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检索条件"机构=Laboratory of Intelligent Control and Robotics"

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Design and Implementation of OpenWSN Hardware Platform 2

Design and Implementation of OpenWSN Hardware Platform

引用

2nd International Conference on Algorithms, High Performance Computing and Artificial Intelligence, AHPCAI 2022

作者： Zhang, Shusheng Xie, Chuang Liu, Jun Zhao, Chun Yang, Zhijia Mao, Jizhi College of Automation and Electrical Engineering Shenyang Ligong University Shenyang110159 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9798350334784

This paper proposes a new wireless sensor network hardware platform based on OpenWSN project launched by the University of California, Berkeley. The hardware platform's processor uses a 32-bit microcontroller (STM32F103RCT6) produced by STMicroelectronics (ST), and the wireless module uses the WISA470 chip. The final experimental results show that this platform can support the Open WSN project very well. © 2022 IEEE.

关键词： Wireless sensor networks

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Flexible job shop machines and AGVs cooperative scheduling on the basis of DQN algorithm 6

Flexible job shop machines and AGVs cooperative scheduling o...

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6th IEEE Advanced Information Management, Communicates, Electronic and Automation control Conference, IMCEC 2024

作者： Xiaoting, Dong Guangxi, Wan Peng, Zeng Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9798350316520

In flexible job shop, the transportation time and path of Automated Guided Vehicles (AGVs) greatly impact the production cycle time. However, traditional flexible job shop scheduling problems (FJSSP) mainly focus on job sequencing and machine selection, neglecting the effect of AGVs transportation on the production process. This often leads to suboptimal scheduling solutions that are difficult to guide the shop floor operation effectively. To address this issue, this paper formulates a cooperative scheduling model that integrates the AGVs scheduling into traditional flexible job shop scheduling problem, abbreviated as the FJSMAS problem, with the objective of makespan minimization. Furthermore, by designing state features, action space, and reward function, the FJSMAS problem is transformed into a Markov decision process, a deep reinforcement learning algorithm (DRL) is then adopted to solve it. The feasibility of the proposed FJSMAS model and the effectiveness of DRL algorithm in solving the FJSMAS problem are verified through benchmark's instances. © 2024 IEEE.

关键词： Reinforcement learning

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A localizability estimation method for mobile robots based on 3D point cloud feature

A localizability estimation method for mobile robots based o...

引用

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

作者： Liu, Ying Wang, Jingchuan Huang, Yi Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai200240 China Nanjing Kingyoung Intelligent Technology CO. LTD.

ISBN: (纸本)9781665436786

This paper introduces the theoretical analysis and derivation of localizability estimation for mobile robots based on point cloud observation. Combined with the observation model, the pre-established point cloud map is firstly clustered and segmented with a newly proposed method considering multiple constraints on depth map. Then localizability is set to be equal to the strength of the constraints associated with 3D point cloud features. In addition, based on the method of using information matrix theory, this paper integrates the Fisher's information matrix and point cloud features to estimate localizability. © 2021 IEEE.

关键词： Mobile robots

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Development of a Tetris playing robot controlled by KNR 15

Development of a Tetris playing robot controlled by KNR

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Ming Zhang, Yanlu Dong, Huifang Li, Xu Yu, Junzhi Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan250100 China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538660720

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system. © 2018 IEEE.

关键词： controllers

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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions

Magnetic Flux Servoing for Precise Localization Based on Gra...

引用

IEEE International Conference on Automation Science and Engineering (CASE)

作者： Dean Martinović Matko Orsag Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality.

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Fault Diagnostic Opportunities for Robot Servo Motors Using the Physics of Failure Analysis 14

Fault Diagnostic Opportunities for Robot Servo Motors Using ...

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14th International Conference on Reliability, Maintainability and Safety, ICRMS 2023

作者： Zhang, Bo Liang, Shan Wang, Kai Key Laboratory of Networked Control Systems Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China College of Computer Science and Technology University of Chemical Technology Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350329988

Joint robots are widely used in various industries, such as aviation, aerospace, and automotive manufacturing. The performance degradation of servo motors can significantly affect the overall performance of the robots because of the core component of joint robots, and therefore, it is critical to detect and address servo motor failures promptly. In this study, we analyze some common causes and mechanisms of performance degradation in robot servo motors using the physics of failure analysis. We also discuss strategies for detecting and diagnosing faults using these mechanisms before the servo motors fail completely. © 2023 IEEE.

