2020 6th International Conference on Control, Automation and Robotics (ICCAR)最新文献_第2页

An Under-Actuated Hand Prosthesis with Finger Abduction and Adduction for Human Like Grasps 一种具有手指外展和内收的非驱动手假体

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107986

R. Abayasiri, R. S. T. Abayasiri, R. A. G. M. Gunawardhana, R. Premakumara, S. Mallikarachchi, R. Gopura, T. Lalitharatne, D. B. G. Madusanka

{"title":"An Under-Actuated Hand Prosthesis with Finger Abduction and Adduction for Human Like Grasps","authors":"R. Abayasiri, R. S. T. Abayasiri, R. A. G. M. Gunawardhana, R. Premakumara, S. Mallikarachchi, R. Gopura, T. Lalitharatne, D. B. G. Madusanka","doi":"10.1109/ICCAR49639.2020.9107986","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107986","url":null,"abstract":"Loss of a hand can severely limit the functions of Activities in Daily Living (ADL). Hand prostheses replace the missing hands and enable the lost hand functions. Dexterity of the hand prosthesis depends on the achievable finger motions by the hand prosthesis. However, the dexterity of a hand prosthesis is reduced due to the absence of the finger Abduction/ Adduction (Abd/ Add) motion. In this paper an active prosthetic hand is proposed with a novel mechanism for finger Abd/Add motion (except for the middle finger). The proposed under-actuated hand prosthesis has 15 Degrees of Freedom (DoF) designed to obtain flexion/ extension (F/E) motion for all five fingers, opposition/ reposition (Opp/Rep) of the thumb finger and compound Abd/ Add of four fingers. Furthermore, an EMG based prosthesis controller with Multilayer Perceptron Neural Network is used to control the proposed hand prosthesis. Experiments have been carried out to validate the effectiveness of the hand prosthesis in generating grasping patterns for ADL and to measure the effectiveness of the implemented prosthesis controller for different prosthesis users.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"40 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":"127461914","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

Dynamics Model and Design of SMCNN Controller for 4DOF Car Motion Simulator 四自由度汽车运动模拟器的动力学模型及SMCNN控制器设计

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107999

Ngoc Pham Van Bach, T. Duy, Khanh Bui Quoc, T. Trung

引用次数: 1

A Hardware Proof of Concept of Networked Adaptive Systems 网络自适应系统概念的硬件验证

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108075

Sriamoghvarsha B. Srinivasa, R. Makam, K. George

引用次数: 1

Increasing Accessibility of Electric Vehicles with Joystick Based Drive-By-Wire Model 使用基于操纵杆的线控模型增加电动汽车的可访问性

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107978

C. Sachin, S. Srihari, K. Prajeesh, Nikhil Prem, B. Sreevasudev, K. Bharath

引用次数: 3

The Improved Algorithm of Deep Q-learning Network Based on Eligibility Trace 基于资格跟踪的深度q -学习网络改进算法

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108040

Bingyan Liu, X. Ye, ChiFei Zhou, Yijing Liu, Qiyang Zhang, Fang Dong

{"title":"The Improved Algorithm of Deep Q-learning Network Based on Eligibility Trace","authors":"Bingyan Liu, X. Ye, ChiFei Zhou, Yijing Liu, Qiyang Zhang, Fang Dong","doi":"10.1109/ICCAR49639.2020.9108040","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108040","url":null,"abstract":"At present, Deep Q-learning Network has become an important research direction in reinforcement learning. However, in practical application, the Deep Q-learning Network always overestimates the action value under certain conditions and has a high cost. In this paper, a new improved algorithm is proposed. The new improved algorithm uses the behavioral qualification tracking of each state for experience playback, so as to find the samples we need to learn more effectively. The behavior eligibility trace is considered in the process of Max calculation, and the problem of overestimation is solved effectively. In the process of optimizer training, trace fading is considered to effectively improve the learning effect and accelerate the convergence of the algorithm. The simulation results of different algorithms applied to the inverted pendulum system show that the new algorithm has better convergence effect, lower cost and lower overestimation than the Natural Deep Q-learning Network. The experimental results show that the new algorithm plays an active role in deep reinforcement learning and has a bright future.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"6 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":"125271000","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: 2

Indoor Navigation of a Service Robot Platform Using Multiple Localization Techniques Using Sensor Fusion 基于传感器融合的多定位服务机器人平台室内导航

