检索结果-内蒙古大学图书馆

International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Usama Younis Faisal Riaz Umar Raza Gokhan Atali Hamid Rabnawaz Control Automotive and Robotics Lab Affiliated Lab of National Centre of Robotics and Automation (NCRA) HEC Islamabad Pakistan Department of Engineering Manchester Metropolitan University Manchester United Kingdom Mechatronics Engineering Sakarya University of Applied Sciences Sakarya Turkey Selftech Pvt Ltd

ISBN: (数字)9798350355703

ISBN: (纸本)9798350355710

This paper presents a study on improving night-time vehicle detection in the Mirpur region through a modified neural network model. Given the challenges of low visibility at night, the research focused on optimizing a deep learning algorithm to enhance detection accuracy. A dataset of 10,000 images covering various vehicle types was collected and annotated to train and test the model. The study found a 7% increase in detection performance compared to the standard model, highlighting the potential for tailored algorithms in specific environmental conditions. The findings suggest significant implications for road safety and autonomous driving systems, particularly in regions with similar night-time driving challenges. The research contributes to the broader field of computer vision by showing the effectiveness of model optimization in real-world conditions.

关键词： Accuracy Computational modeling Vehicle detection Neural networks Road safety Reliability robotics and automation Optimization Autonomous vehicles Standards

来源：评论

学校读者我要写书评

暂无评论

A Soft e-Textile Sensor for Enhanced Deep Learning-based Shape Sensing of Soft Continuum Robots

arXiv

引用

arXiv 2024年

作者： Galeta, Eric Vincent Nada, Ayman A. Ahmed, Sabah M. Parque, Victor El-Hussieny, Haitham Department of Mechatronics and Robotics Egypt-Japan University of Science and Technology Alexandria Egypt Electrical Engineering Department Faculty of Engineering Assiut University Egypt Department of Modern Mechanical Engineering Waseda University Tokyo Japan

The safety and accuracy of robotic navigation hold paramount importance, especially in the realm of soft continuum robotics, where the limitations of traditional rigid sensors become evident. Encoders, piezoresistive, and potentiometer sensors often fail to integrate well with the flexible nature of these robots, adding unwanted bulk and rigidity. To overcome these hurdles, our study presents a new approach to shape sensing in soft continuum robots through the use of soft e-textile resistive sensors. This sensor, designed to flawlessly integrate with the robot's structure, utilizes a resistive material that adjusts its resistance in response to the robot's movements and deformations. This adjustment facilitates the capture of multidimensional force measurements across the soft sensor layers. A deep Convolutional Neural Network (CNN) is employed to decode the sensor signals, enabling precise estimation of the robot's shape configuration based on the detailed data from the e-textile sensor. Our research investigates the efficacy of this etextile sensor in determining the curvature parameters of soft continuum robots. The findings are encouraging, showing that the soft e-textile sensor not only matches but potentially exceeds the capabilities of traditional rigid sensors in terms of shape sensing and estimation. This advancement significantly boosts the safety and efficiency of robotic navigation systems. © 2024, CC BY.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Path Following Control of a Tendon-Actuated Snake Robot with Rolling Joints

Path Following Control of a Tendon-Actuated Snake Robot with...

引用

Control Technology and Applications (CCTA),

作者： Gianluca D’Antuono Kristin Y. Pettersen Luca R. Buonocore Jan Tommy Gravdahl Mario Di Castro Department of Engineering Cybernetics Norwegian University of Science and Technology (NTNU) Trondheim Norway Mechatronics Robotics and Operation Section European Organization for Nuclear Research (CERN) Switzerland

ISBN: (数字)9798350370942

ISBN: (纸本)9798350370959

This paper presents a novel application of Path Following and Nonlinear Model Predictive Control techniques to a tendon-actuated snake robot with rolling joints. The study investigates the efficacy of NMPC in guiding the robot’s end-effector along predefined trajectories in the robot output space, emphasizing its relevance for inspection and maintenance tasks in cluttered environments where traditional manipulators may be impractical or ineffective. The particular mechanical design of the snake robot presents unique challenges, necessitating nonlinear control strategies that take into account constraints in both state and input spaces. The simulation results will demonstrate the effectiveness of NMPC in achieving an accurate convergence to the reference path, and will evaluate its potential, in terms of computational burden, for future development into real-world scenarios.

