Intelligent Control, Robotics, and Industrial Automation : Proceedings of International Conference, RCAAI 2022

• Autore: Sharma Sanjay
• Pubblicazione: Singapore : , : Springer, , 2023; ©2023
• Edizione: 1st ed.
• Descrizione fisica: 1 online resource (1039 pages)
• Disciplina: 629.89263
• Altri autori: SubudhiBidyadhar SahuUmesh Kumar
• Nota di contenuto: Intro -- Preface -- Contents -- Editors and Contributors -- Robotics and Intelligent Systems -- Landmark Detection for Auto Landing of Quadcopter Using YOLOv5 -- 1 Introduction -- 2 Background Work -- 3 Methodology -- 3.1 Data Set -- 3.2 YOLOv5 Parameter Settings -- 4 Results and Discussion -- 4.1 Metrics -- 5 Conclusion -- References -- ROS-Based Evaluation of SLAM Algorithms and Autonomous Navigation for a Mecanum Wheeled Robot -- 1 Introduction -- 2 Kinematic Model -- 3 SLAM Algorithm -- 3.1 Gmapping SLAM -- 3.2 Google Cartographer SLAM -- 4 Map Generation -- 4.1 GMapping -- 4.2 Google Cartographer -- 5 2D Implementation -- 6 Results and Discussion -- 7 Conclusion -- References -- An Autonomous Home Assistant Robot for Elderly Care -- 1 Introduction -- 2 Design of the Robot -- 2.1 Depth Camera -- 2.2 Display -- 2.3 Thermal Camera -- 2.4 Lidar Sensor -- 2.5 Tray and Storage Space -- 2.6 Motors and Wheels -- 3 Simulation of the Robot -- 3.1 Autonomous Navigation of the Robot -- 3.2 Mapping of the Environment -- 3.3 Path Planning -- 3.4 Localization of the Robot -- 3.5 Integrating Alexa -- 3.6 Communication Protocol -- 3.7 Server for Communication -- 3.8 Alexa with ROS -- 4 Building the Robot -- 5 Tray of the Robot -- 6 Experiments Conducted by the Robot -- 7 Result and Discussion -- 8 Conclusion -- References -- 3D Mapping Using Multi-agent Systems -- 1 Introduction -- 2 Methodology -- 2.1 Hector Quadrotor Package, Octomap and Point Cloud Libraries, and Caltech Samaritan -- 2.2 Frontier Exploration Algorithm and Environment -- 2.3 Setting Up Multi-UAVs -- 2.4 An Approach to Sharing Maps -- 2.5 Need for a Multi-robot Planning Approach -- 2.6 An Approach to Multi-UAV Exploration -- 2.7 Modified Scoring Criteria -- 3 Results and Analysis -- 4 Conclusions -- References -- Lunokhod-A Warehouse I-Robot -- 1 Introduction. ; 1.1 Introducing Project Lunokhod -- 2 Literature Overview -- 3 Structure of Lunokhod -- 3.1 Manipulator of Lunokhod -- 3.2 Dimensions of Lunokhod -- 4 Electrical Aspects of Lunokhod -- 4.1 Motor Overview and Details for the Bot -- 4.2 Supply, Motor Equation, and Working -- 4.3 Supply to the Electromagnet -- 5 Intelligence to Lunokhod -- 5.1 Path Planning and Machine Learning -- 5.2 Path Traversal Using Aruco Marker -- 5.3 Simulation in Robot Operating System -- 6 Localization and Controller -- 6.1 Simultaneous Localization and Mapping (SLAM) -- 6.2 Proportional Integral Derivative Controller -- 7 Results and Discussions -- 7.1 Tracking of Lunokhod -- 7.2 Path Learning Results -- 7.3 Data Visualization -- 8 Ethical Evaluation -- 8.1 Fire Detection and Evaluation -- 9 Conclusion -- References -- A Data-Driven Test Scenario Generation Framework for AD/ADAS-Enabled Vehicles -- 1 Introduction -- 2 Related Work -- 3 Problem Description -- 3.1 Dataset Description -- 4 System Design and implementation -- 4.1 Extracting ODD Factors from Accident Database -- 4.2 Finding Relevancy Score of Values of Individual