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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

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Formation control of Multiple Mobile Robots with Large Obstacle Avoidance 15

Formation Control of Multiple Mobile Robots with Large Obsta...

引用

15th international conference on control, automation, robotics and vision (ICARCV)

作者： Fujimori, Atsushi Hosono, Atsushi Takahashi, Kazuro Oh-hara, Shinsuke Univ Yamanashi Dept Mech Engn 4-3-11 Takeda Kofu Yamanashi Japan

ISBN: (纸本)9781538695821

this paper presents a formation control of mobile robots with a large obstacle avoidance. the mobile robots considered in this paper have multiple sonars which are used for not only constructing formation but also avoiding obstacle. the novel modules overcoming the drawbacks of the previous navigation algorithm [6] are introduced to accomplish the obstacle avoidance and formation control. the effectiveness of the proposed techniques are demonstrated by an experiment using three mobile robots.

关键词： Mobile robots

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vision Based Autonomous Tracking and Landing on an Arbitrary Object of Quadrotor 9

Vision Based Autonomous Tracking and Landing on an Arbitrary...

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9th IEEE Annual international conference on Cyber Technology in automation, control, and Intelligent Systems (IEEE-CYBER)

作者： He, Shubao Wang, Hongpeng Zhang, Shiyong Tian, Bingjie Nankai Univ Coll Artificial Intelligence Tianjin 300353 Peoples R China Tianjin Key Lab Intelligent Robot Tianjin 300353 Peoples R China

ISBN: (纸本)9781728107707

this paper addresses the problem of tracking and landing on an arbitrary object of a quadrotor. It is assumed that. the vertical and lateral velocity controllers of a quadrotor can be designed independently. We have developed an image based visual servoing method that uses only a downward looking camera for tracking and landing from a quadrotor. Our visual detection algorithm allows the user to specify an arbitrary object to detect its movements in the image plane. In the horizontal plane, we use the lateral velocity controller to keep tracking with the object in the center of the camera image. In the vertical profile, we adopted a log polynomial velocity to guarantee zero closing velocity and acceleration at touchdown. During the tracking phase, the quadrotor tracks the object continuously while maintaining a fixed altitude from the object and keeps it in the center. Once the quadrotor satisfies the landing condition, it moves on to the landing phase at the planned vertical velocity until touchdown. Here, we use the ultrasound sensor running kalman filter to detect the landing condition. Our experiments show that the system is able to track an arbitrary object and land on it successfully.

关键词： Quadrotor Object. Tracking Vertical Landing Log Polynomial Velocity

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Assembly defect detection of atomizers based on machine vision 2019

Assembly defect detection of atomizers based on machine visi...

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4th international conference on automation, control and robotics Engineering, CACRE 2019

作者： Wang, Jiankun Hu, Hong Chen, Long He, Caiying Department of Mechatronic Engineering Harbin Institute of Technology Shenzhen Shenzhen Guangdong Province China Technology Center Shenzhen Colibri Technologies Co. Ltd. Shenzhen Guangdong Province China

ISBN: (纸本)9781450371865

Atomizers are assembled in an automated assembly line, which inevitably creates assembly defects. In this paper, we use machine vision technology to detect assembly defects in atomizers. We propose two algorithms: an image processing algorithm, and a deep learning algorithm based on convolutional neural network. For design of the image processing algorithm, we set the region of interest for detection according to the position of different assembly defects. For the deep learning algorithm, we adopt the MobileNet model and propose a new training program to improve detection accuracy. the paper also includes an evaluation of the performance of the two algorithms and analyzes their advantages and disadvantages. © 2019 Association for Computing Machinery.

关键词： Computer vision

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Upper Estimates of the Deviations in Linear Dynamical Systems Subjected to Uncertainty 15

Upper Estimates of the Deviations in Linear Dynamical System...

引用

15th international conference on control, automation, robotics and vision (ICARCV)

作者： Khlebnikov, Mikhail Russian Acad Sci VA Trapeznikov Inst Control Sci Lab Adapt & Robust Syst 65 Profsoyuznaya Str Moscow 117997 Russia

ISBN: (纸本)9781538695821

In this talk, the linear dynamical system subjected to uncertainty in the system matrix is considered. Using the linear matrix inequality technique we obtain the upper bounds for the deviations in linear systems. An LMI-based stabilizing feedback procedure is proposed which guarantees "as small as possible" deviations. the results of numerical simulations demonstrate the low conservatism of the obtained bounds.

关键词： linear dynamical systems deviations uncertainty robust stability LMIs

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Visual classification method based on CNN for coalgangue sorting robots

Visual classification method based on CNN for coalgangue sor...

