IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第10页

Optimal design and simulation of a robot hand for a robot pumpkin harvesting system 机器人南瓜收获系统机械手的优化设计与仿真

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-21 DOI: 10.15406/iratj.2020.06.00196

Liangliang Yang, Tian Rongchang, W. Qian, Y. Hoshino, Shuming Yang, Ying Cao

引用次数: 0

Near-Optimal Reactive Synthesis Incorporating Runtime Information. 结合运行时信息的近最优反应性合成。

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-01 Epub Date: 2020-09-15 DOI: 10.1109/icra40945.2020.9196581

Suda Bharadwaj, Abraham P Vinod, Rayna Dimitrova, Ufuk Topcu

{"title":"Near-Optimal Reactive Synthesis Incorporating Runtime Information.","authors":"Suda Bharadwaj, Abraham P Vinod, Rayna Dimitrova, Ufuk Topcu","doi":"10.1109/icra40945.2020.9196581","DOIUrl":"https://doi.org/10.1109/icra40945.2020.9196581","url":null,"abstract":"We consider the problem of optimal reactive synthesis - compute a strategy that satisfies a mission specification in a dynamic environment, and optimizes a performance metric. We incorporate task-critical information, that is only available at runtime, into the strategy synthesis in order to improve performance. Existing approaches to utilising such time-varying information require online re-synthesis, which is not computationally feasible in real-time applications. In this paper, we pre-synthesize a set of strategies corresponding to candidate instantiations (pre-specified representative information scenarios). We then propose a novel switching mechanism to dynamically switch between the strategies at runtime while guaranteeing all safety and liveness goals are met. We also characterize bounds on the performance suboptimality. We demonstrate our approach on two examples - robotic motion planning where the likelihood of the position of the robot's goal is updated in real-time, and an air traffic management problem for urban air mobility.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/icra40945.2020.9196581","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38648967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Analysis and Design of Rehabilitation Device in Sensory Integration Therapy for Autism Children 自闭症儿童感觉统合治疗康复装置的分析与设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-12-26 DOI: 10.31875/2409-9694.2019.06.9

R. Ghazali, Z. Zulkifly, D. Hanafi

引用次数: 0

Conceptualization and Prototyping of Unmanned Amphibious Aerial Vehicle for Water Quality Assessment 用于水质评估的两栖无人机概念化和原型化

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-12-20 DOI: 10.31875/2409-9694.2019.06.8

S. Ganesan, B. Esakki, S. Mathiyazhagan, P. Vikram

{"title":"Conceptualization and Prototyping of Unmanned Amphibious Aerial Vehicle for Water Quality Assessment","authors":"S. Ganesan, B. Esakki, S. Mathiyazhagan, P. Vikram","doi":"10.31875/2409-9694.2019.06.8","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.8","url":null,"abstract":"Unmanned Amphibious Aerial Vehicles (UAAV) are gaining significant interest in accessing remote water bodies and an ideal tool for limnologist in water quality assessment. In this article, conceptualization of UAAV by inculcating the principle of hovercraft and multirotor system is carried out in a systematic approach. The unconventional configuration of UAAV makes the conceptual stage as a challenging task in the design process. In order to overcome the challenges and strapped configuration of vehicle design, the authors exploited the design process, Thirteen conceptual models are evolved and the best UAAV design model is selected based on stability, provision for accommodating payload, endurance, air cushioning effect for effective gliding along the water bodies, payload carrying capacity and modularity in construction. In addition, design of payload bay, selection of material, estimation of endurance and center of gravity calculations are carried out for those designs. The finalized conceptual models are constructed and performance of amphibious vehicles is investigated for varying the payload. The conglomerate designs of UAAV are evaluated for the design requirements and the computational fluid dynamic (CFD) analysis is performed to measure its performance characteristics. The experimental prototype of UAAV is custom built to demonstrate the competency of UAAV through flying in air and hovering in water. The test results suggested that, the developed UAAV has tremendous impact on minimizing the efforts of human being in inspecting remote water bodies in proficient way.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44504710","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

Design and Development of an Educational 5-DoF Robotic Arm 教育型5-DoF机器人手臂的设计与开发

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-12-18 DOI: 10.31875/2409-9694.2019.06.7

A. Oluwajobi, A. Oridate

{"title":"Design and Development of an Educational 5-DoF Robotic Arm","authors":"A. Oluwajobi, A. Oridate","doi":"10.31875/2409-9694.2019.06.7","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.7","url":null,"abstract":"The effective training of engineering students require hands-on experience in what they would later work with in the industry. The trend in manufacturing nowadays is towards robotics and automation. Relevant to this technology is the robotic hand. This paper outlines the design and the development of a 5-DoF (Degree of Freedom) robotic arm. The robotic arm is intended for educational purposes. The design proposed the use of servos to power the joints and to implement the inverse kinematics of the robotic arm. A simulation of the robotic arm was achieved by using the Matlab Robotics Toolbox, to visualise the joint movements. A suitable servo controller was selected for the implementation and a control software for the robotic arm was developed using Microsoft's C# programming language. The software allows the robotic arm gripper to be postioned in space, by specifying the coordinates of its centre position. Polymethyl methacrylate was selected to fabricate the components of the robotic arm. The robotic arm was tested by specifying various coordinates for the gripper with reference to the robot's base and measuring the corresponding coordinates of the centre position of the gripper, which gave satisfactory results.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45605450","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

