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检索条件"机构=Process Automation and Robotics"

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Planning of Time-Efficient Trajectories for Mobile Robots with Differential-Drives

Planning of Time-Efficient Trajectories for Mobile Robots wi...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Philipp Lelidis Axel Vick Production Machinery and Equipment Management Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology IPK Berlin Germany

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

To effectively utilize the capacities of the production facilities, flexible and fast transport, and manipulation technology is essential. Current path planning methods use simple paths without exploiting the physical limitations of mobile robots. This paper deals with the time-efficient kinematic planning of path and velocity trajectories for autonomous mobile robots equipped with a differential-drive, used to load and unload machine tools. For a close parking position next to the machine tools, the mobile robot must approach practically straight without the necessity of turning at the end. After a brief definition of the kinematics of a mobile robot with nonholonomic constraints, a Bezier-curve is combined with multiple jerk-limited velocity trajectories considering the initial and final state as well as the physical limitations. For a time-efficient acceleration and deceleration the maximum acceleration of the mobile robot is used and differentiated into the radial and tangential acceleration. This allows a quickly reached close parking pose next to a machine tool. The algorithm is tested with simulations in RVIZ in combination with Gazebo and ROS2 as well as with the real mobile robot Tend-o-Bot.

关键词： Kinematics Turning Production facilities Trajectory Planning Machine tools Mobile robots Manufacturing automation Load modeling Autonomous robots

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OptTopo: Automated set-point optimization for coupled systems using topology information

OptTopo: Automated set-point optimization for coupled system...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： Gregor Thiele Theresa Johanni David Sommer Martin Eigel Jö rg Krü ger Department for Process Automation and Robotics Fraunhofer IPK Institute for Production Systems and Design Technology Berlin Germany Weierstrass Institute for Applied Analysis and Stochastics Berlin Germany Department for Industrial Automation at the Institute for Machine Tools and Factory Management Technical University of Berlin Germany

The manufacturing sector has witnessed a rapid rise in the importance of energy-efficient operation. For finding optimal set-points for industrial facilities, optimization problems of increasing complexity occur. Key challenges are the leak of derivative information and the curse of dimensionality. For systematic reduction of the search-space by decomposition of the model, a methodology for the inclusion of topology knowledge in the optimization procedure is developed. An implementation of OptTopo (Optimization based on Topology), embedded in a testbed, demonstrates its advantages compared to popular out-of-the-box-optimization. OptTopo could be integrated in energy management software offering advanced set-point control for complex facilities.

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Unsupervised Terahertz Image Restoration Based on CycleGan 3

Unsupervised Terahertz Image Restoration Based on CycleGan

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3rd International Conference on Defence Technology, ICDT 2022

作者： Su, Zhipeng Zhang, Yixiong Qi, Feng Shi, Jianghong School of Informatics Xiamen University National Demonstrative Software School Xiamen361005 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Process Shenyang110016 China Key Laboratory of Image Understanding and Computer Vision Shenyang110016 China

Terahertz (THz) is considered as one of the key technologies for sixth generation communications, military, medical imaging and industrial inspection. THz images are susceptible to degradation due to system noise and point spread functions during transmission. The existing deep learning methods use ground truth and input images for supervised training that can recover THz images very well. But it's difficult to obtain labeled THz data in practical application. In this paper, we propose an attentional adversarial cycle generation network for THz image restoration (CycleTHz) based on CycleGan to address this problem. The CycleTHz generates clean images firstly by an attention-guided generation network and then discriminates the quality of the generators by an attention discriminator. In addition, RGB color loss is used for image channels for constraint. To the best of our knowledge, this is the first THz dataset to be trained using an unsupervised approach. Extensive experiments show that the proposed method improves the PSNR and SSIM by 43.4% and 101.7% compared with CycleGan, which is a benchmark method for the unsupervised development in THz image restoration. The code is available at https://***/hellogry/UnsupervisedCycleTHz © Published under licence by IOP Publishing Ltd.

关键词： Image reconstruction

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A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

A Unified Perception Benchmark for Capacitive Proximity Sens...

