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Human Following Robot Based on Object Detection for Aerospace Application

Human Following Robot Based on Object Detection for Aerospac...

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Aerospace Electrical Engineering and informatics (ICAAEEI), international conference of Adisutjipto on

作者： Arwin Datumava Wahvudi Sumari Ahnaf Bagus Aryandika Ndaru Atmi Purnami Denny Dermawan Ika Noer Syamsiana Department of Electrical Engineering Cognitive Artificial Intelligence Research Group State Polytechnic of Malang Malang Indonesia Electrical Engineering Study Program Adisutjipto Institute of Aerospace Technology Yogyakarta Indonesia Aerospace Navigation Instrumentation Control Automation and Robotics System Research Group Electrical Engineering Study Program Adisutjipto Institute of Aerospace Technology Yogyakarta Indonesia Aerospace Digital System Microprocessor Microcontroller and Programmable Logic Devices Research Group Electrical Engineering Study Program Adisutjipto Institute of Aerospace Technology Yogyakarta Indonesia

ISBN: (数字)9798331507930

ISBN: (纸本)9798331507947

In this research, the Human Following Robot (HFR) prototype has been designed and implemented using YOLO v3-Tiny and Tensor Flow Lite on Raspberry Pi hardware named Rewang. The HFR Rewang is designed to assist aircraft technicians by bringing maintenance tool kits to aircraft shelters. Rewang's movement is based on a camera as a vision sensor following the movement of human entities. Image input is processed by YOLO v3-Tiny through the determination of the bounding box, the calculation of Euclidean Distance, and the determination of the pixel value of the camera as the basis of Rewang's movement which is regulated by an L298N driver motor that controls two Direct Current (DC) motors for the left and right wheels. The test results show that Rewang can move at an average speed of 0.18 m/s at 2 m with a travel time of 11 seconds with a light intensity of more than 250 lux. The minimum and maximum distance of object detection is as far as 120 cm and 400 cm, with an object detection accuracy of 95.8%. Rewang allows the HFR to have a larger carrying capacity to bring more complete aircraft maintenance tools and is prospective for other aerospace and general applications.

关键词： YOLO Tensors Accuracy Prototypes Wheels Cameras Hardware Maintenance Aircraft Aerospace industry

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Cooperative Encirclement in Swarm robotics Based on Triangle Antenna Model 3

Cooperative Encirclement in Swarm Robotics Based on Triangle...

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3rd international conference on robotics, control and automation Engineering (RCAE)

作者： Fang, Taosheng Bao, Weidong Zhu, Xiaomin Li, Fuling Yuan, Yutong Ma, Li Wang, Ji Natl Univ Def Technol Coll Syst Engn Changsha Peoples R China Shantou Univ Dept Elect Engn Shantou Peoples R China

ISBN: (纸本)9781728186382

Cooperative encirclement in swarm robotics has become an active research field. How to find the target in advance through local communication is an important problem in cooperative encirclement in swarm robotics, because it can bring many important benefits, such as avoiding relying on global information, reducing communication load and completing the task faster and more efficiently. Unfortunately, many of the current researches are done without considering the global information or the local communication to find the target in advance, so it is difficult to achieve better practical results in the application of large-scale cooperative encirclement in swarm robotics. In order to solve this problem, a triangle antenna model and a local interaction strategy are designed. On this basis, a local communication algorithm is developed: antenna communication model algorithm, which is used to complete the task of cooperative encirclement in swarm robotics. In order to verify the feasibility of the antenna communication model algorithm and the effectiveness of the local interaction strategy, we present a scene based on the triangle antenna model for the cooperative encirclement of the local communication swarm robots, and carry out simulation experiments and comparative experiments. The experimental results show that the antenna communication model algorithm and the local interaction strategy can find the target in advance, and complete the task better and faster.

关键词： swarm robotics cooperative encirclement triangle antenna model local interaction antenna communication model algorithm

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Observer-based second order sliding mode control for tethered quadrotor transportation

Observer-based second order sliding mode control for tethere...

