2023 8th International Conference on Control and Robotics Engineering (ICCRE)最新文献_第4页

Performance Evaluation of an Adaptive Sigmoid Friction Compensation for Pneumatic Trajectory 气动轨迹自适应s型摩擦补偿性能评价

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155570

K. N. Kamaludin, L. Abdullah, S. Salim, Z. Jamaludin, T. H. Chiew, M. N. Kamarudin, M. Aras, M. F. Rahmat

{"title":"Performance Evaluation of an Adaptive Sigmoid Friction Compensation for Pneumatic Trajectory","authors":"K. N. Kamaludin, L. Abdullah, S. Salim, Z. Jamaludin, T. H. Chiew, M. N. Kamarudin, M. Aras, M. F. Rahmat","doi":"10.1109/ICCRE57112.2023.10155570","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155570","url":null,"abstract":"Trajectory tracking is a challenging task in pneumatics due to the classification of the actuator as a nonlinear system. In addition to the said factor, nonlinear disturbances occur within the system, such as valve-dead zone, air compressibility, air density, internal valve and actuator friction. Actuators' internal friction is one of the most critical disturbances. For a near-zero velocity motion of an actuator, many scholars have designed and improved dynamic friction models for modeling and friction compensation. However, compensation using the dynamic model is complex and computationally exhaustive in real-time. Owing to this factor, a modified adaptive friction estimator and compensator are presented in this research. The adaptive sigmoid friction (FASF) function is designed to compensate both the pre-sliding and sliding regimes of the friction force. The function is coupled with a nonlinear hyperbolic PID (NPID+FASF) controller. The performance of the compensator was evaluated based on maximum tracking error (MTE), root mean square error (RMSE) and fast Fourier transform (FFT) error. The proposed NPID+FASF is observed to reduce all errors strategically. The improvement of MTE to the basic PID is up to 45.75%, RMSE of 27.88% and FFTE of 38.91%. To further improve the trajectory tracking performance, a ‘tracking differentiator’ has been proven to increase the performance of trajectory tracking and precise positioning.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121834455","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

Simulation System of Underwater Manipulator Based on Gazebo 基于Gazebo的水下机械臂仿真系统

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155577

Ping Deng, Pu Zhang, Zheng Gong, Le Li

引用次数: 0

High-Value Fruit Biometric Identification via Triplet-Loss Technique 基于三重损失技术的高价值水果生物特征鉴定

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155611

Plaifah Laimek, W. Kongprawechnon, T. Phatrapornnant, T. Isshiki

{"title":"High-Value Fruit Biometric Identification via Triplet-Loss Technique","authors":"Plaifah Laimek, W. Kongprawechnon, T. Phatrapornnant, T. Isshiki","doi":"10.1109/ICCRE57112.2023.10155611","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155611","url":null,"abstract":"High-valued products require an authentication method to provide the customers with a way to verify the product's genuineness. As the product's authenticity dramatically increases its value, the authentication method has to be reliable and secure. High-valued melon, a popular gift in Japan, is a suitable product for applying rind pattern identification, providing a new means of authenticity verification. As opposed to using only QR-code or RF-ID tags, implementing a rind pattern recognition can provide a more secure authentication method, improving customers' trust and further increasing the product value. A previous study on melon identification was done using a well-known method of fingerprint recognition known as minutiae feature extraction on the melon rind pattern. The study has shown accurate results in the controlled image acquisition environment. In this work, a method of melon identity matching is introduced by incorporating triplet loss function on a convolutional neural network, providing a system that can reliably match each melon image even with variating lighting, shadows, and angle.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128988937","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

Industrial Modeling Design of Lower Limb Rehabilitation Robot System Based on AHP and Fuzzy Evaluation 基于AHP和模糊评价的下肢康复机器人系统工业建模设计

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155603

Yuyu Shu, Yan Xing

{"title":"Industrial Modeling Design of Lower Limb Rehabilitation Robot System Based on AHP and Fuzzy Evaluation","authors":"Yuyu Shu, Yan Xing","doi":"10.1109/ICCRE57112.2023.10155603","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155603","url":null,"abstract":"The lower limb rehabilitation robot emphasizes user experience more and more while restoring part of the patient's limb functions. Therefore, the main content of this paper is to make the lower limb rehabilitation robot more efficient, automated and human body coordinated. The purpose is to form a complete rehabilitation training, and the constructed system industrial modeling is more in line with the needs of ergonomics. This paper establishes a user model corresponding to the product. In this paper, the lower limb rehabilitation robot is divided into four parts: a cart, a robotic arm, a connecting end, and a rehabilitation device. We studied the usability features, shape, and CMF design elements of the four components. At the same time, for the four components of the lower limb rehabilitation robot, a specific design element requirements framework has been established. We use the method of combining AHP and fuzzy evaluation to redesign the original scheme, and evaluate the improved scheme and the original scheme. The improved scheme is more suitable for matching in size, more reliable, and more ergonomic in appearance.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132145827","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

