检索结果-内蒙古大学图书馆

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Ionut Sopon Denis-Ioan Plescan Adrian Burlacu Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

This paper focuses on developing a simulation platform that enhances Human-Robot Interaction through intuitive and safe interchanges between human operators and a UR5e robot by operating a Digital Twin via Mixed Reality. Using the ROS Noetic framework and Unity software for development, in conjunction with Microsoft HoloLens 2, this work presents a system based on Mixed Reality designed for collaborative robotic experiences. Moreover, a key innovation in this research is integrating a ZED camera for real-time human tracking, which enables the simultaneous simulation of humans and robots within a shared mixed environment. This advancement builds upon an existing digital twin of the robot. However, it also significantly enriches the system’s capabilities for ensuring safety and facilitating intuitive interactions, validating the implemented methodology through simulation and real-life experimental results. The paper examines the implications of this development in different industrial and research contexts. It highlights the growing significance of mixed-reality technologies in creating complex human-robot interaction systems that ensure safety and efficiency.

关键词： Technological innovation Service robots Robot vision systems Mixed reality Human-robot interaction Virtual reality Software Real-time systems Safety Digital twins

来源：评论

学校读者我要写书评

暂无评论

Image analysis algorithm for image based visual servoing of a robotic assembly line

UPB Scientific Bulletin, Series C: Electrical Engineering an...

引用

UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2021年第1期83卷 41-52页

作者： Cojocaru, Jan-Iliuță-Romeo Popescu, Dan Dept. of Automatic Control and Industrial Informatics University POLITEHNICA of Bucharest Romania

This paper proposes an image analysis algorithm for a robotic assembly line workflow. Using efficient Matlab® routines, we devise a standalone application implemented as a computing server for the visual servoing of the robotic assembly line. The computing server is running on a PC and communicates with a Modbus server integrated on the assembly line PLC. On primary detection routine of the proposed algorithm is obtained 100% detection rate at approximately 14 FPS. Moreover, the computing server is an open system and can be easily advanced to new image analysis features, thus answering to new assembly line iterations. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Image analysis

来源：评论

学校读者我要写书评

暂无评论

Scalable ecosystem dedicated to digitalization of citizen-administration interaction

UPB Scientific Bulletin, Series C: Electrical Engineering an...

引用

UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2021年第3期83卷 59-72页

作者： Popa, Ana Maria Mocanu, Ştefan Dept. of Automatic Control and Industrial Informatics University POLITEHNICA of Bucharest Romania

Citizens in today's society have different needs and requirements in relation to the administrative entities they must interact with. Digitalization is a modern concept that involves the use of ICT techniques to facilitate interactions in the online environment, reducing or even eliminating traditional documents based on paper and pen. To achieve this goal, huge challenges must be addressed in what concerns security, digital identity, networking and others. This paper presents a fully functional system, already in use by several territorial administrative units in relation to citizens. © 2021, Politechnica University of Bucharest. All rights reserved.

关键词： Public administration

来源：评论

学校读者我要写书评

暂无评论

Discrete Optimal Tracking Problem for Linear Systems with Variable Disturbances

Discrete Optimal Tracking Problem for Linear Systems with Va...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Corneliu Botan Florin Ostafi Dept. of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania

The paper deals with an optimal tracking problem in the presence of disturbances. A linear system in discrete time is considered. The paper presents a procedure with computational advantages. Step variant functions are used for approximation of the disturbance and reference variables. Simulation results are indicated.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A pose-free 2D-3D hybrid approach for visual servoing control systems

A pose-free 2D-3D hybrid approach for visual servoing contro...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Aura Ganciu Adrian Burlacu Radu-Laurenţiu Roşca Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Romania Iaşi Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

This work is set to design pose-free visual feedback control laws. Our contribution is linked to improving 3D pose-free visual servoing strategy using 2D predictions of visual features’ trajectories. Given a set rigid body characterized by a set of 3D point features, our proposed visual servoing strategy enhanced with predictive elements is based on computing the following sample time positions of the point features given the known camera velocity from the previous time moment. In this way, the architecture decides to discard the point feature before exiting the field of view. Thus, any unnecessary computations are removed, and the camera’s motion is ensured to be more natural. The simulation results emphasize the potential of the new visual control architecture.

关键词： Visualization Three-dimensional displays Heuristic algorithms Computer architecture Cameras control systems Visual servoing Robustness Vectors Trajectory

来源：评论

学校读者我要写书评

暂无评论

Cascaded Predictive Speed control and Load Torque Rejection of PMSM

Cascaded Predictive Speed Control and Load Torque Rejection ...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Madalin Costin Corneliu Lazar Dept. of Automatic Control and Applied Informatics "Gheorghe Asachi" Technical University of Iasi Iasi Romania Dept. of Automatic Control and Electrical Engineering "Dunarea de Jos" University of Galati Galati Romania

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

In this paper, a new cascade control structure is proposed for model predictive control (MPC) of permanent magnet synchronous machine (PMSM). Based on the d-q model of the PMSM and the field-oriented control principle, the cascade structure consists of an inner loop for predictive control of d-q currents and an outer one for predictive control of speed and load torque rejection. To independently control the two currents in the inner loop, a decoupling algorithm was used, followed by MPC controllers that by their ability to manipulate the constraints in the design phase ensure efficient control considering the physical limitations of currents and voltages. Quadratic constraints of electrical signals are approximated by box constraints to reduce computational effort. For speed control and load torque rejection, an MPC controller with a measurable disturbance input is used in the outer loop. Since the load torque is not measurable, an observer was used to estimate it. The proposed predictive control structure for the PMSM was implemented in Matlab-Simulink using MPC controllers from the MPC Toolbox. The Simulink control scheme was used for the performance testing against classical PI controllers.