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2021 IEEE international conference on Real-Time Computing and robotics, RCAR 2021

作者： Gao, Jiale Zhang, Fan Huang, Panfeng Liu, Ya Northwestern Polytechnical University Research Center for Intelligent Robotics School of Astronautics Shaanxi Xi'an710072 China National Key Laboratory of Aerospace Flight Dynamics China

ISBN: (纸本)9781665436786

Quadrotor has been widely applied on tethered transportation due to its advantages of safety, low cost, easy operation and high mobility. However, a precise trajectory tracking control is hard to achieve due to the long tether and tethered payload, specially during the maneuvering motion, which is a classical underactuated system. Based on the above questions, a new double-loops observer-based second order sliding mode control(OBSOSMC) scheme is proposed for tethered quadrotor transportation. The dynamics equation of the quadrotor was established based on Newton's Second Law and Euler-Lagrange mechanic. The payload is regarded as disturbance, and observers are designed in both position loop and attitude loop under which the disturbance can be precisely and directly compensated in the designed second order sliding mode control(SOSMC). The asymptotic stability of the closed loop system based on proposed OBSOSMC is theoretically proved by the Lyapunov stability method. The effectiveness of the proposed OBSOSMC scheme is proved by comparing Classical PID and SOSMC in two different practical experiments. © 2021 IEEE.

关键词： Sliding mode control

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Development of a Novel CNC Worm Grinding Machine 3

Development of a Novel CNC Worm Grinding Machine

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3rd international conference on robotics, control and automation Engineering (RCAE)

作者： Chen, Yan Chen, Yonghong Chongqing Business Vocat Coll 81 Daxuecheng Zhong Rd Chongqing Peoples R China Sichuan Univ Sch Aeronaut & Astronaut 24 South SectYihuan Rd Chengdu Peoples R China Chongqing Univ State Key Lab Mech Transmiss 174 Shazheng St Chongqing Peoples R China

ISBN: (纸本)9781728186382

To satisfy the grinding requirements of all kinds of worm tooth surface, a novel CNC worm grinding machine is demonstrated in this paper. Based on the generating theory, the mathematical models of the worm tooth surface is developed. A novel structure of the worm grinding machine is proposed based on the virtual center distance manufacturing principle, and a seven-axis four-linkage CNC worm grinding machine is developed to verify the practicability of the new structure. A sample of hourglass worm tooth surface is ground on this novel CNC worm grinding machine, the accuracy of hourglass worm tooth surface is certificated by the accuracy detection and contact area test, which proves that the accuracy of this sample is up to level 5. This study is expected to provide a theoretical foundation and experimental support for the grinding of hourglass worm tooth surface.

关键词： worm tooth surface grinding CNC machine hourglass worm

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A Domain Adaptive and Label-efficient Deep Learning Method for Ki-67 Scoring in Infiltrative Breast Ductal Carcinoma Cells 22

A Domain Adaptive and Label-efficient Deep Learning Method f...

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3rd international conference on control, robotics and Intelligent System, CCRIS 2022

作者： Liu, Yiqing Duan, Hufei Shi, Huijuan Ni, Yuxin Wang, Xin Han, Anjia He, Yonghong Department of Life and Health Tsinghua Shenzhen International Graduate School Shenzhen China Department of Pathology The First Afliated Hospital of Sun Yat-sen University Guangzhou China New H3C Technologies Co. Ltd China

ISBN: (纸本)9781450396851

Purpose Ki-67 proliferation index is closely related to the diagnosis, grading, prognosis, and treatment of breast invasive ductal carcinoma (IDC). However, existing deep learning algorithms for automatic Ki-67 index scoring do not exclude normal cells, which leads to no clinically meaningful results. Considering that, we aim to develop a label-efficient and domain adaptive method to distinguish tumor cells from normal cells in Ki-67-stained images. Methods We proposed a deep learning model named self-training Domain Adaptation Faster RCNN (DA Faster RCNN). It can be trained by labeled HE-stained images, unlabelled HE-stained images, and unlabelled Ki-67-stained images. The trained model can detect the breast carcinoma cells not only in HE staining images, but also in Ki-67 staining images. Results The mAPs of our proposed model on the HE test set and Ki-67 test set are 46.5% and 54.3%, respectively, which are 3.3% and 14.2% higher than the benchmark model. The correlation coefficient between the Ki-67 index estimated by our method and that given by pathologists is 0.9672, and the mean square error is 0.0174. Conclusions Our proposed model can accurately identify carcinoma cells and normal cells in Ki-67-stained images. Besides, only a few annotations about HE-stained images are required in the training set, which effectively reduces the difficulty and effort of labeling. © 2022 Owner/Author.

