检索结果-内蒙古大学图书馆

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

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

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

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

3D Printable Gradient Lattice Design for Multi-Stiffness Robotic Fingers

3D Printable Gradient Lattice Design for Multi-Stiffness Rob...

引用

IEEE International Conference on Soft robotics (RoboSoft)

作者： Siebe J. Schouten Tomas Steenman Rens Filé Merlijn Den Hartog Aimee Sakes Cosimo Della Santina Kirsten Lussenburg Ebrahim Shahabi Mechanical Engineering Department Delft University of Technology CD Delft the Netherlands BioMechanical Engineering Department Delft University of Technology CD Delft the Netherlands Cognitive Robotics Department Delft University of Technology CD Delft the Netherlands Institute of Robotics and Mechatronics German Aerospace Center (DLR) Wesling Germany

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.

关键词： Service robots Fingers Lattices Tactile sensors Soft robotics Three-dimensional printing Distance measurement Robustness Grippers Tendons

来源：评论

学校读者我要写书评

暂无评论

Thermal influence on positioning error and position repeatability of a machining center axes

引用

UPB Scientific Bulletin, Series D: Mechanical engineering 2021年第2期83卷 181-188页

作者： Artimon, Flavia-Petruța-Georgiana Stochioiu, Constantin Popan, Gheorghe Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania and Research Assistant National Institute of Research and Development in Mechatronics and Measurement Technique Romania Dept. of Strength of Materials University POLITEHNICA of Bucharest Romania National Institute of Research and Development in Mechatronics and Measurement Technique Romania

The development of the aerospace, automotive, medical and other industries require a continuous improvement of fabrication technologies, including computer numerical controlled machine tools. Currently, the 5-axis CNC machine tools can reach machining precisions of a micrometer, but this characteristic depends on the multitude of fabrication and environmental conditions. In this paper, a general approach and the thermic influence on positioning error and positioning repeatability are presented. The experimental tests have been performed using a Renishaw XL-80 interferometer on a 5-axis CNC vertical machining center Makino D200Z. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Computer control systems

来源：评论

学校读者我要写书评

暂无评论

Explainable Deep Learning for Brain-Computer Interfaces through Layerwise Relevance Propagation

Explainable Deep Learning for Brain-Computer Interfaces thro...

引用

International Winter Workshop on Brain-Computer Interface (BCI)

作者： Vladislav Mun Berdakh Abibullaev Computer Science Department School of Engineering and Digital Sciences Nazarbayev University Kazakhstan Robotics and Mechatronics Department School of Engineering and Digital Sciences Nazarbayev University Kazakhstan

With an ever-growing demand for BCI-based systems, numerous algorithms and machine learning systems have been proposed over the past few decades. Although state-of-theart approaches have reached practically appropriate levels of accuracy, most are often regarded as black-box models, which need more explainability. However, for cases where a Neural Network is used as the base for a classifier, a Layerwise Relevance Propagation (LRP) approach can be utilized to analyze the decision boundaries considered by the network. By calculating the importance of the neuron in each layer, the LRP can also be used as an effective model complexity reduction technique through the inactivation (pruning) of the neural pathways. The following work investigates the usability of the LRP framework in the field of BCI. This study provides an example of the practical application of the LRP with respect to the EEG (ERP) dataset, along with visual heatmap and scalp map examples of the LRP. Furthermore, the work analyzes the impact of network pruning on heatmap visualization and the model’s accuracy while also practically determining the maximum cutoff range for pruning BCI models.

关键词： Heating systems Deep learning Analytical models Visualization Brain modeling Transformers Electroencephalography

来源：评论

学校读者我要写书评

暂无评论

Robotic Device for Active-Passive Mechanotherapy of the Ankle Joint

Robotic Device for Active-Passive Mechanotherapy of the Ankl...

引用

International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Jamil Safarov Egor Tistsov Sergey Jatsun Dept. of Chemical and Metallurgical engineering Azerbaijan Technical University Baki Azerbaijan Dept. of Mechanics Mechatronics and Robotics South-West State University Kursk Russia

ISBN: (数字)9798350395013

ISBN: (纸本)9798350395020

This paper describes the design and control system of a robotic device for active-passive mechanotherapy of the ankle joint. The paper raises the question of the importance of these developments in modern rehabilitation, provides examples of work in this area, and also indicates the difficulties in organizing a control system for such a device, due to the spasticity and musculoskeletal contracture of the ankle joint, as well as the general uncertainty and individuality of the muscular system of the ankle joint during rehabilitation. The paper describes the design of the device, the location of the measuring modules, and the operating principle of the adaptive control system for this device. Data obtained during experimental studies are also presented and the influence of various factors during rehabilitation procedures on the behavior of the musculoskeletal system is described. This paper describes the mathematical modeling of the behavior of this system, and indicators of the stiffness and viscosity of the musculoskeletal system are derived, allowing the adaptation of device control algorithms.

关键词： Viscosity Uncertainty Muscles Control systems Mathematical models Physiology Trajectory

来源：评论

学校读者我要写书评

暂无评论

Enhancing UAV Autonomous Navigation in Indoor Environments Using Reinforcement Learning and Convolutional Neural Networks 22

Enhancing UAV Autonomous Navigation in Indoor Environments U...

引用

22nd IEEE International Symposium on Intelligent Systems and Informatics, SISY 2024

作者： Safarpour Motealegh Mahalegi, Homayoun Farhadi, Amirfarhad Molnar, Gyorgy Nagy, Eniko Obuda University Institute of Mechatronics and Vehicle Engineering Budapest Hungary Islamic Azad University Department of Computer Engineering Science and Research Branch Tehran Iran Obuda University Hungary Szechenyi University Apaczai Csere János Faculty of Humanities Education and Social Sciences Kando Kalman Faculty of Electrical Engineering Budapest Gyor Hungary Obuda University Antal Bejczy Center for Intelligent Robotics John von Neumann Faculty of Informatics Budapest Hungary

ISBN: (纸本)9798350385601

In recent years, the number of unmanned aerial vehicle (UAV) applications has increased. However, navigating them indoors is still tricky because no GPS signals are available, and the obstacles constantly change. This study exploits the collaboration between convolutional neural networks (CNNs) and reinforcement learning (RL) to overcome these challenges, improving the level of independence of UAVs in indoor settings. We present a new technique known as potential-based reward shaping, which directly incorporates expert knowledge into the reinforcement learning framework. This technique efficiently addresses the problem of sparse rewards that often hinder learning in conventional RL configurations. In addition, we have created a reflective reinforcement learning agent that systematically assesses its actions to prioritize those that result in the most substantial enhancements. We have extensively evaluated the performance of our method with the High-Definition Indoor Navigation (HDIN) dataset to show that our method continuously outperformed current non-introspective RL techniques in terms of decision-making speed and navigation accuracy in this evaluation. The results show that this new CNN-RL combination is feasible and suggests a scalable method for complex indoor navigation problems. © 2024 IEEE.

关键词： Convolutional neural networks

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：