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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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Incorporating the User Attention in User Interface Logs 18

Incorporating the User Attention in User Interface Logs

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18th international conference on Web Information Systems and Technologies, WEBIST 2022

作者： Martínez-Rojas, A. Jiménez-Ramírez, A. Enríquez, J.G. Lizcano-Casas, D. Departamento de Lenguajes y Sistemas Informáticos Escuela Técnica Superior de Ingeniería Informática Avenida Reina Mercedes s/n Sevilla41012 Spain Universidad a Distancia de Madrid UDIMA Vía de Servicio A-6 15 Collado Villalba Madrid28400 Spain

ISBN: (纸本)9789897586132

Business process analysis is a key factor in the lifecycle of Robotic Process automation. Currently, task mining techniques provide mechanisms to analyze information about the process tasks to be automated, e.g., identify repetitive tasks or process variations. Existing proposals mainly rely on the user interactions with the UIs of the system (i.e., keyboard and mouse level) and information that can be gathered from them (e.g., the window name) which is stored in a UI event log. In some contexts, the latter information is limited because the system is accessed through virtualized environments (e.g., Citrix or Teamviewer). Other approaches extend the UI Log, including screenshots to address this issue. Regardless of the context, the aim is to store as much information as possible in the UI Log so that is can be analyzed later on, e.g., by extracting features from the screenshots. this amount of information can introduce much noise in the log that messes up what is relevant to the process. To amend this, the current approach proposes a method to include a gaze analyzer, which helps to identify which is process-relevant information between all the information. More precisely, the proposal extends the UI Log definition with the attention change level, which records when the user’s attention changes from one element on the screen to another. this paper sets the research settings for the approach and enumerates the future steps to conduct it. Copyright © 2022 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： robotics

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Design of a Leader-follower Formation Fying System Using Real Local Information

Design of a Leader-follower Formation Fying System Using Rea...

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international conference on robotics and automation Engineering (ICRAE)

作者： Koog-Hwan Oh Young-Cheol Choi Jae-Gyeong Lee Smart Electrics Research Center Korea Electronics Technology Institute Gwangju South Korea Korean Agency for Technology and Standards Chungcheongbuk-do South Korea Precision Control Research Center Korea Electrotechnology Research Institute Gyeongsangnam-do South Korea

this paper presents a leader-follower formation flying system using real local information. We propose a vision-based pan-tilt color tracking system and range sensor to obtain local information. Our approach relies on detecting color marker mounted on the leader UAV to measure the relative angles between two UAVs. We use the range sensor for measuring the relative distance based on the time of flight of radio signals. the UAV hardware platforms are developed to obtain the real local information using our approach. the controller and software system of the pan-tilt color tracking system are also designed. Based on obtained local information, which are measured by the designed hardware system, formation control law is designed for the leader-follower formation flying. Experimental results show that the designed system and controller are able to carry out the leader-follower formation flying using real local information.

关键词： Coordinate measuring machines Color Robot sensing systems control systems Software systems Formation control Hardware

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Predictive control of Vehicle Dynamics Equipped with Intelligent Tire Sensors via Gaussian Process Regression of Lateral Tire Force

Predictive Control of Vehicle Dynamics Equipped with Intelli...

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international conference on control and automation (ICCA)

作者： Kunhee Ryu Jinsung Kim Minkyu Han Juhoon Back Vehicle Control Technology Development Team Division of Advanced Vehicle Platform Hyundai Motor Company Republic of Korea School of Robotics Kwangwoon University Seoul Republic of Korea

ISBN: (数字)9798350354409

ISBN: (纸本)9798350354416

this paper investigates the estimation of lateral tire forces and predictive control for vehicles equipped with intelligent tires. Motivated by the capability of intelligent tires to estimate lateral tire forces, we propose a control scheme that includes a predictor for lateral tire forces, utilizing the Gaussian Process Regression technique. In addition, a metric for online data management is proposed, which has the characteristic of retaining more data in regions where the change of the function value is relatively large. the proposed metric can be interpreted as an extension of the existing method, allowing for the control of dataset quality within its limited size. We apply the proposed control scheme to the model predictive contouring control problem. Numerical simulations demonstrate the robustness of the proposed control scheme to tire parameter uncertainty, in comparison to a baseline controller.

关键词： Measurement Uncertain systems Gaussian processes Predictive models Numerical simulation Tires Robustness

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Adaptive Secure control of Uncertain Second-order Nonlinear Cyber-physical System Against Intermittent DoS Attacks

Adaptive Secure Control of Uncertain Second-order Nonlinear ...

