检索结果-内蒙古大学图书馆

Accurate TCP Position and Orientation Trajectory Generation in 6DOF Robotic Manipulators and CNC Machine Tools using FIR Filtering and Haversine Synchronisation 56

Accurate TCP Position and Orientation Trajectory Generation ...

引用

56th CIRP International Conference on Manufacturing systems, CIRP CMS 2023

作者： Ward, Rob Sencer, Burak Department of Automatic Control and Systems Engineering University of Sheffield SheffieldS1 3JD United Kingdom Advanced Manufacturing Research Centre University of Sheffield RotherhamS60 5TZ United Kingdom Mechanical Engineering Department Oregon State University CorvallisOR United States

The use of robotics in manufacturing is rapidly growing. One promising application in particular is the use of robots as machining platforms. Robotic machining offers many advantages such as large operating envelopes, flexibility in operations and low installation and running costs. Robotic machining platforms much like computer numerically controlled (CNC) machine tools are commanded by numerical controllers (NCs) using the well established G-code part programming language (ISO-6983). Toolpaths are defined in the work piece coordinate system (WCS) as a series of discrete tool centre point (TCP) positions and tool orientations. The role of the NC is to generate smooth feed drive or robot joint commands such that the tool or end effector travels along the commanded toolpath whilst satisfying TCP position and orientation tolerances and robot/machine tool kinematic constraints. Interpolating tool orientations directly in the WCS requires complex real-time spherical interpolation computations. Overcoming this challenge, this paper introduces a C4 continuous tool path trajectory generation method for 6DOF motion. The tool centre point position is smoothed in the WCS, however, the tool orientation is smoothed directly in the rotary coordinate system without the requirement for spherical interpolation. The interpolated tool orientation trajectory follows the path of the great circle arc using the modified Haversine method eliminating non-linear interpolation errors present in linear interpolation of rotary axis positions (machine coordinate system interpolation). The proposed method is validated by simulation of a 6DOF robotic manipulator. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0) Peer-review under responsibility of the scientific committee of the 56th CIRP International Conference on Manufacturing systems 2023.

关键词： Interpolation Motion control Pose control Robotic Machining Trajectory Generation

来源：评论

学校读者我要写书评

暂无评论

Predictive functional control for challenging dynamic processes using a simple prestabilization strategy

Advanced Control for Applications: Engineering and Industria...

引用

Advanced control for Applications: engineering and Industrial systems 2022年第2期4卷

作者： Aftab, Muhammad Saleheen Rossiter, John Anthony Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

Predictive functional control (PFC) is a straightforward and cheap model-based technique for systematic control of well-damped open-loop processes. Nevertheless, its oversimplified design characteristics are often the cause of diminished efficacy in more challenging applications;processes involving lightly damped and/or unstable dynamics have been particularly difficult to control with PFC. This paper presents a more sustainable solution for such applications by integrating the concept of prestabilization within the predictive functional control formulation. This is essentially a two-stage synthesis wherein the undesirable open-loop dynamics are first compensated, using a well-understood classical approach such as proportional integral derivative (PID), before implementing predictive control in a cascade structure. The proposal, although comes with significant implications for tuning and constraint handling, is, nonetheless, straightforward and provides improved closed-loop control in the presence of external perturbations compared to the standard PFC and the PID algorithms, as demonstrated with two industrial case studies. © 2022 The Authors. Advanced control for Applications: engineering and Industrial systems published by John Wiley & Sons Ltd.

关键词： Two term control systems

来源：评论

学校读者我要写书评

暂无评论

Reinforcement Learning-Based Output Stabilization control for Nonlinear systems With Generalized Disturbances

Reinforcement Learning-Based Output Stabilization Control fo...

引用

IEEE International Conference on Industrial Technology (ICIT)

作者： Zezhi Tang J Anthony Rossiter Yi Dong George Panoutsos Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom Department of Electronics and Computer Science University of Southampton Southampton United Kingdom

ISBN: (数字)9798350340266

ISBN: (纸本)9798350340273

This paper proposes a new disturbance observer (DO)-based reinforcement learning (RL) control approach for nonlinear systems with unmatched (generalized) disturbances. While a nonlinear disturbance observer (NDO) is utilized to measure the plant uncertainties, disturbances can exist in the plant via distinct channels from those of the control signals; so-called mismatched disturbances are theoretically difficult to attenuate within the channel of the system's states. A generalized disturbance observer-based compensator is implemented to address the uncertainty cancellation problem by removing the influence of uncertainties from the output channels. Con-currently, a composite actor-critic RL scheme is utilized for approximating the optimal control policy as well as the ideal value function pertaining to the compensated system by solving a Hamilton-Jacobi-Bellman (HJB) equation for both online and offline iterations simultaneously. Stability analysis verifies the convergence of the proposed framework. Simulation results are included to illustrate the effectiveness of the proposed scheme.

