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检索条件"机构=Department of Robotics and Control Engineering"

共 1741 条记录，以下是381-390 订阅

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Performance Evaluation of Beams Carrying Orbital Angular Momentum in Optical Turbulence in Rayleigh-Bénard Underwater Convection

Performance Evaluation of Beams Carrying Orbital Angular Mom...

引用

2024 Applications of Lasers for Sensing and Free Space Communications, LS and C 2024

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We compare the propagation of a Gaussian beam to the beams that carry OAM in moderate and strong underwater optical turbulence created by Rayleigh Bénard convection. Analysis focuses on scintillation index and fr... 详细信息

关键词： Gaussian beams

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Precise LiDAR SLAM in Structured Scene Using Finite Plane and Prior Constraint

Precise LiDAR SLAM in Structured Scene Using Finite Plane an...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Xie, Yuhui Zhao, Wentao Wang, Jiahao Wang, Jingchuan Chen, Weidong Institute of Medical Robotics and Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai200240 China School of Mechanical Engineering Shanghai Jiao Tong University Ministry of Education Shanghai200240 China

ISBN: (纸本)9781665481090

In this paper, we propose a precise LiDAR SLAM in optimization framework using plane-like object as landmark. Compared to general methods, finite plane feature is used to represent landmark and a new residual model is designed, making constraint from edge of landmark can be used to limit the parallel position between LiDAR and landmark, leading to a more accurate result. Moreover, floor plan is used to provide global pose for reduction of drift, and additionally feature orientation prior is used to prevent map distortion when updating the inaccurate part of floor plan. Experiments are conducted using data collected in real environment. The result qualitatively shows that proposed method can build a corrected map from floor plan without distortion, and quantitatively verifies that proposed method can outperform other baseline methods in accuracy. © 2022 IEEE.

关键词： Optical radar

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Enhancing Human-Drone Interaction with Human-Meaningful Visual Feedback and Shared-control Strategies

Enhancing Human-Drone Interaction with Human-Meaningful Visu...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Riccardo Franceschini Matteo Fumagalli Julian Cayero Becerra Eurecat Centre Tecnològic de Catalunya Robotics and Automation Unit Barcelona Spain Department of Electrical Engineering Automation and Control Group Danish Technical University Lyngby Denmark

Recent developments in the capabilities of unmanned aerial vehicles (UAVs) have made them suitable for use in various industrial settings. Their ability to access difficult and remote locations, as well as providing remote manipulation and visual inspection capabilities, make them valuable for various industrial applications. However, operating UAVs can be challenging, particularly in cluttered environments. This research aims to enhance the teleoperation experience by providing human-meaningful information on the remote user interface, thereby improving the operator’s situational awareness. Shared autonomy routines utilizing the previously collected information are also developed to further assist the operator with challenging control tasks. The proposed system has been tested in simulated environments and on actual hardware.

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Enhanced Obstacle Detection in Autonomous Vehicles using 3D LiDAR Mapping Techniques

Enhanced Obstacle Detection in Autonomous Vehicles using 3D ...

引用

International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Muhammed Enes Tokgöz Abdullah Yusefi İbrahim Toy Akif Durdu Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

In this study, a method utilizing a 3D LiDAR(Light Detection and Ranging) sensor for mapping and obstacle detection in autonomous vehicles has been developed. The LiDAR sensor employs laser beams to detect the positions and distances of surrounding objects. Data from the LiDAR were processed to generate 2D maps from the 3D point cloud. During this process, obstacles within the vehicle's navigable height range, as well as those that wouldn't impede its movement were identified. Using a filtering method, points outside of these obstacles were removed to create a map. In experimental studies, it was observed that the developed method can accurately detect challenging obstacles such as fences made of thin wires. Consequently, it is evident that this method holds the potential to offer more reliable and safe obstacle detection for autonomous vehicles.

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Mechanical Characterization Analysis of Kirigami Structure for Soft Robotic Design

Mechanical Characterization Analysis of Kirigami Structure f...

引用

Automation, control and robotics engineering (CACRE), International Conference on

作者： Muhammad Niaz Khan Amin Lotfiani Umair Javaid Zhufeng Shao Department of Mechanical Engineering State Key Laboratory of Tribology Institute of Manufacturing Engineering Tsinghua University Department of Mechanical Engineering Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University Beijing China Faculty of Engineering Technology University of Twente Enschede Netherland Robotics Institute Ningbo University of Technology Ningbo China

ISBN: (数字)9798350350302

ISBN: (纸本)9798350350319

This paper provides a detailed mechanical characterization and stress analysis of kirigami sheets across various structural configurations, highlighting their potential applications in soft robotics. The study examines linear, circular, triangular, and trapezoidal kirigami patterns through finite element simulations, complemented by experimental validation. Deformation parameters are systematically applied to both single and multiple units of kirigami sheets to assess their capacity for mechanical elongation and load sustainability. Additionally, friction analyses are discussed via simulation to explore the anchoring effects of these kirigami structures when applied to soft robots. The results of this study enhance our understanding of the mechanical properties of kirigami structures and their practical implications for soft robotics design.

