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检索条件"任意字段=2023 International Conference on Robotics, Control and Vision Engineering, RCVE 2023"

共 1305 条记录，以下是291-300 订阅

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Real-Time Reinforcement Learning for vision-Based robotics Utilizing Local and Remote Computers

Real-Time Reinforcement Learning for Vision-Based Robotics U...

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2023 IEEE international conference on robotics and Automation, ICRA 2023

作者： Wang, Yan Vasan, Gautham Mahmood, A. Rupam University of Alberta Department of Computing Science EdmontonABT6G 2E8 Canada Cifar Ai Chair Canada

ISBN: (纸本)9798350323658

Real-time learning is crucial for robotic agents adapting to ever-changing, non-stationary environments. A common setup for a robotic agent is to have two different computers simultaneously: a resource-limited local computer tethered to the robot and a powerful remote computer connected wirelessly. Given such a setup, it is unclear to what extent the performance of a learning system can be affected by resource limitations and how to efficiently use the wirelessly connected powerful computer to compensate for any performance loss. In this paper, we implement a real-time learning system called the Remote-Local Distributed (ReLoD) system to distribute computations of two deep reinforcement learning (RL) algorithms, Soft Actor-Critic (SAC) and Proximal Policy Optimization (PPO), between a local and a remote computer. The performance of the system is evaluated on two vision-based control tasks developed using a robotic arm and a mobile robot. Our results show that SAC's performance degrades heavily on a resource-limited local computer. Strikingly, when all computations of the learning system are deployed on a remote workstation, SAC fails to compensate for the performance loss, indicating that, without careful consideration, using a powerful remote computer may not result in performance improvement. However, a carefully chosen distribution of computations of SAC consistently and substantially improves its performance on both tasks. On the other hand, the performance of PPO remains largely unaffected by the distribution of computations. In addition, when all computations happen solely on a powerful tethered computer, the performance of our system remains on par with an existing system that is well-tuned for using a single machine. ReLoD is the only publicly available system for real-time RL that applies to multiple robots for vision-based tasks. The source code can be found at https://***/rlai-lab/relod © 2023 IEEE.

关键词： Learning systems

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A Design Solution to Enable a Vehicle for controlled Autonomous Self-Driving Operations 20

A Design Solution to Enable a Vehicle for Controlled Autonom...

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20th IEEE international conference on Smart Communities: Improving Quality of Life using AI, robotics and IoT, HONET 2023

作者： Phillips, Joseph M. Bass, Grayson Shue, Sam Conrad, James M. Unc Charlotte Electrical and Computer Engineering CharlotteNC United States

ISBN: (纸本)9798350331110

The autonomous vehicle industry is growing rapidly due to the quick advancements in technology. As society transitions into the era of autonomous vehicles, there will be many vehicles left behind that do not possess autonomous or self-driving capabilities. Therefore, it is desirable to retrofit these existing vehicles with sensors and actuators for autonomous functions. Ideally, integration of new features should be directly integrated into the existing design. In order to do this, understanding of the electrical and mechanical design of the vehicle is required, which in turn requires access to a manufacturer's design details that may not be publicly available. An alternative solution could be developed to work alongside that vehicle's existing hardware, rather than replace it. This work focuses on a solution where the objective is to integrate a rotary shaft encoder system through multiple layers of hardware and software abstraction. The encoder hardware integration will provide the necessary data feedback that will allow the conversion of a conventional human-driven vehicle to an autonomous controlled vehicle. © 2023 IEEE.

关键词： Computer vision

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Research on autonomous obstacle avoidance assistance system for surface unmanned vehicle based on intelligent vision

Research on autonomous obstacle avoidance assistance system ...

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2023 IEEE international conference on control, Electronics and Computer Technology, ICCECT 2023

作者： Hu, Xiangwei Wuhan University of Technology School of Naval Architecture Ocean and Energy Power Engineering Wuhan430070 China

ISBN: (纸本)9798350399028

The intelligent vision based unmanned surface vehicle intelligence constructed in this article. Its obstacle avoidance system mainly consists of three parts, namely enhancing visual perception, autonomous recognition of obstacles and targets, and autonomous obstacle avoidance for unmanned boats. The project first performs denoising, defogging, and low illumination enhancement on the obtained video images. Then, the YOLOv4 object detection network in its system is used to identify obstacles in enhanced video images. In addition, the project utilizes computer technology to obtain the occlusion angle of obstacles in the image. Then, the system uses millimeter wave radar to measure the distance of obstacles based on its data, achieving the fusion of visual information and radar information. Therefore, based on the VFH obstacle avoidance algorithm, the intelligent obstacle avoidance of unmanned boats was achieved through the above steps. © 2023 IEEE.