关键词： Uncertainty Simulation Measurement uncertainty Optimal control Estimation Reinforcement learning Disturbance observers

来源：评论

学校读者我要写书评

暂无评论

On output consensus of heterogeneous dynamical networks

arXiv

引用

arXiv 2024年

作者： Su, Yongkang Su, Lanlan Khong, Sei Zhen Department of Automatic Control & Systems Engineering University of Sheffield Sheffield United Kingdom Department of Electrical Engineering National Sun Yat-sen University Kaohsiung80424 Taiwan

This work is concerned with interconnected networks with non-identical subsystems. We investigate the output consensus of the network where the dynamics are subject to external disturbance and/or reference input. For a network of output-feedback passive subsystems, we first introduce an index that characterises the gap between a pair of adjacent subsystems by the difference of their input-output trajectories. The set of these indices quantifies the level of heterogeneity of the networks. We then provide a condition in terms of the level of heterogeneity and the connectivity of the networks for ensuring the output consensus of the interconnected network. Copyright © 2024, The Authors. All rights reserved.

关键词： Interconnection networks (circuit switching)

来源：评论

学校读者我要写书评

暂无评论

Stress Matrix-Based Formation control of Multi-Agent systems with Discrete-Time Communication 12

Stress Matrix-Based Formation Control of Multi-Agent Systems...

引用

2024 12th International Conference on systems and control, ICSC 2024

作者： Onuoha, Okechi Ubochi, Brendan Chijioke Kurawa, Suleiman Tang, Zezhi Wu, Changshun Dong, Yi University of Hertfordshire United Kingdom Federal University of Technology The Department of Electrical and Electronic Engineering Akure Nigeria University of Manchester The Department of Electrical Engineering United Kingdom University of Sheffield The Department of Automatic Control and Systems Engineering United Kingdom University Grenoble Alpes Grenoble38000 France The School of Electronics & Computer Science University of Southampton United Kingdom

ISBN: (纸本)9798331531812

This study addresses the affine formation maneuver control of cooperative multi-agent systems (MAS) having periodic inter-agent communication for both static and dynamic leader cases. Here, we focus on the leader-follower MASs. The primary aim of the control system is to steer the entire collection of agents to produce required patterns (geometric) along with any required maneuver through the direct control of only few a selected agents referred to as leaders. Most of the existing works are constrained to either the individual agents communicate with each other in continuous-time or the sample-data scenario where the leaders are stationary or have constant acceleration or velocities. Here, we consider the scenarios where the velocities of the leaders can be time-varying or constant. Here, different cases are addressed and some control laws are proposed. Conditions are established to help guarantee the overall stability of the systems. A simulation study is employed for the illustration of our proposed laws. © 2024 IEEE.

关键词： Continuous time systems

来源：评论

学校读者我要写书评

暂无评论

Active Sensing for Target Tracking: A Bayesian Optimisation Approach

Active Sensing for Target Tracking: A Bayesian Optimisation ...

引用

International Conference on Information Fusion

作者： Xingchi Liu Lyudmila Mihaylova Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Scientific Computing Department Rutherford Appleton Laboratory Science and Technology Facilities Council UK

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

Active sensing plays an essential role in searching and tracking a target without initial target state information. This paper studies the active sensing approach for sensor management problems using multiple unmanned aerial vehicles based on the received signal strength measurements of the target. A Bayesian optimisation-based approach is proposed which adopts the Gaussian process method to model the received signal strength in an area over time and then the expected improvement acquisition function is leveraged to decide where to take new measurements considering the uncertainty of the Gaussian process. A unique contribution of this paper consists of the designed spatial-temporal composite kernel function that accounts for the time-varying nature of the signal strength. Numerical results obtained from different measurement noise levels and varying initial Bayesian optimisation settings demonstrate that the proposed approach can efficiently schedule multiple unmanned aerial vehicles to locate the target within a minimum number of initial data. Particularly, it achieves at most $57 \%$ lower tracking error and $46 \%$ lower lost-track probability as compared to the benchmark approach.

关键词： Target tracking Atmospheric measurements Gaussian processes Particle measurements Autonomous aerial vehicles Sensors Bayes methods Kernel Vehicle dynamics Optimization

来源：评论

学校读者我要写书评

暂无评论

Enhancing 3D Human Skeleton Key-point Detection through Weakly Supervised Learning and Multi-level Attention Mechanisms

Enhancing 3D Human Skeleton Key-point Detection through Weak...

引用

Data Science and engineering in Healthcare, Medicine and Biology, IEEE EMBS Special Topic Conference on

作者： Meng Xu Yuanhao Gong Sanja Dogramadzi Department of Automatic Control and Systems Engineering University of Sheffield S10 2TN Sheffield Faculty of Electronics and Information Engineering Shenzhen University Department of Automatic Control and Systems Engineering University of Sheffield S10 2TN

With the soaring interest in understanding the dynamics of human body skeletons for applications such as action recognition and video understanding, the significance of precise 3D key-point detection has become increasingly prominent. Despite the advancements, existing approaches struggle to address the issues of occlusions and limited annotated data. This paper proposes a novel framework integrating a multilevel attention mechanism and weakly supervised 3D key-point generation to tackle these prevalent issues, enhancing both the accuracy and efficiency of human pose estimation.

