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Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering最新文献

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Design and Application of the Automatic Enteromorpha Cleaning Boat for Offshore 近海自动清水船的设计与应用
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598162
Chengchen Sun, Qi-Bin Sun, Yang Yu, Han Deng, Zhefan Zhang
{"title":"Design and Application of the Automatic Enteromorpha Cleaning Boat for Offshore","authors":"Chengchen Sun, Qi-Bin Sun, Yang Yu, Han Deng, Zhefan Zhang","doi":"10.1145/3598151.3598162","DOIUrl":"https://doi.org/10.1145/3598151.3598162","url":null,"abstract":"For the problems of high cost, low efficiency, and need of subsequent treatment in Enteromorpha manual salvage, a modular and target parameter-driven automatic Enteromorpha cleaning boat is proposed. The cleaning boat provides power through solar panels, the boat drive and Enteromorpha collection integration paddle wheel mechanism, using a combination of variable pitch and variable diameter spiral extrusion mechanism, in order to achieve the collection, extrusion, drying, storage of Enteromorpha unified cleaning function, solving the problem of Enteromorpha manual salvage with low efficiency, high cost and so on. The feasibility of the proposed device is subjected to experiments by Enteromorpha automatic cleaning boat for offshore as the object, combining its working conditions and technical requirements, using the methods of theoretical design and experimental research.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134285910","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
Design and Development of a Semi-physical Simulation for Supernumerary Robotic Limbs 机器人多余肢体半物理仿真的设计与开发
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598432
Ziyu Liao, Qianjian Zheng, Tianzuo Chang, Zhicong Zhang, Jiajun Xu, Bai Chen
{"title":"Design and Development of a Semi-physical Simulation for Supernumerary Robotic Limbs","authors":"Ziyu Liao, Qianjian Zheng, Tianzuo Chang, Zhicong Zhang, Jiajun Xu, Bai Chen","doi":"10.1145/3598151.3598432","DOIUrl":"https://doi.org/10.1145/3598151.3598432","url":null,"abstract":"In order to augment human operation ability, a new type of wearable robot is developed, called supernumerary robotic limbs(SRLs). The SRLs have additional robotic limbs that can replace the function of human natural limbs to cooperate with the wearer. This paper aims to develop a semi-physical simulation of SRLs to save costs in the research process. In this study, we developed and realized the physical prototype of SRLs which has a 4-DOFs robotic limb mounted on the waist, and a simulation platform is also developed for this SRLs. Moreover, in order to establish the relationship between the prototype and semi-physical simulation, this study constructed the limb-mapping control system of semi-physical simulation for the SRLs based on the kinematic model. Each joint of SRLs can achieve the one-one mapping relationship with the semi-physical simulation through the established forward and inverse kinematic model based on the screw theory. Meanwhile, this paper also constructed the limb-mapping control system of semi-physical simulation for the SRLs, it established the motion relationship with a robotic limb of SRLs and the human upper limb via the sensor measurement. Finally, we verified the feasibility of the simulation system via the experiments.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125908598","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
Workspace optimization of on-orbit assembly robotic system 在轨装配机器人系统的工作空间优化
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598167
Boyang Cheng, Qiangui Sun, Lingbin Zeng, Junchen Li, Yin Zhao, Xueping Hu, S. Xing
{"title":"Workspace optimization of on-orbit assembly robotic system","authors":"Boyang Cheng, Qiangui Sun, Lingbin Zeng, Junchen Li, Yin Zhao, Xueping Hu, S. Xing","doi":"10.1145/3598151.3598167","DOIUrl":"https://doi.org/10.1145/3598151.3598167","url":null,"abstract":"When large spacecraft structure on-orbit assembly, the robot needs to have high-precision operation, high rigidity maintenance and large-range movement requirements. Therefore, a 2SPS+RRPRR three-branched parallel robot was constructed. Through the movement platform of symmetry and job rotation, realized the high integration of the moving and positioning function. Then, the inverse solution of rotating end tools on dynamic and static platforms is studied, and the workspace is optimized. On this basis, the physical prototype of the 1.5m span robot was developed. The repeated positioning accuracy test and test were carried out on the six-degree-of-freedom gravity unloading test platform, and the peak-to-peak error of 0.93 mm was reached. The stepped assembly test of the module unit was further completed. Verified the feasibility of high-precision-high-rigidity-high-efficiency on-orbit assembly operations for large-scale spatial structures based on climbing symmetrical parallel robots, and can also provide high-precision and high-rigidity for on-orbit welding, forming and manufacturing activities Positioning and adjusting services.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127210267","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
