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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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Who Is to Err? A Limited Effect of Data Labeling in Prediction of Users' Subjective Impressions of Web Designs

Who Is to Err? A Limited Effect of Data Labeling in Predicti...

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informatics, Electronics, and Radio Engineering (PIERE), international conference Problems of

作者： Anna V. Bortnikova Maxim A. Bakaev Department of Automated Control Systems Novosibirsk State Technical University Novosibirsk Russia Department of Data Collection and Processing Systems Novosibirsk State Technical University Novosibirsk Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

User Experience (UX) researchers and designers who seek to predict users’ subjective impressions nowadays turn to Machine Learning (ML) models trained on marked-up data. Labeling of graphical user interfaces (UIs) is a rather time-consuming process that is also prone to errors and inaccuracies, particularly if motivation of the human labelers is low. Correspondingly, the size of datasets in Human-Computer Interaction (HCI) rarely exceeds the order of 10,000, and the field largely relies on feature-based models. In our paper, we compare two principal ways of obtaining the features, with respect to their effect on the quality of the models that predict users’ impressions of web pages’ Complexity, Aesthetics and Orderliness. First, we calculated several layout-related metrics - balance, equilibrium, symmetry - for 368 website screenshots labeled by 40 human volunteers. Second, we obtained the similar metrics from ML-based online services working with raw web UI images. Our results suggest that despite the limitations of the current automated web UI parametrization tools, their metrics can actually yield superior models (having R 2 s higher by 107% on average). Our key implication for UI/UX designers and ML researchers is that the expected ROI should be carefully weighted before committing to the tedious manual web UI data labeling.

关键词： Measurement Human computer interaction Web design Manuals Machine learning Predictive models Data models User experience Labeling informatics

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High-precision integrated parameter calibration method for seam tracker 3

High-precision integrated parameter calibration method for s...

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2021年第三届先进计算机技术、信息科学与通信国际会议(CTISC2021)

作者： Shengpeng Fu Renbo Xia Jibin Zhao State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences

ISBN: (纸本)9781665418683

This paper presents an integrated calibration method for seam tracker based on planar calibration plate, which can obtain all parameters of the tracker in one calibration. Firstly, a calibration plate is placed in the field of view of the camera to obtain multiple images in different positions. Secondly, the centers of the circle points and the sub-pixel centers of the line structured light on the calibration plate are automatically detected. Then the positions of the calibration plate are calculated according to the internal parameters of the camera, and the three-dimensional coordinates of the center line of the line structured light are calculated. Finally, all the threedimensional coordinates of the line structured light centers are fitted to obtain the plane equation of the light plane, and the parameter calibration is completed. The experimental results show that the calibration method is fast and effective, which can realize the internal and external parameters calibration of the camera in the seam tracker in one operation. It has high calibration accuracy and meets the actual needs of seam tracking.

关键词： Strips Information science Fitting Cameras Calibration Data mining Mathematical model

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Improved Technique for Manufacturing of the Elasctic Air-Permeable Electromagnetic Radiation Absorbers Based on Foil

Improved Technique for Manufacturing of the Elasctic Air-Per...

引用

Sciences and Techniques of Automatic control and Computer Engineering MI-STA, IEEE international Maghreb Meeting of the conference on

作者： Olga Boiprav Sana Ahmed Abdaljlil Amer Zerek Information Protection Department Belarusian State University of Informatics and Radioelectronics Minsk Belarus Faculty of Engineering Sabratha University Sabratha Libya University of Zawia Zawia Libya

