检索结果-内蒙古大学图书馆

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Zhou, Ziwei Lin, Ziying Ni, Yi Dong, Wei Zhu, Xiangyang Shanghai Jiao Tong University Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China Shanghai Electro-Mechanical Engineering Institute Shanghai201109 China

ISBN: (纸本)9781665436786

Efficient localization is crucial for the autonomous navigation of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments. Current onboard visual positioning approach may easily deteriorate with varying illumination and unpredicted obstacles. To tackle this issue, a novel cooperative positioning approach is proposed in this paper. This approach is comprised of a marker-based position estimation and an end-to-end UAV detection. For the marker-based method, a prior known pattern is attached on UAV and the Perspective-n-point (PnP)algorithm is implemented to provide an accurate estimation of the UAV's position. Meanwhile, to enhance the localization robustness, an end-to-end detection method is designed based on FCOS neural network and ultra-wideband (UWB) range measurement. Then, with an additional data fusion, the aforementioned two methods are integrated eventually. In this way, the accuracy and robustness of the localization can be enhanced accordingly. Extensive experiments under different environments are carried out to verify the effectiveness of the proposed method. Results demonstrate that the proposed method can estimate the flight trajectory of UAV with high accuracy and robustness in cluttered environments with varying illumination. © 2021 IEEE.

关键词： Data fusion

来源：评论

学校读者我要写书评

暂无评论

Disturbance Compensation Based Sliding Mode Control for Aerial Soft Manipulator system 13

Disturbance Compensation Based Sliding Mode Control for Aeri...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Jin, Ying Pei, Tengfei Yu, Hai Zhang, Zhaopeng Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Ministry of Education Engineering Research Center of Trusted Behavior Intelligence Tianjin300350 China

ISBN: (纸本)9798350315196

Aerial manipulation is an emerging area of research that is experiencing rapid growth and has immense potential across various domains, including precision agriculture, construction, and search and rescue operations. The combination of quadrotor with manipulation capabilities can provide access to remote or hazardous areas, precise control over tasks, and increased efficiency and safety in operations. However, traditional aerial manipulation platforms equipped with rigid manipulators have such drawbacks greater weight and less safety. Consequently, a novel complaint aerial manipulation system is considered to be developed. In this paper, a novel structure of an aerial manipulation platform with a single-section continuum manipulator is developed. In order to address the center-of-mass displacement resulting from manipulator movements, a sliding mode controller is introduced as a means to ensure the quadrotor's flight remains smooth. Afterward, the Lyapunov theorem is employed to ensure stability of the entire closed-loop system. Subsequently, numerical simulations are carried out to showcase the superior performance of the proposed control scheme in comparison to the PD controller. © 2023 IEEE.

关键词： Antennas

来源：评论

学校读者我要写书评

暂无评论

Fault Detection in Electric Drives Based on LSTM Autoencoder Model Machine Learning Approach 25

Fault Detection in Electric Drives Based on LSTM Autoencoder...

引用

25th IEEE International Conference of Young Professionals in Electron Devices and Materials, EDM 2024

作者： Demidova, Galina Privalov, Daniil Semenov, Denis Lukichev, Dmitry Liu, Zhitao Anuchin, Alecksey Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Electric Drives Moscow Power Engineering Institute Moscow Russia

ISBN: (纸本)9798350389234

Fault detection in electric drives is crucial for ensuring operational reliability and minimizing downtime. This paper provides a brief overview of the methods based on machine learning used for fault detection in electric drives. Additional this research presents a machine learning approach that utilizes the Long Short-Term Memory Autoencoder model for fault detection deal with bearing faults. A flowchart illustrating the implementation steps of the Long Short-Term Memory Autoencoder algorithm is included. Additionally, a case study on bearing faults in an electric drive system is presented to demonstrate the advantage of the proposed approach. By training the Long Short-Term Memory Autoencoder on operational data, accurate prediction of bearing faults is achieved, enabling timely maintenance interventions. It is shown that in the 7th epoch of training, the model achieved a notably high accuracy more than 99%. The results highlight the potential of Long Short-Term Memory Autoencoder models as a valuable tool for fault detection in electric drives, thereby improving system reliability and performance. © 2024 IEEE.

关键词： Machine learning

来源：评论

学校读者我要写书评

暂无评论

ANDECS Robot-Trajectory Optimization for State-Constrained Time-Optimal Control and Minimum Power Consumption

引用

IFAC Proceedings Volumes 1995年第23期28卷 101-106页

作者： A. Lewald M. Otter G. Grübel DLR-Oberpfaflenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

The robot trajectory optimization features of the ANDECS environment are described. Robot trajectory optimization problems are formulated as multi-objectives parameter optimization problems in search for a good compromise among conflicting criteria, such as “minimal” time and “minimal” power consumption. For that the robot dynamics is analyzed by time-simulation of a robot model with variable structure, which is generated by the object-oriented modeling language Dymola.

关键词： Computer simulation Industrial Robots Nonlinear Programming Optimization Robots Trajectory planning

来源：评论

学校读者我要写书评

暂无评论

Interactive biped locomotion based on visual/auditory information

Interactive biped locomotion based on visual/auditory inform...

引用

11th IEEE International Workshop on Robot and Human Interactive Communication, IEEE ROMAN 2002

作者： Ogura, Yu Sugahara, Yusuke Kaneshima, Yoshiharu Hieda, Naoki Lim, Hun-Ok Takanishi, Atsuo Graduate School of Science and Engineering Waseda University 3-4-1 Ohkubo Shinjyuku-ku Tokyo 169-8555 Japan Department of System Design Engineering Kanagawa Institute of Technology Japan Humanoid Robotics Institute Waseda University Japan

ISBN: (纸本)0780375459

This paper describes an interactive locomotion method for a biped humanoid robot. The method consists of two main parts: a pattern generator and a human-robot interface. The human robot interface is used to achieve realtime interactive locomotion. In particular, visual information and voice instructions are employed to determine locomotion parameters such as a step length, a step direction, and the number of steps. The motion of the lower-limbs is generated by the online pattern generator based on the locomotion parameters. Continuous locomotion experiments are carried out in real time using WABIAN-RV. The experimental results show the feasibility of the proposed interactive locomotion method. © 2002 IEEE.