Noise-label Suppressed Module for Speech Emotion Recognition 语音情感识别中的噪声标签抑制模块
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598176
Xingcan Liang, Linsen Xu, Zhipeng Liu, Xiang Sui, Jinfu Liu
{"title":"Noise-label Suppressed Module for Speech Emotion Recognition","authors":"Xingcan Liang, Linsen Xu, Zhipeng Liu, Xiang Sui, Jinfu Liu","doi":"10.1145/3598151.3598176","DOIUrl":"https://doi.org/10.1145/3598151.3598176","url":null,"abstract":"Speech emotion recognition (SER) has become an attractive topic owing to its broad range of applications. Segmentation is often used to increase training data for SER, but the inherited label may result in low performance. In this paper, we proposed a robust noise-label-suppressed module by relabeling the segment label to suppress the bad effects of the inherited label. Firstly, the segment of the log Mel spectrogram with deltas and delta-deltas of speech was calculated. Then, speech features were extracted by feature extraction model with 3-D data. Finally, the labels of each segment were corrected by the relabel model. Experimental results on the IEMOCAP dataset illustrate that our proposed noise-label suppressed module is superior to other advanced methods and gets robust performance.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"61 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116429104","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
Swing-up and Balance Control of Rotary Double Inverted Pendulum 旋转式双倒立摆的起摆与平衡控制
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598163
Fangchao Liang, Xin Xin, Yue Li
{"title":"Swing-up and Balance Control of Rotary Double Inverted Pendulum","authors":"Fangchao Liang, Xin Xin, Yue Li","doi":"10.1145/3598151.3598163","DOIUrl":"https://doi.org/10.1145/3598151.3598163","url":null,"abstract":"In this paper, we study the swing-up and balance control for the rotary double inverted pendulum (RDIP) system. In the swing-up phase, we design an energy-based swing-up control for the RDIP system and discuss the convergence of energy. By using the LaSalle’s invariance principle and some properties of the RDIP system, we prove that its total mechanical energy will converge to that at the upright equilibrium point (UEP) and the rotary arm will approach a desired position with zero angular velocity, or the system will remain at one of the up–down, down–up, and down–down equilibrium points. Moreover, we prove that these three equilibrium points are unstable. In balance control, with the aid of the properties of the mechanical parameters of the double pendulum, we prove that the system is linearly controllable at the UEP without any assumption on the mechanical parameters, which allows us to design a linear state feedback controller to balance the system around the UEP. The simulation results demonstrate the effectiveness of the proposed controller.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115950611","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
Robotic motion planning with obstacle avoidance based on hierarchical deep reinforcement learning 基于层次深度强化学习的机器人避障运动规划
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598170
Guoquan Zhao, Fen Ying, Zuowei Pang, Huashan Liu
{"title":"Robotic motion planning with obstacle avoidance based on hierarchical deep reinforcement learning","authors":"Guoquan Zhao, Fen Ying, Zuowei Pang, Huashan Liu","doi":"10.1145/3598151.3598170","DOIUrl":"https://doi.org/10.1145/3598151.3598170","url":null,"abstract":"When the task environment becomes complex, deep reinforcement learning (DRL) is easy to encounter the problems of gradient disappearance or explosion. To solve this problem, this paper proposes a hierarchical DRL framework consisting of task and action layers. The task layer learns interpretable representations of tasks and decision processes, and drives the action layer. The action layer learns to collaboratively accomplish complex tasks in different roles. The DRL algorithm based on this framework is tested on a redundant degree of freedom robot in obstacle avoidance motion planning tasks, and comparative experimental results prove the effectiveness and feasibility of the proposed method.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132505099","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
Path Planning Based on Electronic Navigational Charts for USV 基于电子海图的无人潜航器路径规划
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598159
Zihao Wang, Yang Liu, Wei Li, Qiang Huang