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108074

Ruchik Mishra, C. Vineel, A. Javed

{"title":"Indoor Navigation of a Service Robot Platform Using Multiple Localization Techniques Using Sensor Fusion","authors":"Ruchik Mishra, C. Vineel, A. Javed","doi":"10.1109/ICCAR49639.2020.9108074","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108074","url":null,"abstract":"The adversities of navigating in an unknown environment are challenging for autonomous robots as they not only rely on the quality of the sensor data but also on the type of environment. The errors can cumulatively result in a catastrophic failure of the purpose. This paper proposes a way for an autonomous agent to navigate in an indoor structured environment by minimizing the errors. A 2 DoF differential drive robot is developed and the map-building process is done wirelessly in the teleoperation mode using bluetooth. In the navigation mode, various approaches are tested for localizing such as the Extended Kalman Filter, Unscented Kalman Filter and a particle filter called the Adaptive Monte Carlo Localization which uses KLD (Kullback-Leibler Distance) as the sampling method. The designed navigation system is accurate and also time saving, thereby increasing the efficiency of the robotic system. All the implementation has been done using the Robotic Operating System because of the available packages that satisfy the technical aspects of the paper and further changes have been made in them to make them suitable for use in this scenario.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"163 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131435926","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 Optimization of Tree-type Robotic Systems Using Exponential Coordinates and Genetic Algorithms 基于指数坐标和遗传算法的树型机器人系统设计优化

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108071

J. Amar, K. Nagase

引用次数: 1

A Simpler Adaptive Neural Network Tracking Control of Robot Manipulators by Output Feedback 基于输出反馈的简单自适应神经网络机器人跟踪控制

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108064

Qiong Liu, S. Ge, Yan Li, Mingye Yang, Hao Xu, K. Tee

引用次数: 3

Fail-Safe Controller Architectures for Quadcopter with Motor Failures 电机故障四轴飞行器的故障安全控制器架构

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108038

Gene Patrick S. Rible, Nicolette Ann A. Arriola, M. Ramos

{"title":"Fail-Safe Controller Architectures for Quadcopter with Motor Failures","authors":"Gene Patrick S. Rible, Nicolette Ann A. Arriola, M. Ramos","doi":"10.1109/ICCAR49639.2020.9108038","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108038","url":null,"abstract":"A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained by a PID controller that is independent from the inner and outer controllers. A PID controller on propeller force deviations from equilibrium was augmented to the inner controller of the three-propeller architecture. Both architectures used LQR for the inner attitude controller and a damped second order outer controller that zeroes the error along the horizontal coordinates. The restrictiveness, stability, robustness, and symmetry of these architectures were investigated with respect to their output limits, initial conditions, and controller frequencies. Although the three-propeller architecture allows for distribution of propeller forces, the two-propeller architecture is more efficient, robust, and stable. The two-propeller architecture is also robust to model uncertainties. It was shown that higher yaw rate leads to greater stability when operating in fail-safe mode.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"7 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":"133613131","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: 4

Fractional-Order Fuzzy PID Contouring Control for a VCMs-Based X-Y Motion Stage 基于vcms的X-Y运动平台分数阶模糊PID轮廓控制

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108077

Syuan-Yi Chen, He Lin, Meng Yang, Zong-Yue Shen

{"title":"Fractional-Order Fuzzy PID Contouring Control for a VCMs-Based X-Y Motion Stage","authors":"Syuan-Yi Chen, He Lin, Meng Yang, Zong-Yue Shen","doi":"10.1109/ICCAR49639.2020.9108077","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108077","url":null,"abstract":"The object of this study is to develop a fractional-order fuzzy proportional-integral-derivative (FOFPID) control system for controlling the mover position of a voice coil motors (VCMs)-based x-y motion stage. First, the operating principle and dynamics of the VCMs-based x-y motion stage are analyzed. Then, a design of the fractional-order proportional-integral-derivative (FOPID) control system is introduced on the basis of the fractional calculus. With the additional degree of freedom to the control parameters, the FOPID controller can upgrade the contouring performance levels of the conventional proportional-integral-derivative (PID) controller in transient and steady-state responses with respect to the dynamic of the VCMs-based x-y motion stage. To further improve the control response of the FOPID controller, the FOFPID control system is thus designed by integrating a fuzzy logic controller. Finally, to evaluate and compare the contouring performances of the PID, FOPID, FOFPID control systems, two test conditions are provided which are the nominal condition and payload condition. Experimental results demonstrated that the developed FOFPID controller outperforms conventional PID and FOPID controllers with regard to the VCM-based x-y motion stage under both conditions. The good stability and smoothness against to the parameter variations of the FOFPID can also be observed clearly.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"148 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":"134139794","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