关键词： Cells

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High-Speed CBJT Operational Amplifier with Dual-Input-Stage Subclass Input Stage

High-Speed CBJT Operational Amplifier with Dual-Input-Stage ...

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

作者： Dmitry V. Kuznetsov Alexey E. Titov Marsel A. Sergeenko Nikolay N. Prokopenko Dept. of Scientific Research dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia Dept. of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Dept. of Information Systems and Radio Engineering Don State Technical University Rostov-on-Don Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

A significant disadvantage of classical operational amplifiers with two complementary differential stages in parallel (on the inputs) is that here the slew rate has small values (50–80 V/μs). This is due to the non-linear mode of operation of the input differential stage. In this paper, a new circuit technique for slew rate enhancement in CBJT operational amplifiers of this subclass is discussed. Due to the use of special circuitry of the input differential stage, the process of recharging of the integrating correction capacitance in non-inverting and inverting operational amplifier inclusions is forced. This ultimately improves the performance of the operational amplifier in the large-signal mode. The purpose and originality of this paper is to investigate a new circuit solution of operational amplifier, in which by introducing differentiating transient correction circuits, slew rate is improved by two orders of magnitude. This does not require nanometer-scale technological processes, and the operational amplifier transistors can operate with emitter currents on the order of 100 μA. It is possible to build micro-power operational amplifier on the basis of the proposed circuit design technique, including CBJT and CCMOS transistors. Computer simulations show that for micron CBJT silicon technological processes, the SR of the proposed operational amplifier in non-inverting inclusion (at 100% feedback) increases from 80 to 10000 V/μs, i.e., more than two orders of magnitude.

关键词： Operational amplifiers Micrometers Patents Voltage Silicon Circuit synthesis Transistors Transient analysis informatics Parasitic capacitance

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The Computation of the Inverse Kinematics of a 3 DOF Redundant Manipulator via an ANN Approach and a Virtual Function 17

The Computation of the Inverse Kinematics of a 3 DOF Redunda...

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

作者： Habibkhah, Shahnaz Mayorga, Rene, V Univ Regina Dept Ind Syst Engn Regina SK Canada

ISBN: (纸本)9789897584428

In this paper a method based on Artificial Neural Networks (ANNs) is presented to solve the Inverse Kinematics (IK) of 3 degrees of freedom (DOF) redundant manipulators. In order to obtain the manipulator's joint angles coordinates and solve the IK problem with acceptable accuracy;the forward kinematics equations of the manipulator are used to obtain position of the end effector, and also a virtual auxiliary function is included in the ANN approach. Then, the trained ANN' ability to track a designed target trajectory is tested inside the workspace of the manipulator in two scenarios with different inputs data to the ANN.

关键词： Artificial Neural Network Redundant Robotic Manipulators Inverse Kinematics

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Analysis of Reviews of Tourist Objects Based on Large Language Models

Analysis of Reviews of Tourist Objects Based on Large Langua...

