检索结果-内蒙古大学图书馆

European Control Conference (ECC)

作者： Altuğ İftar Farshad Khorrami Department of Electrical and Electronics Engineering Eskişehir Technical University Eskişehir Turkey Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) New York University 5 Metrotech Center Brooklyn NY U.S.A.

We generalize the principle of extension and controller design using this principle for nonlinear systems. We first define principles of inclusion and extension for nonlinear time-invariant (NLTI) systems. Thereafter, we present the necessary and sufficient conditions for a system to be an extension of another and show that when the expanded system is an extension of the original system, any controller designed for the expanded system can be contracted for implementation on the original system. Subsequently, we demonstrate how an overlappingly decomposed NLTI system can be expanded so that the expanded system is an extension of the original system, how decentralized controllers can be designed for the expanded system, and how these controllers can be contracted for implementation on the original system. An example is also provided to illustrate the extension and contraction concepts and show controller design using the proposed principles.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Research on Natural Environment Protection Based on Blockchain Technology to Facilitate Ecological Balance and Regional Revitalization

Research on Natural Environment Protection Based on Blockcha...

引用

Industrial IoT, Big Data and Supply Chain (IIoTBDSC), International Conference on

作者： Chenye Wan Taoran Fu Haochen Wang Xing Wang Junyou Luo Ziqian Wang School of Information Science and Technology Nantong University Nantong China School of Computer and Communication Hunan Institute of Engineering Xiangtan China School of Computational Science and Electronics Hunan Institute of Engineering Xiangtan China School of Robotics Hunan University Changsha China

ISBN: (数字)9798350341690

ISBN: (纸本)9798350341706

Now the Masai Mara population continues to expand, the wildlife in the reserve is facing serious threats to their survival. The purpose of this report is to establish a management strategy model for local protected areas that balances the mutual interests between local people and wildlife in ***, Masai Mara divides the protected area into three parts, planting area, protected area, and livestock area, and then conducts correlation analysis on different areas, and concludes that the reduction in the number of wild animals is closely related to the degree of population density, and the area of cultivated land and forest area is highly correlated. So a nonlinear programming model of multiple strategies is established to plan the planting area. Then establish a comprehensive evaluation model based on the entropy weight method, quantify various strategies, and use gray correlation prediction to obtain solutions. This article introduces blockchain related technologies and uses its decentralization, security and transparency to build an architecture that contributes to the actual government protection of wild animals.

关键词： Correlation Biological system modeling Wildlife Habitats Market research Data models Blockchains

来源：评论

学校读者我要写书评

暂无评论

Contact Consistent Disturbance Estimation for Quadruped Robots

Contact Consistent Disturbance Estimation for Quadruped Robo...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Hasan Can Özden Emre Tanfener Hasan Eftun Orhon Ömer Tarık Banuş Uluç Saranlı Mert Ankaralı Ali Emre Turgut Mechanical Engineering Department Middle East Technical University Ankara Turkey Defense Systems Technologies Division Aselsan Inc Ankara Turkey Center for Robotics and AI Middle East Technical University Ankara Turkey Computer Engineering Department Middle East Technical University Ankara Turkey Electrical and Electronics Engineering Department Middle East Technical University Ankara Turkey

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Quadrupedal locomotion in environments without visual aid presents significant challenges in achieving automation capabilities. Often relying solely on IMU sensors and proprioceptive feedback from motors due to limited visual perception, understanding the robot’s interaction with its environment becomes crucial for safe and efficient navigation. This paper presents a novel approach for estimating external forces applied to a quadrupedal robot’s body, a critical aspect of its interaction with the environment. Our method integrates generalized momentum methods, contact constraints, and inertial measurement unit (IMU) data to accurately estimate these external forces. By using these diverse sources of information, the output of this work can enable navigation algorithms to enhance the robot’s ability to navigate complex environments, improving stability and adaptability. Simulation studies and experimental validations demonstrate the effectiveness of the proposed method in real-world scenarios, highlighting its potential for advancing quadrupedal locomotion in unfamiliar terrains where visual aids are limited.

关键词： Visualization Measurement units Automation Heuristic algorithms Loading Dynamics Estimation Inertial navigation Quadrupedal robots Collision avoidance

来源：评论

学校读者我要写书评

暂无评论

Summer School on Circular Economy for Sustainable Manufacturing: A Case Study and Lessons Learned

引用

Procedia CIRP 2024年 122卷 952-957页

作者： Helmi Ben Rejeb Eñaut Muxika Pezhman Ghadimi Univ. Grenoble Alpes CNRS Grenoble INP G-SCOP Grenoble France Mondragon University Electronics & Computer Science Department - Signal Theory & Communications Arrasate Spain Laboratory for Advanced Manufacturing Simulation and Robotics School of Mechanical & Materials Engineering University College Dublin Belfield Dublin Ireland

The Circular Economy Action Plan is the main building block of the European Green Deal, Europe's new agenda for sustainable growth. Businesses need new technologies, new methods and new industrial organization either to create new businesses or to transform their products, processes and business models. They also need new talents to innovate, create businesses and new jobs, and transform society into a more sustainable one. Circular economy has grown significantly in recent years as a topic taught in engineering curricula. The purpose of this paper is to present the design, implementation and evaluation of a summer school program dedicated to the development, transformation and implementation of circular economy systems and new business models in manufacturing. The program was designed in collaboration with three university partners during a European project and relied on contributions from industrial companies, including start-ups and innovative companies. At the end, some lessons are drawn in order to show the main added value based on the evaluation of this summer school and to identify recommendations for the design and implementation of similar summer schools.