Factors -- 4.3 Test Scenario Prioritization and Generation -- 5 Test Scenario Generation -- 6 Application and Analysis -- 7 Conclusions -- References -- Design of Robotic Platform for ADAS Testing -- 1 Introduction -- 2 Components of the Robot -- 3 Motor Selection -- 4 Battery -- 5 Suspension System -- 5.1 Push Rod Cantilever Suspension -- 6 Steering Mechanism -- 6.1 Ackermann Steering -- 7 Body Frame/Chassis Design -- 8 Result and Discussion -- 8.1 Static Analysis -- 8.2 Dynamic Analysis -- 9 Conclusion -- References -- A Comparative Study of A*, RRT, and RRT* Algorithm for Path Planning in 2D Warehouse Configuration Space -- 1 Introduction -- 2 Algorithm Overview -- 2.1 A* Algorithm -- 3 RRT Algorithm -- 4 RRT* Algorithm -- 5 Simulation Setup. ; 6 Simulation Results -- 7 Scenario 1 -- 7.1 Scenario 2 -- 8 Conclusion -- References -- Improving Payload Capacity of an ABB SCARA Robot by Optimization of Blended Polynomial Trajectories -- 1 Introduction -- 2 Mathematical Modeling -- 3 Robot Kinematics -- 3.1 Joint Trajectory Interpolating Function -- 4 Joint Temporal and Dynamic Behavior -- 5 Trajectory Optimization -- 6 Results and Discussion -- 7 Outcome of Jerk Minimization -- 8 Outcome of Travel Time Minimization -- 9 Outcome of Combined Travel Time and Jerk Minimization -- 10 Conclusion -- References -- Design of a Novel Tree-Type Robot for Pipeline Repair -- 1 Introduction -- 2 Model of a Tree Robot -- 2.1 Robot Maneuver in Horizontal Pipe -- 2.2 Robot Maneuver in Vertical Pipe -- 2.3 Robot Maneuver on Flat Surfaces -- 3 Computation of Safe Design Requirements -- 3.1 FEA of Platform -- 3.2 FEA of the Links -- 4 Conclusions and Future Work -- References -- Simulated Evaluation of Navigation System for Multi-quadrotor Coordination in Search and Rescue -- 1 Introduction -- 2 Methodology -- 2.1 'Hector_Quadrotor' Package -- 2.2 Perception -- 2.3 Guidance -- 2.4 Detection -- 2.5 Communication Among the Nodes -- 3 Results and Discussions -- 3.1 Region Partitioning Analysis -- 3.2 Simulation Analysis -- 4 Conclusion -- References -- Comparative Empirical Analysis of Biomimetic Curvy Legged Bipedal Robot with Linear Legged Bipedal Robot -- 1 Introduction -- 2 Technical Details -- 2.1 Mechanical Design and Manufacturing -- 2.2 Various Link Design Iterations -- 2.3 Bio-mimic Design -- 2.4 Embedded Electronics -- 2.5 DH Parameter -- 2.6 Gait Cycle -- 2.7 Motor Torque Specifications -- 2.8 Software and Programming -- 3 Similarities Between NAO Robot and Curvy-Linked Bipedal Robot -- 4 Results and Discussion -- 5 Conclusion -- References. ; Fractional-Order Polynomial Generation for Path Tracking of Delta Robot Through Specific Point -- 1 Introduction -- 2 Delta Robot Construction and Dynamics -- 2.1 Forward Kinematics -- 2.2 Inverse Kinematics -- 3 Proposed Path Planning of Delta Robot via Specific Point -- 4 Simulation Results -- 5 Conclusion -- References -- Energy-Based Approach for Robot Trajectory Selection in Task Space -- 1 Introduction -- 2 Framework for Trajectory Evaluation -- 2.1 Kinematic Modeling -- 2.2 Dynamic Modeling -- 2.3 Trajectory Selection Framework -- 3 Simulation Results -- 4 Conclusions -- References -- A Novel Collision Avoidance System for Two-Wheeler Vehicles with an Automatic Gradual Brake Mechanism -- 1 Introduction -- 2 Materials and