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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Masahiro Isogai Yasuhiko Nawa Yuya Usui Kunio Aiki Department of Electronic Control and Robot Engineering Aichi University of Technology Japan

ISBN: (纸本)9781467353199

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A in 4-5 min. This navigation method is useful when GPS is not usable.

关键词： Sensors Microwave antennas Microwave circuits Base stations Microwave amplifiers Navigation

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP Sciences.

关键词： Graphical user interfaces

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A new linear matrix inequality condition for robust -stabilizing proportional-derivative state-feedback controller design of polynomial matrix polytopes

A new linear matrix inequality condition for robust -stabili...

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作者： Lee, Dong-Hwan Park, Jin-Bae Joo, Young-Hoon Department of Electrical and Electronic Engineering Yonsei University Seodaemun-gu Seoul 120-749 Korea Republic of Department of Control Robot and Systems Engineering Kunsan National University Kunsan Chongbuk 573-701 Korea Republic of

ISBN: (纸本)9781424474530

This paper investigates the problem of robust D-stabilization for polynomial matrix polytopes. By employing proportional-derivative (PD) state-feedback controllers, a new sufficient condition is formulated in terms of a linear matrix inequality (LMI) feasibility problem. Example is given to demonstrate the validity and efficiency of the proposed approach. ©ICROS.

关键词： Stabilization

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Polar-view based object detection algorithm using 3D low-channel lidar

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Journal of Institute of control, robotics and Systems 2019年第1期25卷 56-62页

作者： Kwon, Soon-Sub Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Electronics Engineering Chungbuk National University Korea Republic of

In order for an autonomous vehicle to move, object detection is required to recognize the surrounding environment. The sensors used for object detection mainly use a camera and lidar. However, it is difficult to detect the camera because of its influence on the surrounding environment. Therefore, object detection using lidar is required. For lidar-based object detection, we mainly use a high-channel lidar with a high resolution. However, high-channel lidar is expensive and is difficult to commercialize. To solve this problem, object detection studies using low-channel lidar are underway. In this paper, we present an algorithm to find an object (vehicle or pedestrian) using three 3D low-channel lidar systems. First, we converted the data from the lidar to the polar view. Then, we input the converted polar view into YOLO v3 to predict the class and the region of interest (ROI) of the object. We used K-means to separate the background and the object from the image in the predicted ROI to find the object except for the background. Only the object area found last was converted back into 3D space to find the location of the object. © ICROS 2019.

关键词： Object detection

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Robust H∞ disturbance attenuation control of continuous-time polynomial fuzzy systems

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Journal of Institute of control, robotics and Systems 2016年第6期22卷 429-434页

作者： Jang, Yong Hoon Kim, Han Sol Joo, Young Hoon Park, Jin Bae Department of Electrical and Electronic Engineering Yonsei University Korea Republic of Department of Control and Robot Engineering Kunsan National University Korea Republic of

This paper introduces a stabilization condition for polynomial fuzzy systems that guarantees H∞ performance under the imperfect premise matching. An H∞ control of polynomial fuzzy systems attenuates the effect of external disturbance. Under the imperfect premise matching, a polynomial fuzzy model and controller do not share the same membership functions. Therefore, a polynomial fuzzy controller has an enhanced design flexibility and inherent robustness to handle parameter uncertainties. In this paper, the stabilization conditions are derived from the polynomial Lyapunov function and numerically solved by the sum-of-squares (SOS) method. A simulation example and comparison of the performance are provided to verify the stability analysis results and demonstrate the effectiveness of the proposed stabilization conditions. © ICROS 2016.

关键词： Stabilization

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Channel based network for object recognition of low-channel 3D lidar

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Journal of Institute of control, robotics and Systems 2020年第7期26卷 589-595页

In autonomous vehicles, lidar and camera are used for object recognition. Because cameras are difficult to recognize at night, there is a lot of research on object recognition using lidar. Generally, it uses high channel lidar for object recognition, but it uses low channel lidar because it is expensive and difficult to use. Object recognition methods using low channel lidar are usually converted to 2D images. However, in the top-view method, the object recognition rate is low due to the low density, and the polar-view method has a disadvantage in that the recognition rate decreases in a complex environment such as a background and a building behind the object. To solve this problem, we propose an object recognition method that uses lidar data directly. First, the convolution is performed for each channel of Lidar data, and then the lidar data is integrated again. Then, a second convolution is performed using the height data. Finally, find the object in the detection network. © ICROS 2020.