Novel integrated scheduling of production and preventive maintenance for serial production systems with equipment degradations 具有设备退化的系列生产系统的新型集成生产调度和预防性维护

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-12-12 DOI: 10.15406/iratj.2019.05.00194

Binghai Zhou, Yun Shi

引用次数: 0

The Design, Fabrication and Preliminary Testing of a Variable Configuration Mobile Robot 一种变结构移动机器人的设计、制造和初步测试

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-11-25 DOI: 10.31875/2409-9694.2019.06.6

N. Giannoccaro, T. Nishida

{"title":"The Design, Fabrication and Preliminary Testing of a Variable Configuration Mobile Robot","authors":"N. Giannoccaro, T. Nishida","doi":"10.31875/2409-9694.2019.06.6","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.6","url":null,"abstract":"In this paper a novel low cost mobile robot that can adjust the balance between the energy efficiency and the running performance according to the environment by changing the number of wheels is introduced. The developed robot, which can be constructed by combining the modules and is driven by Robot Operating System (ROS) tools, has a 3D light detection and distance measurement (LiDAR) for generation of 3D digital map and travels through several environment with saving the energy by adaptively changing the number and arrangement of the wheels according to the environment. The robot can easily change the three types of mechanisms by changing the number of modularized driving wheels and their combination. Furthermore, the developed robot can construct a 3D map in a rough outdoor environment and the running performance of three kinds of robots was investigated by an extensive characterization. Finally, the limits of this prototype have been meticulously analyzed, highlighting new improvements in the future perspective development for permitting an autonomous environment perception with a simple, modular and low-cost device.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46340585","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

The Role of Collaborative Service Robots in the Implementation of Industry 4.0 协同服务机器人在工业4.0实施中的作用

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-11-20 DOI: 10.31875/2409-9694.2019.06.5

I. Karabegović, Arts Bosnia, Herzegovine, E. Karabegović

{"title":"The Role of Collaborative Service Robots in the Implementation of Industry 4.0","authors":"I. Karabegović, Arts Bosnia, Herzegovine, E. Karabegović","doi":"10.31875/2409-9694.2019.06.5","DOIUrl":"https://doi.org/10.31875/2409-9694.2019.06.5","url":null,"abstract":"The implementation of the fourth industrial revolution Industry 4.0 is based on the following technologies: internet of tings , cloud computing, big data, robotics & automation, intelligent sensors, 3D printers and radio frequency identification – RFID. The robotics is considered as the core technology. Second-generation industrial robots – collaborative robots have been implemented in the last two years. Their implementation is increasing every year and has reached about 3% of the total application of industrial robots in the world. The development of new technologies has contributed to the development and implementation of collaborative service robots AGV (Automated Guided Vehicle), which is one of the most significant qualitative shifts in the automation of logistic in production processes, assembly lines, warehouses and all other operations where transport is necessary. Their application is motivated by technical and economic reasons, such as: improving the quality of finished products, reducing the production of the finished product, increasing the homogeneity rate constant quality, reducing the number of workers to carry out tedious transport, increasing the safety of workers in the work process, minimizing production costs and overall maintenance. The paper describes the trend of implementing service robots for professional use, with particular reference to collaborative service robots in logistics. Some design solutions for collaborative service robots in logistics already implemented in the industry are presented.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47974405","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

International Conference on Robotics and Automation in Industry 工业机器人与自动化国际会议

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967373

J. Iqbal

{"title":"International Conference on Robotics and Automation in Industry","authors":"J. Iqbal","doi":"10.1109/ICRAI47710.2019.8967373","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967373","url":null,"abstract":"The 3rd International Conference on Robotics and Automation in Industry (ICRAI) is being organized by the National Centre of Robotics & Automation (NCRA), Department of Mechatronics, NUST College of Electrical and Mechanical Engineering, Rawalpindi. This conference is one of the leading international forums in Pakistan for researchers in Robotics and Automation to present their work. Previously ICRAI conference was held in the year 2012 and 2016 at NUST College of E&ME. The International Conference on Robotics and Automation in Industry aims to bring together leading engineers, scientists, academics, researchers, policymakers, field and application engineers, industries, companies, startups, and scholars to exchange and share their experiences and research results related to robotics and automation industry. It provides a forum for participants to present their latest research goals, design, developments, manufacturing and applications in all areas of robotics and automation in industry. The conference will be a technical gathering of representatives from the eleven research labs of NCRA from different universities of Pakistan. Foreign Keynote speakers and NCRA Scientific and Industrial Advisory Board (SIAB) foreign and local members will also participate in the conference.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1109/ICRAI47710.2019.8967373","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49431042","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

Method for Measuring Levitation Gap of Magnetic Levitation Ball Based on Image Processin 基于图像处理的磁悬浮球悬浮间隙测量方法

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2019-06-01 DOI: 10.1109/ICRAS.2019.8808955

Zhang Chenhao, Jing Yongzhi, Kong Jie, Peng Tao, Li Zhenzhen, Hao Jianhua

引用次数: 0