IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第6页

Task Planning for Transportation of Multiple Objects by Dual Robots Using Cloud Computing 基于云计算的双机器人多目标运输任务规划

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-11-26 DOI: 10.36959/673/368

A. Kar

引用次数: 1

The Future of Robots in a Super-Aged Society 超级老龄社会中机器人的未来

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-11-26 DOI: 10.17352/ara.000005

A. Szczepura, T. Nomura, D. Wild

引用次数: 0

Coronavirus Pandemic and Future Possibilities in Robotics Research 冠状病毒大流行和机器人研究的未来可能性

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-26 DOI: 10.36959/673/367

Niku Dr. Saeed

引用次数: 0

Neural Networks Identification and Control of Mobile Robot Using Adaptive Neuro Fuzzy Inference System 基于自适应神经模糊推理系统的移动机器人神经网络辨识与控制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-14 DOI: 10.11591/IJRA.V9I4.PP%P

A. Abougarair

{"title":"Neural Networks Identification and Control of Mobile Robot Using Adaptive Neuro Fuzzy Inference System","authors":"A. Abougarair","doi":"10.11591/IJRA.V9I4.PP%P","DOIUrl":"https://doi.org/10.11591/IJRA.V9I4.PP%P","url":null,"abstract":"This paper developed and investigates the performance of intelligent algorithms in order to stabilize the robot when it is tracking to the desired reference. One type of robot is a Two Wheeled Balancing Mobile Robot (TWBMR) that requires control for both balancing and maneuvering. Combination artificial intelligence, Neural Networks (NNs) and Fuzzy Logic Control (FLC) have been recognized as the main tools to improve the performance of coupling nonlinear robot system without using any mathematical model. The input-output data of TWBMR generated from closed loop control system is used to develop a neural network model. In this study, neural networks model can be trained offline and then transferred into a process where an adaptive online learning is carried out using Adaptive Network Based Fuzzy Inference System (ANFIS) to improve the system performance. The simulation results verify that the considered identification and control strategies can achieve favorable control performance. The ANFIS control design approach does not require an accurate model of the plant as classical controller. In addition, high-level knowledge of the system is not needed to build a set of rules as a fuzzy controller.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47107710","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 Multi Objective Function and Optimal Design of BAM Using MATLAB 基于MATLAB的BAM多目标函数及优化设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP%P

Roopsandeep Bammidi, N. Teja, S. Babu, P. S. R. Reddy, N. Akhil, O. Prakashini

{"title":"A Multi Objective Function and Optimal Design of BAM Using MATLAB","authors":"Roopsandeep Bammidi, N. Teja, S. Babu, P. S. R. Reddy, N. Akhil, O. Prakashini","doi":"10.11591/IJRA.V9I3.PP%P","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP%P","url":null,"abstract":"From past decades, the different types of mechanisms in mobile robots have been created so far which includes legged, treaded-tyre and wheeled type robots. Among these types, the wheeled type is easiest to control while the treaded-tyre type offers improved flexibility. Legged locomotion, though not widely used for industrial purposes, has growing implications mainly due to its ease of maneuvering in rough terrains. The Walking motion is obtained through various mechanisms. Most obvious of these is the crank and rocker mechanism, which gives a walking style characteristic of human being. The present research work uses a different type of mechanism for driving a biped that is most distinguished by its ease of operation that produces a type of ‘walk’ similar to that of two legged mammals. In this research initially, a multi-objective optimization is carried out for the optimal design of the mechanism. This research involves a simulation of a simple Biped model using Crank-Rocker mechanism. The design of the biped robot is done by considering two important objective parameters stride and lift, a multi objective function must be created and optimization is done by using MATLAB Programming.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"19 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91397973","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

Prototype development of tethered underwater robot for underwater vessel anchor release 水下船舶锚解系留式水下机器人样机研制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP196-210

