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2024 China automation Congress, CAC 2024

作者： Chen, Lufeng Lan, Jingwen Zhan, Qi'ao Peng, Zhinan Li, Wenjiang Qiu, Jing Center for Robotics School of Automation Engineering University of Electronic Science and Technology of China Chengdu China Center for Robotics School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China

ISBN: (纸本)9798350368604

Accurate dynamic modeling is fundamental for wearable robotics, such as Supernumerary Robotic Limbs (SRLs), to ensure precise control and effective interaction with the environment. This paper presents an enhanced dynamic model for an SRL, incorporating uncertainty compensation to improve accuracy and robustness. The SRL dynamics are streamlined by linearizing the system and identifying a minimal set of inertia parameters. Using the Coot optimization algorithm, we refine the Fourier excitation trajectory parameters to optimize the condition number of the observation matrix, followed by parameter identification through the least squares method. To further reduce discrepancies between predicted and actual joint torques, an uncertainty term is introduced, validated through a neural network designed to predict torque variations. The method not only addresses but also compensates for uncertainties across various motion states of the SRL. Experimental results demonstrate that the proposed model improves prediction accuracy and robustness for our developed 6-DoF SRL compared to traditional methods. © 2024 IEEE.

关键词： Least squares approximations

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Control Simulation of Proportional-Integral and Sliding Mode Control for Precision Seed Planters

Control Simulation of Proportional-Integral and Sliding Mode...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Nawaz, Yasir Qadir, Muhammad Usman Khan, Muhammad Awais Haq, Izhar Ul Shah, Kamran Khan, Tahir Advanced Robotics & Automation Lab Department of Mechatronics University of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9781665464727

The desired development and design of an electric control system (ECS) for a precision planter is one of the most crucial elements in evaluating the efficacy of applicators for plant production. The seeds would be sown using this approach. Years have been invested in the continuous development of a range of application methods and metering systems, each of which offers specific advantages for applying the required system with a high degree of precision. Researchers worldwide have been trying to make electric-driven seed meters (EDSM) for planters, but they haven't succeeded. This study looks into the current state of installing seed metering systems for precision planters. Proportional-integral (PI) and sliding mode control (SMC) designs of the control system have been implemented to improve the planting quality of the planters. We want to highlight the electrically driven control system (EDCS) using these designs. An overview of the noteworthy features and limitations of past research is given. We also discuss several future directions for future research, concentrating on the knowledge gaps in this area. © 2023 IEEE.

关键词： Sliding mode control

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Video Stabilization using RAFT-based Optical Flow

Video Stabilization using RAFT-based Optical Flow

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Ashar, Rana Sadiq, Burhan Mohiuddin, Hira Ashraf, Saniya Imran, Muhammad Ullah, Anayat Control Automotive and Robotics Lab National Centre of Robotics and Automation Rawalpindi Pakistan Balochistan University of IT Engineering and Management Sciences Department of Electronic Engineering Quetta Pakistan

ISBN: (纸本)9781665464727

Video Stabilization is the basic need for modern-day video capture. Many methods have been proposed throughout the years including 2D and 3D-based models as well as models that use optimization and deep neural networks. This work describes the implementation of cutting-edge Recurrent All-Pairs Field Transforms (RAFT) for optical flow estimation in video stabilization. we use a pipeline that accommodates the large motion. It then passes the results to the optical flow for better accuracy. After that, it satisfies the inaccuracies of the optical flow and makes it robust to occlusion, Parallax, and moving objects. Our approach yields better results (visually and quantitatively) compared to other optimization and deep learning-based visual stabilization techniques. © 2023 IEEE.

关键词： Geometrical optics

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PCE: Multi-Agent Path Finding via Priority-Aware Communication & Experience Learning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Gao, Jianqi Li, Yanjie Ye, Zhaohui Wu, Xinyu Department of Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics and School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen China Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-agent path finding (MAPF) is an essential issue for warehouse automation, where multiple agents plan collision-free paths from the start to goal positions. Reinforcement learning (RL) has been employed to develop partially observable distributed MAPF methods that can be scaled to any number of agents. However, existing RL-based MAPF methods still have some limitations in handling redundant information and avoiding deadlock, resulting in a low success rate or longer makespan. This paper proposes a Priority-aware Communication & Experience learning method (PCE), which combines RL with a novel priority-aware multi-agent communication and a new priority-aware deadlock experience replay to tackle this challenge. To be specific, our innovation encompasses two-fold. Our proposed communication mechanism aims to handle redundant information, which establishes a dynamic communication topology based on agents' priorities and proposes a two-head priority-aware graph attention network to aggregate information. In order to help the agent avoid deadlock, we prioritize the expert experience that solves the deadlock when performing experience replay. We conduct multiple simulation experiments on warehouse-like structured grid maps. Compared with the state-of-the-art RL-based MAPF methods, PCE performs significantly better with a higher success rate and lower makespan in small and large MAPF and higher average throughput in the lifelong MAPF, which can further improve the efficiency of warehouse automation. Finally, we validate PCE using three Turtlebot3-Burger robots, which shows that PCE can be applied in real warehouse automation scenarios. IEEE

关键词： Aggregates

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Health Monitoring and Power Quality Analysis of Induction Motors at Tube Well Sites of WASA Lahore 6

Health Monitoring and Power Quality Analysis of Induction Mo...