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IEEE International Conference on robotics and automation (ICRA)

作者： Serkan Ergun Yitao Ding Hosam Alagi Christian Schöffmann Barnaba Ubezio Gergely Soti Michael Rathmair Stephan Mühlbacher-Karrer Ulrike Thomas Björn Hein Michael Hofbaur Hubert Zangl Institute of Smart Systems Technologies Klagenfurt University (AAU) Klagenfurt am Wörthersee Austria Lab of Robotics and Human-Machine-Interaction Chemnitz University of Technology (TUC) Chemnitz Germany Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR - IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Joanneum Research Robotics (Jr) Institute of Robotics and Mechatronics Klagenfurt am Wörthersee Austria Karlsruhe University of Applied Sciences

During the co-presence of human workers and robots, measures are required to avoid injuries from undesired contacts. Capacitive Proximity Sensors (CPSs) offer a cost-effective solution to cover the entire robot manipulator with fast close-range perception for HRC tasks, closing the perception gap between tactile detection and mid-range perception. CPSs do not suffer from occlusion and compared to pure tactile or force sensing, they react earlier and allow increasing the operating speed of Collaborative Robots (Cobots) while still maintaining safety. However, since capacitive coupling to obstacles varies with their distance, shape and material properties, the projection from capacitance to actual distances is a general problem. In this work, we propose an universal benchmark test procedure for fellow researchers to evaluate their CPSs. Considering ISO/TS 15066 for Power and Force Limiting (PFL) as a reference, we derive the requirements for the specified body regions and propose a method for determining the operation speed to comply with PFL based on a pre-defined detection threshold. Finally, the benchmark test procedure is evaluated on three different concepts of CPSs from the contributed researchers, demonstrating the general applicability.

关键词： Shape Force Collaboration Benchmark testing Robot sensing systems Manipulators Sensors

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Design and implementation of complete coverage strategy for autonomous mobile robot

Design and implementation of complete coverage strategy for ...

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作者： Wang, Fei Wen, Shiguang Wu, Chengdong Guo, Liang State Key Laboratory of Integrated Automation for Process Industries Northeastern University Shenyang 110819 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China

ISBN: (纸本)9789881725592

A general scheme of complete coverage for mobile robot under unknown static environment is presented. The complete coverage problem is divided into three subproblems called region decomposition, complete coverage of subregion and subregion linking seperately. Boustrophedon decomposition method was used to decompose the region, and roundabout sweeping with forward steering combining with stream function for obstacles avoidance were adopted to complete coverage of subregion. The subregion linking was realized by point stabilization based on fuzzy logic control. Simulated coverage experiments were conducted under different conditions in Microsoft robotics Studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme. © 2011 Chinese Assoc of Automati.

关键词： Mobile robots

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RESIDUAL LIFE PREDICTION OF LITHIUM BATTERY BASED ON IMPROVED MULTI-OPTIMIZATION ALGORITHM AND SUPPORT VECTOR REGRESSION 14

RESIDUAL LIFE PREDICTION OF LITHIUM BATTERY BASED ON IMPROVE...

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14th International Conference on Quality, Reliability, Risk, Maintenance, and Safety Engineering, QR2MSE 2024

作者： Tao, Yulong Wang, Jun Wang, Kai School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang China Key Laboratory of Intelligent Technology for Chemical Process Industry Liaoning Province Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Robotics and Artificial Intelligence Manufacturing Innovation Institute Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781837242672

The lithium-ion battery is increasingly critical in the fields of electric vehicles and sustainable energy. Accurate prediction of the Remaining Useful Life (RUL) of lithium-ion batteries is essential to mitigate risks and minimize potential losses. This paper introduces a novel fusion algorithm, FPSOGWO, which combines Particle Swarm Optimization (PSO) and Grey Wolf Optimization (GWO) with an enhanced Circle chaos strategy and a random adaptive weighting strategy. The FPSOGWO algorithm, integrated with Support Vector Regression (FPSOGWO-SVR), was utilized to predict the RUL of health factors in lithium batteries. Compared to other optimization algorithms, FPSOGWO exhibits superior optimization speed and value, effectively overcoming issues of local optimality. Specifically, when benchmarked against the Whale Optimization Algorithm-SVR (WOA-SVR), the R-Square values of FPSOGWO-SVR showed improvements of 15.62%, 1.28%, 5.67%, and 10.65% across four different types of batteries. Experimental results demonstrate that FPSOGWO-SVR provides more accurate RUL predictions for lithium batteries, highlighting its potential for broader application in battery health management systems. © The Institution of Engineering & Technology 2024.