关键词： Torque PI control Current measurement Velocity control Predictive models Observers Mathematical models Torque measurement Voltage control Predictive control

来源：评论

学校读者我要写书评

暂无评论

Solving Multimodal Problems Using Genetic Algorithms - A Case Study in Electromagnetics 11

Solving Multimodal Problems Using Genetic Algorithms - A Cas...

引用

11th International Conference on Electromechanical and Energy Systems, SIELMEN 2021

作者： Ferariu, Lavinia Petrescu, Camelia Technical University of Iai Dept. of Automatic Control and Applied Informatics Iai Romania

ISBN: (纸本)9781665400787

In multimodal optimization, it is important to obtain all the optima in a single run, for an insightful description of the potential design configurations. Genetic algorithms, as population-based approaches, are very suitable for this purpose. In this paper, the genetic algorithm is designed to work on subpopulations, which use special mechanisms for the insertion of offspring and immigrants. Mainly, the subpopulations are designed to allow speciation, each species being potentially formed around a global optimum. To this end, the insertion mechanism uses a combination of fitness-based and similarity-based insertion techniques, which can help both for preserving the exploration in diverse areas and for improving the accuracy of the solutions. A highly nonlinear problem is considered as a case study - that of finding the propagation constants of a planar dielectric microwave guide. The experimental investigations carried out for different waveguide setups show that using migration with similitude-based insertion of migrants helps achieve accurate locations of all optima, with reasonable computational costs. © 2021 IEEE.

关键词： Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Mixed Reality Framework for Eye-in-Hand Collaborative Robot-Human Interaction

Mixed Reality Framework for Eye-in-Hand Collaborative Robot-...

引用

International Conference on System Theory, control, and Computing (ICSTCC)

作者： Ionut Sopon Cristina Tincu Aura Ganciu Adrian Burlacu Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

In recent years, the manufacturing sector has undergone a significant transition from a paradigm of robotic autonomy to human-robot collaboration. This approach allows operators from different domains to rapidly adapt to a new way of working and reduces redundant learning costs, while also enabling intuitive robot control. To further enhance this paradigm, integrating Mixed Reality (MR) technology has emerged as a promising approach to creating and working in a virtual workspace while having a safe environment for training. This work develops a framework, based on digital twin representation, to integrate the MR with real-life equipment and humans. This allows for the control of a collaborative robot in an environment with objects or humans perceived by the eye-in-hand visual sensor. The efficiency of the proposed framework is emphasized by a comparison of Unity simulations versus the real-time behavior of the collaborative robot.

关键词：

来源：评论

学校读者我要写书评

暂无评论

BINARY PROGRAMMING MODELS FOR ENERGYEFFICIENT VIRTUAL MACHINES PLACEMENT IN DATA CENTERS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

引用

UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2024年第3期86卷 335-346页

作者： Radulescu, Delia Mihaela Radulescu, Delia Mihaela Radulescu, Marius Radulescu, Constanţa Zoie Lazaroiu, Gheorghe National Institute for Research and Development in Informatics Bucharest Romania Faculty of Power Engineering National University of Science and Technology POLITEHNICA Bucharest Romania Dept. Statistical Inference Statistical Control and Optimization Gheorghe Mihoc-Caius Iacob Institute of Mathematical Statistics and Applied Mathematics Romanian Academy Bucharest Romania Senior research worker National Institute for Research and Development in Informatics Bucharest Romania Prof. Dept. of Energy Production and Use National University of Science and Technology POLITEHNICA Bucharest Romania

The aim of the paper is to present two virtual machines (VMs) placement models that minimize energy consumption in a data center. Both placement models use binary programming. The first model aims to find an allocation of VMs to a set of servers such that the energy consumption is minimized. The second model suppose that an allocation of VMs to a set of servers is given. Its aim is to find another allocation of VMs to servers that minimize the sum of two energies. The first energy is the energy consumption of VMs in the new allocation and second energy is the energy needed for migration between the two allocations. © 2024, Politechnica University of Bucharest. All rights reserved.

关键词： allocation binary programming model data center energy consumption minimization servers virtual machines

来源：评论

学校读者我要写书评

暂无评论

Non-Invasive Device for Hearing Rehabilitation

Non-Invasive Device for Hearing Rehabilitation

引用

E-Health and Bioengineering Conference (EHB)

作者： Daniela Goldan Mihai Aron Teofil Ilie Ursache Gladiola Petroiu Cristian Rotariu Dept. of Biomedical Sciences Faculty of Medical Bioengineering Grigore T. Popa University of Medicine and Pharmacy of Iasi Iași Romania Dept. of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Gheorghe Asachi Technical University Iași Romania

ISBN: (数字)9798331532147

ISBN: (纸本)9798331532154

Hearing loss impacts over 5% of the world's population, a percent rising due to aging populations, noise exposure, and chronic health conditions. To address this, we developed a non-invasive hearing device designed for individuals with hearing challenges that limit the use of hearing aids. The proposed device integrates a set of Bluetooth headphones with a smartphone, that process the ambient sound in real time through a software application and delivers to the hear impaired patient via bone conduction, bypassing traditional auditory pathways. Laboratory tests confirmed that the proposed device effectively replicates auditory perception. The developed device offers an accessible and user-friendly alternative to patients who cannot use traditional hearing aids.

关键词： Irrigation Noise Auditory system Ear Receivers Hearing aids Propagation losses Real-time systems Software Testing

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：