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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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RCCNet: An Efficient Convolutional Neural Network for Histological Routine Colon Cancer Nuclei Classification 15

RCCNet: An Efficient Convolutional Neural Network for Histol...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Shabbeer Basha, S.H. Ghosh, Soumen Kishan Babu, Kancharagunta Ram Dubey, Shiv Pulabaigari, Viswanath Mukherjee, Snehasis Indian Institute of Information Technology Computer Vision and Machine Learning Groups Sri City Andhra Pradesh517646 India

ISBN: (纸本)9781538695821

Efficient and precise classification of histological cell nuclei is of utmost importance due to its potential applications in the field of medical image analysis. It would facilitate the medical practitioners to better understand and explore various factors for cancer treatment. the classification of histological cell nuclei is a challenging task due to the cellular heterogeneity. this paper proposes an efficient Convolutional Neural Network (CNN) based architecture for classification of histological routine colon cancer nuclei named as RCCNet. the main objective of this network is to keep the CNN model as simple as possible. the proposed RCCNet model consists of 1, 512, 868 learnable parameters which are significantly less compared to the popular CNN models such as AlexNet, CIFAR-VGG, GoogLeNet, and WRN. the experiments are conducted over publicly available routine colon cancer histological dataset 'CRCHistoPhenotypes'. the results of the proposed RCCNet model are compared with five state-of-the-art CNN models in terms of the accuracy, weighted average F1 score and training time. the proposed method has achieved a classification accuracy of 80.61% and 0.7887 weighted average F1 score. the proposed RCCNet is more efficient and generalized in terms of the training time and data over-fitting, respectively. © 2018 IEEE.

关键词： Diseases

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Motion Recognition System for Worker Safety in Manufacturing Work Cell

Motion Recognition System for Worker Safety in Manufacturing...

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international conference on control, automation and Systems

作者： Sangseung Kang Kyekyung Kim Intelligent Robotics Research Division ETRI Daejeon Korea

ISBN: (纸本)9781538670804;9788993215168

With a paradigm shift of the manufacturing process into an active module process system, an increasing demand for a lightweight and safe manufacturing environment has developed. To share a workspace between a worker and robot in a manufacturing work cell, technical methods ensuring the safety of the worker must be provided. In this paper, we propose a vision-based worker safety system for enabling a safe operation even when the worker of a manufacturing process shares a workspace with a robot. the proposed system monitors the position of the worker based on a vision system and supports the worker safety by avoiding collisions with the robot according to the workspace classification. the system also recognizes dangerous movements of the worker, and provides safety services through interactions with the manufacturing robot by matching predefined motion models.

关键词： Manufacturing robot Collaborative operation Worker safety Motion recognition

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Feature-Based and Convolutional Neural Network Fusion Method for Visual Relocalization 15

Feature-Based and Convolutional Neural Network Fusion Method...

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15th international conference on control, automation, robotics and vision, ICARCV 2018

作者： Wang, Li Li, Ruifeng Sun, Jingwen Soon Seah, Hock Quah, Chee Kwang Zhao, Lijun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Nanyang Technological University Singapore Singapore Pte Ltd Singapore Singapore

ISBN: (纸本)9781538695821

Relocalization is one of the necessary modules for mobile robots in long-term autonomous movement in an environment. Currently, visual relocalization algorithms mainly include feature-based methods and CNN-based (Convolutional Neural Network) methods. Feature-based methods can achieve high localization accuracy in feature-rich scenes, but the error is quite large or it even fails in cases with motion blur, texture-less scene and changing view angle. CNN-based methods usually have better robustness but poor localization accuracy. For this reason, a visual relocalization algorithm that combines the advantages of the two methods is proposed in this paper. the BoVW (Bag of Visual Words) model is used to search for the most similar image in the training dataset. PnP (Perspective n Points) and RANSAC (Random Sample Consensus) are employed to estimate an initial pose. then the number of inliers is utilized as a criterion whether the feature-based method or the CNN-based method is to be leveraged. Compared with a previous CNN-based method, PoseNet, the average position error is reduced by 45.6% and the average orientation error is reduced by 67.4% on Microsoft's 7-Scenes datasets, which verifies the effectiveness of the proposed algorithm. © 2018 IEEE.

