检索结果-内蒙古大学图书馆

International Conference on Electrical, Computer and Communication Engineering (ECCE)

作者： Abrar Ahmed Minhazul Islam Mahi M. Akhtaruzzaman Jamal Uddin Tanvin Fahim Shahryer Sachitra Halder Muhammad Towfiqur Rahman Md Shofiqul Islam Department of Computer Science and Engineering Military Institute of Science and Technology Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh Department of Computer Science & Engineering University Asia Pacific (UAP) Dhaka Bangladesh Institute for Intelligent Systems Research and Innovation (IISRI) Deakin University Geelong Victoria

ISBN: (数字)9798350357509

ISBN: (纸本)9798350357516

Medication management poses significant challenges for many patients, particularly the elderlies, who often struggle with keeping track of their medication schedules and taking the correct dosages. To address this issue, this study aims to design an AI-integrated Medication Management and Assistive Unit (AMMAU) for elderlies with some important features like, schedule reminder, medicine recognition and count, early indication of shortage, sorted slots, and so on. Automated insulin-dose prediction and alert system makes the system unique and more demanding at these current scenarios. For this study, a suitable machine learning model is designed, analyzed, verified, and embedded in the proposed system so that the elderly diabetic patients can get alert, further compare with the current insulin-doses. Though, the proposed system is currently focusing on only the Basal insulin doses prediction, the system will definitely reduce the risks associated with wrong management of medication by degrading the chances of missed doses or taking wrong pills for elderlies at home.

关键词： Training Schedules Analytical models Prototypes Machine learning Predictive models Internet of Things Older adults Insulin Physical design

来源：评论

学校读者我要写书评

暂无评论

AI Enabled Automatic Mobile Robot intelligent Navigation in Construction with Obstacle Awareness

引用

IEEE Transactions on automation Science and Engineering 2025年

作者： Zhang, Yinlong Liu, Yuanhao Cui, Yunge Zeng, Ziming Liang, Wei Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang Institute of Automation Shenyang110016 China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China University of Chinese Academy of Sciences Beijing101408 China Zeekr Group Zeekr Intelligent Driving Department Shanghai110078 China Shenzhen Polytechnic University School of Automotive and Transportation Engineering Shenzhen518055 China

In the construction industry, the integration of artificial intelligence (AI) and robotics has led to significant advancements in automating various tasks. One critical aspect is the intelligent navigation of automatic mobile robot (AMR) within construction sites, where dynamic environments pose challenges such as inaccurate robot state estimation, irregular and textureless obstacle detection. To solve these issues, this paper designs an AI enabled obstacle-aware AMR intelligent navigation approach while ensuring robot safety and efficiency. Specifically, the robot is equipped with the complementary RGB camera, inertial measurement unit (IMU) and wheel encoder to estimate the states (i.e., positions, orientations and velocities), which have been tightly fused in the optimization framework. Furthermore, the RGB-Depth images are jointly fed into the AI model. It combines of Mask-RCNN and multi-scale attention network, to detect and segment the obstacles, and estimate the corresponding relative depth. It should be noted that the system incorporates obstacle awareness mechanisms to dynamically switch the robot's velocities in response to obstacles in the environment, ensuring smooth and collision-free movement. Experimental results demonstrate the effectiveness and robustness of the proposed AI-enabled navigation system in real-world construction scenarios, showcasing its potential to enhance productivity and safety in construction automation. © 2004-2012 IEEE.

关键词： Construction industry

来源：评论

学校读者我要写书评

暂无评论

Seam tracking and welding bead geometry analysis for autonomous welding robot 14

Seam tracking and welding bead geometry analysis for autonom...

引用

14th Latin American robotics Symposium and 5th Brazilian Symposium on robotics, LARS-SBR 2017

作者： Soares, Luciane B. Weis, Átila A. Rodrigues, Ricardo N. Drews, Paulo L. J. Guterres, Bruna Botelho, Silvia S. C. Filho, Nelson D. Intelligent Robotics and Automation Group - Nautec Federal University of Rio Grande - FURG Brazil

ISBN: (纸本)9781538609569

Welding is a process recognized by the laborious work and hazardous work environment it takes place, but it is an important process in different industrial scenarios, like the shipbuilding industry. The use of robots has been increasing in recent years, reducing the human interference necessary for the process. This paper proposes a system for automated seam tracking and a geometric welding bead analysis systems based on passive monocular vision. Using an vision system attached to a linear welding robot, images of the gap between two plates are acquired, during the welding process in order to identify the groove's characteristics and perform a autonomous welding. These characteristics are used during the geometric weld bead analysis to detect geometric failures such as misalignment, lack or excess of fusion, among others. © 2017 IEEE.

