2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)最新文献_第3页

Laser Active Alignment Algorithm based on Spot Features and Curve Fitting 基于光斑特征和曲线拟合的激光主动对准算法

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208536

Fuchun Liu, Zeyong Liu, Xiangyang Li, Dong Jiang

引用次数: 0

Auxiliary Decision-Making Strategy for Physical Quadrotor by Actively Interacting with Virtual System 物理四旋翼飞行器与虚拟系统主动交互的辅助决策策略

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208327

Yuanlin Yang, Wei Meng

{"title":"Auxiliary Decision-Making Strategy for Physical Quadrotor by Actively Interacting with Virtual System","authors":"Yuanlin Yang, Wei Meng","doi":"10.1109/CACRE58689.2023.10208327","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208327","url":null,"abstract":"With the help of 5G network technology, the physical system (PS) can communicate with its virtual system (VS) in real-time. This high-speed communication is particularly advantageous for robots such as Quadrotors which operate over large distances. Digital twin (DT) technology concerns the relationship between PS and VS. In the VS, simulation technology allows states of virtual objects to be fully captured, and further input schemes can be designed to simulate additional states. Therefore, simulation results are utilized to enhance the decision-making capabilities of physical objects. In this paper, the VS serves as an online decision-making center, providing auxiliary decision-making services to physical objects taking into account of communication delays during the interaction process between PS and VS. Two types of experiments are conducted to test the proposed auxiliary decision-making strategy with VS participation. Using the Quadrotor as a physical object, two type experiments are conducted to verify the proposed strategy, including virtual simulation experiment and physical machine testing. The experimental results demonstrate that the Quadrotor in PS can successfully accomplish its mission under the guidance of the VS. Moreover, successful outdoor testing of the physical machine with 5G network has been conducted.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"151 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132754497","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

Uncertainty Propagation in Dynamical Systems Using Koopman Eigenfunctions 基于库普曼特征函数的动力系统不确定性传播

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10209022

Alok Kumar, A. Kelkar

{"title":"Uncertainty Propagation in Dynamical Systems Using Koopman Eigenfunctions","authors":"Alok Kumar, A. Kelkar","doi":"10.1109/CACRE58689.2023.10209022","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10209022","url":null,"abstract":"In many complex dynamical system analyses, it is essential to understand the dynamic behavior of the states as accurately as possible. Considering the uncertain environment, it is important to be able to predict how the uncertainties in the inputs will propagate in the system dynamics and will affect the system’s performance. Such information provides an important analysis for systems’ operation and stability analysis. This paper proposes an approach for uncertainty propagation analysis using the Koopman operator theory for uncertain inputs for the dynamical systems. The uncertain input can be characterized by the probability distribution function (PDF). For linear dynamical systems, uncertainty propagation analysis is obtained using an analytical expression for the first and second moment, i.e., mean and variance. This paper extends the same concept to linear dynamical systems using the Koopman operator theory, which involves the computation of the Koopman eigenfunctions. The efficacy of the proposed approach is demonstrated using linear quarter car dynamics simulations showing the mean and variance propagation of the states. A comparison is provided between our proposed approach with the Monte Carlo simulations for computing mean and variance propagation for bench-marking the efficacy of the approach.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"13 18","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133204308","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

Generalized Linear Extended State Observer based Trajectory Tracking Control for Continuum Robots with Unmatched Uncertainties 基于广义线性扩展状态观测器的不匹配不确定连续体机器人轨迹跟踪控制

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10209034

Yuqi Zhu, S. Dian, Xingxing You, Xuke Zhong, Yuxing Xiong, Hailong Hu

引用次数: 0

Modeling and Control of Unmanned Surface Vehicles: An Integrated Approach 无人水面车辆建模与控制:一种综合方法