The improved technique for manufacturing of the elastic air-permeable electromagnetic radiation absorbers based on foil fragments is proposed. The results of the computational and experimental substantiation of the proposed technique are presented. In the course of this justification, the following has been performed: 1) numerical simulation of the process of interaction of electromagnetic radiation in the microwave range with aluminum and copper foil, depending on the thickness of the metal layer of such materials; 2) measuring of the electromagnetic radiation reflection and transmission coefficients values in the microwave range of the absorbers manufactured in accordance with the proposed technique; 3) calculation of the electromagnetic radiation absorption coefficient values in the microwave range of the absorbers manufactured in accordance with the proposed technique. Based on the justification results, it was found that for the manufacture of absorbers in accordance with the proposed technique, it is optimal to use foil with a metal layer thickness of 50.0 μm. Electromagnetic radiation reflection and transmission coefficients values in the frequency range of 0.7–17.0 GHz of such absorbers vary accordingly within the following limits: 1) from –0.5 to –15.0 dB and from –5.0 to –25.0 dB, if the foil fragments cover 80.0 % of the absorbers surface area; 2) from –0.5 to –10.0 dB and from –5.0 to –30.0 dB, if the foil fragments cover 95.0% of the absorber surface area. Electromagnetic radiation absorption coefficient values in the frequency range of 0.7–17.0 GHz of the absorbers manufactured in accordance with the proposed technique reach 0.9. Such absorbers are recommended for use in order to reduce interference introduced into the operation of antenna systems or electronic devices.

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2020 3rd international conference on Mechatronics, robotics and automation, ICMRA 2020

2020 3rd International Conference on Mechatronics, Robotics ...

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3rd international conference on Mechatronics, robotics and automation, ICMRA 2020

ISBN: (纸本)9781728190327

The proceedings contain 31 papers. The topics discussed include: research on micro-nano satellite measurement algorithm based on federal filter;movement analysis of pulley-rail system used in space-borne perimeter truss antenna;the strategy of online furnace of pending rolling temperature optimization based on genetic algorithm;DeepPIRATES: enabling deployment-independent supervised PIR-based localization;design of furnace temperature control system for billet heating furnace based on fuzzy-MFAC;design and simulation evaluation of pneumatic tool handle;the relocation of lost unmanned combat vehicle in one group based on fog computing method;research on multi-UAV path planning and obstacle avoidance based on improved artificial potential field method;and sketch recognition library applied for an image replication with a humanoid robot in a simulated environment.

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RBF Neural Network based Trajectory control and Impedance control of a Upper Limb Tele-rehabilitation Process 17

RBF Neural Network based Trajectory Control and Impedance Co...

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17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wang, Ting Pu, Yanfeng Southeast Univ Sch Instrument Sci & Engn 2 Sipailou Nanjing 210096 Peoples R China Nanjing Customs Dist PR China 360 Longpanzhong Rd Nanjing Peoples R China

ISBN: (纸本)9789897584428

In the passive tele-rehabilitation process, the safety is the most important thing for patients avoiding the secondary damage of the impaired upper limb. Aiming at adjusting the appropriated contact force in time during the training exercises, an adaptive impedance control is proposed for the slave side. At the same time, the trajectory control based on the Hamilton-Jacobi-Inequality theory and the RBF Neural network is performed for the master manipulator operated by therapists. The stability is analyzed and numerical simulations show the efficiencies and high performances of the proposed method.

关键词： Impedance control Upper Limb Tele-rehabilitation

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3D Sound Source Mapping Using Interval-Based Methods 17th

3D Sound Source Mapping Using Interval-Based Methods

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17th international conference on informatics in control, automation and robotics, ICINCO 2020

作者： Rauschenberger, Axel Wagner, Bernardo Institute for Systems Engineering Leibniz Universität Hannover Appelstraße 9A Hannover30167 Germany