关键词： Geometry

来源：评论

学校读者我要写书评

暂无评论

A Numerical and Experimental Study on the Hull-Propeller Interaction of A Long Range Autonomous Underwater Vehicle

引用

China Ocean Engineering 2019年第5期33卷 573-582页

作者： WANG Ya-xing LIU Jin-fu LIU Tie-jun JIANG Zhi-bin TANG Yuan-gui HUANG Cheng State key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Wuchang Shipbuilding Industry Group Co. Ltd. Wuhan 430060 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110016 China

Range is an important factor to the design of autonomous underwater vehicles (AUVs), while drag reduction efforts are pursued, the investigation of body-propeller interaction is another vital consideration. We present a numerical and experimental study of the hull-propeller interaction for deeply submerged underwater vehicles, using a proportional-integral- derivative (PID) controller method to estimate self-propulsion point in CFD environment. The hydrodynamic performance of hull and propeller at the balance state when the AUV sails at a fixed depth is investigated, using steady RANS solver of Star-CCM+. The proposed steady RANS solver takes only hours to reach a reasonable solution. It is more time efficient than unsteady simulations which takes days or weeks, as well as huge consumption of computing resources. Explorer 1000, a long range AUV developed by Shenyang Institute of automation, Chinese Academy of Sciences, was studied as an object, and self-propulsion point, thrust deduction, wake fraction and hull efficiency were analyzed by using the proposed RANS method. Behind-hull performance of the selected propeller MAU4-40, as well as the hull-propeller interaction, was obtained from the computed hydrodynamic forces. The numerical results are in good qualitative and quantitative agreement with the experimental results obtained in the Qiandao Lake of Zhejiang province, China.

关键词： underwater vehicle hydrodynamics hull-propeller interaction RANS simulation

来源：评论

学校读者我要写书评

暂无评论

Online trajectory tracking based on model predictive control for Service Robot

Online trajectory tracking based on model predictive control...

引用

2014 IEEE International Conference on automation Science and Engineering, CASE 2014

作者： Luo, Ren C. Huang, Kai C. Alami, Rachid International Center of Excellence on Intelligent Robotics and Automation Research LAAS/CNRS Robotics and AI Group National Taiwan University Taipei Taipei Taiwan

The objective of this paper is to present an online trajectory tracking based on model predictive control for service robot. The key point of model predictive control (MPC) algorithm is to consider an on-line optimization problem so as to obtain the optimal control input sequence in a specific time period. The main characteristics of MPC are only the first element of the control sequence is implemented as the current control input in the repeated calculations. Hence, it is more suitable for time-varying systems than conventional infinite horizon control. In this paper, explicit model predictive controller is applied to a Dual-arm Service Robot (Panda Robot) developed in our NTU-iCeiRA Lab. There are six Degrees-of-freedom for each arm, which is capable of achieving desired tasks. The proposed method is able to control the movement of each axes based on the information itself to minimize the performance index that we choose. Moreover, in order to decrease the effect of jerky motion, we apply an on-line trajectory generator to obtain a smooth trajectory by the constraints of velocity and acceleration. Experimental results demonstrate that the proposed control scheme is able to increase the positioning accuracy. © 2014 IEEE.

关键词： Model predictive control

来源：评论

学校读者我要写书评

暂无评论

Backlash Robotic Systems Compensation by Inverse Model-Based PID Control 45

Backlash Robotic Systems Compensation by Inverse Model-Based...

引用

45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019

作者： Da Fonseca Schneider, Fernando Da Silva, Cesar Bastos De Oliveira Evald, Paulo Jefferson Dias Sousa E Silva, Rodrigo Azzolin, Rodrigo Zelir Computer Science Center Federal University of Rio Grande Intelligent Robotics and Automation Group Rio Grande Brazil

ISBN: (纸本)9781728148786

In this work, it is presented a contribution for backlash compensation in robotic systems. For that, a direct model and a inverse model of the backlash are presented. The first model is used to simulate the system, while the second model is applied as the PID (Proportional-Integral-Derivative) control input for backlash compensation. A case study is presented to demonstrate the performance of the proposed control system using a linear welding robot BUGO MDS system. Simulations and experimental results are shown and discussed. © 2019 IEEE.

关键词： Two term control systems

来源：评论

学校读者我要写书评

暂无评论

Automated seam tracking system based on passive monocular vision for automated linear robotic welding process 15

Automated seam tracking system based on passive monocular vi...

