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检索条件"任意字段=2024 International Conference on Intelligent Robotics and Automatic Control"

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A Ship Target Detection Method Based on LiDAR under Inland Waterways 5

A Ship Target Detection Method Based on LiDAR under Inland W...

引用

5th international conference on control, robotics, and intelligent System, CCRIS 2024

作者： Chen, Xiaoyu Wang, Xiang Yan, Kai Zhang, Dongfang Wu, Lvqing Zhang, Lijun Zheng, Jianying School of Rail Transportation Soochow University Suzhou China Intelligent Urban Rail Engineering Research Center of Jiangsu Province Suzhou China Suzhou Port and Shipping Industry Development Center Suzhou China School of Intelligent Manufacturing and Smart Transportation Suzhou City University Suzhou China

ISBN: (数字)9781510685871

ISBN: (纸本)9781510685864

Accurate waterway flow monitoring plays an important role in improving ship-shore coordination and promoting the construction of smart waterways. However, traditional methods, including video surveillance and infrared detectors, are susceptible to light and temperature, making it difficult to obtain accurate waterway flow monitoring results. In contrast, the LiDAR sensor is not sensitive to changes in external light and has strong adaptability to complex environments. It can realize real-time and accurate monitoring of waterway traffic. In order to realize ship target detection to obtain accurate waterway flow, we first designed a real-time 3D point cloud background filtering algorithm based on the intensity values of the background point cloud to efficiently acquire ship point cloud data and reduce the data volume. After that, we design a laser beam-based ship target detection algorithm based on the ship's point cloud features, which utilizes the characteristics of the existence time of ship point cloud on the detection cross-section and the edge characteristics of bow and stern, and the change characteristics of the point cloud on the detection cross-section. We validate the accuracy of the proposed method by ships data collected in real scenarios, and the results show that the accuracy reaches 96.3%. © 2024 SPIE.

关键词： Optical radar

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Application of Untiree GO 1 in ORB-SLAM3 Map Building 4

Application of Untiree GO 1 in ORB-SLAM3 Map Building

引用

4th international conference on Industrial Automation, robotics and control Engineering, IARCE 2024

作者： Bai, Yuxuan School of Computing and Artificial Intelligent Southwest Jiaotong University Chengdu China

ISBN: (纸本)9798350380323

With the increasing urbanization, the proliferation of highways has significantly increased the workload involved in highway maintenance. In particular, the maintenance inspection of tunnels plays a crucial role in ensuring the safety and functionality of these vital transportation infrastructures. Robots for intelligent highway tunnel maintenance inspections present a promising solution to alleviate the associated costs and efforts. This research focuses on utilizing the Unitree GOI robot dog, equipped with the ORB-SLAM3 algorithm, for efficient tunnel maintenance detection. This study outlines the process of setting up the GOI robot dog environment from the ground up and employing ROS2 to transmit video captured by the binocular fisheye camera mounted on the robot dog to a customer PC. Subsequently, the ORB-SLAM3 algorithm is executed on the customer PC for map building to overcome the the problem that GOI dog machine does not have enough computility. Through successful experimentation, this study demonstrates the feasibility of employing the GOI robot dog in conjunction with the ORB-SLAM3 algorithm to generate accurate maps of real tunnel environments. This study improves the reliability of the GOI dog operation and solves the problem of the bad result of map building due to insufficient computility and indistinct images. © 2024 IEEE.

关键词： SLAM robotics

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An Opensim Based Verification Method for Lower Limb sEMG Muscle Synergy Decomposition 14

An Opensim Based Verification Method for Lower Limb sEMG Mus...