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

作者： Mengze Yu Wei Wang Changyun Wen School of Automation Science and Electrical Engineering Beihang University Beijing China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing China School of Electrical and Electronic Engineering Nanyang Technological University Nanyang Avenue Singapore Singapore

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Cyber-physical systems (CPSs) are often complexly nonlinear and uncertain. this paper investigates the adaptive output-feedback control problem for CPSs subject to intermittent denial-of-service (DoS) attacks. the considered CPSs are modeled as a class of uncertain second-order strict-feedback nonlinear systems. When a DoS attack is active, the output signal becomes unavailable. To overcome this diffculty, an adaptive observer is constructed. Based on an average-dwell-time (ADT) method incorporated by frequency and duration properties of DoS attacks, convex design conditions of controller parameters are derived by solving a set of linear matrix inequalities (LMI). the proposed controller guarantees that all closed-loop signals remain globally bounded. An illustrative example is included to validate the theoretical results.

关键词： Adaptive systems Observers Denial-of-service attack Backstepping Adaptation models Stability analysis Closed loop systems

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To Embody or Not: A Cross Human-Robot and Human-Computer Interaction (HRI/HCI) Study on the Efficacy of Physical Embodiment

To Embody or Not: A Cross Human-Robot and Human-Computer Int...

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

作者： Damith C. Herath Nicole Binks Janie Busby Grant Collaborative Robotics Lab Human Centered Technology Research Centre at the University of Canberra Australia Faculty of Health at the University of Canberra Australia Centre for Applied Psychology School of Psychology and Counselling Faculty of Health University of Canberra

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

A plethora of commercial social robots and social robotics startups have risen over the last few years. At a cursory glance, most such robots are merely conversational agents, essentially offering a similar or subset of the capabilities of a smart communication device embodied in a mobile/semi-mobile robotic platform. this raises the question of the efficacy of such an approach. In this paper, we explore embodiment using a social, in-the-wild interaction scenario, comparing a Human-Computer and Human-Robot context. A public site has been deliberately chosen to highlight the importance of conducting such user studies in unconstrained social settings as opposed to in controlled lab settings. Increasing evidence suggest the lack of generalizability of lab-based results in the wild, which we argue as a reason for misguided commercialization of social robots and their eventual commercial failures. the results have implications for the longterm commercial viability of such social robots.

关键词： Robots Chatbot Engines Particle measurements Atmospheric measurements Mobile robots Portable computers

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Moving on from surgical robotics to robotic micro-tools in surgery

Moving on from surgical robotics to robotic micro-tools in s...

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international conference on Mechatronics and Machine vision in Practice (M2VIP)

作者： P. N. Brett Clinical Biomedical Engineering Research Group Aston University Birmingham UK

Over the past 20 years robotic systems have been deployed in surgery and have demonstrated benefits resulting in greater accuracy and consistency of tool trajectories when compared with comparable manual surgical interventions. It has been a great achievement to deploy such machines in the operating theatre environment in close proximity to patients and operating staff, and now commercial systems are available. Tool point guidance and cutting through the control of tool-point/tissue interaction is essential to increase precision further, particularly when working with soft or flexible tissues. the ability to automatically retrieve information describing tissues and the state of the process remains a challenging aspect. this paper focuses on the developing field of controlling tool-point interaction with tissues. the potential to discriminate different conditions and the means to use this information for control offers great potential towards the future of autonomous systems in surgery. this offers the order of magnitude greater accuracy needed in micro-surgical processes. the paper explores the challenges and novelty in formulating actuation, sensory and control solutions through discussion of some examples.

关键词： Surgery Robot sensing systems Automatic control Master-slave control systems Intelligent robots Surges robotics and automation Motion control Biomedical engineering

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Autonomous Docking for Underwater Drones Using ArUco Marker Based Localization

Autonomous Docking for Underwater Drones Using ArUco Marker ...

