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

共 5313 条记录，以下是1401-1410 订阅

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A vision Based Positioning Gas Leakage Test automation System 6

A Vision Based Positioning Gas Leakage Test Automation Syste...

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6th international conference on control Engineering and Information Technology (CEIT)

作者： Savran, Akin Ilker Kumbasar, Tufan Arcelik Tumble Dryer Plant TR-59500 Cerkezkoy Tekirdag Turkey Istanbul Tech Univ Control & Automat Engn Dept TR-34469 Istanbul Turkey

ISBN: (纸本)9781538676417

the automation project with vision based positioning by using ABB IRB 140 robot is proposed, the coordinate transformation and camera calibration is applied, two types gas leakage test for HP dryers are proposed and the image processing algorithms for welding points of gas leakage test by dividing three areas of chassis are proposed. For this purpose, the robotic automation system has been installed and the real-time experimental studies are performed to show the effectiveness of the vision based positioning ABB IRB 140 robot for the gas leakage test by presentation the derivations of welding points positions.

关键词： robotics industrial robots computer vision ABB IRB140 Robot

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Multi-Person Pose Estimation via Learning Feature Integration 4

Multi-Person Pose Estimation via Learning Feature Integratio...

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2019 4th Annual international conference on Information System and Artificial Intelligence, ISAI 2019

作者： Hu, Xiaomei Tian, Jiahao Qiao, Huixiang Wang, Minjie Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronic Engineering and Automation Shanghai University Shanghai China Institute of Materials Technology and Engineering CAS Ningbo315201 China School of Electronic Information and Control Engineering Chang'An University Xi'an Shaanxi713100 China

Human pose estimation is a fundamental but challenging task in computer vision. Although batch normalization is widely used for deep learning, feature extraction in deep convolutional neural networks (DCNN) is still not well explored. In this work, we propose a pose encoding module (PEM) to enhance the learning ability and generalization ability of feature extraction. Given input images, PEM integration instance normalization and batch normalization, combining them in an appropriate way to learn to capture and eliminate appearance changes while maintaining the distinction between learning features can be seen as an integration and adjustment of global information. In addition, we use a simple and efficient up-sampling strategy to recover high-resolution representations for predicting more accurate human keypoint heatmaps, which has achieved better performance than the average network in recent missions. We studied our approach on a standard benchmark for human pose estimation. © 2019 Published under licence by IOP Publishing Ltd.

关键词： Feature extraction

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Instance Segmentation and Localization of Strawberries in Farm Conditions for Automatic Fruit Harvesting 6th

Instance Segmentation and Localization of Strawberries in Fa...

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6th international-Federation-of-Automatic-control (IFAC) conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Ge, Yuanyue Xiong, Ya From, Pal J. Norwegian Univ Life Sci Fac Sci & Technol As Norway

Accurate detection and localization of fruits is essential for strawberry harvesting robots. However, segmentation of strawberries in clusters and determination of ripeness remain challenging. Also, occlusions can result in inaccurate localization of fruits. this paper presents a method for detection, instance segmentation and better localization of strawberries, based on a deep convolutional neural network (DCNN). Four classes, including three for different ripeness levels of strawberries and one for deformed strawberries, were defined in the DCNN model. Results show that ripe strawberries are the easiest to be identified among the four classes. A bounding box refinement method was then proposed to improve the localization accuracy by detecting occluded fruits and recovering the actual fruit sizes using bounding boxes. the width to height ratio (WHR) of output masks was used to detect occlusions, and a corresponding refinement method based on the solidity of the mask shape was proposed to find the occluded side of the fruit. the refinement of occluded side is the final step, where we used the mean WHR of unoccluded strawberries to compensate the occluded part. the refinement method was assessed on the strawberry variety of 'Lusa', which shows it can estimate and recover the actual sizes. Comparison experiment shows that the bounding box overlap between the refined and ground truth is 0.87, while the overlap between raw detected and ground truth is 0.68. the result indicates that the refinement method can locate fruits more accurately. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agricultural robotics strawberry harvester machine vision instance segmentation

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Wall-contact sliding control strategy for a 2D caged quadrotor 18

Wall-contact sliding control strategy for a 2D caged quadrot...