关键词： Support vector regression

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Research on Target Detection Method Based on Improved YOLOv5 19th

Research on Target Detection Method Based on Improved YOLOv5

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19th International Conference on Web Information Systems and Applications, WISA 2022

作者： Wang, Rongzhuang Liu, Jun Zhang, Hualiang School of Computer Science and Technology Shenyang University of Chemical Technology Shenyang110142 China Liaoning Key Laboratory of Intelligent Technology for Chemical Process Industry Shenyang110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China

ISBN: (纸本)9783031203084

At present, various target detection algorithms are used in detection and classification. It is a problem to improve the accuracy and speed of target detection by using deep learning and neural network model to train the parameters of the data set. Aiming at the problems of insufficient detection, inaccurate detection of complex background and loss of small target feature information in yolov5 target detection, an improved method combining hole convolution, moving exponential average and retraining of positive samples is proposed in this paper. This method effectively solves the problems of complex background, occlusion and incomplete feature extraction, reduces the loss rate of target features, and improves the detection accuracy of each category. The improved yolov5 target detection algorithm in this paper can not only use multi feature fusion and accelerate positive sample matching, but also use cavity convolution to increase receptive field, improve the detection effect of small targets and reduce the occurrence of missed detection and false detection. Experiments show that the improved yolov5 algorithm has better detection rate and lower loss rate than many existing target detection algorithms. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolution

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An on-board pan-tilt controller for ground target tracking systems

An on-board pan-tilt controller for ground target tracking s...

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IEEE Conference on Control Technology and Applications (CCTA)

作者： Zhekui Xin Yongchun Fang Bin Xian Beijing AeroSpace Automatic Control Institute China Institute of Robotics and Information Automatic System Nankai University Tianjin China Tianjin Key Laboratory of Process Measurement and Control School of Electrical Engineering and Automation Tianjin University Tianjin China

For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.

关键词： Target tracking Cameras Helicopters Jacobian matrices Visualization Robot vision systems

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Automated Control and Software Development for Precision Vacuum Casting of Reactoplasts in Small-Batch Production

Automated Control and Software Development for Precision Vac...

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International Conference on Control Systems, Mathematical Modelling, automation and Energy Efficiency (SUMMA)

作者： German Prokudin Sergey Kondratyev Vladimir Pikalov Vladislav Znamenskii Pavel Ponomarev Fang Taotao Department of Production Process Automation Volgograd State Technical University Volgograd Russia Department of Automated Electric Drive and Robotics Lipetsk State Technical University Lipetsk Russia Chinese Medicine Major Henan University Of Chinese Medicine Zhengzhou China

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

This paper presents the development of an automated control system and software package for a vacuum casting unit designed for use with reactoplasts. The system addresses challenges associated with small-batch production, such as high mold costs and stringent quality requirements in industries like medical equipment and automotive manufacturing. Key components of the system include an STM32 microcontroller for real-time process management, servomotors for precise dosing and mixing, and a vacuum system to eliminate defects such as air bubbles in the final product. The developed software, implemented in Delphi, enables the operator to configure process parameters and monitor performance in real time, thus optimizing the production cycle. The system was tested with various polymer materials, showing significant improvements in efficiency, quality control, and reduction of production costs. The paper also includes detailed calculations for process stages such as vacuuming, mixing, and casting, demonstrating a reduction in overall cycle time to 13.5 minutes. These advancements position the system as an effective solution for enhancing productivity in small-batch manufacturing.

关键词： Productivity Casting Vacuum systems process control Control systems Real-time systems Polymers Servomotors Optimization Monitoring

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A Switched System Approach to Scheduling of Networked Control Systems with Communication Constraints

A Switched System Approach to Scheduling of Networked Contro...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Shi-Lu Dai Hai Lin Shuzhi Sam Ge the Key Laboratory of Integrated Automation of Process Industry Ministry of Education of ChinaNortheastern University the Department of Electrical and Computer Engineering National University of Singapore the Social Robotics Lab Interactive Digital Media Institute and the Department of Electrical and Computer EngineeringNational University of Singapore

This paper presents a scheduling strategy for a collection of discrete-time networked control systems（NCSs）subjected to communication constraints. Communication constraints under consideration include medium access constraint,network-induced delays and packet-dropouts. A feedback control system with the communication constraints is modelled as a switched delay system which switches on the open-loop and closed-loop models according to whether the feedback control loop gains access to the network or not. Delay-dependent sufficient conditions for exponential stability with L2 gain performance are developed for the switched system. Based on the stability conditions, sufficient conditions are presented on the existence of scheduling policy that simultaneously stabilizes the collection of NCSs. Simulation on network-based control of unstable batch reactor systems is performed to demonstrated the effectiveness of the proposed scheduling strategy.

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