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Development of Continuum Spine Mechanism for Humanoid Robot: Biomimetic Supple and Curvilinear Spine Driven by Tendon

Development of Continuum Spine Mechanism for Humanoid Robot:...

引用

IEEE international conference on Soft robotics (RoboSoft)

作者： Yuriko Kakehashi Kei Okada Masayuki Inaba Department of Creative-Informatics University of Tokyo Japan Department of Mechano-Informatics University of Tokyo Japan

ISBN: (数字)9781728165707

ISBN: (纸本)9781728165714

In this paper, we developed, for humanoid robots, a lightweight spine mechanism that deforms flexibly, drawing continuous curves. This mechanism is the one that mimics the human musculoskeletal structure. Although the human spine has a high degree of freedom and is difficult to control, our mechanism solves the degree of freedom problem with a tendon-driven underdrive mechanism that applies the technique of continuum robots, and with only nine motors, the basic operations of flexion, extension, lateral flexion and rotation are all realized for each of the three curves, i.e., the cervical spine, thoracic spine, and lumbar spine. A slender and lightweight mechanism combining coil springs and CF (Carbon Fiber) rods is driven by pulling 24 threads, and these threads are allocated to a total of 9 motors. The reproducibility of the basic motions of the human spine, such as flexion, extension, lateral flexion and rotation, was shown by actual machine tests. As an example, we reproduced `arabesque' which is one of the typical ballet postures.

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Rule Based Method in Expert System for Detection Pests and Diseases of Corn 3

Rule Based Method in Expert System for Detection Pests and D...

引用

3rd international conference on Science and Technology 2019, ICST 2019

作者： Sumaryanti, Lilik Istanto, Teddy Pare, Selfina Department of Informatics Musamus University Jl. Kamizaun Mopah Lama Merauke Indonesia Department of Information System Musamus University Jl. Kamizaun Mopah Lama Merauke Indonesia

Corn is a multi-functional plant, both for direct consumption and as the main raw material for animal feed and the food industry. The need for corn in Indonesia, which continues to increase, needs to be balanced with an increase in production. So that various government policy strategies are carried out, in an effort to increase productivity. Constraints in the cultivation of corn, namely farmers have limitations in identifying diseases that attack plants, and ways to control pests and diseases. The purpose of this study is to propose the use of technology in agriculture by developing an expert system for the detection of corn pests and diseases, which will provide information and strategies for controlling pests and diseases, in order to reduce losses due to crop failure. The knowledge base in expert system contains a set of rules that use the IF-THEN pattern, and to reason on a rule base using forward cahaining method. Expert system is a tool to detection pests and diseases and how to control them like providing expert assistance. In addition, system also provides explanation facility related to the diagnosis results, according to the symptoms obtained from the user. The accuracy detecting pests and diseases 76.6%. © Published under licence by IOP Publishing Ltd.

关键词： Expert systems

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Data Mining Algorithms for a Feature-Based Customer Review Process Model with Engineering informatics Approach 3

Data Mining Algorithms for a Feature-Based Customer Review P...

引用

3rd international conference on Artificial Intelligence, automation and control Technologies (AIACT)

作者： Varudharajulu, A. K. Ma, Y. Univ Alberta Edmonton AB Canada

The data generated from online communication acts as potential gold mines for discovering knowledge for end users. Large amount of data is also generated in the form of web documents, emails, blogs, and feedback, etc. Text analytics and opinion mining are used to extract human thoughts and perceptions from unstructured texts. This paper proposes a method that focuses on analysing different classification and clustering algorithms aimed at extracting and consolidating opinions of customers from social media sites like Facebook, Twitter and through surveys, at multiple levels of granularity to monitor and measure customer satisfaction. This is an automated approach, in which algorithms aid in the process of knowledge assimilation identification and the analytics. Domain experts ratify the knowledge base and provide training data sets for the system to intuitively gather more instances for ratification. The system identifies opinion expressions as phrases containing opinion words, opinionated features and also opinion modifiers. These expressions are categorized as positive, negative or neutral. Opinion expressions are identified and categorized using localized linguistic techniques. Opinions can be congregated at any desired level of specificity i.e. feature level or product level, user level or service level, etc. It has been found that J48 classification algorithm and simple k-means clustering algorithm are most suitable for restaurant customer reviews.