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6th International Conference on Energy Conservation and Efficiency, ICECE 2023

作者： Liaqat, Umair Sohaib, Muhammad Shaukat, Hamza Younis, Usman Hafiz, Rehan Tauqeer, Tauseef Information Technology University Faculty of Engineering Lahore Pakistan National Center of Robotics and Automation Industrial Monitoring and Automation Lab Pakistan

ISBN: (纸本)9798350332193

The purpose of this study is to analyze the health and power quality analysis of motors installed at different blocks of Johar Town Lahore installed by Water and Sanitation Authority (WASA) Lahore. Induction motors are the most important components of industries due to their cost-effectiveness, robustness and high efficiency. However, these motors are prone to some mechanical and electrical faults with time. Most of the faults are due to mismanagement of power and load variations. Usually, health monitoring and quality analysis of induction motors is laborious work. This study was conducted by keeping in mind the most widely used standards of the International Electro-technical Commission (IEC) and the Institute of Electrical and Electronics Engineer (IEEE). To enhance the effectiveness of the electrical systems, a detailed inspection and knowledge are needed for every power system. This technique involves taking measurements from motors in different states i.e. rest, transient and steady. The comparison of the results on different parameters with the help of graphical data is presented in this study for the safe and economical use of machines. The study covers only seven motors out of 596 installed motors at tube well sites in the city of Lahore covering almost 8 million people. There is no existing system to analyze the performance, efficiency and health of these motors. This study may be helpful in quality assurance and save from critical failure that tends to disturb the water supply system. It can also beneficial of saving the cost of repair and plant's down time. It may be recommended to analyze thoroughly the remaining tube well motors for the beneficial of WASA water supply system. © 2023 IEEE.

关键词： Induction motors

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Formation Control and Sub-Swarm Generation of Multirotor UAVs

Formation Control and Sub-Swarm Generation of Multirotor UAV...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Shahzad, Muhammad Muzamal Asad, Muhammad Haroon Haris, Muhammad Munawar, Hammad Yousaf, Muhammad Haroon University of Engineering and Technology Taxila Swarm Robotics Lab National Center of Robotics and Automation Taxila Pakistan University of Engineering and Technology Taxila Computer Engineering Department Taxila Pakistan

ISBN: (纸本)9781665464727

The research field of collective behaviors takes inspiration from natural self-organizing systems like honeybees, fish schools, social insects, bird flocks, and other social animals. These behaviors can be transformed into robots by replicating the same set of rules as found in the natural swarms. The deployment of aerial swarm robotics has become significant due to their multiple applications in surveillance, agriculture, and military. These applications lead to the development of aerial swarm robotic platforms to solve real-world problems. For example, a swarm of low-tech, cost-effective small UAVs can engage a high-tech target effectively. Similarly, a swarm of UAVs can perform surveillance and rescue missions in disastrous areas and build an emergency communication network through multiple UAV swarms. The critical part of swarm technology is multiple swarm intelligence algorithms that have been proposed and tested by various simulation platforms such as V-rep, Gazebo and MATLAB. Very few of them have been deployed on hardware to solve real scenarios that include formation control, navigation, pattern formation, and a few sub-swarm generation algorithms. Team connectivity is one of the essential aspects of a swarm network that emerges the collective intelligence of the group and ensures the readiness of the algorithm to deploy and solve real-world problems. Many researchers proposed the team connectivity algorithms in a single swarm network but still left the connectivity gap between the sub-swarms during a mission. This research work contributes toward designing a swarm intelligence algorithm to improve the connectivity techniques and team connectivity between the swarm agents and the sub-swarm groups. © 2023 IEEE.

关键词： Antennas

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LabView based Automated Motor Test Bench for Induction Motors 4

LabView based Automated Motor Test Bench for Induction Motor...

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4th International Conference on Computing, Mathematics and engineering Technologies, iCoMET 2023

作者： Sohaib, Muhammad Shaukat, Hamza Tauqeer, Tauseef Shahid, Arslan Younis, Usman Hafiz, Rehan Information Technology University Faculty of Engineering Lahore Pakistan Industrial Monitoring and Automation Lab National Center of Robotics and Automation Pakistan

ISBN: (纸本)9798350335316

Induction motors comprise more than 90 percent of the industrial load. With time, Induction motors are prone to losses. To save energy consumption, predictive maintenance of motors must be carried out at regular intervals. The industrial monitoring and automation lab has developed state-of-the-art motor test bench facility which is completely automated using LabView - a widely used industrial software. The manual methods of motor testing are not only hectic but also unreliable. A systematic approach has been adopted to measure and analyze various parameters of the induction motor, which will help us to identify key performance factors. This work is towards the development of a high performance motor test bench facility for industrial load. In its current state it can measure up to 15 hp induction motors and perform the tests such as No-Load Test, Full-Load Test, Locked-Rotor Test, Temperature Rise Test, DC Winding Test etc. © 2023 IEEE.

