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

共 2674 条记录，以下是81-90 订阅

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Infrared and Visible Image Fusion in Realistic Streetscape 18

Infrared and Visible Image Fusion in Realistic Streetscape

引用

3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Huang, Yudong Xu, Wei Tan, Hanlin Long, Xin Ben, Zongcheng Natl Univ Def Technol Coll Syst Engn 109 Deya Rd Changsha 410073 Hunan Peoples R China

ISBN: (纸本)9781450365307

Infrared and visible image fusion plays an important role in military and civilian applications. However, most methods are focus on simple general scene, which only contains one person alone or a few buildings. It is not enough to fully reflect the diversity and complicated of reality. This paper presents a new fusion method for infrared and visible images based on saliency detection and guided filter, aiming to obtain a synthetic image that is suitable for human visual perception in complicated street scenes. The proposed method employs the saliency detection to extract target region from infrared images. Each image is decomposed into a base layer and detail layers based on a multi-scale decomposition through guided filter. Experimental results demonstrate that our method can achieve a superior performance compared with previous image fusion methods in both subjective and objective evaluation.

关键词： Image fusion Guided filtering Visual saliency Infrared and visible imaging

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Design and control of the Lower Part of Humanoid Biped Robot 3

Design and Control of the Lower Part of Humanoid Biped Robot

引用

3rd international conference on robotics and automation Engineering (ICRAE)

作者： Mohamed, Samer A. Maged, Shady A. Awad, Mohammed I. Ain Shams Univ Fac Engn Mechatron Engn Dept Cairo Egypt

ISBN: (纸本)9781538695944

This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was developed to produce the trajectory of the robot center of mass (COM), and then generate the feet trajectories, as well as applying inverse kinematics model. An iterative optimization algorithm was used to find the angular correction. The system was simulated on MATLAB/SIMULINK simulation environment and the results were satisfactory.

关键词： bio-inspired robotics humanoid gait walking pattern trajectories linear inverted pendulum

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Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation for Automated Aerobridge Docking Process 3

Kinematics Modelling and ADAMS MATLAB/Simulink Co-Simulation...

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Huang, YunYun Wang, Jianliang Tham, Desmond Mark Nanyang Technol Univ Sch Elect & Elect Engn 50 Nanyang Ave Singapore 639798 Singapore Singapore Technol Dynam Pte Ltd ST Engn NTU Corp Lab 249 Jalan Boon Lay Singapore 619523 Singapore

ISBN: (纸本)9781509060887

The objective of this work is first to present the kinematics modelling of an aerobridge for the application of automated aerobridge docking process to the aircraft, which will solve the manpower shortage issues as well as prevent the damage to aircraft due to human error in manual operation. As the aerobridge is a complex system which involves five active DOFs and four free DOFs, we have proposed an alternative solution of kinematics modelling for this higher order systems. And then the numerical solutions for the inverse kinematics equations are obtained using MATLAB and the kinematic modelling of the aerobridge is validated successfully through the motion simulation using ADAMS. The control schemes of the aero bridge docking process are proposed based on (1) Home position to Pre-set position, and (2) Pre-set position to Target position, which are developed in MATLAB/Simulink. Co-simulation model is established based on ADAMS/control and MATLAB/Simulink, which is used for modelling & design of the control systems, and also for visualizing and validating the aero bridge docking process.

关键词： robotics kinematics modelling co-simulation control industrial automation

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A Robotic System for Autonomous 3-D Surface Reconstruction of Objects 3

A Robotic System for Autonomous 3-D Surface Reconstruction o...

引用

3rd IEEE international conference on control, automation and robotics (ICCAR)

作者： Secil, Sezgin Turgut, Kaya Soyleyici, Cansu Ozkan, Metin Parlaktuna, Osman Dutagaci, Helin Parlaktuna, Mustafa Eskisehir Osmangazi Univ Dept Elect & Elect Engn Eskisehir Turkey Eskisehir Osmangazi Univ Dept Comp Engn Eskisehir Turkey Eskisehir Osmangazi Univ Dept Mechatron Eskisehir Turkey

ISBN: (纸本)9781509060887

This paper presents a robotic system to be utilized for autonomous 3-D surface reconstruction of objects. 3-D object reconstruction is performed by taking surface point cloud of an object from different views. The point cloud is obtained by profile or field range sensors with the limited field of view. Thus, the problem is defined as the determination of next best view for the sensor. In an autonomous 3-D reconstruction system, the sensor positioning is performed by a robot manipulator. We propose the hardware and software architectures for the robotic system that enables autonomous 3-D object reconstruction. The efficiency of the system is shown for a few sample objects.

关键词： industrial robots 3D reconstruction software architecture point clouds

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Robust multi-robot cooperation through dynamic task allocation and precaution routines

Robust multi-robot cooperation through dynamic task allocati...