关键词： Automation Deformation Friction Soft robotics Finite element analysis Sustainable development Stress

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Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Fethi Ouerdane Muhammad Faizan Mysorewala Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This study presents a novel approach for testing visual servoing on 3 DOF UAVs (Unmanned aerial vehicles) in an indoor environment with no GPS by employing a combination of a physical 3 DOF and simulating the rest of degrees, 2 D markers are used to store instructions to previously known coordinates in the environment. Low-cost UAV hardware with an onboard camera can extract the task information from such markers without needing a ground station computer and continuous marker detection to follow a particular desired trajectory. Such a goal is achieved through the presence of markers, such as QR (Quick Response) codes, at selected locations, controlling the UAV motion to read and extract the stored information in the code, and controlling various states of UAV to fulfill the desired motion of moving through the site. This solution combines simulation and physical testing such that final algorithm can be applied on 6 DOF UAVs for asset monitoring and inspection in indoor environments, and non-experts can modify the vehicle’s path by providing the QR codes. Experimental results for the centering of UAV for accurate QR code reading using PID (Proportional-Integral-Derivative) controller and LQR (Linear Quadratic Regulator) algorithm for attitude control are tested on Quanser’s 3DOF hover quadcopter in LabVIEW environment. Furthermore, hardware-in-the-loop simulation tests are performed to simulate the control of the linear motion of the UAV. The results achieved so far are promising and give ample encouragement to test and evaluate the technique on a 6-DOF UAV.

关键词： Tracking 3-DOF QR codes Autonomous aerial vehicles Cameras Visual servoing 6-DOF

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Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gaussian Beams that Carry OAM

Gerchberg-Saxton Algorithm to Retrieve Phase of Laguerre-Gau...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： O’Malley, Owen Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We estimate the phase of laser beams using the Gerchberg-Saxton algorithm after propagation through experimental and simulated optical turbulence. Synchronous pupil-plane and focal-plane intensities of Gaussian and La... 详细信息

关键词： Laser beams

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Localization Using Two Different IMU Sensor-Based Dead Reckoning System

Localization Using Two Different IMU Sensor-Based Dead Recko...

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International Symposium on INFOTEH-JAHORINA (INFOTEH)

作者： Ibrahim Toy Akif Durdu Abdullah Yusefi Research and Development MPG Machinery Production Group Inc. Co. Konya Turkey Department of Electrical and Electronics Engineering Robotics Automation Control Laboratory (RAC-LAB) Konya Technical University Konya Turkey

Dead reckoning estimates the current position, speed, and direction of moving objects using known position information. Localization determines an object's location on the map, categorized into human and vehicle localization. Autonomous vehicles rely on accurate vehicle localization for effective task execution. While Global Navigation Satellite System (GNSS) is a popular method, weak or absent signals can pose challenges. This study utilizes Inertial Measurement Unit (IMU) sensors for localization, integrating a second IMU to enhance accuracy. Fusing data from two IMU sensors, a dead reckoning system achieves 1.02 degrees and 1.41 meters errors in rotation and translation with a single IMU, and 1.01 degrees and 1.04 meters with two IMUs, respectively.

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A Review on Inverse kinematics Solution of Robotic Arm Movement

A Review on Inverse kinematics Solution of Robotic Arm Movem...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Gurjeet Singh Vijay Kumar Banga Thaweesak Yingthawornsuk Department of Robotics and control School of Electrical and Electronics Engineering Lovely professional University Punjab Chandigarh University Chandigarh Department of Media Technology King Mongkut’s University of Technology Thonburi Bangkok Thailand

Across industries, ROBOTS are frequently utilized. A significant part of the numerous uses of robotics and many countries deciding that whether it’s possible to give identity to the anthropomorphic robots. Different industries hospitals are using the robots. The robots are not limited to these two applications even different sectors are using the different robots according to their needs. Mostly robots are performing the tasks which are difficult for human being. The basic robotic arms, known as three link manipulators, are still in use in micro-to-macro applications, such as chip production. In the field of robotics, robotic instrumentation is essential because without sensors, actuators, and detectors, robots cannot interact with their surroundings. In this paper soft computing also discussed in detail. In this paper the disturbance occur in the closed loop also being discussed. There have been tests, comparisons, and simulations *** doesn’t have to be an expert in the system. Even in cases when the population is quite big, the evolutionary process converges too soon. The robotic arm reaches the desired location within the simulated time, demonstrating good performance. Since the evolution function thoroughly tests all potential input spaces, the performance is ideal across the board. Soft computing help in trajectory planning and obstacle avoidance has been discussed in detail. The role of hybrid techniques also discussed. The dynamic nature of the robot also been discussed in detail in this paper. The paper has been sub parted in 9 parts and the modelling of the 2,3, and 5 DOF robots has been discussed din detail.

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Spatial and Temporal Study of controlled Underwater Optical Turbulence from Synchronous Measurements

Spatial and Temporal Study of Controlled Underwater Optical ...

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Propagation Through and Characterization of Atmospheric and Oceanic Phenomena, pcAOP 2024 - Part of Optica Imaging Congress

作者： Avramov-Zamurovic, Svetlana Ferlic, Nathaniel A. Kelly, Thomas O’Malley, Owen Judd, K. Peter Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Naval Air Warfare Center Aircraft Division 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

We experimentally record intensity of laser light at the pupil and focal planes after propagation through underwater optical turbulence. We study the temporal and spatial properties of intensity correlations and angle...

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