2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)最新文献_第2页

Agile and Autonomous Production Control for Remanufacturing 面向再制造的敏捷与自主生产控制

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646213

S. Groß, W. Gerke, P. Plapper, M. Vette-Steinkamp

引用次数: 0

A Preliminary Study of Soft Material Robotic Modelling: Finite Element Method and Cosserat Rod Model 软材料机器人建模的初步研究:有限元法和Cosserat棒模型

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646194

Rebecca Berthold, Max Bartholdt, M. Wiese, S. Kahms, Svenja Spindeldreier, A. Raatz

{"title":"A Preliminary Study of Soft Material Robotic Modelling: Finite Element Method and Cosserat Rod Model","authors":"Rebecca Berthold, Max Bartholdt, M. Wiese, S. Kahms, Svenja Spindeldreier, A. Raatz","doi":"10.1109/ICCMA54375.2021.9646194","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646194","url":null,"abstract":"Soft material robotic systems are a rather new but a promising field of research. Compared to their rigid counterparts, soft material robots show great advantages when operating in unknown environments or handling objects with unknown geometry or irregular topology. To make use of the advantages of soft material robotic systems, it essential to find a proper methodology for modelling and analyze these regarding control strategies and model-based control. Unlike rigid robots, soft material robotic systems can show highly nonlinear material behavior and undergo large deformation. Capturing nonlinearities in a time efficient model is a challenge that will be addressed in this paper in a preliminary comparison of two modelling approaches as well as in a first naïve approximation attempt of nonlinear force-displacement relationship. In the following we will show how to finite element modelling may be utilized for the identification of parameter used in a Cosserat rod model using the example of a soft pneumatic actuator (SPA).","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126430383","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Vision-Based Flexible and Precise Automated Assembly with 3D Point Clouds 基于视觉的灵活和精确的自动化装配与3D点云

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646215

Wen-Chung Chang, Yu-Kai Lin, Van-Toan Pham

{"title":"Vision-Based Flexible and Precise Automated Assembly with 3D Point Clouds","authors":"Wen-Chung Chang, Yu-Kai Lin, Van-Toan Pham","doi":"10.1109/ICCMA54375.2021.9646215","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646215","url":null,"abstract":"Cartesian-based visual servoing with finite-time control employing deep-learning-based partial point cloud registration for automated robotic picking and assembly is proposed in this paper. A partial point cloud registration architecture including deep-learning-based and Iterative Closest Point (ICP) algorithm for rough and precise registration is developed to resolve the time-consuming matching problem. Specifically, the deep-learning-based algorithm employs a descriptor to downsample and extract rough corresponding points that works as input to convolutional neural networks to estimate transformation between two point clouds. Then, ICP approach is applied to refine the alignment between them. For visual servoing, two kinds of controllers including Cartesian-based visual servoing and finite-time visual servo control are developed to drive the end-effector of the manipulator to reach desired pose for robotic picking and assembly. In addition, a pure force controller is also synthesized and implemented to resolve robotic insertion based on force/torque sensing to improve flexibility in handling automated robotic manufacturing in the proposed system. Finally, the performance of the proposed approaches has been verified by experiments with an industrial manipulator in velocity servo mode. Based on the analysis and experimental results in this paper, it appears to have demonstrated potential contributions and industrial applications in intelligent and flexible robotics manufacturing based on deep learning.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129617652","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

A Rapid Accuracy Compensation Method for Modular Reconfigurable Robot after Reconfiguration 模块化可重构机器人重构后的快速精度补偿方法

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646196

Qi Huang, Wenbin Gao, Ruiqing Luo, Xiaoliu Yu

引用次数: 0

Real-time 3D Semantic Mapping based on Keyframes and Octomap for Autonomous Cobot 基于关键帧和八元图的自主协作机器人实时三维语义映射

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646203

Ahmadreza Gharehbagh, Raja Judeh, Jude Ng, C. Reventlow, F. Röhrbein

{"title":"Real-time 3D Semantic Mapping based on Keyframes and Octomap for Autonomous Cobot","authors":"Ahmadreza Gharehbagh, Raja Judeh, Jude Ng, C. Reventlow, F. Röhrbein","doi":"10.1109/ICCMA54375.2021.9646203","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646203","url":null,"abstract":"This paper presents an approach to develop a semantic mapping framework based on RTABMap as a SLAM algorithm and Octomap as the data structure to represent the 3D map of indoor environments. The reason behind choosing Octomap as the main visual representation comes from its ability to deal with environments where the objects are dynamic while providing enough details of the environment in case of teleoperation. Adding semantics to Octomap does not only allow autonomous navigation, but could also be used as an assisting tool for the tele-operator for safer navigation. In this framework, the semantics are integrated inside the Octomap using Bayesian fusion and the integrated confidence of the semantic class of each voxel is stored inside the voxel itself. This allows us to take the uncertainty of the semantic object generator in consideration when classifying the voxels of the Octomap, hence this framework can also be used in grasping and manipulation scenarios where the semantics of the scene are not taken for granted and a confidence measure is used before a decision is taken.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123452008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle 自稳定单轨车辆垂直动力学建模