引用

15th IEEE International Conference on Industrial Informatics, INDIN 2017

作者： Weis, Atila A. Mor, Jusoan L. Soares, Luciane B. Steffens, Cristiano R. Drews-Jr, Paulo L. J. De Faria, Matheus F. Evald, Paulo J. D. O. Azzolin, Rodrigo Z. Filho, Nelson D. Botelho, Silvia S. Da C. Intelligent Robotics and Automation Group NAUTEC Science Computer Center - C3 Federal University of Rio Grande Brazil

ISBN: (纸本)9781538608371

Welding is an important process in the industrial scenario, especially in the shipbuilding industry. This process is recognized by the laborious work and the hazardous work environment. The use of robots to automate the welding process can reduce the human interference and improve the productivity. This paper proposes a system for automated seam tracking based on passive monocular vision. The vision provides a data feedback to the automated robotic welding system allowing quality and productivity gains. A trajectory controller is developed to correct the robot's movement over the seam reference. The controller and a visual algorithm to find the seam reference in a real Gas Metal Arc Welding (GMAW) process are presented. The proposed system allows the automated seam tracking, the trajectory control of the welding torch, and a higher automation level in linear robotic welding. The capabilities of the method is evaluated using a commercial linear welding robot showing its viability. © 2017 IEEE.

关键词： Productivity

来源：评论

学校读者我要写书评

暂无评论

An extended Kalman filter state estimation-based robust MRAC for welding robot motor control 43

An extended Kalman filter state estimation-based robust MRAC...

引用

43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017

作者： De Oliveira Evald, Paulo Jefferson Dias Mor, Jusoan Lang Da Rosa, Romulo Thiago Silva Azzolin, Rodrigo Zelir De Oliveira, Vincius Menezes Da Costa Botelho, Silvia Silva Intelligent Robotics and Automation Group Computer Science Centre Federal University of Rio Grande Rio Grande96201-900 Brazil

ISBN: (纸本)9781538611272

The robotic welding processes have been highly widespread in manufacturing industries due to large-scale production. An area where these processes are widely applied are shipyards, where there are necessary hundreds to thousands of kilograms of weld by hour. However, systems that operate in open-air environments are vulnerable to sundry disturbances, noises in measures, as well as possible unavailability of measurement of some system states, required for the controller. Taking it into account, in this work, a Robust Model Reference Adaptive Control is proposed to regulate the velocity of a nonlinear motor of a linear welding robot. Furthermore, an Extended Kalman Filter is implemented to estimate the system states and attenuate measurement noises. The proposed control system demonstrated a very good performance with fast convergence and small error. © 2017 IEEE.

关键词： Extended Kalman filters

来源：评论

学校读者我要写书评

暂无评论

Velocity regulation of a linear welding robot by unscented and cubature Kalman filter output estimation-based sliding mode control 43

Velocity regulation of a linear welding robot by unscented a...

引用

43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017

作者： Jefferson Dias De Oliveira Evald, Paulo Silva Da Rosa, Romulo Thiago Mor, Jusoan Lang Azzolin, Rodrigo Zelir De Oliveira, Vincius Menezes Silva Da Costa Botelho, Silvia Intelligent Robotics and Automation Group Computer Science Centre Federal University of Rio Grande Rio Grande96201-900 Brazil

ISBN: (纸本)9781538611272

Welding is an important operation in manufacturing processes and it can represent a highly relevant amount of production costs, depending on material workpieces and required weld quantity. In mechanised and robotised welding processes, robot's travel velocity is an important parameter, which requires a proper regulation to obtain a good quality for weld beam. Then, in this work, a nonlinear model of a robot motor with their identified parameters is presented and a sliding mode control is proposed to regulate robot velocity. Furthermore, an Unscented Kalman Filter and a Cubature Kalman Filter are implemented, separately, for output system estimation. The control system with both estimators presented satisfactory tracking performances, in simulations, converging fast and with very small chattering. © 2017 IEEE.

关键词： Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Automated seam tracking system based on passive monocular vision for automated linear robotic welding process 17

Automated seam tracking system based on passive monocular vi...

引用

32nd Annual ACM Symposium on Applied Computing, SAC 2017

作者： Weis, Átila Astor Werhli, Adriano Velasque Filho, Nelson L. Duarte Federal University of Rio Grande-FURG Computer Science Center-C3 Group Automation and Intelligent Robotics-NAUTEC Brazil

ISBN: (纸本)9781450344869

Welding is a very important process in the industrial scenario, especially in the shipbuilding industry. Many researches employ robots to automate different welding process. This paper proposes a system for automated seam tracking, based on passive vision, to act as a data feedback to the automated robotic welding system, with quality and productivity gains in the process. Different cameras arrangements are presented and tested as the vision acquisition system in a commercial linear welding robot. A physical method and an algorithm to remove visual noises from images, produced by the GMAW welding process, are presented and the results discussed. © 2017 ACM.

关键词： Computer vision

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：