ISBN: (纸本)9783030924416

The knowledge about the 3D position of sound sources can expand the model of the environment used by a mobile robot. To describe the 3D position of multiple sound sources, we form a relationship between the extracted auditory features from the microphone signals and the microphones’ position. To link all observations from different measurement positions, we form a Constraint Satisfaction Problem (CSP). In this work interval analysis is used to solve these equations. Compared to classical approaches, which calculate an approximation of this non-linear system of equations and require a good initial guess, our approach consumes less computation effort. As a benefit, our approach enables the calculation at run time on the hardware of a robot. To increase our method’s robustness for real applications, we extended the approach to model the uncertainties of the auditory features and the microphone positions using interval-based methods. For the extraction of the auditory features, we developed two methods. The first method is based on the direction estimations of state-of-the-art approaches. In contrast, the second method - Interval-Based Time Difference (InTiD) - is directly using interval-based methods on the microphones’ acoustics signals. Finally, by using simulated and real data, we demonstrate the functionality of our Interval-Based Sound Source Mapping (IB-SSM). © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Constraint satisfaction problems

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Blockchain Technology with Applications to Distributed control and Cooperative robotics

Blockchain Technology with Applications to Distributed Contr...

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international conference on Contemporary Computing and informatics (IC3I)

作者： K. Suresh Kumar Dharmendra Yadav Sanjeev Kumar Joshi M. Kalyan Chakravarthi Amit Kumar Jain Vikas Tripathi Department of MBA Panimalar Engineering College Varadarajapuram Poonamallee Chennai Department of Computer Science and Engineering Bikaner (Constituent College of Bikaner Technical University Bikaner) Chak Rural Rajasthan Uttaranchal Institute of Technology Uttaranchal University Dehradun Uttarakhand India School of Electronics Engineering VIT - AP University Amaravati Andhra Pradesh Computer Science Delhi University Delhi India Department of Computer Science & Engineering Graphic Era Deemed to be University Dehradun Uttarakhand India

Various advantages of blockchain include decentralisation, persistence, anonymity, and auditability. Numerous researchers are now interested in distributed control systems that facilitate coordinated and cooperative autonomy as a result of the rising market for robotics. The fields of distributed control and cooperative robotics have constantly faced unsolvable issues with safety and distributed communication. Blockchain innovation has recently been recognized in this setting as a viable technique to solve several of the above problems, including the recognition of malicious nodes, malfunction in process automation, non-compliance with the established standards and privacy protections, safety strikes on robotic, and lack of clarity in measuring performance and audits. This research aims to offer a pathway for newcomers to enter this study area by providing a comprehensive image of blockchain technology’s operating principle and important components in the terminology of management and robotics. Blockchain innovation holds out hope for a comprehensive resolution to this issue and offers a comprehensive review of the system in the form of tutorials. The importance of blockchain in various robotics application cases is then examined. The approaches for future study that can lead to breakthroughs and successful blockchain incorporation in the robotics industry are then highlighted.

关键词： Technological innovation Service robots Terminology Robot kinematics Decentralized control Swarm robotics Tutorials

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PD controller of a Lower Limb Exoskeleton Robot Based on Sliding Mode RBF Neural Network 3rd

PD Controller of a Lower Limb Exoskeleton Robot Based on Sli...

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3rd EAI international conference on Multimedia Technology and Enhanced Learning, ICMTEL 2021

作者： Wang, Aihui Li, Wei yu, Jun School of Electric and Information Engineering Zhongyuan University of Technology Zhengzhou450007 China Zhongyuan University of Technology Zhengzhou450007 China Zhongyuan-Petersburg Aviation College Zhongyuan University of Technology Zhengzhou450007 China

ISBN: (纸本)9783030825614

The lower limb exoskeleton robot (LLER) is a human-robot interaction device that combines human functions and mechanical characteristics. Due to the complexity and strong coupling of human gait, it is difficult for LLER to be worn comfortably and safely for training. In such a scenario, the paper proposes a kind of proportional-derivative(PD) controller of LLER based on sliding mode RBF neural network(SMRBF-nn). In order to verify the effectiveness of the proposed control scheme, pertinent experiments were carried out. The gait data of the subject was collected through the motion capture system. A simulating model was established, different control methods, like conventional SMRBF-nn controller and PD controller based on SMRBF-nn, have been tested on the LLER. The experimental results show that the control strategy proposed in this paper can not only make LLER track the human body’s gait trajectory, but also output appropriate torque when there is a disturbance. © 2021, ICST Institute for Computer Sciences, Social informatics and Telecommunications Engineering.

