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International Conference on control, Automation and Systems ( ICCAS)

作者： Min Seong Kim Jeon Hyeok Lee Taek Lim Kim Tae-Hyoung Park Department of Control and Robot engineering Chungbuk National University Cheongju Korea Department of Intelligent Systems and Robotics Chungbuk National University Cheongju Korea

Local Trajectory Planning plays a pivotal role in reducing lap times during a race. It must take into account not only obstacles but also the hardware limitations of the vehicle and the performance of the controller. Moreover, in a high-speed racing competition like F1, surrounding vehicles exhibit highly dynamic movements, necessitating motion prediction for safety. However, existing studies have demonstrated good performance in environments with static objects or when avoiding racing vehicles in straight-line sections, but accidents occur in environments with large numbers of vehicles and high curvature. To address these issues, this paper proposes an algorithm that ensures stability even in complex environments by considering the uncertainty of motion prediction for multiple vehicles. By considering the uncertainty of vehicle motion, we design the cost and generate an optimized path based on sampling. The CarMaker simulator is utilized to verify the proposed algorithm.

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Development of real-time flight simulator for quadrotor

Development of real-time flight simulator for quadrotor

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International Conference on Advanced Computer Science and Information System (ICACSIS)

作者： Joga D. Setiawan Yuhanes D. Setiawan Mochammad Ariyanto Agus Mukhtar Agus Budiyono Laboratory of Control System and Robotics Faculty of Engineering Diponegoro University Indonesia Smart Robot Center AeroSpace Engineering Department Konkuk University South Korea

The purpose of this research is to build a real-time flight simulator for quadrotor systems and verify if the simulator runs in real time. The simulator was constructed by writing the mathematical models of quadrotor dynamic in MATLAB/Simulink. Using xPC Target software environment, three PCs were set up to work in sync to make the simulation run in real time. This paper shows several simulation results of the quadrotor dynamic in three flight directions. These results validate the stable performance of PD controller being used. At the same time it can be revealed that the simulation runs in real time by observing the percentage processing usage of the computer as function of simulation time. The simulator can be very useful for researchers to understand the character of the quadrotor system being developed and for pilots to complete a mission using the quadrotor system.

关键词： Solid modeling Computational modeling Mathematical model Real-time systems Computers Propellers PD control

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Analysis of the effect of linguistic variables of consequence membership function

Analysis of the effect of linguistic variables of consequenc...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Kyoung-woong Lee Hansoo Choi Daelim I and S Seoul South Korea Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea

Fuzzy controller shows different responses depending on the size of the linguistic variables. Therefore, the choice of appropriate linguistic variable is an important part of the design of fuzzy controller. However, since fuzzy controller is nonlinear, it is difficult to analyze mathematically the affection of the linguistic variable. In this paper to analyze the effect of linguistic variables, the relationship between linguistic variables and fuzzy controller stability zone according to the variable changes in the size of each linguistic variables and the number of linguistic variables, that is calculated by Describing Function approximately, is analyzed through regression analysis. Describing Function can approximate FLC in frequency domain and we can determine the stability using nyquist plot. This study can help to understand the role of linguist variables of consequent membership function and to select them for designing FLC on the point of stability.

关键词： Pragmatics Stability criteria Fuzzy control Correlation Steady-state Mathematical model

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Experimental evaluation of stent clot retrieval using the confront clot scrambling method with an equitable automatic withdrawal machine

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Asian Journal of Neurosurgery 2022年第4期14卷 1165-1167页

作者： Reo Kawaguchi Tomotaka Ohshima Yoshitaka Nagano Shigeru Miyachi Naoki Matsuo Masakazu Takayasu Department of Neurosurgery Aichi Medical University Aichi Neuroendovascular Therapy Center Aichi Medical University Aichi Department of Electronic Control and Robot Engineering Aichi University of Technology Aichi

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Localization of a robot using particle filter with range and bearing information

Localization of a robot using particle filter with range and...

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International Conference on Ubiquitous robots and Ambient Intelligence (URAI)

作者： Tae Gyun Kim Hyun-Taek Choi Nak Yong Ko Korea Institute of Ocean Science and Technology Daejeon Korea Department of Control Instrumentation and Robot Engineering Chosun University Gwangju Korea

This paper reports a localization method based on particle filter with range and bearing information for fixed landmarks. The method consists of motion model which predicts pose of a robot, sensor model which evaluates the predicted pose, and resampling which modifies the evaluated pose. The proposed particle filter method utilizes bearing information as well as range information. The results of a simulation show trajectories for estimated robot location. Also, there is a result for comparison of performances using the proposed method and extended Kalman filter based method.

关键词： robot sensing systems Particle filters Uncertainty Kalman filters Trajectory Predictive models

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Study on a Novel Voxel-Based 3D Printing Method on Magnetic-controlled Memory Fluid 19

Study on a Novel Voxel-Based 3D Printing Method on Magnetic-...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Zhang, Shengjie Sun, Xudong Song, Zhongru Guo, Yifei Qu, Juntian Li, Zhenkun School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing100044 China North China University of Science and Technology Department of Mechanical Engineering Tangshan063210 China Hebei Industrial Robot Industry Technology Research Institute Tangshan063000 China Shenzhen International Graduate School Tsinghua University Shenzhen518055 China

