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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1611-1620 订阅

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Fundamental Development and Evaluation of Body Weight Load Reduction System Driven by Rubberless Artificial Muscle

Fundamental Development and Evaluation of Body Weight Load R...

引用

international conference on control, automation, robotics and vision

作者： Naoki Saito Toshiyuki Satoh Faculty of Systems Science and Technology Akita Prefectural University Yurihonjo Akita Japan

this paper describes a body weight load reduction system for elderly people to use while walking. this system is driven by rubberless artificial muscle by anticipating the soft movements of users. A force feedback control is applied to the rubberless artificial muscle to realize a body weight load reduction movement that is synchronized with a vertical movement of the walking user. the system validity is evaluated from the perspective of floor reaction force, three muscle activities of the lower limb, vertical movement of the waist position during the walking experiment, and the reaction force applied by this system to a user at that time. Experimental results demonstrate that, using this system, the floor reaction force during walking is reduced. Moreover, for the two muscles of the lower limb, the effect for muscle activity reduction was confirmed. the feedback control response was delayed, but the change of the reaction force imparted to the walking user was suppressed by the passive compliance characteristics of air pressure. Experimentally obtained results confirmed that the proposed system presents the possibility of realizing walking support of elderly people appropriately.

关键词： Force Legged locomotion Muscles Floors Force control Senior citizens Footwear

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Design Principle of Frequency Shaped Non-Switching Integral Sliding Mode controller

Design Principle of Frequency Shaped Non-Switching Integral ...

引用

international conference on control, automation, robotics and vision

作者： Yuki Kawai Kenji Uchiyama Kai Masuda Nihon University Funabashi Chiba Japan

this paper proposes the frequency shaped non-switching integral sliding mode controller (FS-NS-ISMC). Non-switching integral sliding mode controller (NS-ISMC) was proposed as the first sliding mode controller guaranteeing robust stability and performance. the NS-ISMC was basically allowed to control the only matched channels like a conventional sliding mode controller. It means that NS-ISMC cannot suppress unmatched perturbation which is sensitive against control input while making the matched channel behaves as a sliding mode. However, if the robust vector gain, which is a parameter of NS-ISMC, could be designed in frequency to avoid to input in the range where the unmatched perturbation is sensitive while guaranteeing the stability of the error between the matched channel and integral sliding mode, unmatched perturbations could have been suppressed at the same time. In this paper, the design method of FS-NS-ISMC by D-K iteration μ-synthesis to suppress unmatched perturbation is introduced. A flexible manipulator is chosen as the system example. Design process against the manipulator is described and its effectiveness is shown in the numerical simulation.

关键词： Perturbation methods Manipulators Frequency control Switches Mathematical model Asymptotic stability

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A Two-step Method for Extrinsic Calibration between a Sparse 3D LiDAR and a thermal Camera

A Two-step Method for Extrinsic Calibration between a Sparse...

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international conference on control, automation, robotics and vision

作者： Jun Zhang Prarinya Siritanawan Yufeng Yue Chule Yang Mingxing Wen Danwei Wang School of Electrical and Electronic Engineering Nanyang Technological University Singapore Japan Advanced Institute of Science and Technology (JAIST) Nanyang Technological University Singapore

To obtain the 6 DOF extrinsic parameters (rotation and translation matrix) between a 3D ranging sensor and a thermal camera, previous methods require a high-resolution 3D ranging sensor to reliably detect features. Although sparse 3D LiDARs are widely used on autonomous robots, to the best of our knowledge, the extrinsic calibration between a sparse 3D LiDAR (particularly Velodyne VLP-16) and a thermal camera has not been considered in the literature. In this paper, we present a two-step method to address the problem, where a monocular visual camera is used to assist the process. the proposed method decomposes the problem into two steps: extrinsic calibration between a sparse 3D LiDAR and a visual camera;extrinsic calibration between a visual camera and a thermal camera. Experiments are conducted to demonstrate the effectiveness of the proposed two-step method.

关键词： Cameras three-dimensional displays Laser radar Calibration Visualization Robot vision systems

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Improving liquid state machine in temporal pattern classification

Improving liquid state machine in temporal pattern classific...