关键词：

来源：评论

学校读者我要写书评

暂无评论

An Interval Type-2 Fuzzy Logic System for the Simulation of Fused Deposition

An Interval Type-2 Fuzzy Logic System for the Simulation of ...

引用

2022 International Conference on Electrical, Computer, Communications and Mechatronics engineering, ICECCME 2022

作者： Alalaween, Wafa'H. Alalawin, Abdallah Gharaibeh, Belal M.Y. Mahfouf, Mahdi Alsoussi, Ahmad The University of Jordan Department of Industrial Engineering Amman Jordan Department of Industrial Engineering The Hashemite University Zarqa Jordan The University of Sheffield Department of Automatic Control and Systems Engineering Sheffield United Kingdom Printie 3D Company Amman Jordan

ISBN: (数字)9781665470957

ISBN: (纸本)9781665470957

Fused deposition modelling (FDM) is simulated in this research work to anticipate the characteristics of 3D printed parts. Eight FDM variables are studied for Polyether-ether-ketone (PEEK) and Polyether-ketone-ketone (PEKK). A set of experiments based on Taguchi L18 is carried out. An interval type-2 fuzzy logic system (IT2 F LS) is then established to extract the relationships among the materials and the various FDM parameters and the characteristics of the 3D printed parts. Based on the results obtained by a set of experiments, the IT2 F LS can extract the relationships and predict the characteristics of the printed specimens with very good predictive performances. In addition, the IT2FLS outperformed the type-1 fuzzy logic system with an overall improvement of approximately 8%. © 2022 IEEE.

关键词： Ketones

来源：评论

学校读者我要写书评

暂无评论

Digital framework for metallic subtractive process planning: Liger optimisation case study

引用

Procedia CIRP 2024年 130卷 1358-1363页

作者： João A. Duro Rob Ward Jack Rooke Emily Pickford Rich Bonnell Adam Brown Robin C. Purshouse David Curtis Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK University of Sheffield Advanced Manufacturing Research Centre University of Sheffield Rotherham S60 5TZ UK

Metallic subtractive process planning is challenging. It requires a blend of expert knowledge, experience, and established manufacturing methods. Decision-making in this domain is multifaceted and complex, and this includes the need to satisfy multiple conflicting demands faced by the manufacturing sector today. However, with the evolving landscape of manufacturing, combined with increased adoptions of digital technologies, the traditional rules of thumb are becoming obsolete. In response, this research investigated these decision-making processes within a subset of the digital framework for subtractive process planning. In particular, it has demonstrated that an advanced open-source optimisation tool (Liger) could be integrated with commercial industrial software and applied to a machining case study. The integrated software intelligently executed and automated simulations using advanced optimisation techniques. The outputs are a range of optimised solutions that support manufacturing engineers’ decision-making. One of the major benefits of the open-source software is that it provides an intuitive to use interface suitable for the non-expert in optimisation, offers a varied range of state-of-the-art multi-objective optimisation algorithms, and is capable of incorporating many different third-party types of software, models and simulations. In this paper, the Liger software has been applied to a simple case study to find the best feedrate and depths of cut that simultaneously minimise the cutting force and the time it takes to complete the machining process. The case study demonstrates proof-of-principle results that the optimisation software can be implemented in a wider process planning context with additional digital manufacturing simulation models.

关键词： Machining Process Planning Multi-Objective Optimisation

来源：评论

学校读者我要写书评

暂无评论

Real-Time Object Detection and Robotic Manipulation for Agriculture Using a YOLO-Based Learning Approach 25

Real-Time Object Detection and Robotic Manipulation for Agri...

引用

25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Zhao, Hongyu Tang, Zezhi Li, Zhenhong Dong, Yi Si, Yuancheng Lu, Mingyang Panoutsos, George Imperial College The Department Of Physics London United Kingdom University Of Sheffield The Department Of Automatic Control And Systems Engineering SheffieldS1 3JD United Kingdom University Of Manchester The Department Of Electrical And Electronic Engineering Manchester United Kingdom University Of Southampton The Department Of Electronics And Computer Science Southampton United Kingdom Fudan University The Department Of Economics Shanghai200433 China AmesIA50011 United States

ISBN: (纸本)9798350340266

The optimization of crop harvesting processes for commonly cultivated crops is of great importance in the aim of agricultural industrialization. Nowadays, the utilization of machine vision has enabled the automated identification of crops, leading to the enhancement of harvesting efficiency, but challenges still exist. This study presents a new framework that combines two separate architectures of Convolutional Neural Networks (CNNs) in order to simultaneously accomplish the tasks of crop detection and harvesting (robotic manipulation) inside a simulated environment. Crop images in the simulated environment are subjected to random rotations, cropping, brightness, and contrast adjustments to create augmented images for dataset generation. The You Only Look Once(YOLO) algorithmic framework is employed with traditional Rectangular Bounding Boxes (R-Bbox) for crop localization. The proposed method subsequently utilises the acquired image data via a visual geometry group model in order to reveal the grasping positions for the robotic manipulation. © 2024 IEEE.

关键词： Crops

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：