关键词： Accuracy Simulation Snake robots Aerospace electronics Inspection End effectors Trajectory

来源：评论

学校读者我要写书评

暂无评论

Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

引用

IEEE International Conference on robotics and Biomimetics

作者： Ibrahim A. Seleem Mohamed A. Naeem Hiroyuki Ishii Department of Modern Mechanical Engineering Waseda University Department of Industrial Electronics and Control Engineering Faculty of Electronic Engineering Menoufia University Egypt Department of Mechatronics Engineering School of Mechanical and Electrical Engineering Harbin Institute of Technology Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype’s shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Experimentally Validated Model of the Propeller Force Accounting for Cross Influences on Multi-Rotor Aerial Systems

An Experimentally Validated Model of the Propeller Force Acc...

引用

International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Barbara Bazzana Ralph Brantjes Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

In this paper, we propose a model for the thrust coefficient of propellers that can take into account cross-influence between adjacent propellers. The aerodynamic interaction between propellers in multirotor aerial vehicles reduces the thrust they can produce. The influence between propellers depends on their relative positioning and orientation, which are taken into account by the proposed model. It is validated on measurements collected by a force sensor mounted on a propeller for different configurations of the adjacent propellers in a support structure. In this work, we focus on configurations with small relative orientations. Results show that the proposed model outperforms the traditional constant model in terms of thrust prediction on the data we collected, and it performs better than other models with fewer parameters, being the only one with less than 10% maximum percentage error.

关键词： Training Adaptation models Torque Propellers Atmospheric modeling Force Velocity control

来源：评论

学校读者我要写书评

暂无评论

A Study of Stabilization and Swing-up Linear Control for a Single Link Rotary Pendulum

A Study of Stabilization and Swing-up Linear Control for a S...

引用

Theoretical and Applied Computer Science and engineering (ICTASCE), International Conference on

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering Istanbul Gedik University Istanbul Turkey Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

Single link rotary inverted pendulum (SLRIP) is a highly nonlinear control system that has complex dynamic behavior. This type of system requires a high-performance controller for its control. The rotary pendulum system is present as a control problem challenge because the system often moves to an uncontrolled state. The problem consists to balance one or more attached pendulums vertically in the upward position on a rotational arm which has a single degree of freedom and turns horizontally on only one axis. The aim is to find a control strategy that provides accurate performance with respect to the angles of the pendulums and the horizontal arm. This paper proposes a study of a PID, Linear Quadratic Regulator (LQR) stabilization control, and swing-up linear control based on LQR. The gains of the PID and LQR controllers are optimized by using the particle swarm optimization (PSO) algorithm to provide more robust controllers. A dynamic mechanical simulation study was conducted on MATLAB/SimMechanics obtained by the designed 3D-CAD models of the SLRIP. According to experimental results, the systems demonstrate the efficiency and robustness of all controllers.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A Control Theoretic Study on Omnidirectional MAVs with Minimum Number of Actuators and No Internal Forces at Any Orientation

A Control Theoretic Study on Omnidirectional MAVs with Minim...

引用

IEEE Conference on Decision and Control

作者： Ahmed Ali Chiara Gabellieri Antonio Franchi Robotics and Mechatronics Department Electrical Engineering Mathematics and Computer Science (EEMCS) Faculty University of Twente Enschede Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of which are shown to achieve omnidirectionality while having a minimum number of inputs equal to the main body Degrees of Freedom DoF’s, only uni-directional positive thrust propellers, and no internal forces generated at steady state. After dynamics are derived following the Euler-Lagrange approach, an I/O dynamic feedback linearization strategy is then used to show the controllability of any desired pose with stable zero dynamics. We finally verify the developed controller with closed-loop simulations.

关键词： Three-dimensional displays Propellers Dynamics Controllability Regulation Steady-state Feedback linearization Control theory Closed loop systems Vehicle dynamics

来源：评论

学校读者我要写书评

暂无评论

A Trajectory Planning Algorithm of Spray Robot for Workpieces with Complex Geometric Features based on 3D Point Cloud 5

A Trajectory Planning Algorithm of Spray Robot for Workpiece...