关键词： Neural networks

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vision-based control of a quad-rotor manipulation system 15

Vision-based control of a quad-rotor manipulation system

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15th IEEE international conference on Mechatronics and automation, ICMA 2018

作者： Hamed, Amr Fanni, Mohamed Ahmed, Sabah Salman, Maha Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Alexandria Egypt New Borg-El-Arab city Alexandria Egypt

ISBN: (纸本)9781538660720

Using teleoperation process to drive the quadrotor Manipulation System to pick and place the object in a critical application is very difficult and slow process because of human capabilities so that one of the possible solutions to overcome this problem is to use vision-based control to automatically pick and place the object. In this paper we presented the vision-based control of a quadrotor manipulation system (QMS) that consists of 2-serial link robotic arm attached to the bottom of a quadrotor and a camera attached to end-effector which acts as a vision sensor to form eye-in-hand architecture. Image-Based Visual Servoing (IBVS) is used to produce a desired task space trajectory to the inverse kinematics model that generates a desired quadrotor/joint space trajectory for PD-controller to automatically pick and place the object. the proposed system uses 6 actuators only to perform the required 6-DOF trajectory. this minimum number of actuators is useful to facilitate carrying high payload. the vision-based control of a quadrotor manipulation system of the proposed system was designed and tested using MATLAB/SIMULINK program. the simulation results indicate that this system is able to perform automatic pick and place task for 3D objects. © 2018 IEEE.

关键词： End effectors

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Laser Scanner Position Measurement Method and Accuracy Verification Based on Monocular vision

Laser Scanner Position Measurement Method and Accuracy Verif...

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Jianhui Zhang Dongjing Miao Zhiliang Chen Guolei Wang State Key Laboratory of Tribology Tsinghua University Beijing China National Institute of Metrology of China Room 2022 Building 5 18 North Third Ring Road East Chao Yang District Beijing China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

the method of position measurement based on monocular vision has a wide range of applications in various fields. In this paper, a method based on monocular vision for laser scanner position measurement is proposed and implemented. It can be applied to the three-dimensional reconstruction of point cloud by combining visual positioning technology with laser scanner. Firstly, this paper studies and designs a 3D target (the 3D target is mounted on the laser scanner) made by using the infrared LED light-emitting diode as the control points. then use the EPnP solution to solve the position of the laser scanner, including spatial position coordinates (x, y, z) and three Euler rotation angles (α, β, γ). the measurement method proposed in this paper is simple and easy to operate, and the experimental results show high measurement accuracy.

关键词： Cameras Light emitting diodes Position measurement Measurement by laser beam three-dimensional displays Calibration Semiconductor lasers

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

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

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international conference on control, automation and Systems ( ICCAS)

作者： Muhammad Awais Jae-Hyun Park Jinwoo Jung Eun-Pyo Choi Jong-Oh Park Chang-Sei Kim Department of Mechanical Engineering Chonnam National University Gwangju Korea Medical Microrobot Center Chonnam National University Gwangju Korea

ISBN: (纸本)9781538670804;9788993215168

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： Cameras Visualization Trajectory Winches Parallel robots Calibration

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

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

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Shubao He Hongpeng Wang Shiyong Zhang Bingjie Tian Tianjin Key Laboratory of Intelligent Robotics Tianjin

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

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： Target tracking Visualization Cameras Robustness Task analysis Unmanned aerial vehicles

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Motor Electric Current Based Fault Detection for Transmission of EMA Using Matlab/Simulink Simscape

Motor Electric Current Based Fault Detection for Transmissio...