关键词： Customer satisfaction

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2019 3rd international conference on Artificial Intelligence, automation and control Technologies, AIACT 2019

2019 3rd International Conference on Artificial Intelligence...

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2019 3rd international conference on Artificial Intelligence, automation and control Technologies, AIACT 2019

The proceedings contain 102 papers. The topics discussed include: optimization of low power wireless sensor network lifetime using improved clone elite monkey algorithm;elite adaptive particle swarm optimization for target coverage problem in high-density wireless sensor networks;a class-incremental learning method based on one class support vector machine;a novel approach to improve the collaborative representation for face recognition;review sentiment orientation analysis based on deep learning;quasi-oppositional multi-objective Antlion optimizer based on differential evolution;research on duration estimation of rotor UAV based on flight condition-energy consumption identification;facial-image based age estimation using imbalanced datasets;and data mining algorithms for a feature-based customer review process model with engineering informatics approach.

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Deep Neural Network Based Shape Reconstruction for Application in robotics 3

Deep Neural Network Based Shape Reconstruction for Applicati...

引用

3rd international conference on robotics and automation in Industry (ICRAI)

作者： Li, Mikhail Mutahira, Husna Ahmad, Bilal Muhammad, Mannan Saeed Sungkyunkwan Univ Dept Elect & Comp Engn Suwon South Korea

ISBN: (纸本)9781728130583

Three-dimensional shape recovery and reconstruction, for classification and other applications, is an important task in robotics. Shape From Focus (SFF) is one of the passive optical technique for 3D shape recovery, from a set of differently focused 2D images. It uses focus information as a cue to estimate 3D shape in the scene. Conventionally, images are taken at multiple positions along the optical axis of the imaging device, and stored in the image stack. This is followed by application of focus measure operators (FM). In order to reconstruct 3D shape of the object, best focused positions are obtained, by maximizing the focus curves obtained by FM application. Multiple FMs have been proposed in the literature but most of them are computationally expensive, since they have to process huge amounts of data. In this paper, Deep Neural Networks (DNN) have been employed to measure the amount of focus in the image stack with high accuracy. The results are compared with commonly used FMs by employing RMSE, Correlation and Q index.

关键词： Deep Neural Network Shape From Focus Focus Measure 3D Shape Recovery robotics

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Development of Flow Rate Feedback control in Tilting-ladle-type Pouring Robot with Direct Manipulation of Pouring Flow Rate 16

Development of Flow Rate Feedback Control in Tilting-ladle-t...

引用

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

作者： Sueki, Yuta Noda, Yoshiyuki Univ Yamanashi Dept Mech Engn 4-3-11 Takeda Kofu Yamanashi 4008511 Japan

ISBN: (纸本)9789897583803

This paper describes the advanced control technology for the tilting-ladle-type pouring robots in the casting industry. In the pouring process in which the molten metal is poured into the pouring basin of the mold by tilting the ladle, it is difficult to pour the molten metal as desired pouring flow rate by the operator. Because the pouring flow rate is manipulated indirectly by manipulating the ladle's angle. In order to solve this problem, in previous studies, we developed the direct manipulation system of the pouring flow rate in the pouring robots. However, the error between the desired and the actual pouring flow rate can be caused by the disturbances in the pouring condition. Therefore, in this study, we develop the pouring flow rate feedback control for improving the tracking performance. In this approach, the pouring flow rate can be estimated by using the extended Kalman filter, and the feedback controller can be constructed by the gain-scheduled PID control based on the estimated flow rate. The developed system is applied to the laboratory-type pouring robot. According to the experiments, the operator can manipulate the pouring flow rate as desired, even in the pouring condition with the disturbance.

关键词： Pouring Robot Flow Rate control Extended Kalman Filter Gain-scheduled PID control

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Cooperative Encirclement in Swarm robotics Based on Triangle Antenna Model

Cooperative Encirclement in Swarm Robotics Based on Triangle...

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

作者： Taosheng Fang Weidong Bao Xiaomin Zhu Fuling Li Yutong Yuan Li Ma Ji Wang National University of Defense Technology Changsha China Shantou University Shantou China

ISBN: (数字)9781728186382

ISBN: (纸本)9781728186399

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： Robots Robot kinematics Robot sensing systems Antennas Legged locomotion Swarm robotics Sensors

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Optimum Design and FEA of a Hybrid Parallel-deployable Structure-based 3-DOF Multi-gripper Translational Robot for Field Pot Seedlings Transplanting 16

Optimum Design and FEA of a Hybrid Parallel-deployable Struc...