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646219

M. Griese, Seyed Davood Mousavi, T. Schulte

{"title":"Modeling the Vertical Dynamics of a Self-stabilizing Monorail Vehicle","authors":"M. Griese, Seyed Davood Mousavi, T. Schulte","doi":"10.1109/ICCMA54375.2021.9646219","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646219","url":null,"abstract":"Currently, numerous single-track railway lines are disused due to economic reasons. However, they could be reactivated for a bidirectional on-demand service traffic by small vehicles that use only one rail. MonoCabs are such small cabin-like vehicles, stabilized by a system of control moment gyroscopes and a moveable mass. They could make an important contribution to improve the mobility offer especially in rural areas. This paper focuses on the analytical modeling and vertical stabilization system of the MonoCab. A nonlinear dynamic model is obtained using the Lagrangian method and subsequently linearized about its equilibrium point. Which is used for the design of the cascade control system. The dynamic analysis of the system is accomplished by comparing between analytically derived model in simulink environment and same structured model in simscape multibody. This system is discussed based on a physical three body model which describes the rolling motion of the vehicle, the lateral motion of the mass and the precession motion of the gyroscope. The model is utilized for a cascaded control concept adjusting the vehicle’s roll angle and gyroscope’s precession angle. The proposed stabilization concept is capable of compensating both high dynamic disturbances and stationary disturbances (e. g. unbalanced loads and steady wind flows). The concept is analyzed by simulations and experimental investigations. Beside transient command responses also the frequency response of the system is experimentally evaluated and used for a validation of the model and theoretical findings. For the experimental validation, a small scaled test rig is used which consists of mechanical frames and flywheels, inverter-fed drives, rotary encoders, an inertial measurement unit (IMU) and a rapid control prototyping system.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127466994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

OpenModelica OPC UA framework for control applications 用于控制应用程序的OPC UA框架

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646198

Sudhakar Kumar, Rahul Paknikar, Nikhil Sharma, K. Moudgalya

引用次数: 1

ANFIS Identification applied to a reservoir level liquid system 应用ANFIS识别油藏液位液体系统

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646226

Felipe J. S. Vasconcelos, G. Leite, Guilherme B. F. Neto, W. Correia, V. Aguiar, D. A. Paiva

{"title":"ANFIS Identification applied to a reservoir level liquid system","authors":"Felipe J. S. Vasconcelos, G. Leite, Guilherme B. F. Neto, W. Correia, V. Aguiar, D. A. Paiva","doi":"10.1109/ICCMA54375.2021.9646226","DOIUrl":"https://doi.org/10.1109/ICCMA54375.2021.9646226","url":null,"abstract":"This work applies a methodology for identification of a double tank system with conic shape by using an Adaptive-network-based fuzzy inference system (ANFIS). Considering that the cross section of the tank is no longer constant, it rather changes with the height of the liquid, a nonlinear modelling method becomes more suitable. A comparison is made with the phenomenological model, which shows that such approach does not show appropriate adherence to the data collected from the system, even for the nonlinear model obtained from geometry. ANFIS on the other hand, presents a considerable improved fitness as it captures far more modes of the system, being tested for five different regression vector structures and for three evaluation criteria, namely root mean square error (RMSE), the adjusted determination coefficient $R^{2}_{a, j}$ and Akaike Information Criterion (AIC). A trade off between complexity and fitness was used to choose the ANFIS model 3 with ${RMSE}=0.0702, R^{2}_{aj} quad =0.7135$ and ${AIC}=2147.2974$ for the validation collected data. The findings show the effectiveness of the presented methodology herein.","PeriodicalId":263970,"journal":{"name":"2021 9th International Conference on Control, Mechatronics and Automation (ICCMA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128621515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Command Shaping with Feedback Loop for Morphing Wings Control 带反馈回路的变形翼控制命令整形

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646199

P. Beneš, A. Balon, M. Hromčík, Z. Šika

引用次数: 0

Dexterity Optimization for Tensegrity Structures Using Local Linear Model Trees 基于局部线性模型树的张拉整体结构灵巧性优化

2021 9th International Conference on Control, Mechatronics and Automation (ICCMA) Pub Date : 2021-11-11 DOI: 10.1109/ICCMA54375.2021.9646225

J. Zavřel, M. Jílek, Z. Šika, P. Beneš

引用次数: 1