E. Joseph, Georgewill Oyengiye Moses

{"title":"Prototype development of tethered underwater robot for underwater vessel anchor release","authors":"E. Joseph, Georgewill Oyengiye Moses","doi":"10.11591/IJRA.V9I3.PP196-210","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP196-210","url":null,"abstract":"Tethered underwater robot (TUR) for underwater vessel anchor release is presented. In off-shore oil and gas enviromnment, there has been series of reported cases on stuck vessel anchors after mooring operations and divers are sent to release these anchors for the vessels to be in motion. The use of divers to perform such function is very risky because of human limitation and some divers have been reported dead on the process due to high pressure underwater or being attacked by underwater wide animals. This has caused very serious panic to the vessel owners and hence, this work is aimed to develop TUR that would be used by the vessel operators instead of divers to release the stuck anchor without loss. The underwater robot system comprises of three basic sections namely graphical user control interface (GUCI) that would be installed in the operator’s laptop, the WiFi LAN router for network connection, and TUR system hardware and software. Each of these sections was strictly designed. Various high-level programming languages were employed to design the GUCI and code the interface buttons, robot controller program codes etc. The implementation carried out and the prototype system tested in the University of Port Harcourt’s swimming pool of 6m depth for validation. The robot performed extremely good in swimming and release of constructed anchor underwater.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"196-210"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46204750","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

Improvement of an automated CAN packaging system based on modeling and analysis approach through robot simulation tools 基于建模分析方法的自动化CAN封装系统的改进

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP178-189

Khongsak Srasrisom, P. Srinoi, S. Chaijit, F. Wiwatwongwana

{"title":"Improvement of an automated CAN packaging system based on modeling and analysis approach through robot simulation tools","authors":"Khongsak Srasrisom, P. Srinoi, S. Chaijit, F. Wiwatwongwana","doi":"10.11591/IJRA.V9I3.PP178-189","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP178-189","url":null,"abstract":"The application of robot simulation tools for modelling, analysis and improvement of existing industrial manufacturing cells is presented with reference to the development and implementation of the Digital Factory concept. A real case study of aerosol can packaging and palletizing cell scenario in the metal can manufacturing industry for containing food and products is used as a reference in this paper. For studying manual aerosol can packaging and palletizing conditions of the worker, a detailed Time and Motion analysis of workers is carried out. On the basis of cycle time analysis results, an alternative to the manual operation, a more sophisticated automated packaging and palletizing system is suggested. A proposed system which uses a robotic manipulator including automated production machine and devices are also developed and tested. The viability of the suggested system is checked through simulation and cycle time analysis. A Fuzzy Logic software, MATLAB is employed in order to analyse the actual system’s behaviour in terms of productivity, and utilization of the available facilities. The 3D simulation software, DELMIA V6 is additionally employed to perform a detailed design phase of the manufacturing cell. From the simulation results, this gives a rough approximation that the production of one robotized manipulator, and automated packaging and palletizing cell is equal to the production of about 4.3 manual packaging and palletizing cells. These results have shown the need for change to automation in the aerosol can packaging and palletizing system.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"178-189"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46911727","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

Robust control and optimized parallel control double loop design for mobile robot 移动机器人鲁棒控制与优化并联控制双环设计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP160-170

A. Abougarair, Ali S. Elmolihi

{"title":"Robust control and optimized parallel control double loop design for mobile robot","authors":"A. Abougarair, Ali S. Elmolihi","doi":"10.11591/IJRA.V9I3.PP160-170","DOIUrl":"https://doi.org/10.11591/IJRA.V9I3.PP160-170","url":null,"abstract":"Robots have been used in many applications in the past few decades. Moreover, due to high nonlinearity behavior of these systems, an optimal and robust control design approaches have been considered to stabilize and improve their performance and robustness. The uncertainties of the time delay on the output states of the mobile robot system have a significant influence on the system nominal performance. As a result, the work becomes here to address the influence of these uncertainties on the robot system performance. In order to achieve this objective, the nonlinear controller via sliding mode control (SMC) is designed by selecting a suitable sliding surface dynamics in which the considered robot displacement and tilt angle are sliding on. The lyapunov function is considered here to accomplish the design of the sliding control signals for robot stabilization. Furthermore, the stability of the considered system is guaranteed due to convergence of the lyapunov functions into zero when the state trajectories tend to desired set points. In addition, we consider the trajectory tracking and stabilization of TWBMR system using parallel double loop PID controllers whose controllers gains are tuning via Linear Quadratic Regulator (LQR) approach. Finally, to demonstrate the effectiveness of SMC and PID-LQR design methods, the comparison is carried out when the nominal and uncertain conditions.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"160-170"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41381350","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: 11

Air cloud algorithm for diminution of active power loss 降低有功功率损耗的空气云算法

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP190-195

K. Lenin

引用次数: 1

Deriving the system equations of unbalanced two-phase induction motor 非平衡两相异步电动机系统方程的推导

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-09-01 DOI: 10.11591/IJRA.V9I3.PP171-177

H. Shousha, A. Kotb

引用次数: 1