引用

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

作者： Assal, Samy Ndawula, Isaac Egypt Japan Univ Sci & Technol EJUST Dept Mechatron & Robot Engn Alexandria Egypt

ISBN: (纸本)9789897583803

Pot seedlings transplanting is an activity in the agricultural production industry. In its manual level, it is a time consuming, labour intensive, costly activity with low transplanting rate, uneven plant distribution and low degree of accuracy. So, in this paper, a novel partially decoupled 3-DOF multi-gripper pot seedlings transplanting robot is proposed to be used in the open agricultural field to increase the transplanting rate. The proposed robot is composed of two identical 2-DOF Diamond Delta robots, 1-DOF scissor mechanism and belt conveyor. Delta robot is a high speed parallel robot that is used to control the grippers in the X-Z plane while the scissor mechanism is a deployable structure that is worked in the multi-gripper and used to control the grippers in Y direction. Different kinematic and design aspects are considered;namely, the kinematic analysis and the optimum design as well as the finite element analysis in the most critical loading configuration are carried out. A unified frame work for the optimum dimensional synthesis for a prescribed workspace with force transmission and singularity avoidance constraints is developed for the optimal dimensions of the design parameters. The proposed robot is shown to have high transplanting rate and is safe in terms of stress and deformation.

关键词： Transplanting Robot Multi-gripper Optimum Design Pot Seedlings Transplanting Hybrid Parallel-Deployable Structure

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Robust Finite-time Position and Attitude Tracking of a Quadrotor UAV using Super-Twisting control Algorithm with Linear Correction Terms 16

Robust Finite-time Position and Attitude Tracking of a Quadr...

引用

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

作者： Kali, Yassine Rodas, Jorge Saad, Maarouf Gregor, Raul Alqaisi, Walid Benjelloun, Khalid Ecole Technol Super GREPCI Lab Montreal PQ H3C 1K3 Canada Univ Nacl Asuncion Fac Ingn Lab Power & Control Syst Asuncion Paraguay Mohammed V Univ Ecole Mohammadia Ingn A2I Lab Rabat Morocco

ISBN: (纸本)9789897583803

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms. It ensures robustness against unknown dynamics and perturbations and allows fast finite-time convergence even when the trajectories of the considered system are far from the user-chosen switching surface. In addition, this algorithm is very attractive since it solves the major problems of the first and second order sliding mode, namely, the chattering phenomenon and the required unavailable information for practical implementation. To show the effectiveness of the used modified structure of the super-twisting algorithm, simulation results are presented for the considered quadrotor system.

关键词： Quadrotor Unmanned Aerial Vehicle Position and Attitude Tracking Finite-time Convergence Super-Twisting Algorithm

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Applying Task-centric Holistic Teaching Approach in Education of Industrial Cyber Physical Systems 3

Applying Task-centric Holistic Teaching Approach in Educatio...

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3rd IEEE conference on Industrial Cyberphysical Systems, ICPS 2020

作者： Makio, Elena Yablochnikov, Eugeny Colombo, Armando Walter Makio, Juho Harrison, Robert Wmg University of Warwick International Manufacturing Centre Warwick United Kingdom Itmo University Control Systems and Robotics St. Petersburg Russia University of Applied Sciences Emden/Leer Technology Emden Germany

ISBN: (纸本)9781728163895

In order to meet the increasing demand for industrial cyber physical systems, highly qualified professionals are required who possess both excellent professional knowledge and skills as well as soft skills. The interdisciplinarity of industrial cyber physical systems makes teaching the necessary skill challenging. The approach known from the education of software engineering, in which students form a team to develop a software product, is not sufficient. There is also a lack of soft skills, which are often seen as key success factors for engineering projects. To close the existing gaps in education of industrial cyber-physical systems engineering, the task-centric holistic agile teaching approach (T-CHAT) is proposed. This approach will be implemented in a newly developed curriculum for industrial cyber physical systems at the ITMO University St. Petersburg, Russia. It focuses on teaching of both technical and soft skills. © 2020 IEEE.

关键词： Systems engineering

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