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

作者： Jiaxing Li Yunhua Li Qu Wang Hao Lu Kai Xiong School of Auto. Sci. and Electrical Eng. Beihang University Beijing China Division of Electro-mechanical Servo System 18th Institute of China Aero. Sci. & Tech. Co. Ltd Beijing China

An electro-mechanical actuator (EMA) consists of an electric motor and a mechanical transmission (reducer). As the applications of EMA in the actuators of flight control are increased, the demand for an accurate and reliable fault diagnostic method for its transmission becomes an important issue. In view of the traditional vibration-based diagnostics need extra hardware devices, this paper proposes a fault extraction method for the EMA, composed of spiral bevel gears, harmonic-drive transmission and Brushless DC motor (BLDC), by monitoring motor stator current. the BLDC, drives with speed control and current hysteresis control, is modeled using Simscape language in Matlab. Periodic impulsive loads simulating transmission faults are added to the model, and BLDC stator electric currents, as the output, are captured under constant motor speed. the fault features, hided in current signal, are exposed in time-domain after Gaussian filter and time-domain synchronous averaging, and the spectrum of current signal is calculated. the simulation and analysis show that transmission faults can generate special peaks in stator current and create unique spectral components in the spectrum. these facts can be used to the fault diagnosis of the mechanical transmission of EMA.

关键词： conferences automation Robots

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A combined visual navigation method for greenhouse spray robot

A combined visual navigation method for greenhouse spray rob...

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IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Wang Peng Wang Pengbo Geng Changxing Robotics and Microsystems Centre Soochow University Suzhou China

ISBN: (数字)9781728107707

ISBN: (纸本)9781728107714

In the greenhouse environment, in order to solve the problem that there be deviations in the straight path of the spraying robot, and the navigation information needs to be quickly obtained at the turn, a navigation algorithm combining the red navigation line and the QR code is designed. After processing the acquired navigation line image, the navigation correction processing is performed based on the obtained deviation and yaw angle. thereby achieving precise navigation in straight ***, red navigation line has problems such as low turning efficiency and poor corrective effect of deviation during cornering. therefore, a QR code navigation method was designed to accomplish the requirement of prompt and accurate navigation at a turning point by identifying the navigation commands stored in the QR code.A total of 120 navigation line images and 120 QR code images under various conditions were collected to verify the algorithm. the average correction rate of the navigation line is 93.33%, and the average recognition rate of the QR code is 92.50%. the result of the navigation experiment shows that the position deviation can be controlled at 2.2 cm under different navigation speed conditions. the average deviation angle of heading angle is kept below 2.1°, and the maximum deviation angle is 4.6°. Which meets the real-time and accuracy requirements of the navigation of spraying robots.

关键词： Navigation Robot kinematics Cameras Robot vision systems Turning Mobile robots

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Towards a sophisticated approach to cost oriented automation and intelligent metrology in the advanced manufacturing

Towards a sophisticated approach to cost oriented automation...

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

作者： Durakbasa, N. M. Bauer, J. M. Bas, G. Krauter, L. TU Wien Dept Interchangeable Mfg & Ind Metrol Inst Prod Engn & Laser Technol Getreidemarkt 9-BA09 A-1060 Vienna Austria Univ Technol Nacl Fac Reg Buenos Aires Buenos Aires DF Argentina

the manufacturing industry faces currently and in the near future due to the information society, very important challenges. New data, network, automation, digital customer interfaces blow up the existing value chain the production of nanoscale workpieces requires integration of a high level of quality in conformance with manufacturing processes and micro-/nanometrological assessment and evaluation. Nanotechnology is multidisciplinary in nature. Modern production metrology and its industrial application started on the basis of the scientific, technical and organisational work of E. Abbe, William Taylor and Frederick Winslow Taylor and at the end of the twentieth century the "Quality control Century" the development has reached Nanotechnology and is proceeding to Pico- and Femto-technology. To meet highlevel demands both from industrial and from private customers in the future, manufacturing enterprises must be flexible and agile enough to respond quickly to product demand changes also according technological developments especially in the field of precision engineering at micro, nano and pico scale production. With support of AI and modern IT, it is possible to realise modern cost-effective customer driven design and manufacturing. (C) 2018, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： advanced production integrated management systems intelligent quality system intelligent metrology robotics

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