An EMG-Based Teleoperation System with Small Hand Based on a Dual-Arm Task Model 基于肌电图的小手遥操作系统的双臂任务模型

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155584

T. Shibanoki, Kosuke Jin, Masaki Maeda

引用次数: 0

DLVS: Time Series Architecture for Image-Based Visual Servoing 基于图像的视觉伺服的时间序列体系结构

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155585

Nilesh Aggarwal, Anunay, Vayam Jain, Tushar Singh, D. Vishwakarma

{"title":"DLVS: Time Series Architecture for Image-Based Visual Servoing","authors":"Nilesh Aggarwal, Anunay, Vayam Jain, Tushar Singh, D. Vishwakarma","doi":"10.1109/ICCRE57112.2023.10155585","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155585","url":null,"abstract":"A novel deep learning-based visual servoing architecture “DLVS” is proposed for control of an unmanned aerial vehicle (UAV) capable of quasi-stationary flight with a camera mounted under the vehicle to track a target consisting of a finite set of stationary points lying in a plane. Current Deep Learning and Reinforcement Learning (RL) based end-to-end servoing approaches rely on training convolutional neural networks using color images with known camera poses to learn the visual features in the environment suitable for servoing tasks. This approach limits the application of the network to available environments where the dataset was collected. Moreover, we cannot deploy such networks on the low-power computers present onboard the UAV. The proposed solution employs a time series architecture to learn temporal data from sequential values to output the control cues to the flight controller. The low computational complexity and flexibility of the DLVS architecture ensure real-time onboard tracking for virtually any target. The algorithm was thoroughly validated in real-life environments and outperformed the current state-of-the-art in terms of time efficiency and accuracy.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129523775","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

Better Multi-step Time Series Prediction Using Sparse and Deep Echo State Network 基于稀疏和深度回波状态网络的多步时间序列预测

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155604

Kristsana Seepanomwan

引用次数: 0

Design and Fabrication of a Quadruped Zoomorphic Robot and Its Mathematical Model Using Denavit-Hartenberg Algorithm 四足仿兽机器人的设计与制造及其基于Denavit-Hartenberg算法的数学模型

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155594

Abelardo José Banegas Dubón, Alexandro Jaffet Cribas Ramos, J. L. Ordoñez-Ávila

{"title":"Design and Fabrication of a Quadruped Zoomorphic Robot and Its Mathematical Model Using Denavit-Hartenberg Algorithm","authors":"Abelardo José Banegas Dubón, Alexandro Jaffet Cribas Ramos, J. L. Ordoñez-Ávila","doi":"10.1109/ICCRE57112.2023.10155594","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155594","url":null,"abstract":"Thanks to advances in technology, robotics has been able to effectively replace human beings in dangerous situations and tasks such as exploration, search and rescue and cleaning of hazardous environments. One of the types of robots use to replace human beings in these situations are zoomorphic robots. Therefore, this investigation has the objective of designing and fabricating a quadruped zoomorphic robot with 8 DOF that allows remote control and monitoring through an IOT interface and a mathematical model that describes its kinematics. For the design of this robot, the Hierarchical methodology is proposed, which allows the description of the different disciplines involve in the design. The concept was designed and tested in SolidWorks Motion and Simulation. As a main result, equations are developed to correct the position of the center of mass and prevent the robot from losing balance. It was concluded that the movement pattern that offers the most stability to a quadruped robot is moving one limb at a time in a diagonally-crossed manner.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128406332","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

Task Segmentation Based on Transition State Clustering for Surgical Robot Assistance 基于过渡状态聚类的手术机器人辅助任务分割

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155581

Yutaro Yamada, Jacinto Colan, Ana Davila, Y. Hasegawa

引用次数: 1

Pattern Recognition of Partial Discharge Faults Using Convolutional Neural Network (CNN) 基于卷积神经网络的局部放电故障模式识别

2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155616

Jakrin Butdee, W. Kongprawechnon, Hiroki Nakahara, N. Chayopitak, Cherdsak Kingkan, R. Pupadubsin

引用次数: 0