关键词： Image enhancement

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Visual Servo control for Ball-on-Plate Balancing: Effect of PID controller Gain on Tracking Performance

Visual Servo Control for Ball-on-Plate Balancing: Effect of ...

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2023 IEEE international conference on robotics and Biomimetics, ROBIO 2023

作者： Kitchatr, Sarin Sirimangkalalo, Aphiphu Chaichaowarat, Ronnapee Chulalongkorn University International School of Engineering Bangkok10330 Thailand

ISBN: (纸本)9798350325706

Ball-on-plate balancing is a popular challenge for the implementation of control systems. In this paper, the Universal Robots UR3 industrial arm is set up for the challenge. An acrylic plate is firmly grasped by the robot's gripper. The pure rotation about three axes is achieved at the center of the plate by considering the offset of the plate from the tool frame. A web camera is mounted on the last link to observe the position of a ping pong ball moving on top of the plate. The color-based object detection is used with OpenCV and the coordinates of the ball are mapped to the pixel of the camera. At the beginning of each test, the ball was placed away from the center of the plate. Considering the x-axis and y-axis error of the ball position away from the center of the plate, the robot arm stabilizes the ball to the center according to the PID controller gain configurations. The effect of the proportional gain on reducing the rise time of the response is observed. The advantage of the derivative gain on reducing the response overshoot is observed. The advantage of the integral gain on reducing the steady-state error is not clearly observed for this ball-on-plate balancing problem. The implemented controller is robust against the small vibration of the camera with respect to the robot arm. © 2023 IEEE.

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Design of wall painting robot based on machine vision 4

Design of wall painting robot based on machine vision

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4th international conference on Artificial Intelligence and Electromechanical Automation, AIEA 2023

作者： Ma, Dandan You, Fahai Electrical and Information Engineering Beihua University Jilin132021 China Power generation Operation Department of Jilin Songhuajiang Thermal Power Co. LTD Jilin132021 China

ISBN: (纸本)9781510666412

In recent years, with more and more high-rises developing, the area of public buildings in our country is growing continuously. Each commercial space needs to decorate independently. The demand for the wall spraying robots is becoming more and more large, and the requirement is becoming more and more high. The spraying method proposed in this paper is based on the normal vector of the wall. The spray gun adjusts its attitude according to the normal vector of the wall, making the axis of the spray gun coincide with the normal vector of the wall, which can achieve better spraying effect. A sliding mode control algorithm based on adaptive adjustment is proposed, which combines adaptive motion control with sliding mode variable structure control to achieve the optimal trajectory tracking effect. © 2023 SPIE.

关键词： Computer vision

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Research on surface defect detection of aerospace electronic components based on machine vision 3

Research on surface defect detection of aerospace electronic...

引用

3rd international conference on Optics and Communication Technology, ICOCT 2023

作者： Zhang, Weiwei Pei, Zhonghai Liu, Kairong Lu, Jinglin Shanghai Aerospace Control Technology Institute Shanghai China Shanghai Key Laboratory of Space Intelligent Control Technology Shanghai China

ISBN: (纸本)9781510672529

Aiming at the problems of low detection efficiency and high labor cost for manual aerospace electronic components surface, this paper proposes a surface defect detection method based on machine vision. Firstly, based on the design of the components surface defect detection device, the characteristics of the surface image are analyzed. Then, the image is preprocessed by bilateral filtering algorithm and morphological operation, and the edge is removed while the noise is removed. Finally, the fast adaptive threshold is adopted. Segmentation to achieve defect detection on the components surface. The experimental results show that the detection method has a good detection effect on the surface of the components. The detection rate and false detection rate are 3.2% and3.8%, respectively, which provides a feasible solution for the detection of defects on the surface of aerospace electronic products. Has a certain practical value. © 2023 SPIE.

关键词： Computer vision

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CaViT: Early Stage Dental Caries Detection from Smartphone-image Using vision Transformer 4

CaViT: Early Stage Dental Caries Detection from Smartphone-i...

