检索结果-内蒙古大学图书馆

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

引用

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：

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

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...

引用

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

来源：评论

学校读者我要写书评

暂无评论

A Comparative Study of Recent Real Time Semantic Segmentation Algorithms for Visual Semantic SLAM

A Comparative Study of Recent Real Time Semantic Segmentatio...

引用

International Conference on Big Data and Smart Computing (BIGCOMP)

作者： Zeeshan Javed Gon-Woo Kim Department of Control and Robot Engineering Chungbuk National University Cheongju South Korea

ISBN: (数字)9781728160344

ISBN: (纸本)9781728160351

Visual Simultaneous Localization and Mapping (vSLAM) has gained much attention for localization and mapping of autonomous vehicle and many impressive and robust vSLAM systems have been developed and achieved considerable performance in recent years. However, some problem have still not been solved because of limited information from geometrical features. In this paper we provide a comparative analysis of computationally effective pixel-wise semantic segmentation algorithms that can be used in visual semantic SLAM.

关键词： Semantics Image segmentation Real-time systems Simultaneous localization and mapping Classification algorithms Visualization Computer architecture

来源：评论

学校读者我要写书评

暂无评论

Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot;preliminary experiments and experiments in turning control)

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

引用

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

Recently, microrobots have been the subject of a large number of studies, 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. This study considers a novel locomotion mechanism and a control method for an electromagnet-type microrobot that can not only travel in a straight line, but can also turn using just a single electromagnet that utilizes the difference in the vibration characteristics of the left and right legs. In this study, a control method to change the turning radius is proposed, and a prototype microrobot and controller are fabricated. In addition, the characteristics of the turning radius are investigated and the effectiveness of the proposed control method is verified through experiments.

关键词： Turning

来源：评论

学校读者我要写书评

暂无评论

An incremental Granular Network for data modeling in software engineering

An incremental Granular Network for data modeling in softwar...

引用

International Conference on New Trends in Information and Service Science, NISS

作者： Myung-Won Lee Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea

ISBN: (纸本)9781424469826;9788988678183

In this paper, we propose an incremental method of Granular Networks (GN) to construct conceptual and computational platform of Granular Computing (GrC). The essence of this network is to describe the associations between information granules including fuzzy sets formed both in the input and output spaces. The context within which such relationships are being formed is established by the system developer. Here information granules are built using Context-driven Fuzzy Clustering (CFC). This clustering develops clusters by preserving the homogeneity of the clustered patterns associated with the input and output space. The experimental results on well-known software module of Medical Imaging System (MIS) revealed that the incremental granular network showed a good performance in comparison to other previous literature.

关键词： Software engineering Computer networks Context modeling Fuzzy sets Biomedical imaging robot control Instruments Data engineering Software performance Computer architecture

来源：评论

学校读者我要写书评

暂无评论

Wireless remote control for an electromagnet-type moving microrobot (experimental results for legs' vibrations and straight runs)

Wireless remote control for an electromagnet-type moving mic...

引用

SICE Annual Conference

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

ISBN: (纸本)9781479914951

Recently, many researchers have been studying microrobots. Moreover, yearly contests have been held in order to develop microrobot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. To date, the authors' research group has been studying a locomotion mechanism and control method for an electromagnet-type microrobot, which has a volume of 1[cm 3 ]. The proposed microrobot has a feature of being able to turn with single electromagnet coil using the difference of the vibration characteristics of the legs. In this paper, we propose a wireless remote control method for the microrobot, using the feature of the locomotion mechanism and control method we have proposed previously. To show the fundamental function of the wireless remote control method proposed, we report on some experimental results for legs' vibrations and straight runs of the microrobots.

关键词： Field effect transistors Light emitting diodes Switches Wireless sensor networks Wireless communication Legged locomotion

来源：评论

学校读者我要写书评

暂无评论

Leveraging Semantics in Appearance based Loop Closure Detection for Long-Term Visual SLAM

Leveraging Semantics in Appearance based Loop Closure Detect...

引用

International Conference on Big Data and Smart Computing (BIGCOMP)

作者： Saba Arshad Gon-Woo Kim Department of Control and Robot Engineering Chungbuk National University Cheongju South Korea

In simultaneous localization and mapping, the detection of true loop closure benefits in relocalization and increased map accuracy. However, its performance is largely affected by variation in light conditions, viewpoints, seasons, and presence of dynamic objects. Focusing the advantages of visual semantics, this research proposes a semantics aided bag-of-wordsmodel overcoming the limitations of conventional BoW model which performs appearance-based loop detection and has been gold standard for many years. The proposed method reduces the computation time while matching current frame with the database image by segmenting the search space. Further it enhances the true loop detection rate.

关键词： Visualization Image segmentation Simultaneous localization and mapping Navigation Databases Computational modeling Semantics

来源：评论

学校读者我要写书评

暂无评论

Genetically optimized linguistic models

Genetically optimized linguistic models

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chosun University Gwangju South Korea

This paper is concerned with linguistic models (LM) optimized by genetic algorithm (GA) and developed their comprehensive framework. The main characteristics of LM are user-centric and inherently dwell upon collections of highly interpretable and user-oriented entities such as information granules. The objective of this paper is to present an organization of overall optimization process and come up with a specification of several evaluation mechanisms of the performance of the models. The underlying design tool guiding the development of LM revolves around the augmented version of fuzzy clustering known a context-based fuzzy c-means. The optimization design based on GA determines the number of cluster generated by each linguistic context and fuzzification factor related to information granules in the input and output process. The experimental study comes with coagulant dosing process in a water purification plant. Furthermore we contrast the performance of genetically opimized LM in comparison with other radial basis function networks and LM itself.

关键词： Context modeling Fuzzy sets Genetic algorithms Radial basis function networks Automatic control robotics and automation control system synthesis robot control Instruments Genetic engineering

来源：评论

学校读者我要写书评

暂无评论

An incremental adaptive neuro-fuzzy networks

An incremental adaptive neuro-fuzzy networks

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Keun-Chang Kwak Department of Control Instrumentation and Robot Engineering Chousn University Gwangju South Korea

In this paper, we propose a method for constructing an incremental adaptive neuro-fuzzy network (IANFN). In contrast to typical rule-based systems, the underlying principle is to consider a two-step development of adaptive neuro-fuzzy network (ANFN). First, we build a standard linear regression (LR) model which could be treated as a preliminary design capturing the linear part of the data. Next, all modeling discrepancies are compensated by a collection of rules that become attached to the regions of the input space in which the error becomes localized. The incremental network is constructed by building a collection of information granules through some specialized fuzzy clustering, called context-based fuzzy c-means (CFCM) that is guided by the distribution of error of the linear part of its development. The experimental results reveal that the proposed incremental network shows a good approximation and generalization capability in comparison with the general method.

关键词： Adaptive systems Fuzzy neural networks Linear regression Automatic control control systems robotics and automation Programmable control Adaptive control robot control Instruments

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：