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208685

Yiming Zhong, Caoyang Yu, Junjun Cao, Chunhu Liu, L. Lian

{"title":"Modeling and Control of Unmanned Surface Vehicles: An Integrated Approach","authors":"Yiming Zhong, Caoyang Yu, Junjun Cao, Chunhu Liu, L. Lian","doi":"10.1109/CACRE58689.2023.10208685","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208685","url":null,"abstract":"This paper presents a comprehensive approach to augment the control performance of unmanned surface vehicles (USVs), addressing two core issues: dynamics modeling and control of USVs. To bolster the precision of dynamics modeling, the paper introduces a parameter identification algorithm based on the nonlinear multi-innovation least-squares method (NMILS). NMILS helps mitigate the noise influence and enhances the precision of the dynamics modeling. To further reinforce control performance, finite-time sliding mode control (FTSMC) is employed. FTSMC effectively counteracts the influence of identification errors, offering enhanced robustness against uncertainties and disturbances. The proposed techniques are validated on the Cybership I model. Simulation results revealed highly accurate parameter identification, with identified values for key parameters m11, m22, and m33 closely matching the true values. Moreover, motion prediction with these identified parameters yielded minor errors, the largest spread being in eu with a maximum value of 0.047m/s. The effectiveness of the FTSMC control strategy was demonstrated through a path-following simulation. Notably, the maximum errors for xe and ye did not exceed 0.006m and 0.15m respectively, reinforcing the precision of the proposed approach.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116169646","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

Primary Research of a Multi-sensor Inspired Compliant Control of an Soft Hand Exoskeleton towards to Enhancing Active Participation based on VR System 基于VR系统的软手外骨骼多传感器柔性控制增强主动参与初探

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208912

Shujing Zhu, Hexiang Chen, Qiaoling Meng, Hongliu Yu

{"title":"Primary Research of a Multi-sensor Inspired Compliant Control of an Soft Hand Exoskeleton towards to Enhancing Active Participation based on VR System","authors":"Shujing Zhu, Hexiang Chen, Qiaoling Meng, Hongliu Yu","doi":"10.1109/CACRE58689.2023.10208912","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208912","url":null,"abstract":"The human hand helps to perform most of our complex and fine movements because of its complex skeletal-muscular system and rich sensory. At the same time, the complex hand system is one of the reasons why rehabilitation of hand dysfunction after stroke is tricky. Virtual reality-based rehabilitation provides a new approach to hand function rehabilitation by mapping the patient’s movements into a rich virtual reality system and providing synergistic stimulation of visual, auditory and haptic senses to improve the patient’s motivation for rehabilitation, promote brain function reorganization and accelerate hand function rehabilitation. So the synergistic approach of multiple senses is very important. In this article, we designed a visually synergistic approach to flexible exoskeleton hand control with the aim of increasing the sense of active participation. We built a model of human-machine coupled motion, combined with a target grasping gesture obtained based on a virtual reality scene, and the target gesture is executed in the virtual system while controlling the synchronized motion of the exoskeleton hand. The results show that the motion of the virtual hand predicted by the human-computer coupling model is synchronized with the motion of the exoskeleton hand.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"215 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116455879","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

Data-driven Energy Evaluation and Optimization Method for Industrial Robots 数据驱动的工业机器人能量评估与优化方法

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208587

Ming Yao, Yunzhou Su, Zhufeng Shao, Ye Huo

{"title":"Data-driven Energy Evaluation and Optimization Method for Industrial Robots","authors":"Ming Yao, Yunzhou Su, Zhufeng Shao, Ye Huo","doi":"10.1109/CACRE58689.2023.10208587","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208587","url":null,"abstract":"With the rapid development and wide application of industrial robots (IRs), it inevitably brings huge energy consumption (EC), which has become an important part of manufacturing EC. Therefore, the EC optimization of IRs has become the key to the green transformation and upgrading of the manufacturing industry, and it is of great significance for the realization of \"carbon neutrality\" and \"carbon peaking\". Therefore, this paper focuses on the energy evaluation and optimization of IR, and realizes the power and EC evaluation and motion parameter optimization of its trajectories based on data-driven method. First, the convolutional neural network (CNN) and Transformer models are combined to build the energy model of IR, and then accurate modeling of its power and EC is realized based on the deep learning algorithms. Based on the above energy model, the exhaustive method and genetic algorithm (GA) are used to find the optimal motion parameters and obtain the optimal trajectory with the least EC. Finally, the experimental results show that the proposed method can achieve more than 98% and 99% of the power and EC modeling of IR, respectively. The optimization of the trajectory motion parameters of IR is realized through exhaustive method and GA, and the maximum optimization potential on the test dataset can reach 52.77%, which verifies the effectiveness and accuracy of the proposed method.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115063452","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