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automation, control and robotics Engineering (CACRE), international conference on

作者： Shiwei Lei Xingmei Xiao Ming Zhang Jiahui Dai Chongqing Research Institute Co. Ltd.China Coal Technology Engineering Group Chongqing Research InstituteCo. Ltd.China Coal Technology Engineering Group

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Sorting coal and gangue is an important means to improve the heating capacity of coal, realize the graded sale of coal and maximize the production benefits of coal mines. At present, the sorting of coal and gangue is still mainly manual, but the manual sorting efficiency is low and labor intensity is high, so it is particularly important to develop a coal and gangue sorting robot. the key technology of coal gangue sorting robot is the identification and classification of coal. this paper proposes a visual classification method based on CNN, constructs a visual depth neural network FCCN(Fast coal classification net), and implements a visual coal classification detection algorithm. Compared with the similar algorithm Mask R-CNN, it improves the classification accuracy, reduces the training time of the model, and has good application value.

关键词： coal and gangue sorting machine vision image identification convolutional neural network deep learning

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Accuracy Evaluation of a Lightweight Analytic Vehicle Dynamics Model for Maneuver Planning*

Accuracy Evaluation of a Lightweight Analytic Vehicle Dynami...

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international conference on robotics and automation Engineering (ICRAE)

作者： J.R. Ziehn M. Ruf M. Roschani J. Beyerer Fraunhofer IOSB Karlsruhe Germany Fraunhofer IOSB & Vision and Fusion Lab Karlsruhe Institute of Technology KIT Karlsruhe Germany

ISBN: (数字)9781728189819

ISBN: (纸本)9781728189826

Models for vehicle dynamics play an important role in maneuver planning for automated driving. they are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality criteria such as safety, comfort or ecology. Depending on the computation process, models with different assumptions and levels of detail are used; since maneuver planning usually has strong requirements for computation speed at a potentially high number of trajectory evaluations per planning cycle, most of the applied models aim to reduce complexity by implicitly or explicitly introducing simplifying assumptions. While evaluations show that these assumptions may be sufficiently valid under typical conditions, their effect has yet to be studied conclusively. We propose a model for vehicle dynamics that is convenient for maneuver planning by supporting both an analytic approach of extracting parameters from a given trajectory, and a generative approach of establishing a trajectory from given control inputs. Both applications of the model are evaluated in real-world test drives under dynamic conditions, both on a closed-off test track and on public roads, and effects arising from the simplifying assumptions are analyzed.

关键词： Trajectory Computational modeling Wheels Vehicle dynamics Planning Mathematical model Analytical models

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Real-Time vision-Based Localization of Planar Cable-Driven Parallel Robot 18

Real-Time Vision-Based Localization of Planar Cable-Driven P...

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18th international conference on control, automation and Systems (ICCAS)

作者： Awais, Muhammad Park, Jae-Hyun Jung, Jinwoo Choi, Eun-Pyo Park, Jong-Oh Kim, Chang-Sei Chonnam Natl Univ Dept Mech Engn Gwangju South Korea Chonnam Natl Univ Med Microrobot Ctr Gwangju South Korea

ISBN: (纸本)9788993215151

Cable-driven parallel robot (CDPR) is a special class of parallel manipulators where the motion of end effector (EE) is controlled by flexible cables attached to it. In industrial robotics field, CDPRs have quite a high usability. Recently, kinematics and dynamics of CDPRs have been analyzed intensively. But still, there is a problem in identification of position and orientation which need to be researched. In this study, we developed a real-time vision-based localization technique for EE of planar CDPR. We developed a robust algorithm which includes camera calibration and real-time monitoring of a visual marker. A planar CDPR with two translation and one rotation parameters used for proving ground. the results prove the reliability of developed vision system.

关键词： Cable-driven parallel robot Localization End-effector Camera calibration Visual marker

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Dynamic Fuzzy Membership Intervals with Two-Stage Objective Function for Ball and Beam System based on GA Tuning

Dynamic Fuzzy Membership Intervals with Two-Stage Objective ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Joseph K. P. Tsoi Nitish D. Patel Akshya K. Swain Xu Huang Computer and Software Engineering University of Auckland Auckland New Zealand

