2020 6th International Conference on Control, Automation and Robotics (ICCAR)最新文献

A New Method to Reduce Energy in Trajectory Planning 一种新的轨迹规划节能方法

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107988

Jiajing Wei, M. Jin, Yechao Liu

{"title":"A New Method to Reduce Energy in Trajectory Planning","authors":"Jiajing Wei, M. Jin, Yechao Liu","doi":"10.1109/ICCAR49639.2020.9107988","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107988","url":null,"abstract":"A new method to reduce energy in trajectory planning will be proposed in this paper, and it is found that it can significantly reduce the energy. The method is to smooth the planned trajectory with a well-designed low-pass filter. The low-pass filter has the ability to block high frequencies and pass the low frequencies, so it can smooth waveforms and form a chamfer-like effect at the mutation. Besides this advantages, it is found that after using a low-pass filter to handle the Cartesian trajectory, the sampling points will be denser at the beginning and end of the Cartesian space trajectory than the original trace. This change can ensure the joint angle velocity smoothly change from zero to zero, which means the trajectory will be run in a smooth state without step or shake. Using the dynamics can calculate the joint torque, then multiply the joint torque with the joint angle velocity to get the joint power. And at last, the energy consumption of every joint can be gotten by integrating the joint power. As it is concluded from the simulation result, smooth the trajectory with a well-designed low-pass filter can protect the motor and reducer and extend the life of the manipulators, and every joint energy consumption can be greatly reduced. And the reduction of energy consumption is related to the shape of the original trajectory and the cut-off frequency of the low-pass filter.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115708179","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

Tracking Control for the Geomagnetic Field Chaotic Model 地磁场混沌模型的跟踪控制

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108062

Pengyu Hou, Xiaoshan Zhao, Yongfeng Guo, Tao Xu, Ya Lu, Xiang Li

引用次数: 0

Safety vs. Efficiency: AI-Based Risk Mitigation in Collaborative Robotics 安全与效率:协作机器人中基于人工智能的风险缓解

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108037

Ahmad Terra, Hassam Riaz, K. Raizer, A. Hata, R. Inam

{"title":"Safety vs. Efficiency: AI-Based Risk Mitigation in Collaborative Robotics","authors":"Ahmad Terra, Hassam Riaz, K. Raizer, A. Hata, R. Inam","doi":"10.1109/ICCAR49639.2020.9108037","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108037","url":null,"abstract":"The use of AI-based risk mitigation is increasing to provide safety in the areas of smart manufacturing, automated logistics etc, where the human-robot collaboration operations are in use. This paper presents our work on implementation of fuzzy logic system (FLS) and reinforcement learning (RL) to build risk mitigation modules for human-robot collaboration scenarios. Risk mitigation using FLS strategy is developed by manually defining the linguistic values, tuning the membership functions and generating the rules based on ISO/TS15066:2016. RL-based risk mitigation modules are developed using three different Qnetworks to estimate the Q-value function. Our purpose is twofold: to perform a comparative analysis of FLS and RL in terms of safety perspectives and further to evaluate the efficiency to accomplish the task. Our results present that all the proposed risk mitigation strategies improve the safety aspect by up to 26% as compared to a default setup where the robot is just relying on a navigation module without risk mitigation. The efficiency of using FLS model is maintained to the default setup, while the efficiency of using RL model is reduced by 26% from the default setup. We also compare the computation performance of risk mitigation between centralized and edge execution where the edge execution is 27.5 times faster than the centralized one.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"9 16","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120810144","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: 7

Design of a Biped Water Supply Robot Based on Single Chip Microcomputer 基于单片机的两足供水机器人设计

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108068

Tianhui Li, Chengliang Zhang, Jiguang Wang, Chunzhao Zhao, Jun Zhou

引用次数: 0

Analytical Optimal Control Allocation with Time-varying Secondary Objectives 具有时变次级目标的解析最优控制分配

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108002

M. Schwartz, Florian Mittelviefhaus, S. Hohmann

引用次数: 4

Study of a Predator-Prey Model with Holling Type IV Functional Response 具有Holling IV型功能反应的捕食者-猎物模型研究

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108023

Jie Yu, Fuqin Sun, Yuyuan Chao

引用次数: 1

The Bioloid GP Robot with Different Configurations for Simulation in V-REP Controlled by the Robot Operating System (ROS) 机器人操作系统(ROS)控制下不同构型的仿生GP机器人V-REP仿真

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107987

Francisco Yumbla, Emiliano Quiñones Yumbla, H. Moon

引用次数: 3

Robust Position and Velocity Tracking Control of a Four-wheel Drive and Four-wheel Steered Electric Vehicle 四轮驱动和四轮转向电动汽车的鲁棒位置和速度跟踪控制

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108078

M. Schwartz, Thomas Rudolf, S. Hohmann

{"title":"Robust Position and Velocity Tracking Control of a Four-wheel Drive and Four-wheel Steered Electric Vehicle","authors":"M. Schwartz, Thomas Rudolf, S. Hohmann","doi":"10.1109/ICCAR49639.2020.9108078","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108078","url":null,"abstract":"The scope of this paper is the design and evaluation of a robust position and velocity tracking control of a four-wheel drive and four-wheel steered electric vehicle (4WD4WS EV). In an autonomous setup, an $mathcal{H}_{infty}$-controller based on the normalized coprime factor synthesis followed by a flat velocity control with an asymptotic stable tracking error is designed. Optimized force control allocation (CA) is supported by state of the art methods enhanced with the Redistributed Pseudoinverse (RPI) algorithm leading to a robust force distribution in case of actuator failure. The presented methods are applied to a continuous maneuver sequence covering parking as well as the double lane change and the weave test. Realistic and nonlinear disturbances on the steering and drive are considered. Therefore, a high gain observer coupled with SISO-control for each wheel supplements the cascaded control architecture. The results, considering measurement noise of the considered sensors, are discussed. For the given context, such a comprehensive controller structure has not been proposed or studied sufficiently.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133056658","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

Heuristic Kinematics of a Redundant Robot-Positioner System for Additive Manufacturing 增材制造冗余机器人定位系统的启发式运动学

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108047

Peng Xu, X. Yao, Lequn Chen, Kui Liu, G. Bi

引用次数: 2

Fractional Order Oscillator Using OTAs 利用ota的分数阶振荡器

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108095

Vikramjeet Singh, Pragati Kumar

引用次数: 0