关键词： Exoskeleton (robotics)

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Wheel-Terrain Contact Geometry Estimation using the Aside-Wheel RGB-D Sensor over Soft Terrain

Wheel-Terrain Contact Geometry Estimation using the Aside-Wh...

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

作者： Pengxuan Zhana Chen Yao Longteng Hu Feng Xue Peichen Wang Zheng Zhu Zhenzhong Jia Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Department of Mechanical and Energy Engineering Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Southern University of Science and Technology (SUSTech) Shenzhen China SUSTech Guang-dong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Shenzhen China Harbin of Institute of Technology (HIT) Harbin China College of Engineering University of Michigan Ann Arbor Michigan USA School of Electronics Harbin Institute of Technology Harbin China

ISBN: (数字)9798350307566

ISBN: (纸本)9798350307573

Wheeled mobile robots (WMRs) have exhibited notable competitiveness in various applications, including geo-graphic and planetary exploration. Nonetheless, when traversing on soft terrains, their wheels might encounter sinkage and slippage, leading to mission failure. Consequently, real-time estimation of contact parameters such as sinkage and slip ratio holds significant importance for rover operations. In this paper, we introduce a novel algorithm that employs only one aside-wheel RGB-D camera for the simultaneous detection of wheel sinkage and slip ratio on deformable terrains in real-time. We estimate sinkage through the depth module by processing point cloud data, and we estimate slip ratio through the color module with a sequence of image processing steps. Utilizing only one single camera reduces errors arising from sensor signal alignment and enhances detection accuracy. With a single-wheel testbed, we simulate wheel motion under different slip ratios and carry out numerous experiments to validate the effectiveness of the proposed algorithm. Our algorithm attains a detection frequency of up to 20Hz and exhibits outstanding precision. The relative sinkage error remains below 4%, while the relative slippage error is confined within 0.8%.

关键词： Accuracy Image color analysis Robot vision systems Wheels Estimation Cameras Real-time systems

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ABC-WRF-Based Gait Recognition for Exoskeleton control Systems: A Multi-Source Data Fusion Approach

ABC-WRF-Based Gait Recognition for Exoskeleton Control Syste...

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3rd international conference on Networking Systems of AI, INSAI 2023

作者： Yang, Xi Pan, Songbo Xu, Yanbin Deng, Chenguo Guangdong Power Grid Limited Liability Company Jiangmen Power Supply Bureau Guangdong China School of Mechanical and Electrical Engineering Beijing Institute of Technology Beijing China

ISBN: (纸本)9798350344660

As the demand for exoskeleton robots continues to grow across various domains, the technology surrounding exoskeleton robots has attracted increased attention. The recognition of gait phases plays a crucial role in exoskeleton control systems. However, practical engineering applications have presented significant challenges for plantar pressurebased gait recognition technology. To address this, we have proposed a gait recognition approach that utilizes human joint angle data to mitigate the influence of environmental factors and movement patterns on plantar pressure signals. This study has designed a multi-source data fusion system for human motion sensing to capture motion attitude data across different modes of movement. Furthermore, in order to recognize gait phases, we have explored the optimization of the weighted random forest algorithm using the Artificial Bee Colony algorithm (ABC-WRF). Subsequently, the proposed method was evaluated through tests conducted on various terrains, including flat ground, stairs, slopes, and special terrain. The results demonstrated an average gait recognition accuracy of over 90%, with a maximum accuracy of 96%. This research contributes to the advancement of exoskeleton engineering by introducing the ABC-WRF-based gait recognition technology and fostering the development of related technologies. © 2023 IEEE.

关键词： Exoskeleton (robotics)

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