关键词： Induction motors

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Numerical simulation and experimental research on the wheel brush sampling process of an asteroid sampler

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Frontiers of Mechanical engineering 2023年第2期18卷 205-226页

作者： Haitao LUO Qiming WEI Yuxin LI Junlin LI Wei ZHANG Weijia ZHOU State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Mechanical Engineering Shenyang Ligong UniversityShenyang 110159China

To examine the environmental characteristics of the microgravity force and the weathered layer on an asteroid surface,a symmetric wheel brush asteroid sampler is proposed for the collection of particles on the asteroid *** study the influence of the wheel brush rotation speed on the sampling efficiency and the driving torque required for the wheel brush,the contact dynamics model between particles and sampling wheel brushes is established and a simulation and experimental verification of the sampling process are *** parameter calibration of the sampled particles is studied first,and the calibrated particle parameters are used in the numerical simulation of the sampling *** sampling results and the particle stream curves are obtained for the working conditions of different rotation speeds,and the effects of different parameter settings on the sampling efficiency are *** addition,a set of rotating symmetrical sampling wheel brush devices is built for the ground test,and the dynamic torque sensor is used to test the torque change of the wheel brush during the sampling *** relationship between the speed of the wheel brush and the driving torque of the wheel brush motor is determined by comparing the simulation results with the test *** indicate that when the rotating speed of the wheel brush is faster,the sampling efficiency is higher,and the driving torque required for the sampling wheel brush is ***,a numerical simulation analysis of the sampling process of the wheel brush sampler in a microgravity environment is conducted to determine the optimal speed condition,and the brushing test of the wheel brush sampler in the microgravity environment is verified with the drop tower *** research proposes the structural optimization design and motor selection of a wheel brush asteroid sampler,which provides important reference value and engineering significance.

关键词： asteroid sampling wheel brush sampler discrete element method parameter calibration experimental research

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Odometry and Inertial Sensor-based Localization of a Snake Robot

Odometry and Inertial Sensor-based Localization of a Snake R...

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2023 International Conference on robotics and automation in Industry, ICRAI 2023

作者： Shahid, Ramsha Baloch, Anam Tahir, Humayun Ullah, Anayat National Centre of Robotics and Automation Control Automotive and Robotics Lab Rawalpindi Pakistan Balochistan University of IT Engineering and Management Sciences Department of Electronic Engineering Quetta Pakistan

ISBN: (纸本)9781665464727

Terrain adaptability gives snake robots an edge over wheeled mobile robots. Snake robot's applications expansion to disaster management is due to its limbless and modular design. Replicating the navigation and locomotion of a biological snake have been in the spotlight for many researchers. In this study, a robust localization algorithm of a snake robot is developed. A sensor fusion-based algorithm using probabilistic approaches: UKF (Unscented Kalman Filter) and EKF (Extended Kalman Filter) has been proposed. Odometry is fused with one and two IMUs (Inertial Measurement Units) with both probabilistic approaches. Evaluation of results in a simulation environment showed that the fusion of two IMUs and odometry using EKF outer performs in terms of accuracy when odometry is fused with one IMU using EKF. Furthermore, the fusion of two IMUs and odometry with UKF is computationally expensive resulting in a large convergence time which is not the best suitable approach that can be utilized for the snake robot. © 2023 IEEE.

关键词： Extended Kalman filters

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Monocular 3D Object Detection using YOL011 and MiDAS for Autonomous Driving

Monocular 3D Object Detection using YOL011 and MiDAS for Aut...

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2024 International Conference on Computer and Applications, ICCA 2024

作者： Abdou, Hisham Mohamed Mashaly, Maggie German International University Faculty of Engineering Robotics & Automation Cairo Egypt German University in Cairo Faculty of Information Engineering & Technology Cairo Egypt

ISBN: (纸本)9798350367560

Monocular 3D object detection is a critical component in autonomous driving systems, aiming to infer spatial properties from single-camera inputs. This paper presents a method that integrates YOL011 for 2D object detection and MiDaS for depth estimation to construct accurate 3D bounding boxes. By employing a calibration process and leveraging depth-aware tilting mechanisms, the model achieves precise object localization in real-world settings. The proposed approach demonstrated competitive accuracy on the KITTI dataset, with significant improvements in computational efficiency, making it suitable for real-time applications. Limitations in occlusion handling and depth extent estimation are discussed alongside future enhancement directions. © 2024 IEEE.

关键词： Object recognition

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