ISBN: (纸本)9798350320695

Combining the 'programmable' characteristics of smart materials with 3D printing technology can realize the integration of structural design and manufacturing. Magnetic controlled smart fluid owns the characteristics of flexible solid-liquid transformation, high driving efficiency and high safety. Soft robot driven by magnetic controlled intelligent fluid can realize a bionic movement similar to that of single-celled organisms. In this paper, we propose a reversible 3D printing method of magnetic phase transformation using a similar mechanism of sol-gel transformation in protoplasm. A magnetically controlled Pickering emulsion system with strong thixotropic properties was constructed and its microscopically self-assembled structure was characterized. The yielding and memory recovery characteristics of the magnetic-controlled memory fluid (MMF) were studied by means of steady-state and dynamic shear measurement, and the optimal rheological parameters suitable for printing were determined. A 3D printing platform and a memory elimination platform for coordinated control of magnetic field and motion system were built to further study and optimize the printing process. Finally, the composite structure is controlled by an array magnetic field to realize an amoeba-like motion. Novel voxel-based 3D printing and its application in soft robots can provide new ideas for space exploration, biomedicine, military reconnaissance and many other fields. © 2023 IEEE.

关键词： Emulsification

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Vascular environment modeling and verification for the virtual vessel interventional surgery training system 15

Vascular environment modeling and verification for the virtu...

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Zhan, Qi Guo, Jian Meng, Cheng Jin, Xiaoliang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Tianjin391 China Intelligent Mechanical Systems Engineering Department Kagawa University 2217-20 Hayashi-cho Takamatsu761-0396 Japan

ISBN: (纸本)9781538660720

At present, cerebrovascular disease has become the number one killer of endangering human health, and minimally invasive interventional surgery is its main treatment method. However, the vascular intervention surgery places high demands on doctors' surgical procedures, and the actual model and training cost are relatively high. Therefore, the research of vascular interventional surgeon training system based on virtual reality technology becomes more and more important. The quality of a training system depends on whether it can provide a training environment that is close to reality. Based on the study of the training system of vascular interventional surgeons before the laboratory, the concept of blood flow resistance and viscous resistance was increased to improve the authenticity of training system. In this paper, the original vascular model was cut into discrete cylindrical containers, and then the Poiseuille's law and Stokes's law were used to calculate the blood flow resistance and viscous resistance in each container. The blood flow resistance module and the viscous drag module were added to the previous model to simulate blood flow resistance and viscous resistance in a virtual environment. This study helps trained doctors to provide a more realistic training environment. Finally, the relevant verification experiment was carried out in this paper, which proved that the training system with added blood flow resistance and viscous resistance was closer to the real environment. © 2018 IEEE.

关键词： Virtual reality

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Design and implementation of a multi-functional mobile robot

Design and implementation of a multi-functional mobile robot

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SICE Annual Conference

作者： Ying J. Huang Yuan Z. Chen Tzu C. Kuo Hong S. Yu Department of Electrical Engineering Yuan-Ze University Taiwan Department of Electrical Engineering Ching Yun University of Technology Taiwan Robot Control Technology Department Industrial Technology and Research Institute Taiwan

In this paper, an intelligent multi-functional mobile robot is presented. The hardware involves the ultrasonic sensor, Bluetooth device, wireless camera, DC servo motor, and mechanical gripper. One single ultrasound sensor is programmed to seek the object, and complete the object localization. A human-machine interface is developed to remotely control the mobile robot. Through wireless communication and camera, the exploration of a tiny and harsh environment can be carried out. Hardware description language is used in the controller design and the peripheral I/O circuit. Human-machine interface is completed by C language.

关键词： Mobile robots Intelligent sensors Mechanical sensors robot vision systems Cameras Man machine systems Communication system control Intelligent robots Hardware Bluetooth

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A novel technique of microcatheter shaping using real image display for endovascular aneurysmal coil embolization

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Asian Journal of Neurosurgery 2022年第3期16卷 645-647页

作者： Tomotaka Ohshima Yoshitaka Nagano Shigeru Miyachi Neuroendovascular Therapy Center Aichi Medical University Nagakute Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Aichi Department of Neurosurgery Aichi Medical University Nagakute

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Sparse Optical Flow-Based Line Feature Tracking

arXiv

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arXiv 2022年

作者： Fu, Qiang Yu, Hongshan Ali, Islam Zhang, Hong National Engineering Laboratory for Robot Visual Perception and Control Technology Hunan University China Department of Computing Science University of Alberta Canada

In this paper we propose a novel sparse optical flow (SOF)-based line feature tracking method for the camera pose estimation problem. This method is inspired by the point-based SOF algorithm and developed based on an observation that two adjacent images in time-varying image sequences satisfy brightness invariant. Based on this observation, we redefine the goal of line feature tracking: track two endpoints of a line feature instead of the entire line based on gray value matching instead of descriptor matching. To achieve this goal, an efficient two endpoint tracking (TET) method is presented: first, describe a given line feature with its two endpoints;next, track the two endpoints based on SOF to obtain two new tracked endpoints by minimizing a pixel-level grayscale residual function;finally, connect the two tracked endpoints to generate a new line feature. The correspondence is established between the given and the new line feature. Compared with current descriptor-based methods, our TET method needs not to compute descriptors and detect line features repeatedly. Naturally, it has an obvious advantage over computation. Experiments in several public benchmark datasets show our method yields highly competitive accuracy with an obvious advantage over speed. The source code of our method is released at: https://***/cnqiangfu/TET. Copyright © 2022, The Authors. All rights reserved.

关键词： Optical flows

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