引用

14th IEEE international conference on Cyber Technology in Automation, control, and intelligent Systems, CYBER 2024

作者： Yu, Huiting Yang, Deguo Shi, Enming Liang, Jiawei Zhang, Bi Zhao, Xingang School of Software Shenyang University of Technology Liaoning Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Liaoning Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Liaoning Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9798331506056

Complex musculoskeletal modeling of the lower extremity is critical for enhancing the understanding of the neural control of hip-knee-ankle joint movements, diagnosing lower extremity movement disorder, and making subsequent treatments. This paper proposes a strategy for analyzing the neuromuscular control of the lower limb based on muscle synergy extraction. We construct a new system suitable for the analysis of human motion characteristics by building a musculoskeletal model of multiple joints of the lower limb in Opensim. Then we realize the simulation of human walking simulation and obtain muscle activation simulation results. Meanwhile, according to the muscle synergy theory, sEMG signals are decomposed by NMF to extract real-time muscle activation components during the gait cycle. The simulation results can be used as a guide and corroboration of muscle synergy extraction to reveal the modes of modular muscle control in human lower limb. © 2024 IEEE.

关键词： Joints (anatomy)

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PVSA : A general and elegant sampling algorithm for Voxel-based 3D object detection 10

PVSA : A general and elegant sampling algorithm for Voxel-ba...

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10th international conference on control, Automation and Robotic (ICCAR)

作者： Gong, Diancheng Li, Junru Wang, Chunchun Wang, Zhiling Univ Sci & Technol China Chinese Acad Sci Heifei Inst Phys Sci Inst Intelligent Machines Hefei Peoples R China Anhui Univ Sci & Technol Chinese Acad Sci Heifei Inst Phys Sci Inst Intelligent Machines Hefei Peoples R China

ISBN: (纸本)9798350373172;9798350373189

Perceiving the environment is vital for autonomous vehicles as it serves as the foundation for decision making and path planning. LiDAR is a widely employed sensor, which produces a voluminous and sparsely populated point cloud. For voxel-based 3D object detection methods, the initial step involves the division of the raw point cloud into voxels, the process known as voxelization. Nevertheless, once the number of point clouds contained within a voxel reaches the certain threshold, the allocation of additional point clouds to that voxel ceases. This leads to a greater degree of information loss. Scholars primarily focus on the subsequent stages following voxelization, such as feature extraction and utilization. We first focus on the sampling issue during the voxelization. In the paper, we propose a general and elegant Points in Voxel Sampling Algorithm module named PVSA. During the voxelization, the assignment of all points into their respective voxels continues even after the maximum number of points in a voxel has been reached. For voxels in which the number of internal point clouds exceeds the certain threshold, the farthest distance sampling method is utilized as it ensures a genuine and uniform distribution of the point cloud within the voxel. We conducted an evaluation of the proposed module using the Kitti dataset. Experimental findings suggest that the incorporation of the PVSA module enhances the object detection capabilities of the voxel-based model, particularly in the identification of samll targets like pedestrians. The incorporation of PVSA modules significantly enhances Pillarnet's capacity to recognize pedestrians, resulting in a 46.2% pt improvement in performance at a distance of 20 meters. On average, there is an enhancement of 1.43% pt.

关键词： Sampling Algorithm Voxelization Small Object Detection Autonomous Vehicle

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A Comparative Study of Photovoltaic Power Prediction Models Based on BP and XGBoost 6

A Comparative Study of Photovoltaic Power Prediction Models ...

引用

6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Li, Tao Zhang, Yuanxi Zhu, Zaixin Bai, Lu Meng, Fei Yang, Guohua Dispatching & Control Center State Grid Ningxia Power Co. Ltd. Ningxia Yinchuan China School of Electronic and Electrical Engineering Ningxia University Ningxia Yinchuan China

ISBN: (纸本)9798331541699

Photovoltaic (PV) power generation is influenced by fluctuating environmental factors and exhibits significant non-linearity, making accurate prediction challenging. This paper constructs photovoltaic power prediction models based on BP neural network and XGBoost algorithms, and experimentally validates their predictive performance. The models are evaluated using metrics such as root mean square error (RMSE), mean absolute error (MAE), and coefficient of determination (R2). The experimental results indicate that the BP neural network demonstrates stable performance in handling complex nonlinear relationships, while XGBoost achieves higher prediction accuracy and better generalization ability when the dataset is relatively small. This study provides a reference for the selection of photovoltaic power prediction models and lays the foundation for improving prediction accuracy in renewable energy power systems. © 2024 IEEE.