{"title":"Path Planning Based on Electronic Navigational Charts for USV","authors":"Zihao Wang, Yang Liu, Wei Li, Qiang Huang","doi":"10.1145/3598151.3598159","DOIUrl":"https://doi.org/10.1145/3598151.3598159","url":null,"abstract":"The path planning technology is the foundation of Unmanned Surface Vehicle(USV), and is the key to ensure the safety, efficiency and reliability of USV . This paper studies the global path planning technology of USV using the improved A* algorithm. The motion model of the USV is built and simplified under the some feasible assumptions. Then Based on two-dimensional electronic navigational charts and through the feasibility analysis of elements on the ENC.We use Photoshop software for electronic navigational charts classification, and use Matlab coding grid ENC environment model. Then using the improved A* algorithm to plan the optimal path, and evaluating and optimizing the planned path, finally reseting into the Electronic Navigational Chart. According to these steps, this paper realizes the Unmanned Surface Vehicle global path planning. The simulation results prove the effectiveness of A* algorithm for path planning to avoid the obstacle of USV.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129936729","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
Assistive standing seat based on reinforcement learning 基于强化学习的站立辅助座椅
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598165
Renyu Tian, Weizhen Sun
{"title":"Assistive standing seat based on reinforcement learning","authors":"Renyu Tian, Weizhen Sun","doi":"10.1145/3598151.3598165","DOIUrl":"https://doi.org/10.1145/3598151.3598165","url":null,"abstract":"Sit-to-Stand (STS) is a key factor affecting the independent living of the elderly. Many older adults who can walk independently have to rely on the help of others because of the lack of independent STS ability. The Robot Assisted Standing Seat (RASS) can assist patients with tasks such as autonomous standing and post-operative rehabilitation. Under human biomechanics, RASS finds a compromise between task endpoint accuracy, body balance, energy consumption, and smoothness of motion and control. However, this method based on mathematical modeling requires more work to design a satisfactory control system. In addition, the specificity of the physical function of the elderly leads to great differences in their satisfaction with the RASS work process. This has aroused people's research on customized RASS to meet the needs of different users. To introduce user satisfaction into RASS, this paper proposes a deep reinforcement learning-based RASS. The proposed method takes the user's satisfaction as the reward function of the RL agent and trains a more reasonable control strategy according to the user's habits through online training. In this paper, we preliminarily verified the effectiveness of this idea in a simulation environment.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125685446","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
Longitudinal Control of Vehicle Platoon Based on Sliding Mode Algorithm 基于滑模算法的车辆队列纵向控制
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598184
Haisen Zhang, Huan Zhang, Changshun Wang
{"title":"Longitudinal Control of Vehicle Platoon Based on Sliding Mode Algorithm","authors":"Haisen Zhang, Huan Zhang, Changshun Wang","doi":"10.1145/3598151.3598184","DOIUrl":"https://doi.org/10.1145/3598151.3598184","url":null,"abstract":"The coordinate control problem of vehicle platoon is studied with the sliding mode control (SMC) method in this paper. Starting from the inter-vehicle safety distance, a longitudinal controller for vehicle platoon is developed to improve the stability by incorporating information on the positions, inter-vehicle distance, speed, and acceleration of the current and preceding vehicles. The effectiveness of the proposed controller is verified through joint simulation with Carsim and MATLAB/Simulink. Simulation results demonstrate that the problem of excessively large safety distance is resolved and the stability of vehicle platooning system is also improved with the proposed controller.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121590109","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
Visual Servoing Control Method of 3D Robot Based on 3D Point Cloud Processing 基于三维点云处理的三维机器人视觉伺服控制方法
Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598186
Wenxuan Wang, Xiaobin Xu, Zi-chen Chen, Zhiqiang Zhang, Haojie Zhang, Zhiying Tan
{"title":"Visual Servoing Control Method of 3D Robot Based on 3D Point Cloud Processing","authors":"Wenxuan Wang, Xiaobin Xu, Zi-chen Chen, Zhiqiang Zhang, Haojie Zhang, Zhiying Tan","doi":"10.1145/3598151.3598186","DOIUrl":"https://doi.org/10.1145/3598151.3598186","url":null,"abstract":"A visual servoing control method based on depth point cloud is proposed to solve the problem of pose adjustment before obstacle surmounting of a rocker arm tracked robot. By pre-processing the acquired point cloud, a positional error model is created. Combined with the robot kinematics model, the adaptive control law is designed based on Lyapunov method, and the stability of the control algorithm is proved. Simulation results show that, compared with PID control and sliding mode control algorithm, the proposed control algorithm has faster convergence speed and smoother trajectory. The robot can reach the desired pose efficiently in 13. 5s in actual testing.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121788986","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
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