Autonomous Aquatic Laser-Following Robot Through RGB Sensors and Optimized Artificial Neural Networks 基于RGB传感器和优化人工神经网络的自主水上激光跟踪机器人

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208793

Efrain Mendez-Flores, Thomas Kallmann, Joseph Garcia, Brianna Mena, Naji Tarabay, Camilo Velez

{"title":"Autonomous Aquatic Laser-Following Robot Through RGB Sensors and Optimized Artificial Neural Networks","authors":"Efrain Mendez-Flores, Thomas Kallmann, Joseph Garcia, Brianna Mena, Naji Tarabay, Camilo Velez","doi":"10.1109/CACRE58689.2023.10208793","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208793","url":null,"abstract":"Aquatic Robots have a critical role to enhance oceanography studies, enable search and rescue scenarios, and basically enable performing tasks that without them, would be too dangerous or even impossible for humans alone. Among the different types of Aquatic prototypes, robots with laser-following features offer enhanced precision, adaptability, simplified guidance, object tracking, and research opportunities due to their suitability for multiple applications. Thereby, this paper explores the design and implementation of an Autonomous Aquatic Robot, capable of following a laser beam through an arrange of multiple RGB sensors feeding an embedded Artificial Neural Network (ANN), optimally trained through a metaheuristic algorithm (Earthquake Optimization Algorithm) to create a laser-following robot. Experimental results validate how Artificial Intelligence (AI) can be applied to generate a control structure for a laser-following robot, with over 99% of accuracy to generate activation signals by the laser presence detection, to provide a reliable signal for the autonomous prototype.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128385616","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 Implementation of Tennis Ball Boy Robot Based on a Quadrotor UAV 基于四旋翼无人机的网球男孩机器人设计与实现

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208124

Yingze Lin, Liang Han, J. Liu

{"title":"Design and Implementation of Tennis Ball Boy Robot Based on a Quadrotor UAV","authors":"Yingze Lin, Liang Han, J. Liu","doi":"10.1109/CACRE58689.2023.10208124","DOIUrl":"https://doi.org/10.1109/CACRE58689.2023.10208124","url":null,"abstract":"With the continuous development of tennis tournaments, the Tennis Ball Boy (TBB) mechanism has been gradually improved, the Eagle-Eye Vision System has been maturely applied in tennis tournaments, and TBB has been moving towards intelligence. In this paper, the concept of an intelligent TBB robot system is proposed, and a TBB robot based on a quadrotor Unmanned Aerial Vehicle (UAV) is developed to address the problems of long working hours, high intensity and the safety hazards of standing for TBB in tennis tournaments. Based on the modular design method, the intelligent TBB robot includes robot hardware design, visual tennis ball object detection, visual localization and navigation, and overall robot control system design. The tennis ball clamping mechanism is designed based on a symmetric single Degree-Of-Freedom (DOF) pawl mechanism. The tennis ball object detection system is designed with the YOLOX deep learning object detection framework, and this model is deployed through the OpenVINO platform, which enables the robot to detect tennis balls in real-time. The visual localization system based on the VINS-FUSION framework is constructed with a binocular vision fusion IMU. On this basis, a SE(3) positional controller, a 3D A* path planning algorithm and Minimum Snap trajectory optimization are developed to enable the robot to have navigation and obstacle avoidance functions. An advanced decision control system based on the Finite State Machines (FSM) is designed for the Robot Operating System (ROS) platform. Finally, the experiment verifies the reliability of each module of the robot, and this paper can provide a basis for further research.","PeriodicalId":447007,"journal":{"name":"2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"2022 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127597983","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

A Vision-Integrated Navigation Method in AUV Terminal Mobile Docking Based on Factor Graph Optimization 基于因子图优化的AUV终端移动对接视觉集成导航方法

2023 8th International Conference on Automation, Control and Robotics Engineering (CACRE) Pub Date : 2023-07-01 DOI: 10.1109/CACRE58689.2023.10208719

Tianheng Ma, Shumin Chen, Liang Ruan, Yuan-xin Xu

引用次数: 0