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

作者： Shengyuan Luo Hang Guan Xiumin Li Fangzheng Xue Hongjun Zhou College of Automation Chongqing University Chongqing China School of Economics and Business Administration Chongqing University Chongqing China

Liquid State Machine (LSM) is a biologically plausible neural network model for real-time computing on time-varying inputs, which is shown to be beneficial for perform computational tasks like pattern classification. the LSM uses spiking neurons with dynamic synapses to projects inputs into high-dimensional space, facilitating subsequent linear pattern recognition In this paper, we present two different methods to improve LSM in real-time pattern classification from perspectives of spatial integration and temporal integration. We develop the reservoir for LSM with a self-organizing network (SON) constructed by refining synaptic connectivity based on spike-time-dependent plasticity (STDP). Our study shows LSM with SON has better performance than LSM with random reservoir in spike train classification especially for small amount of templates due to spatial integration. For temporal integration, we show that increasing time constant of the linear filter, which transform spikes into smoothly changing states, is able to lead a better performance and is robust to the amount of templates.

关键词： Neurons Task analysis Reservoirs Liquids Biological neural networks Computational modeling Real-time systems

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Industrial Maintenance and Assembly Guidance Using a Markerless AR System with Monocular Camera

Industrial Maintenance and Assembly Guidance Using a Markerl...

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international conference on control, automation, robotics and vision

作者： Kun Qian Xiaobo Zhang Hai Yu Xudong Ma School of Automation Ministry of Education Nanjing China Global Energy Interconnection Research Institute State Grid Corporation of China

Wearable Assistive System (WAS) has shown promising prospect in industrial inspection and maintenance applications, as these tasks are increasingly complex and flexible and especially when they are infrequent and unfamiliar to workers. In this paper, the development of a WAS system with maintenance and assembly guidance function is presented. In particular, the issue of fast and markerless Augmented Reality (AR) instruction generation using monocular camera is addressed. A learning based module of fast equipment panel detection is implemented to allow easy deployment of the system. Based on the recognition results, different features are extracted according the type of equipment, as s set of co-planar reference points, based on which an computationally efficient Perspective-n-Point camera pose estimator is employed. Consequently, a sequence of enriched egocentric-perspective guidance instructions are generated and delivered to users according to an assembly tree based description of the assembly and maintenance sequence. the system is evaluated by experiments conducted for power equipment inspection guidance. the results validate the practicability and effectiveness of the system.

关键词： Wearable Object Recognition Camera Pose Estimation Augmented Reality

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Acceleration Feedback Enhanced $H_{\infty}$ control of Unmanned Aerial Vehicle for Wind Disturbance Rejection

Acceleration Feedback Enhanced $H_{\infty}$ Control of Unman...

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

作者： Bo Dai Yuqing He Guangyu Zhang Weiliang Xu Danwei Wang University of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation (Guangzhou) Chinese Academy of Sciences Guangdong China University of Auckland Auckland New Zealand School of Electrical and Electronic Engineering Nanyang Technological University Singapore

Wind disturbance has alway been a critical challenge for safety flight and high precision control of UAV due to the uncertainty of wind in time and space domain. To this end, an acceleration feedback (AF) enhanced H ∞ controller is proposed to enhanced the ability of UAV against wind disturbance and it has been deigned and implemented on a hex-rotor. Firstly, the dynamic of UAV system is decoupled into inner-loop (attitude) and outer-loop (position). then, a hierarchical H ∞ controller is designed for the decoupled system. Finally, a AF enhanced method is introduced into the system without changing controller structure. the stability of the AF enhanced method for the UAV system is analyzed and can be ensured by H ∞ theory as well. the comparison results of trajectory tracking performance between H ∞ controller and AF enhanced H ∞ controller under continuous and gusty wind verify that the proposed method is not only robust but effective for both types of wind disturbances.

关键词： Wind Propellers Unmanned aerial vehicles Stability analysis Attitude control Safety control systems

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Study Artificial Potential Field on the Clash Free Layout of Rebar in Reinforced Concrete Beam – Column Joints

Study Artificial Potential Field on the Clash Free Layout of...

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

作者： Jiepeng Liu Chengran Xu Nian Ao Liang Feng Zhou Wu School of Civil Engineering Chongqing University Chongqing China School of Automation Chongqing University Chongqing China School of Computer Science Chongqing University Chongqing China

Design and construction of reinforced concrete (RC) structures are two important phases in a building construction project. Structural engineers are difficult to reject all rebar clashes in RC beam-column joints at the design phase. Construction engineers and steel fixers have to identify rebar spatial clashes and avoid rebar clashes in a manual way, which is tedious and time consuming. In this paper, an intelligent design method is urgent with the ability to avoid rebar clashes automatically. A novel artificial potential field (APF) approach is presented for the clash free layout of rebar in RC beam-column joints. Using the APF method, the layout of rebar can be regarded as the path planning of multi-agents. APF is used to generate the coordinate of the centerline of clash free rebars in a RC beam-column joint. Repulsive and attractive force can ensure a reachable and optimal solution. the simulation results showed that the proposed method is efficiency and accurate.