关键词： Prediction models

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Genetic algorithm optimization of terminal sliding mode multi-agent braking slip rate control 6

Genetic algorithm optimization of terminal sliding mode mult...

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6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Li, Haolin Zhang, Xiaofang Xu, Weize Su, Xin Sun, Hongbo Cheng, Shuaizhi Baishan Power Supply Company State Grid Jilin Electric Power Company Baishan China Qihe Power Supply Company State Grid Jilin Electric Power Company Qihe China Baishan Power Supply Branch State Grid Jilin Electric Power Company Baishan China School of Electrical and Electronic Engineering Changchun University of Technology Changchun China

ISBN: (纸本)9798331541699

Braking stability is an important part of the safe driving process of the car, and the slip rate control directly affects the braking safety of the vehicle. In the braking process, the slip rate control is a nonlinear, time-varying complex system. In this paper, the vehicle braking process is modeled by considering the load transfer phenomenon. The non-singular terminal sliding mode control strategy based on multi-agent is designed and the algorithm is analyzed for Lyapunov stability. In order to improve the fastness and weakening chattering of non-singular terminal sliding mode control algorithm based on multi-agent, a genetic algorithm is introduced to optimize the design parameters of non-singular terminal sliding mode and improve the performance of the control system. Finally, the joint simulation was carried out by Carsim-Simulink, and the vehicle was selected for experimental simulation on a standard uniform road surface and a dry cement road surface. Finally, the simulation results show that the proposed algorithm has good control effect and meets the stability requirements of vehicle braking. © 2024 IEEE.

关键词： Braking

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Kinematics-Based Vibration control of a Wheeled Quadruped Robot Traversing Speed Bumps 6

Kinematics-Based Vibration Control of a Wheeled Quadruped Ro...

引用

6th international conference on robotics, intelligent control and Artificial Intelligence, RICAI 2024

作者： Li, Xiyuan Li, Yunsong Xu, Shengkun Zhao, Fangzheng School of Electromechanical and Automotive Engineering Yantai University Yantai China School of Information Science and Technology Beijing University of Technology Beijing China

ISBN: (纸本)9798331541699

The Wheeled Quadruped Robot (WQR) combines the advantages of wheeled and legged mobility, garnering attention for its superior agility and stability in challenging environments. However, smoothly navigating uneven and complex terrains remains a significant challenge. This study introduces a novel kinematics-based control strategy for crossing parallel and staggered speed bumps, leveraging data from an Inertial Measurement Unit (IMU) and in-wheel contact sensors to enhance stability and mitigate vibrations. Our approach incorporates an advanced vibration control method that precisely adjusts the angles of the WQR's hip and knee joints in real-time, based on feedback from the IMU's pitch angle and the contact states of the in-wheel contact sensors. By continuously monitoring and adjusting the WQR’s posture, we achieve a significant reduction in vibration amplitude during speed bumps traversal, thereby enhancing both driving comfort and overall stability. Extensive simulations have validated the effectiveness of our method, demonstrating a notable decrease in vibration amplitude. This advancement facilitates the deployment of WQRs in harsh terrains, ensuring more reliable, efficient, and comfortable operation. By tackling the challenges of navigating complex environments, our research propels the development of WQRs for a wide range of applications. © 2024 IEEE.

关键词： Multipurpose robots

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Development of Motorized Wheelchair Bearing Safety Feature in Electronic control Module 10

Development of Motorized Wheelchair Bearing Safety Feature i...

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10th international conference on Mechatronics and robotics Engineering (ICMRE)

作者： Tiwari, Tushar Rudra, Chiranjib Mathur, Abha Dan, Pranab K. IIT Kharagpur Rajendra Mishra Sch Engn Entrepreneurship Kharagpur 721302 West Bengal India IIT Kharagpur Dept Elect & Elect Commun Engn Kharagpur 721302 West Bengal India IIT Kharagpur Dept Chem Kharagpur 721302 West Bengal India