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

作者： Bai, Pu Guerreiro, Bruno Cunha, Rita Kornatowski, Przemyslaw Floreano, Dario Silvestre, Carlos Univ Lisbon ISR IST LARSYS Lisbon Portugal Ecole Polytech Fed Lausanne Lab Intelligent Syst Lausanne Switzerland Univ Macau Fac Sci & Technol Taipa Macao Peoples R China

ISBN: (纸本)9788993215151

this paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move along the wall with arbitrary velocity and attitude. the control law is derived using the Lyapunov stability theory, applying backstepping techniques to achieve exponential stability under mild assumptions. To overcome the unknown friction force between robot and wall, we design estimators for the friction coefficient, which include a projection operator that provides an upper bound for the obtained estimates. Realistic simulation results are provided to validate the proposed methodology.

关键词： trajectory tracking contact backstepping estimation

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A Novel control Strategy of Energy Storage System Considering Prediction Errors of Photovoltaic Power 15

A Novel Control Strategy of Energy Storage System Considerin...

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

作者： Liu, Fang Hu, Bo Li, Ranran Li, Yong Cent S Univ Sch Informat Sci & Engn Changsha 410083 Peoples R China Global Energy Interconnect Dev & Cooperta Org Beijing 102209 Peoples R China Hunan Univ Coll Elect & Informat Engn Changsha 410082 Hunan Peoples R China

ISBN: (纸本)9781538695821

the photovoltaic (PV) energy, as clean and renewable energy, has become increasingly important. With energy storage system, the PV power can become schedulable and the use efficiency of PV power can be greatly improved. the tracking output is one of the running modes for energy storage to adjust the PV power generation. However, the research on the tracking output do not consider the fluctuation of PV power generation, the upper and lower limits of prediction errors, or only consider tracking the power curve. In this paper, a novel control method is proposed based on the super short-term prediction PV power and the prediction errors distribution law to obtain the charge and discharge strategy for energy storage ahead. In this control method, the objective function includes three parts, respectively the D-value between the planned output and actual output of PV power and energy storage system, the change of the state of charge (SOC) with different weight, the constraint condition considers the power demand, flexibility requirement and storage costs comprehensive. then the prediction errors distribution law can be obtained by analyzing prediction errors of the PV power, the proper errors correction parameters can be selected according to the law to get a more accurate predication range and make the energy storage scheduling strategy more flexible. the particle swarm optimization (PSO) algorithm is used to get the optimal charge and discharge power strategy in advance. With the data collected from typical PV power station as an example, the simulation results verify the feasibility and flexibility of the proposed strategy, it also provides effective reference scheme for day-ahead control of battery energy storage systems

关键词： Photovoltaic (PV) power Energy storage system (ESS) Particle swarm optimization (PSO) Errors distribution law State of charge (SOC)

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Improving Stereo vision based SLAM by Integrating Inertial Measurements for Person Indoor Navigation 4

Improving Stereo Vision based SLAM by Integrating Inertial M...

引用

4th international conference on control, automation and robotics (ICCAR)

作者： Albrecht, Alexander Heide, Nina Fraunhofer Inst Optron Syst Technol & Image Explo Syst Measurement Control & Diag Karlsruhe Germany

ISBN: (纸本)9781538663387

Precise indoor localization is of great importance. For instance the efficiency and safety of first responders gets improved significantly. Stereo SLAM algorithms achieve remarkable results, nevertheless there are limits to what a single sensor type system can achieve in case of over- or underexposed images, highly dynamic camera movements and homogeneous environments. this paper proposes a straight forward yet very efficient method of integrating Inertial Measurement Unit (IMU) data to overcome those problems. the camera movement between consecutive frames can be seen as an optimization problem. Whereas existing algorithms obtain the initial guess of the camera by assuming constant velocity, this work exploits IMU data to predict the movement. Evaluation of the proposed localization system is conducted with a person carried sensor setup on typical indoor scenarios. It is demonstrated, that the accuracy of the initial guess can be enhanced considerably. Improved initial camera poses result in faster convergence and higher success rate of finding the optimum, which results in better overall localization quality. Scenarios, which could not be handled by the stand-alone version of the stereo SLAM are now feasible thanks to IMU data integration.