关键词： Servomotors

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A distributed deterministic help scheme to improve the system fault tolerance

A distributed deterministic help scheme to improve the syste...

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Proceedings of the Biannual World Automation Congress

作者： M.S. Mirian M.N. Ahmadabadi Control and Intelligent Processing Center of Excellence and AI and Robotics Laboratory Department of ECE University of Tehran Iran

This paper proposes some methods to improve the fault-tolerance in distributed systems specifically in deterministic situations by distributed decision-making and coordination. Providing a distributed system with fault tolerance is a feasible but hard problem due to the intrinsic aspects of such systems such as: independency, unpredictability and communication problem. A multi-agent system as an instance of distributed system, can handle different kinds of fault by using traditional fault tolerance techniques. But what focused in this paper are agent-based techniques. In fact proposed methods are based on agent-based help provision by distributed cooperation among helper agents. The helpers try to tune their normal roles such that they can undertake the faulty agents' tasks too. These helpers go through a sub-optimal task selection algorithm, to decide whom to help. It is important to remark that there is no explicit interaction; instead they coordinate their decisions implicitly by adopting the most appropriate task in terms of their speed, relative reliability and the task's criticality coefficient. Proposed ideas are tested on a DCS-like tested to improve its fault tolerance. The results illustrate the effectiveness of the approaches in comparison to the case of no help situation and the case of using purely redundant components.

关键词： Fault tolerant systems Multiagent systems control systems Distributed decision making Redundancy Power system reliability Process control intelligent control Artificial intelligence Testing

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Model-free Adaptive control based upon Diagonal Recurrent Neural Network

Model-free Adaptive Control based upon Diagonal Recurrent Ne...

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第27届中国过程控制会议（CPCC2016）

作者： Zengqiang Chen Junling Zhang Qinglin Sun College of Computer & Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

Model-free control(MFC)method based on Diagonal Recurrent Neural Network(DRNN)is presented for aclass of nonlinear SISO *** control method makes DRNN as the controller,using dynamic error backpropagation algorithm(DBP... 详细信息

关键词： Model-free Adaptive control based upon Diagonal Recurrent Neural Network

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A fuzzy-neural-network-based visual feedback learning control for robot manipulators

A fuzzy-neural-network-based visual feedback learning contro...

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International Joint Conference on Neural Networks (IJCNN)

作者： Il Hong Suh Tae Won Kim Intelligent Control and Robotics Laboratory Department of Electronics Engineering Hanyang University Ansan Gyeonggi South Korea

A visual feedback learning control algorithm is proposed for a robot manipulator equipped with joint position servos employing fuzzy-membership-function-based neural networks (FMFNN), where weightings of FMFNN's are adjusted in such a way that the robot manipulator with an eye in hand is capable of not only tracking a moving object along the line of sight but also stopping in front of a static object, wherever it is. The training mechanisms of FMFNN are extended to be applied to the control of dynamic systems. To show the validity of the proposed algorithm, several numerical examples are illustrated for a robot manipulator equipped with position servos.< >

关键词： Feedback Robot control intelligent robots Manipulator dynamics Servomechanisms Neural networks control systems Computer vision Jacobian matrices Robot motion

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Validation of two-wire power line UAV localization based on the magnetic field strength

Validation of two-wire power line UAV localization based on ...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Goran Vasiljević Dean Martinović Matko Batoš Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems University of Zagreb Zagreb Croatia

ISBN: (数字)9781665405935

ISBN: (纸本)9781665405942

In this paper we extend our previous work on UAV localization based on the magnetic field strength. The method is based on a magnetic flux density distribution in vicinity of two very long, thin and parallel transmission lines. An UAV is equipped with 4 magnetometers, positioned so that obtained measurements give unique solution to an optimization problem used to find relative position and orientation of the UAV with respect to conductors. Several sets of experiments, undertaken on a laboratory setup, confirmed validity of the method for both solutions - analytical and numerical optimization. Obtained results, compared with high precision motion capture system, are within range of standard RTK positioning.

关键词： Location awareness Magnetic field measurement Power measurement Magnetometers Current measurement Wires Transmission line measurements

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