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4th international conference on Artificial Intelligence, robotics and control, AIRC 2023

作者： Hossain, Md Shakhawat Rahman, Md Mahmudur Syeed, M M Mahbubul Hannan, Ummae Hamida Uddin, Mohammad Faisal Mumu, Sahria Bakar Independent University Bangladesh Dept. of CSE RIoT Center Dhaka Bangladesh American International University Bangladesh Dept. of CS Dhaka Bangladesh Universal Medical College Hospital Dhaka Bangladesh

ISBN: (纸本)9798350348248

Caries detection is a routine clinical task in dental practice. If caries are detected at an early stage, non-invasive or micro-invasive treatment such as fillings and a root canal can be effective and thereby invasive treatment and therapies such as gum surgery and dental implants can be avoided. Invasive treatments are expensive and inappropriate for patients with low blood cell counts, cardiac problems and other health issues. Consequently, early caries detection is critical in dentistry. Caries are typically identified through a visual tactile examination in support of radiographic imaging. Fluorescence imaging, cone beam computed tomography or optical coherence tomography are also used. However, these procedures are time-consuming and expensive and require a physical examination of the patient. Moreover, the COVID-19 lessons taught us that such diagnoses should be avoided to prevent contagious diseases. Existing automated caries detection methods fail to achieve sufficient accuracy. Therefore, in this paper, we propose a highly accurate automatic system to detect early caries without any face-to-face interaction with the patient. This system is economical, rapid and easy to use. The proposed system uses a smartphone to capture teeth images and then relies on a vision transformer (ViT) to classify the images as advanced, early or no caries. Finally, the caries are segmented using a U-Net network. The proposed method outperformed the existing methods and achieved a sensitivity of 95%, 91% and 100% for the no caries, early caries and advanced caries classes when tested on a dataset of 300 images, developed for this study. © 2023 IEEE.

关键词： Smartphones

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2023 15th international conference on Information Technology and Electrical engineering, ICITEE 2023

2023 15th International Conference on Information Technology...

引用

15th international conference on Information Technology and Electrical engineering, ICITEE 2023

ISBN: (纸本)9798350304466

The proceedings contain 67 papers. The topics discussed include: machine learning-based multi-room indoor localization using fingerprint technique;energy-efficient continual learning for autonomous driving;enhanced keystroke dynamics authentication using keystroke vector dissimilarity;R-AODV: reverse ad-hoc on-demand distance vector routing algorithm with lora mesh based for emergency alert system;vision-based excavator control for pick-and-place operation;droop control strategy of controlled three-phase PWM rectifier for hybrid train propulsion;a generation expansion planning procedure considering the construction delay: a case of Sumatra power systems;and Mecanum-wheeled robot control based on deep reinforcement learning.

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Facemask Detection and Maintaining Safe Distance Using AI and ML to Prevent COVID-19—A Study

Facemask Detection and Maintaining Safe Distance Using AI an...

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international conference on robotics, control, and Computer vision, ICRCCV 2022

作者： Mishra, Ankita Paul, Piyali Mondal, Koyel Chakraborty, Sanjay Department of CSE JIS University Kolkata India Department of Computer Science and Engineering Techno International New Town Kolkata India

ISBN: (纸本)9789819902354

In this paper, we present a set of studies of detecting facemask to prevent COVID-19 spread using machine learning, deep learning, and artificial intelligence. It also explains some recent studies based on the hybrid concepts of deep learning and image processing techniques in this domain. This paper is mainly focused on the set of studies that analyze the machine learning capabilities to detect facemasks through the scanning of people’s images. Besides that, this paper also describes some popular techniques to analyze and detect the safe distance among people using image processing with machine learning techniques. However, it describes a brief comparison among these recent popular studies in terms of technology used, model testing and usage, and accuracy prediction. Readers can find some useful references at the end of this paper. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： COVID-19

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Interactive Design of Service Robot Based on Big Data Algorithm and Computer vision

Interactive Design of Service Robot Based on Big Data Algori...

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2023 IEEE international conference on Sensors, Electronics and Computer engineering, ICSECE 2023

作者： He, Huiyun Wuhan Qingchuan University Hubei Wuhan430000 China

ISBN: (纸本)9798350313734

Virtual robots are widely used in education and training, industrial production, simulation design and remote control. Simulating real equipment in virtual environment can reduce the cost and provide users with good display effect. At present, virtual robots are rarely used in service and user interaction. Natural user interaction system requires that computers can interact with people in a natural way, and carry out multi-channel and multi-scale human-computer interaction according to the information expressed in human gestures, sounds, expressions, movements and other natural behaviors, with the aim of realizing rapid and convenient human-computer interaction. This paper designs a natural language understanding algorithm and a task planning algorithm for the service robot, in which the dependency grammar and valence theory are used as the natural language understanding algorithm, and the improved evolutionary algorithm is used as the task planning algorithm. The effectiveness of the algorithm is verified through the implementation of the home service robot simulation competition platform;And through the comparison with the algorithm effect of other competition teams, its superiority is verified. © 2023 IEEE.

关键词： Remote control

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