引用

robotics, automation and Artificial Intelligence (RAAI), IEEE international conference on

作者： Benaiah Saju Joseph Shasank Gunturu Sumukh Shrote S Sandosh School of Computer Science and Engineering Vellore Institute of Technology Chennai Chennai India

ISBN: (数字)9798331520038

ISBN: (纸本)9798331520045

Autonomous docking for underwater drones is crucial for various marine applications. this paper introduces an approach to autonomous underwater vehicle (AUV) docking using ArUco marker-based localization, as demonstrated by Project MIRA, at the Tau Autonomy Center, Norway. the method combines a control system with dual-feed computer vision based perception to achieve autonomy. the control system is based on a cascaded PID controller fine-tuned using various external sensors and optimization techniques. the vision system utilizes ArUco markers for 3D positioning. Our method uses visual markers to help the drone navigate to a custom docking pad. We achieved stable and reliable docking by combining advanced control systems using visual-inertial sensors. this work highlights the potential of using visual markers and smart control systems for underwater drone operations.

关键词： Location awareness YOLO Visualization Computer vision Autonomous underwater vehicles Navigation 6-DOF Sensor systems Reliability Drones

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A Parameter Tuning Method for Fractional Order PD controllers

A Parameter Tuning Method for Fractional Order PD Controller...

引用

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

作者： Munevver Mine Ozyetkin Korkut Bekiroglu Seshadhri Srinivasan Aydin Adnan Menderes University Turkey SUNY Polytechnic Institute Kalasalingam Academy Of Research and Education Center for Research in Automatic Control Engineering

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

A simple parameter tuning-method for fractional order PD (FO-PD) controllers is investigated in this article. the proposed tuning method is based on the convex-stability-region, defined by peak and the stability boundary locus's corner points. the centroid of convex-stability-region is calculated in the k p - k d plane. After obtaining the stability region of the system, the centroid of the stability region can be determined to develop the proposed method. Comparing with the literature, the proposed method does not require complex graphical or numerical methods. thus, it is computationally efficient and not time-consuming. Besides, this simple tuning method ensures the stability of the closed-loop system. the effectiveness and robustness of the proposed method is illustrated with some comparative examples. the results given in the final section demonstrate satisfactory results compare to other tuning methods.

关键词： Mathematical model Tuning Numerical stability PD control Transfer functions Stability criteria System dynamics

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A residual network for de novo peptide sequencing with attention mechanism

A residual network for de novo peptide sequencing with atten...

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

作者： Zihang Liu Chunhui Zhao State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

De novo peptide sequencing via tandem mass spectrometry is one of the most powerful tools for identifying proteins, especially for novel sequences without any database information. Due to the incomplete fragmentation information and the high complexity of the experimental spectra, the accuracy and efficiency of de novo peptide sequencing is a considerable challenge. In this study, a novel residual network structure integrated with attention mechanism is proposed for de novo peptide sequencing, called RANovo. On one hand, the residual structure enables the network to go deeper, therefore more features can be extracted from the input data. On the other hand, attention mechanism is designed to adaptively recalibrate dynamic channel-wise information, which makes better use of the hidden features. Taking these advantages, the proposed method shows superior prediction accuracy on both amino acid level and peptide level in a series of experiments.

关键词： Peptides Sequential analysis Ions Amino acids Residual neural networks Kernel Feature extraction

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Robot grasping of unknown objects, description and validation of the function with quadriplegic people

Robot grasping of unknown objects, description and validatio...

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IEEE international conference on Rehabilitation robotics (ICORR)

作者： Christophe Leroux Isabelle Laffont Nicolas Biard Sophie Schmutz Jean Francois Desert Gerard Chalubert Yvan Measson Robotics research laboratory CEA List French Nuclear Agency Fontenay-aux-Roses France Platform for New Technologies of Universitary Hospital Raymond Poincaré Garches France UGECAM IDF Coubert Reeducation Center Coubert France

this document, presents the AVISO system developed to provide severely disabled people (quadriplegic) with a function allowing them to grasp objects in their environment. the proposed solution relies on a dedicated robot arm with a gripper and a controller allowing automatic vision control of robot's motion. the grasping function proposed does not need marks on the objects of the environment and does not use any model of the objects. It is therefore easy to use, polyvalent and can be applied to a wide variety of objects. the AVISO system includes an intuitive man machine interface specially designed to take into account needs and interaction constraints of physically disabled people. the AVISO system was developed together with medical teams. It was tested and evaluated with disabled people of different aetiology and several valid persons under the control of occupational therapists of different hospitals and rehabilitation centres. the results are positive enough to enable to think to an industrial transfer of this technology at mid term. the paper terminates on a description of the future works, to enhance the system developed and improve our man machine interface in order to be furthermore usable by non-computer or robot specialists.

关键词： Automatic control Motion control Man machine systems Robot vision systems robotics and automation Grippers Robot control Robot motion Testing Medical control systems

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