关键词： Optical radar

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Adaptive finite-time synchronized control of multi-robotic fiber placement system with model uncertainties and disturbances

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ISA Transactions 2025年

作者： Ronghua Zhang Yaonan Wang Wenfang Xie Pengcheng Li Haoran Tan Yiming Jiang College of Electrical and Information Engineering Hunan University Changsha 410082 Hunan China National Engineering Laboratory of Robot Visual Perception and Control Technology Hunan University Changsha 410082 Hunan China Department of Mechanical Industrial and Aerospace Concordia University Montreal H3G2W1 Quebec Canada College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 Jiangsu China School of Robotics Hunan University Changsha 410082 Hunan China

The use of multiple robots to manufacture composite components represents a critical development direction for fiber placement systems (FPSs). In multi-robotic fiber placement systems (MRFPSs) with heterogeneous mechanical structures, robots collaborate to perform fiber placement tasks. Consequently, robot synchronization emerges as a primary factor in determining the performance of the fiber placement process. However, the difficulty in establishing accurate system models and the presence of disturbances are two significant challenges to achieving precise robot synchronization. Additionally, the system is expected to exhibit desirable dynamic characteristics, such as finite-time error convergence. To address these issues and requirements, we propose a novel adaptive finite-time synchronization control (AFSC) algorithm for the system. Specifically, a finite-time sliding mode observer is developed to handle kinematic uncertainty. A novel fast non-singular terminal sliding mode (FNTSM) manifold is constructed in the AFSC algorithm. Moreover, the control algorithm integrates an adaptive law to handle dynamic uncertainty and an adaptive term to counteract disturbances. Performance analysis demonstrates that the AFSC ensures that the coupled, synchronization, and tracking errors converge to zero within finite time. Furthermore, simulations and experiments are conducted to validate the effectiveness of the AFSC algorithm.

关键词： Disturbances Fiber placement Finite-time control Model uncertainties Multi-robots Synchronization control

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Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (development of controller for experiments on frequency characteristics of running microrobot)

Locomotion mechanism and control method for a microrobot usi...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Isogai Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Japan

In recent years, various investigations have been conducted on microrobots by many researchers, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. To date, the author's research group has been studying a locomotion mechanism and a control method for an electromagnet-type microrobot, which has a volume of 1cm3. In a previous study by the author, a structure and a control method that enable a microrobot with only one electromagnet coil to turn were proposed, and the characteristics of a running microrobot were investigated through some experiments. Here, theoretical confirmation of the effectiveness of the proposed method requires a mathematical model of the motion of the microrobot and some experiments with sinusoidal signals to indicate the validity of the mathematical model. So, the purpose of this paper is to develop experimental equipment including a controller which can generate sinusoidal signals. The basic function of the developed controller was confirmed through some experiments.

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Autonomous navigation system of mobile robot using laser scanner for corridor environment

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Journal of Institute of control, robotics and Systems 2015年第11期21卷 1044-1049页

作者： Park, Jong-Kwan Park, Tae-Hyeong Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Electronics Engineering Chungbuk National University Korea Republic of

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method. © ICROS 2015.

关键词： Iterative methods

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Navigation control for an exploration rover with microwave Doppler sensors (Fabrication of second prototype rover and experiments)

Navigation control for an exploration rover with microwave D...

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IEEE International Conference on System engineering and Technology

作者： Masahiro Isogai Michihide Ito Yasuhiko Nawa Kunio Aiki Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Japan

In this study, fist, we conducted a study on the navigation control for a rover using microwave Doppler sensors. Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. The rover started from a point 70 m away and approached to within 1.5 m of sensor A. This navigation method is useful when GPS is not usable. Second, we proposed a method to avoid irregular surfaces on a ground because the prototype rover we have previously developed could not be navigated owing to the cut of the microwave beam by large irregularity of ground surfaces. In this study, second prototype rover with a function of avoiding the irregular ground surfaces was fabricated and we confirmed the effectiveness of the proposed method through some experiments.

关键词： Sensors Microwave antennas Navigation Microwave circuits Base stations Doppler effect

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