Methods -- 2.1 Sensing and Processing Unit -- 2.2 Automatic Gradual Brake Mechanism -- 2.3 Complete Setup of Collision Avoidance System (CAS) -- 3 Results and Discussion -- 4 Conclusion -- References -- Development of a Digital Twin Interface for a Collaborative Robot -- 1 Introduction -- 1.1 Unity as the Platform for Digital Twin -- 2 Related Works -- 3 Methodology -- 3.1 Robot and Environment Creation -- 3.2 Communication with the Industrial Robot -- 4 Results and Discussion -- 5 Conclusions and Future Scope -- References -- Design and Analysis of Combined Braking System Using Delay Valve for Automobiles -- 1 Introduction -- 2 Methodology -- 2.1 Design Considerations -- 2.2 Design Input Variables -- 3 CAD Modeling 3D Model -- 3.1 Fabrication Model -- 4 Result and Discussion -- 4.1 Honda Activa 5G -- 4.2 Bajaj Pulsar 150 Twin Disc -- 4.3 TVS Apache 180 -- 4.4 Yamaha FZ25 -- 5 Conclusion -- References -- Advanced Control Techniques -- Fixed-Time Information Detection-Based Secondary Control Strategy for Low Voltage Autonomous Microgrid -- 1 Introduction -- 2 Preliminaries -- 2.1 Dynamic Modeling of i thith-Based DG. ; 2.2 Droop/Boost Primary Control -- 3 Fixed-Time Frequency Control -- 3.1 Fixed-Time Frequency Information Detection Strategy -- 3.2 Secondary Frequency Restoration -- 4 Secondary Voltage Restoration -- 5 Simulation Results and Discussion -- 5.1 Case 1: Performance Verification with Load Perturbation -- 5.2 Case 2: Performance with Loss of DG Unit -- 5.3 Case 3: Scalability -- 6 Conclusion -- References -- Approximation of Stand-alone Boost Converter Enabled Hybrid Solar-Photovoltaic Controller System -- 1 Introduction -- 2 Mathematical Representation of Hybrid Solar-Photovoltaic Stand-alone System -- 3 Problem Description -- 3.1 Higher-Order (HO) System Representation -- 3.2 Time-Moments (T-Ms) and Markov-Parameters (M-Ps) Representation of HO System -- 3.3 Reduced-Order Model Representation -- 3.4 Time-Moments (T-Ms) and Markov-Parameters (M-Ps) Representation of RO Model -- 3.5 Fitness Function with Its Constraints -- 4 Grey-Wolf Optimization Algorithm -- 5 Order Reduction of Hybrid Solar-Photovoltaic Controller System -- 6 Conclusion -- References -- State of the Art Sliding Mode Controller for Quadrotor Trajectory Tracking -- 1 Introduction -- 1.1 Motivation for the Research -- 1.2 Major Contributions -- 1.3 Organization of the Paper -- 2 Modeling of Motion Equations of Quadrotor -- 3 Classical SMC for the Developed Mathematical Model -- 4 Adaptive SMC for the Developed Mathematical Model -- 5 Proposed Robust Homogeneous SMC for Quadrotor Model -- 5.1 Trajectory Control Design -- 5.2 Proposed Control Scheme -- 6 Simulation Results -- 7 Conclusion -- References -- Trajectory Tracking with RBF Network Estimator and Dynamic Adaptive SMC Controller for Robot Manipulator -- 1 Introduction -- 2 Dynamics of Robot Manipulator -- 2.1 Dynamic Modelling of 2-DOF Manipulator -- 2.2 Control Objective -- 3 Dynamic SMC for Joint Trajectory Tracking. ; 4 RBF-Based Adaptive Neural Network for State Estimation.
• Titolo autorizzato: Intelligent Control, Robotics, and Industrial Automation
• ISBN: 981-9946-34-4
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910765480603321
• Lo trovi qui: Univ. Federico II
• Serie: Lecture Notes in Electrical Engineering Series