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

作者： Olga A. Nikolaychuk Ivan A. Poddubniy Laboratory of Information and Telecommunication Technologies for Technogenic Safety Research Siberian Branch of the Russian Academy of Sciences Matrosov Institute for System Dynamics and Control Theory (ISDCT SB RAS) Irkutsk Russia

ISBN: (数字)9798331516321

ISBN: (纸本)9798331516338

The article is devoted to solving the problem of identifying issues in the field of regional tourism. To solve this task, the method of aspect-based analysis of reviews of tourist objects using of large language models and prompt-engineering has been developed and implemented. Accommodation facilities, dining establishments, services and attractions are considered as tourist objects. The reviews are obtained from tourist information aggregators using web-scraping method. The initial dataset consisted of 1300 tourist reviews. A large language model, Saiga2, with 70 billion parameters was chosen for the implementation of prompt engineering. The problem analysis task was divided into subtasks of extracting and classifying facts (advantages and disadvantages). For each subtask, prompts have been developed with an indication of the role, a description of classes and examples of solutions. The description of classes is based on the literature analysis of issues in tourism. The method is implemented on the Yandex. Cloud platform, tested and validated to search for accommodation facilities satisfying tourist's requests for Olkhon Island. The results of the method's accuracy evaluation are described using metrics f1, micro f1, macro f1 and weighted f1. To test the proposed method validation, tests describing information about different categories of tourists were developed. The performance of the method was evaluated by comparing the solutions provided by the tourism expert and the created method implementation. The experiment showed 80 percent coincidence of the solutions. The method is planned to be implemented in the service of regional tourism monitoring of the Baikal region.

关键词： Measurement Solid modeling Sentiment analysis Reviews Large language models Natural languages Decision making Prompt engineering informatics Monitoring

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Simultaneous control of Two robotics Arms Sharing Workspace via Visual Predictive control 16th

Simultaneous Control of Two Robotics Arms Sharing Workspace ...

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16th international conference on informatics in control, automation and robotics, ICINCO 2019

作者： Le Flécher, E. Durand-Petiteville, A. Cadenat, V. Sentenac, T. CNRS LAAS 7 Avenue du Colonel Roche Toulouse31400 France Univ de Toulouse UPS Toulouse31400 France Department of Mechanical Engineering Federal University of Pernambuco UFPE Recife Brazil

ISBN: (纸本)9783030631925

This work addresses the problem of simultaneously controlling two robotic arms to automatically pick up fruits in an orchard. When considering such a scenario, the design of the controller has to face several challenges: (i) the arms share the same workspace, (ii) the presence of obstacles such as branches and other fruits, and (iii) the system evolves in a dynamic environment, i.e., the positions of the fruits and branches change over time. In this paper, it is proposed to control the two robotic arms relying on a Visual Predictive control (VPC) scheme. It allows to control the system in a reactive fashion while taking into account a large number of constraints. The global and local models of the VPC scheme as well as constraints dealing with collisions or joint boundaries are presented. Finally, the efficiency of the proposed approach is highlighted with numerous simulation results using the PR2 arms model. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Fruits

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Dynamic Modeling and Analysis for Parallel Robots Actuated by Pneumatic Artificial Muscles 1

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3rd international conference on control, Instrumentation and Mechatronics Engineering, CIM 2022

作者： Wang, Qihang Liu, Gendi Yang, Tong Chen, He Qin, Yanding Sun, Ning Institute of Robotics and Automatic Information Systems College of Artificial Intelligence Nankai University Tianjin300350 China Institute of Intelligence Technology and Robotic Systems Shenzhen Research Institute of Nankai University Shenzhen518083 China School of Artificial Intelligence Hebei University of Technology Tianjin300401 China

ISBN: (数字)9789811939235

ISBN: (纸本)9789811939228

As a kind of pneumatic actuators, pneumatic artificial muscles (PAMs) possess remarkable merits, such as lightweight, compliance, higher security. However, with significant characteristics, e.g., strong bearing capacity, satisfactory dynamic performance, parallel robots used in industry are mostly actuated by traditional actuators. In this case, the compliance of PAMs is missing from parallel robots actuated by traditional actuators;thus, combining parallel robots with PAMs can make full use of the advantages of flexible structures and operation reliability. However, due to the complicated characteristics of PAMs and complex structures of parallel robots, the modeling of PAM-actuated parallel robots is an intractable problem. Therefore, in this paper, we use Lagrange’s method and the three-element model to obtain the dynamic model of PAM-actuated parallel robots. Then, by utilizing a proportional derivative (PD) control method with gravity compensation, simulation results validate the feasibility of the proposed model. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Pneumatic actuators

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