,4.84%,1.10%,0.69%,0.31%,0.11%,0.20%and 0.10% to 1.80%,9.48%,2.12%,0.36%,0.58%,0.11%,0.08%,0.19% and 0.05%,*** multivariate method was further introduced and discussed to improve the analysis *** MAEs of L.O.I.,SiO,Al2O,KO and NaO were further reduced to1.12%,2.07%,1.38%,0.35% and 0.43%,*** results show that the overall prediction error can meet the requirements for the production of building *** LIBS desktop analyzer has great potential in detection applications on geological samples.

关键词： laser-induced breakdown spectroscopy fiber laser quantitative analysis matrix effects geological samples

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator System 42

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Networked PID controller Design for a Heating System

Networked PID Controller Design for a Heating System

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2024 Panhellenic Conference on Electronics and Telecommunications, PACET 2024

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

ISBN: (纸本)9798350318845

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. © 2024 IEEE.

关键词： controllers

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Design of Gravity Compensation Scheme for Passive Lifting Method of Multi-degree Freedom Robotic Arm 18

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

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18th IEEE Conference on Industrial Electronics and Applications, ICIEA 2023

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

ISBN: (纸本)9798350312201

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. © 2023 IEEE.

关键词： Robotic arms

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Traffic Sign Classification Using Deep and Quantum Neural Networks

Traffic Sign Classification Using Deep and Quantum Neural Ne...

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International Conference on Computer Vision and Graphics, ICCVG 2022

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

ISBN: (纸本)9783031220241

Quantum Neural Networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural Networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Traffic signs

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Energy Efficient Hardware Acceleration of Neural Networks with Power-of-Two Quantisation

Energy Efficient Hardware Acceleration of Neural Networks wi...

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International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Przewlocka-Rus, Dominika Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031220241

Deep neural networks virtually dominate the domain of most modern vision systems, providing high performance at a cost of increased computational complexity. Since for those systems it is often required to operate both in real-time and with minimal energy consumption (e.g., for wearable devices or autonomous vehicles, edge Internet of Things (IoT), sensor networks), various network optimisation techniques are used, e.g., quantisation, pruning, or dedicated lightweight architectures. Due to the logarithmic distribution of weights in neural network layers, a method providing high performance with significant reduction in computational precision (for 4-bit weights and less) is the Power-of-Two (PoT) quantisation (and therefore also with a logarithmic distribution). This method introduces additional possibilities of replacing the typical for neural networks Multiply and ACcumulate (MAC—performing, e.g., convolution operations) units, with more energy-efficient Bitshift and ACcumulate (BAC). In this paper, we show that a hardware neural network accelerator with PoT weights implemented on the Zynq UltraScale + MPSoC ZCU104 SoC FPGA can be at least 1.4x more energy efficient than the uniform quantisation version. To further reduce the actual power requirement by omitting part of the computation for zero weights, we also propose a new pruning method adapted to logarithmic quantisation. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： System-on-chip

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Toward Cable-Driven Continuum Robots: Micro-Motion Augmentation Using Eccentrically Arranged Fibres with Eccentric Lumens

Toward Cable-Driven Continuum Robots: Micro-Motion Augmentat...

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Lin, Zecai Zhou, Cheng Zou, Yun Gao, Anzhu Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China

ISBN: (纸本)9781665481090

Micro-motion augmentation of macro-motion continuum robot can largely enhance its micro-operation capability during surgery. However, most existing micro-motion continuum robots have non-compact mechanical structure or non-smooth micro tip motion, which leads to complicated control in micro lumens. This paper proposes a micro-motion augmentation method by rotating eccentrically arranged fibres with eccentric lumens for cable-driven continuum robots. Two thermal drawn polymer fibres with an eccentric lumen on each are inserted into its eccentric lumens of the continuum robot. The micro-motion mechanism relies on small changes in the neutral axis of the continuum robot due to the rotation of the eccentrically arranged fibres. A kinematic model considering variable neural axis is built to describe the micro motion, and a simulation is conducted to investigate the deformation characteristics. The resolution and micro motion with respect to different structural parameters are also analysed. Detailed experiments are performed to validate the effectiveness of the proposed method, and results indicate that the repeatability of micro-motion is 10.1 μm (4.0 %). © 2024 IEEE.

关键词： Robotic surgery

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A Novel Sensor Scheduling Algorithm Based on Deep Reinforcement Learning for Bearing-Only Target Tracking in UWSNs

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 1077-1079页

作者： Linyao Zheng Meiqin Liu Senlin Zhang Jian Lan Institute of Artificial Intelligence and Robotics Xi’an Jiaotong UniversityXi’an 710049 State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhou 310027China College of Electrical Engineering Zhejiang UniversityHangzhou 310027China

Dear Editor,This letter is concerned with the energy-aware multiple sensor coscheduling for bearing-only target tracking in the underwater wireless sensor networks(UWSNs).Considering the traditional methods facing with the problems of strong environment dependence and lack flexibility,a novel sensor scheduling algorithm based on the deep reinforcement learning is ***,the sensors’co-scheduling strategy in UWSNs is formulated as Markov decision process(MDP).

关键词： Deep networks underwater

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Industrial Wireless control Networks:From WIA to the Future

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Engineering 2022年第1期8卷 18-24页

作者： Haibin Yu Peng Zeng Chi Xu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China

*** Industrial automation is undergoing a significant innovation as information,communication,and operation technologies are deeply integrating with each *** this trend,industrial wireless control networks(IWCNs)are becoming increasingly attractive to industrial automation since they can help speed up production efficiency,reduce cost,enhance safety,and finally realize intelligent manufacturing[1].

关键词： attractive integrating becoming

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