ISBN: (纸本)9798350394283;9798350394276

The work aims to model the intelligent electronic control module (ECM) for a motorized wheelchair that can affect guided rearward movement on detection of obstruction, often people who get hurt by colliding, and therefore a remedy is devised by instituting speed adjustments. Again, this is purported to be incorporated economically to keep to affordability, bearing particular safety features in the control unit. It meets the changing demands of people with restricted mobility for the purpose of safety, independence, and overall user experience, which is currently being missed. Rearward alarms can be found in automotive and heavy-duty construction equipment, however, the movement speed control in the reverse direction is practically unavailable in the assistive technology domain. The proposed design integrates an infrared sensor-based speed controller and power unit. In order to clinch affordability, the customized configuration of the wheelchair is considered by adapting modular design tenets with varied motor sizes, power sources (electric battery), and drive units depending on the weight of the user, while the microcontroller and the firmware remain interpretable and common [31]. intelligent control units and signal systems make real-time environmental awareness possible, enabling flexible and effective navigation in various environments [2] while user-centric design provides a customized and easy-to-use experience. A flowchart illustrates the process for the control of a developed prototype of the motorized wheelchair inlaying an Arduino Mega-2560 embedded functional circuit [17]. The variation in speed data of rearward movement for safety purposes is tabulated based on experimental results, and the design would be useful for the manufacturers and industry as well as the users due to its usefulness and affordability.

关键词： Rearward Speed Adjustments in Motorized Wheelchair intelligent Electronic control Module Modular Design Circuit Design and Prototyping Assistive Technology Affordability

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Research on Load Swing and Rotation control Techniques during Transmission Line Tower Erection 15

Research on Load Swing and Rotation Control Techniques durin...

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15th international conference on Mechanical and intelligent Manufacturing Technologies (ICMIMT)

作者： Zhang, Feikai Xia, Yongjun Qin, Jian You, Yi Zhou, Xuri Peng, Fei China Elect Power Res Inst Beijing Peoples R China State Grid Xinjiang Elect Power Co Ltd Elect Power Res Inst Urumqi Peoples R China Jiangsu Power Transmiss & Transformat Co Ltd Nanjing Peoples R China

ISBN: (纸本)9798350362664;9798350362671

In order to address significant risks and low accuracy associated with manual control over load swing and rotation during transmission line tower lifting for erection, research was undertaken on the load swing and rotation control techniques. Through the systematic design of assisted lifting equipment tailored to tower erection, both the hardware composition and the control system for swing and rotation control during lifting operation were proposed. Coupled with a mechanical equilibrium analysis of the lifting system, tension calculation methods applicable to lifting with single and double control ropes were introduced. Upgrading from manual dragging control ropes to automatically controlled traction units for precise tension adjustments of control ropes facilitated automatic control over load swing and rotation, which not only reduces the labor intensity of workers but also lowers construction safety risks.

关键词： transmission line tower lifting for erection swing control rotation control

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Research on Methods of Pavement Distress Detection Based on Object Detection Convolutional Neural Network 8

Research on Methods of Pavement Distress Detection Based on ...

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8th international conference on robotics, control and Automation (ICRCA)

作者： Wang, Xingang Huang, Yaxin Shao, Yongjun Zhao, Chihang Zheng, Youfeng Ma, Xinyi Deng, Wenhao Zhang, Ziyi Southeast Univ Sch Transportat Nanjing Peoples R China Shaanxi Expressway Engn Testing & Testing Co Ltd Xian Peoples R China

ISBN: (纸本)9798350344738;9798350344721

Aiming at the problem that the accuracy of pavement distress detection is easily affected by complex texture, noisy background, uneven illumination conditions and external environmental interference of highway pavement distress images, this paper studies the methods of pavement distress detection based on object detection Convolutional Neural Network. Firstly, the methods of pavement distress detection based on Faster-RCNN. YOLO-V5s, and SSD are compared and analyzed. Secondly, three variants of CNN models are investigated for pavement distress detection, including FR-PDD, YOLO5s-PDD and SSD-PDD. Finally, the comparative experiments were conducted, and the results showed that the average of Yolov5s-PDD network is superior to the other two methods, with an average accuracy of 98.1%.

关键词： intelligent transportation systems (ITS) pavement distress convolutional neural network object detection

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