关键词： Force Layout Robot kinematics Collision avoidance Mobile robots Structural beams

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A Multi-Face Challenging Dataset for Robust Face Recognition

A Multi-Face Challenging Dataset for Robust Face Recognition

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

作者： Shiv Ram Dubey Snehasis Mukherjee Computer Vision Group Indian Institute of Information Technology Sri City Andhra Pradesh India

Face recognition in images is an active area of interest among the computer vision researchers. However, recognizing human face in an unconstrained environment, is a relatively less-explored area of research. Multiple face recognition in unconstrained environment is a challenging task, due to the variation of view-point, scale, pose, illumination and expression of the face images. Partial occlusion of faces makes the recognition task even more challenging. the contribution of this paper is two-folds: introducing a challenging multi-face dataset (i.e., IIITS_MFace Dataset) for face recognition in unconstrained environment and evaluating the performance of state-of-the-art hand-designed and deep learning based face descriptors on the dataset. the proposed IIITS_MFace dataset contains faces with challenges like pose variation, occlusion, mask, spectacle, expressions, change of illumination, etc. We experiment with several state-of-the-art face descriptors, including recent deep learning based face descriptors like VGGFace, and compare with the existing benchmark face datasets. Results of the experiments clearly show that the difficulty level of the proposed dataset is much higher compared to the benchmark datasets.

关键词： Face Face recognition Probes Lighting Task analysis Databases Computer vision

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Time-Varying Non-Singular Terminal Sliding Mode Attitude control of Reusable Launch Vehicle

Time-Varying Non-Singular Terminal Sliding Mode Attitude Con...

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international conference on control, automation, robotics and vision

作者： Subham Dey Dipak Kumar Giri Vijaya Laxmi Ajoy Kanti Ghosh Department of Electrical and Electronics Engineering Birla Institute of Technology Ranch India Department of Aerospace Engineering Indian Institute of Technology Kanpur India

this paper proposes a time-varying non-singular terminal sliding mode attitude control of reusable launch vehicle in re-entry phase. the dynamics of the reusable launch vehicle is converted to state space form using the Lagrangian formulation. the state-space representation is used to design a nonlinear sliding manifold which is then modified with a time-varying function to obtain the time-varying non-singular terminal sliding manifold. Expression of equivalent control is obtained from the designed sliding manifold using the principles of sliding mode control theory. the total control input is obtained by the linear sum of equivalent control input and sliding control input. the finite time stability of the system is proved and the expression of convergence time is also derived using the Lyapunov theorem. the designed control ensures finite-time convergence at any user-specified time and also guarantees global robustness in the presence of external disturbances. the parameters of the time-varying function are obtained from the pre-specified convergence time. Numerical simulations are used to elucidate the effectiveness of the proposed control algorithm.

关键词： Manifolds Convergence Sliding mode control Attitude control Vehicle dynamics Stability analysis System dynamics

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Spatial-Temporal Fusion Convolutional Neural Network for Simulated Driving Behavior Recognition

Spatial-Temporal Fusion Convolutional Neural Network for Sim...

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international conference on control, automation, robotics and vision

作者： Yaocong Hu MingQi Lu Xiaobo Lu Ministry of Education Key Laboratory of Measurement and Control of Complex Systems of Engineering Nanjing China

Abnormal driving behaviour is one of the leading cause of terrible traffic accidents endangering human life. therefore, study on driving behaviour surveillance has become essential to traffic security and public management. In this paper, we conduct this promising research and employ a two stream CNN framework for video-based driving behaviour recognition, in which spatial stream CNN captures appearance information from still frames, whilst temporal stream CNN captures motion information with pre-computed optical flow displacement between a few adjacent video frames. We investigate different spatial-temporal fusion strategies to combine the intra frame static clues and inter frame dynamic clues for final behaviour recognition. So as to validate the effectiveness of the designed spatial-temporal deep learning based model, we create a simulated driving behaviour dataset, containing 1237 videos with 6 different driving behavior for recognition. Experiment result shows that our proposed method obtains noticeable performance improvements compared to the existing methods.

关键词： driving behaviour convolutional neural networks spatial-temporal deep learning fusion

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