关键词： Anthropomorphic robots

来源：评论

学校读者我要写书评

暂无评论

ANDECS-Multicriteria Optimization of a Fuzzy-Logic Controller for an Aerodynamically Unstable Aircraft in Comparison to a Linear Robust Control Design

引用

IFAC Proceedings Volumes 1995年第23期28卷 107-112页

作者： H.-D. Joos DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany

The performance benefits of an aerodynamically unstable aircraft are obtained at the expense of the necessity of an automatic control system. For reliability requirements controllers without gain scheduling are looked for. To achieve this a complex ”robust control” design problem has to be solved. Fuzzy-controllers are claimed to have robustness properties. On the other hand the fuzzy-control methodology can be seen as a systematic way to specify controllers with nonlinear gain surfaces. To properly tune such controllers, computer-aided techniques can be applied provided appropriate models are available such as in more classical design approaches. A fuzzy-controller is developed, which keeps an aerodynamically unstable aircraft stationary for a sufficient long range of time and providing good flying qualities over the entire flight envelope. The results are compared with a completely linear controller design, done earlier.

关键词： Fuzzy-Logic Controller Optimization Multi-Objective Design

来源：评论

学校读者我要写书评

暂无评论

A fast two-step marker-controlled watershed image segmentation method

A fast two-step marker-controlled watershed image segmentati...

引用

2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012

作者： Han, Xianwei Fu, Yili Zhang, Haifeng State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Harbin Dongyu Agricultural Engineering Machinery Co. Ltd. Harbin 150090 China

ISBN: (纸本)9781467312776

A fast two-step marker-controlled watershed image segmentation method in CIELAB color space is presented in this paper. We choose a number of seed points distributed nearly uniformly as the makers to perform the first marker watershed segmentation step, and obtain superpixels of the input image. These markers have the minimal gradient in a 3 x 3 neighborhood, which is able to avoid placing them at an edge and to reduce the chances of choosing a noise pixel. After superpixels segmentation, we do not adopt the traditional region merging strategies based on the different features of the adjacent regions, but cluster the superpixels in a 5-D space composed of Lab color vector and the position coordinates of the superpixels to resolve the over-segmentation problem, which saves a lot of computation time. Experiments on various types of images demonstrate that our algorithm is faster than many other segmentation algorithms and very suitable for real-time applications. © 2012 IEEE.

关键词： Superpixels

来源：评论

学校读者我要写书评

暂无评论

Gradient-Based Online Trajectory Planning for Quadrotor Transportation systems 13

Gradient-Based Online Trajectory Planning for Quadrotor Tran...

引用

13th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent systems, CYBER 2023

作者： Pei, Tengfei Jin, Ying Yu, Hai Fang, Yongchun Han, Jianda Liang, Xiao Institute of Robotics and Automatic Information System Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Engineering Research Center of Trusted Behavior Intelligence Ministry of Education Tianjin300350 China

ISBN: (纸本)9798350315196

Trajectory planning has been an important research area for quadrotor transportation systems for a long time. However, generating feasible trajectories in real-time that allow quadrotor transportation systems to navigate safely in complex environments remains a challenging issue. This article proposes an efficient gradient-based safety constraint that helps keep the system away from obstacles. Furthermore, this paper combines safety constraint with a novel B-spline-based optimization method that utilizes an improved hybrid-state A* algorithm for path searching to generate desired trajectory. Strategies to speed up path searching and unconstrained optimization problem constructed in B-spline optimization guarantee the computational efficiency. The feasibility of the resulting trajectory has been verified through simulation. © 2023 IEEE.

关键词： Trajectories

来源：评论

学校读者我要写书评

暂无评论

Development of an Integrated Grapple Chain for a Simultaneous Three-Fingered End-Effector 16th

Development of an Integrated Grapple Chain for a Simultaneou...

引用

16th International Conference on Intelligent robotics and Applications, ICIRA 2023

作者： Wu, Jun He, Yu Wang, He Fan, Shaowei School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu611731 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China

ISBN: (纸本)9789819965007

This paper presents the development of an integrated grapple chain for a simultaneous three-fingered end-effector. The geometrical constraint with four stages is firstly defined. Then, a grapple finger is presented to fulfill the proposed four stages with an approximately straight line actuation. Then, the actuation chain of linkage is designed by modification, optimization and combination. At last, Simulation indicates that the grapple finger can conduct planar and linear motion, which contributed to restrain the target gradually. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： End effectors

来源：评论

学校读者我要写书评

暂无评论

Building Blocks of the Mobile Enterprise

Building Blocks of the Mobile Enterprise

引用

International Conference on History and Society Development（ICHSD2012）

作者： Plamena Zlateva Dimiter Velev Institute of System Engineering and Robotics - BAS University of National and World Economy

The paper discusses the convergence of four major ICT advancements-big data (information), social collaboration, mobile applications and cloud computing-into an evolutionary form of the contemporary enterprise, known as the mobile enterprise. The characteristics and functions of each of these components are presented, as well as the growing relationships among them. The need for the emergence of the mobile enterprise is justified as a natural process of its development. The SoMoClo TH solution is given as a working solution of the analysed concept.

关键词： mobile enterprise, information, social computing, mobile computing, cloud computing

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：