关键词： Circular economy summer school education sustainable manufacturing

来源：评论

学校读者我要写书评

暂无评论

A Miniaturised Camera-based Multi-Modal Tactile Sensor

arXiv

引用

arXiv 2023年

作者： Althoefer, Kaspar Ling, Yonggen Li, Wanlin Qian, Xinyuan Lee, Wang Wei Qi, Peng Queen Mary University of London London United Kingdom Tencent Robotics X Lab Shenzhen China Beijing China The Department of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China

In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive, capacitive or magnetic based), they offer super-high-resolution, while suffering from fewer wiring problems. The human tactile system is composed of various types of mechanoreceptors, each able to perceive and process distinct information such as force, pressure, texture, etc. Camera-based tactile sensors such as GelSight mainly focus on high-resolution geometric sensing on a flat surface, and their force measurement capabilities are limited by the hysteresis and non-linearity of the silicone material. In this paper, we present a miniaturised dome-shaped camera-based tactile sensor that allows accurate force and tactile sensing in a single coherent system. The key novelty of the sensor design is as follows. First, we demonstrate how to build a smooth silicone hemispheric sensing medium with uniform markers on its curved surface. Second, we enhance the illumination of the rounded silicone with diffused LEDs. Third, we construct a force-sensitive mechanical structure in a compact form factor with usage of springs to accurately perceive forces. Our multi-modal sensor is able to acquire tactile information from multi-axis forces, local force distribution, and contact geometry, all in real-time. We apply an end-to-end deep learning method to process all the information. © 2023, CC BY.

关键词： Silicones

来源：评论

学校读者我要写书评

暂无评论

Robotic Learning of Haptic Skills from Expert Demonstration for Contact-Rich Manufacturing Tasks

Robotic Learning of Haptic Skills from Expert Demonstration ...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Sara Hamdan Yusuf Aydin Erhan Oztop Cagatay Basdogan Robotics and Mechatronics Laboratory and the KUIS-AI Center Koc University Istanbul Turkey Department of Electrical and Electronics Engineering MEF University Istanbul Turkey Department of Computer Science Ozyegin University Istanbul Turkey SISReC/OTRI Osaka University Japan

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

We propose a learning from demonstration (LfD) approach that utilizes an interaction (admittance) controller and two force sensors for the robot to learn the force applied by an expert from demonstrations in contact-rich tasks such as robotic polishing. Our goal is to equip the robot with the haptic expertise of an expert by using a machine learning (ML) approach while providing the flexibility for the user to intervene in the task at any point when necessary by using an interaction controller. The utilization of two force sensors, a pivotal concept in this study, allows us to gather environmental data crucial for effectively training our system to accommodate workpieces with diverse material and surface properties and maintain the contact of polisher with their surfaces. In the demonstration phase of our approach where an expert guiding the robot to perform a polishing task, we record the force applied by the human (F h ) and the interaction force (F int ) via two separate force sensors for the polishing trajectory followed by the expert to extract information about the environment (F env =F h −F int ). An admittance controller, which takes the interaction force as the input is used to output a reference velocity to be tracked by the internal motion controller (PID) of the robot to regulate the interactions between the polisher and the surface of a workpiece. A multilayer perceptron (MLP) model was trained to learn the human force profile based on the inputs of Cartesian position and velocity of the polisher, environmental force (F env ), and friction coefficient between the polisher and the surface to the model. During the deployment phase, in which the robot executes the task autonomously, the human force estimated by our system $\left({{{\hat F}_h}}\right)$ is utilized to balance the reaction forces coming from the environment and calculate the force $\left({{{\hat F}_h} - {F_{env}}}\right)$ needs to be inputted to the admittance controller to gene

关键词： Surface cleaning Force Robot sensing systems Real-time systems Haptic interfaces Trajectory Manufacturing Force sensors Admittance Robots

来源：评论

学校读者我要写书评

暂无评论

A Miniaturised Camera-based Multi-Modal Tactile Sensor

A Miniaturised Camera-based Multi-Modal Tactile Sensor

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Kaspar Althoefer Yonggen Ling Wanlin Li Xinyuan Qian Wang Wei Lee Peng Qi The Centre for Advanced Robotics @ Queen Mary (ARQ) Queen Mary University of London London United Kingdom Tencent Robotics X Lab Shenzhen China Beijing Institute for General Artificial Intelligence (BIGAI) Beijing China The Department of Computer and Communication Engineering University of Science and Technology Beijing Beijing China Department of Control Science and Engineering College of Electronics and Information Engineering Tongji University Shanghai China