关键词： Indoor localization SLAM inertial measurement unit strapdown multisensor integration

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Computer vision based object grasping 6DoF robotic arm using picamera 4

Computer vision based object grasping 6DoF robotic arm using...

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4th international conference on control, automation and robotics, ICCAR 2018

作者： Kumar, Vishal Wang, Qiang Minghua, Wang Rizwan, Syed Shaikh, S.M. Liu, Xuan Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (纸本)9781538663387

this article presents a project to design a robust robotic arm which can perform multifunctional tasks. the controller of the manipulator is based on Arduino mega 2560 Microcontroller. the aim of the project is to focus all axes of manipulator to lift, carry and unload the objects at a desired location. this requires a precise drive motion control that incorporate electric motors as a drive system. Further experiments are done to implement a camera based 3D vision system integrated with a computer vision algorithm to recognize object deformation and spatial coordination to control the deviation from the original training. the 3D visualization systems are able to detect the objects as well as their distance from the End-effecter and transmit the signals to the drive system. the vision system requires a separate computing hardware capable of processing complex vision algorithms. We utilize Raspberry pi microcontroller for processing the vision data, separately making the vision system capable of recognizing the specified object as per program commands. © 2018 IEEE.

关键词： Robotic arms

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Research on Reentry Vehicle control Method Based on Robust Enhancement Strategy

Research on Reentry Vehicle Control Method Based on Robust E...

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

作者： Liu Peicheng Ma Rong Li Xianqiang Pan Di Northwestern Polytech Univ Sch Automat Xian 710072 Peoples R China China Acad Space Technol Inst Manned Space Syst Engn Beijing 100094 Peoples R China State Grid Beijing Elect Power Co Beijing 102300 Peoples R China

ISBN: (纸本)9781538695821

In order to enhance the robustness of reentry vehicles and improve the security of its control system, a general robustness enhancement strategy based on variable structure control is designed in this paper. Improve super-twist sliding mode reaching law, design a new type fast super-twist sliding mode reaching law. Combining strategies and methods can make robust improvements to existing control methods, thereby avoiding the need to redesign the controller.

关键词： Robustness Sliding mode control Vehicle dynamics Interference Atmospheric modeling Aerospace control Mathematical model

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18th IEEE international conference on Autonomous Robot Systems and Competitions, ICARSC 2018

18th IEEE International Conference on Autonomous Robot Syste...

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18th IEEE international conference on Autonomous Robot Systems and Competitions, ICARSC 2018

ISBN: (纸本)9781538652213

the proceedings contain 42 papers. the topics discussed include: the role of early anticipations for human-robot ball catching;modular software architecture for human-robot interaction applied to the InterBot mobile robot;motion-induced acoustic noise awareness for socially-aware robot navigation;an optimal closed-loop framework to develop stable walking for humanoid robot;a novel wireless instrumented shoe for ground reaction forces analysis in humanoids;bipedal running through imposition of a stabilizing contact force;position control of mobile robots with multi-contour adaptation;and adaptive/multi-model height control system of a quadrotor constant unknown load transportation.

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Obstacle Detection and Avoidance of a cost-oriented humanoid robot

Obstacle Detection and Avoidance of a cost-oriented humanoid...

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18th international-Federation-of-Automatic-control (IFAC) conference on Technology, Culture and international Stability (TECIS)

作者： d'Apolito, F. AIT Ctr Vis Automat & Control Autonomous Syst Vienna Austria

Cost-oriented humanoid robots (COHR) research started in 2011. these robots are designed to be able to support humans in everyday life on the working place, in the household, in different aspects of their lives, and to be available on the market for a reasonable price. At the IHRT institute of the Technical University of Vienna, a cost-oriented humanoid robot named Archie is in development. this paper aims to present the development of the vision system and the approach for the obstacle detection and avoidance for the humanoid robot Archie. (C) 2018, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Cost-oriented automation (COA) Intelligent Systems and Applications robotics and Handling Devices

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