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper proposed a two-stage objective function with genetic algorithm (GA) to refine an additional fuzziness layer on dynamic membership intervals of Type-I fuzzy logic control(FLC). the refined dynamic membership intervals Type-I FLC is applied on a traditional ball and beam system, serving as a prototype for a friction fruit conveyor system. the ball and beam system governed under Type-I FLC is excited with step input, the corresponding system performance factors are captured - rise time, settling time and overshoot. A probabilistic random search on optimum controller parameters is carried with GA method, multiple cost functions - ISE, IAE, ITSE and ITAE, with are evaluated to form a performance cost matrix, which is the first stage of the objective function. the optimum parameter search stops with two conditions; one is that the maximum number of chromosome generation is reached, and the other one is that performance cost stops improving consecutively for ten generations. the second stage of the objective function is proceeded to decide the found optimum controller parameter solution. the result is decided by taking account of the previously captured performance factors. these factors are normalized and combined with a heuristic weight set to determine a minimum decision cost. the minimum cost chromosome, with ITAE, is the optimum from global found solution space and sets fixed intervals on the dynamic membership range of Type-I FLC. With two-stage objective function, improved rise time and settling time performance are indicated on the GA tuned Type-I FLC dynamic membership intervals on the ball and beam system than the conventional Type-I FLC, and is satisfactory.

关键词： Linear programming Genetic algorithms Friction Fuzzy logic Tuning Process control Meters

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A Fall Detection and Emergency Notification System for Elderly

A Fall Detection and Emergency Notification System for Elder...

引用

international conference on control, automation and robotics (ICCAR)

作者： tharushi Kalinga Chapa Sirithunge A.G. Buddhika P. Jayasekara Indika Perera Intelligent Service Robotics Group University of Moratuwa Katubedda Sri Lanka University of Moratuwa Katubedda Sri Lanka

ISBN: (数字)9781728161396

ISBN: (纸本)9781728161402

Elderly are the fastest growing segment of the world population. Most elders prefer to live independently in their own homes. this makes them more vulnerable to emergency incidents such as fall and unconsciousness. Out of them, falling is the most dominant cause leading to both fatal and non-fatal injuries among elders. Timely detection and notification of falls can minimise the adversity caused by the impact. this paper discusses a non-obtrusive vision-based fall detection system using a service robot with a Kinect sensor attached and an automatic fall notification system based on Q-Learning. the proposed system is capable of distinguishing a fall from an activity of daily living by analysing body joint velocities and orientation of selected limbs using the RGB and depth data generated from the Kinect Sensor. the system can also differentiate between three types of falls referred to as Prone Position, Crawl Position and Kneel Position in the paper. Upon fall detection, the system can automatically make successive phone calls to a list of emergency contacts by considering the contact person's probability of answering a call and level of being busy. Furthermore this system has the ability to reduce the confusion and anxiety raised within an elder during a fall by ensuring quick notification and thereby timely assistance. An experiment was conducted to observe the effectiveness of the proposed system and it was able to achieve an accuracy of 92.5% and a sensitivity of 95.45%. the other critical observations made have also been highlighted in the paper.

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A ROS Based Automatic control Implementation for Precision Landing on Slow Moving Platforms Using a Cooperative Fleet of Rotary-Wing UAVs

A ROS Based Automatic Control Implementation for Precision L...

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international conference on robotics and automation Engineering (ICRAE)

作者： A. Antenucci S. Mazzaro A. E. Fiorilla L. Messina A. Massa W. Matta Vitrociset – a Leonardo Company Italy

ISBN: (数字)9781728189819

ISBN: (纸本)9781728189826

In this paper we present an industrial implementation of an efficient method to solve the problem of the automatic precision landing for rotary-wing UAVs, ready to be used inside a cooperative fleet of drones. the realized software module and tests are part of a large industrial R&D Vitrociset project called SWARM: an AI-Enabled Command and control (C&C) system, able to execute and review ISR missions for mini/micro cooperative fleets of heterogeneous UAVs. Preparatory to the presented results, it was the identification of a non-linear mathematical model as well as the realization of a robust PID-based control system capable of controlling a single drone of the fleet. A discrete-time Kalman filter was integrated and tested to estimate the possible displacement of the landing points, in order to improve the control law through predictive connotations in case of slow moving tags. the presented approach is featured by the balance between computational efficiency and versatility, in particular in the discovering stage of multiple and different AprilTag during the landing phase. the still under test software module uses the Open Source Robotic Operating System (ROS) libraries for both the acquisition of the data necessary to the control laws, and for the execution of the computer vision algorithms implemented for the precision landing. After analyses and simulations campaigns in a synthetic environment and multiple hardware in the loop (HIL) stress tests, the final prototype algorithm was deployed on a commercial-off-the-shelf mini-class UAV, demonstrating landing capacity on a fixed target with an error of less than ten centimeters; moreover, with slow-moving tags, appreciable tracking abilities emerged on sufficiently smooth trajectories. A special interface with the HIL flight controller was then integrated, with the capability of using its telemetry data for distributing them to all the members of the cooperative fleet, making it possible to access the real-time esti

关键词： Drones Transfer functions control systems Aerodynamics Global Positioning System Computer vision Task analysis

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