In conjunction with huge recent progress in cam-era and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive, capacitive or magnetic based), they offer super-high-resolution, while suffering from fewer wiring problems. The human tactile system is composed of various types of mechanoreceptors, each able to perceive and process distinct information such as force, pressure, texture, etc. Camera-based tactile sensors such as GelSight mainly focus on high-resolution geometric sensing on a flat surface, and their force measurement capabilities are limited by the hysteresis and non-linearity of the silicone material. In this paper, we present a miniaturised dome-shaped camera-based tactile sensor that allows accurate force and tactile sensing in a single coherent system. The key novelty of the sensor design is as follows. First, we demonstrate how to build a smooth silicone hemispheric sensing medium with uniform markers on its curved surface. Second, we enhance the illumination of the rounded silicone with diffused LEDs. Third, we construct a force-sensitive mechanical structure in a compact form factor with usage of springs to accurately perceive forces. Our multi-modal sensor is able to acquire tactile information from multi-axis forces, local force distribution, and contact geometry, all in real-time. We apply an end-to-end deep learning method to process all the information.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Prototype of Turbine Propulsion System with Controllable Thrust Vector for Long-Range Unmanned VTOL Aircraft 21st

Prototype of Turbine Propulsion System with Controllable Thr...

引用

21st Polish Control Conference, PCC 2023

作者： Czyba, Roman Lemanowicz, Marcin Domin, Jaroslaw Grzybowski, Jacek Stępień, Izabela Ungier, Lukasz Rosiek, Radoslaw Bialas, Piotr Niemiec, Michal Department of Automatic Control and Robotics Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland Department of Chemical Engineering and Process Design Faculty of Chemistry Silesian University of Technology ul. Ks. M. Strzody 7 Gliwice44-100 Poland Department of Mechatronics Faculty of Electrical Engineering Silesian University of Technology ul. Akademicka 10a Gliwice44-100 Poland

ISBN: (纸本)9783031351723

The aim of the project was to build a prototype of a turbine drive with a controllable thrust vector for a long-range vertical take-off and landing (VTOL) aircraft. The construction of the prototype required the development of a vectoring system for the tail propulsion system and a dedicated VTOL aircraft stabilization and control system. The prototype of the turbine drive system was based on energy-efficient electric motors. Research also involved modeling the turbine propulsion aerodynamics with usage of computational fluid dynamics (CFD) analysis. As a result of the design stage, a prototype of the propulsion system was created, on which flight tests were carried out. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Computational fluid dynamics

来源：评论

学校读者我要写书评

暂无评论

Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS Noetic

Implementation of Rev1 and Rev2 Bug Family Algorithms in ROS...

引用

Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Maksim Roslavtsev Alexander Eryomin Ramil Safin Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

Modern map-dependent algorithms for mobile robot navigation typically overload a CPU and memory with a gradually increasing amount of environmental data. In contrast, Bug family local path planning algorithms operate without mapping and have significantly lower hardware requirements. Bug algorithms use real-time measurements from visual and touch sensors to make immediate decisions on direction of the robot’s motion. This paper presents an implementation of Rev1 and Rev2 Bug algorithms for the Robot Operating System (ROS) Noetic framework with a virtual model of the TurtleBot3 Burger robot. Given algorithms are validated in Gazebo simulation using various convex and maze environments. The results demonstrate superiority of Rev1 method over Rev2 in trajectory length in convex maps. However, Rev2 finds shorter paths in maze type environments.

关键词： Visualization Navigation Operating systems computer bugs Tactile sensors Real-time systems Trajectory Motion measurement Robots Testing

来源：评论

学校读者我要写书评

暂无评论

Implementation and Validation of the CautiousBug Algorithm in ROS Noetic

Implementation and Validation of the CautiousBug Algorithm i...

引用

Information, Control, and Communication Technologies (ICCT), International Conference on

作者： Roman Mishenin Alexander Eryomin Tatyana Tsoy Evgeni Magid Department of Computer Engineering (DCE) Moscow Institute of Electronics and Mathematics Higher School of Economics Moscow Russian Federation Laboratory of Intelligent Robotics Systems (LIRS) Institute of Information Technology and Intelligent Systems Kazan Federal University Kazan Russian Federation

ISBN: (数字)9798331517564

ISBN: (纸本)9798331517571

In this paper, we present an implementation of the CautiousBug algorithm within the Noetic distribution of the Robot Operating System (ROS). Bug algorithms address a challenge of robot navigation in unknown environments without relying on pre-existing maps or constructing new ones. These algorithms utilize odometry data, operate without a map, require minimal computational resources, and can be implemented on relatively simple hardware. A C++ software application was created to simulate a behavior of the CautiousBug algorithm in various environments within the Gazebo simulator. This application allows for an analysis of key metrics, including accumulated yaw, distance traversed and algorithm's runtime. We conducted a set of virtual experiments in the Gazebo to evaluate the CautiousBug performance.

关键词： Runtime Navigation Software architecture Working environment noise Operating systems Software algorithms Software Robustness Path planning Robots

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：