引用

5th IEEE Information Technology, Networking, Electronic and Automation Control Conference, ITNEC 2021

作者： Kong, Minxiu Li, Ang Gao, Feng Harbin Institute of Technology School of Mechatronics Engineering Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781665415989

Trajectory planning of spray robot for workpieces with complex geometric features is always a challenging problem. Combined with the actual process requirements of surface spraying and edge spraying, a new spraying path design method based on 3D point cloud is proposed in this paper. During surface spraying, the automatic segmentation algorithm of spraying area based on the determination of hole ratio and Euclidean clustering is studied. For the area with dense features, the point cloud slicing algorithm is used to generate the spray path. For the narrow area, the flexible midline extraction algorithm is proposed. We also discussed the edge extraction algorithm to generate the edge spray path. According to the simulation results of coating thickness, this method can not only ensure the uniformity of coating thickness, but also ensure high spraying efficiency with low paint waste. © 2021 IEEE.

关键词： Clustering algorithms

来源：评论

学校读者我要写书评

暂无评论

Four-dimensional integral model of dry friction on the example of wheel movement

Four-dimensional integral model of dry friction on the examp...

引用

2021 International Conference on Automatics and Energy, ICAE 2021

作者： Salimov, M.S. Saypulaev, G.R. Merkuriev, I.V. Department of Robotics Mechatronics Dynamics and Strength of Machines National Research University Moscow Power Engineering Institute Moscow Russia

A four-dimensional model of dry friction in the interaction of a solid wheel and a horizontal rough surface is investigated. It is assumed that there is no separation between the wheel and the horizontal surface. The movement of the body occurs in conditions of combined dynamics, when in addition to the sliding movement, the body participates in spinning and rolling. The equation of motion of the wheel is compiled using the Appel equation. The resulting model of sliding, spinning, and rolling friction is given for the case where the contact area is a circle. The cumbersome integral expressions were replaced by fractional-linear Pade approximations. Pade approximations accurately describe the behavior of the components of the friction model. A mathematical model is proposed that describes the simultaneous sliding, spinning and rolling of a solid wheel. The dependences of the parallel and perpendicular components of the friction force and the torque of the spinning friction were ploted with respect to the parameter that characterizes the movement of the wheel. Comparisons of the integral friction model and the model based on Pade approximations are presented. The results of the comparison showed a qualitative correspondence of the models. After obtaining the equation of motion, the simulation of motion at a constant control torque of the wheel is carried out. The graphs allow you to match the logical behavior of the wheel movement. © 2021 Institute of Physics Publishing. All rights reserved.

关键词： Wheels

来源：评论

学校读者我要写书评

暂无评论

Compositional Construction of Barrier Functions for Switched Impulsive Systems 63

Compositional Construction of Barrier Functions for Switched...

引用

63rd IEEE Conference on Decision and Control, CDC 2024

作者： Bieker, Katharina Kussaba, Hugo Scholl, Philipp Jung, Jaesug Swikir, Abdalla Haddadin, Sami Kutyniok, Gitta Ludwig-Maximilians-Universität Department of Mathematics München Germany Department of Electrical and Electronic Engineering Albaida Libya Aalto University Finland Mbuzai Abu Dhabi United Arab Emirates Germany Germany University of Tromso Department of Physics and Technology Norway Institute of Robotics and Mechatronics DLR-German Aerospace Center Germany

ISBN: (纸本)9798350316339

Many systems occurring in real-world applications, such as controlling the motions of robots or modeling the spread of diseases, are switched impulsive systems. To ensure that the system state stays in a safe region (e.g., to avoid collisions with obstacles), barrier functions are widely utilized. As the system dimension increases, deriving suitable barrier functions becomes extremely complex. Fortunately, many systems consist of multiple subsystems, such as different areas where the disease occurs. In this work, we present sufficient conditions for interconnected switched impulsive systems to maintain safety by constructing local barrier functions for the individual subsystems instead of a global one, allowing for much easier and more efficient derivation. To validate our results, we numerically demonstrate its effectiveness using an epidemiological model. © 2024 IEEE.

关键词： Robot applications

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：