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3rd international conference on informatics in control, automation and robotics

作者： Sariel, Sanem Balch, Tucker Erdogan, Nadia Istanbul Tech Univ Dept Comp Engn TR-80626 Istanbul Turkey Georgia Inst Technol Coll Comp Atlanta GA 30332 USA

ISBN: (纸本)9728865600

In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a heterogeneous team of robots and task dependencies, the proposed framework provides a distributed mechanism for assigning tasks to robots in an order that efficiently completes the mission. The approach is robust to unreliable communication and robot failures. It is a distributed auction-based approach, and therefore scalable. In order to obtain optimal allocations, effective bid evaluations are needed. Additionally to maintain optimality in noisy environments, dynamic re-allocations of tasks are needed as implemented in dynamic task selection and coalition maintenance scheme that we propose. Real-time contingencies are handled by recovery routines, called Plan B precautions in our framework. Here, in this paper, we present performance results of our framework for robustness in simulations that include variable message loss rates and robot failures. Experiments illustrate robustness of our approach against several contingencies.

关键词： distributed AI robotics multi-agent systems

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Model Following control System with Robot System

Model Following Control System with Robot System

引用

2nd international Asia conference on informatics in control, automation and robotics (CAR)

作者： Wang, Dazhong Wu, Shujing Wang, Zhe Okubo, Shigenori Shanghai Univ Engn Sci Longteng Rd 333 Shanghai Peoples R China Yamagata Univ Fac Engn Yonezawa Yamagata Japan East China Normal Univ Shanghai Peoples R China

ISBN: (纸本)9781424451944

In this paper, we propose a new study of the robot control by using model following control system (MFCS). With the MFCS method M45], we obtain a simple input control law. The bounded property of the internal states for the control is given and the utility of this control design is guaranteed. Finally, examples are given to illustrate the effectiveness of the proposed method, and MFCS control techniques are applied to robot control synthesis problems.

关键词： robot nonlinear system model following control system (MFCS) disturbances

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A Discriminatively Learning Model with Illumination Transfer for Inter-Camera Pedestrians Association 18

A Discriminatively Learning Model with Illumination Transfer...

引用

3rd international conference on robotics, control and automation (ICRCA) / 3rd international conference on robotics and Machine Vision (ICRMV)

作者： Zhong, Shijun Yu, Chunyan Lin, Jiali Fuzhou Univ Xueyuan Rd 2 Fuzhou Fujian Peoples R China

ISBN: (纸本)9781450365307

Inter-camera pedestrians association always employs appearance features to merge tractlets of the same pedestrian into a whole. However, appearance features are always view-and illumination-sensitive. In this paper, we present a method to solve inter-camera pedestrian association via discriminative learned feature in a stable way with illumination transfer. First, we proposed a discriminative feature learning model which is a convolution siamese network that combines the verification and identification losses. Furthermore, we introduce color brightness transfer reduce color distortions under different illumination. To learn proper brightness transfer function, a fuzzy color cluster is used to model the change of color brightness between different cameras. The experiments show the effectiveness of the proposed method and achieve the state-of-the-art in the benchmark NLRP_MCT dataset.

关键词： Illumination transfer Inter-camera association A Discriminatively learning model Non-overlapping field of views

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An Improved Method of 3D Scene Reconstruction Based on SfM 3

An Improved Method of 3D Scene Reconstruction Based on SfM

引用

3rd international conference on robotics and automation Engineering (ICRAE)

作者： Yuan, Yating Ding, Yan Zhao, Liangjin Lv, Lin Beijing Inst Technol Sch Aerosp Engn Minist Educ Key Lab Dynam & Control Flight Vehicle Beijing 100081 Peoples R China

ISBN: (纸本)9781538695944

The 3D virtual scenes are widely used in different applications, such as visual simulation, augmented reality and virtual reality and so on. For reducing the time consumption with 3D modeling, we propose an improved method of 3D scene reconstruction based on SfM. By taking the video streaming as input, we put forward a feature similarity determination strategy to extract keyframes, and utilize a dense algorithm to improve the model accuracy. Moreover, the method appends 3D model filtering to remove the redundancy of the result models. We demonstrate our method by testing the time cost and effect of different videos and datasets. Results illustrate that our method is practical and available.

关键词： 3D scene reconstruction SfM keyframe extraction filtering

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Combining reinforcement learning and genetic algorithms to learn behaviours in mobile robotics

Combining reinforcement learning and genetic algorithms to l...

引用

3rd international conference on informatics in control, automation and robotics

作者： Iglesias, R. Rodriguez, M. Regueiro, C. V. Correa, J. Barro, S. Univ Santiago de Compostela Santiago De Compostela Spain Univ A Coruna Dept Elect & Syst Coruna Spain

ISBN: (纸本)9728865600

Reinforcement learning is an extremely useful paradigm which is able to solve problems in those domains where it is difficult to get a set of examples of how the system should work. Nevertheless, there are important problems associated with this paradigm which make the learning process more unstable and its convergence slower. In our case, to overcome one of the main problems (exploration versus exploitation trade off), we propose a combination of reinforcement learning with genetic algorithms, where both paradigms influence each other in such a way that the drawbacks of each paradigm are balanced with the benefits of the other. The application of our proposal to solve a problem in mobile robotics shows its usefulness and high performance, as it is able to find a stable solution in a short period of time. The usefulness of our approach is highlighted through the application of the system learnt through our proposal to control the real robot.

关键词： robot control mobile robotics autonomous agents reinforcement learning genetic algorithms

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Design and implementation of an FPGA-based SVPWM IC for PWM inverters

Design and implementation of an FPGA-based SVPWM IC for PWM ...

引用

4th international conference on informatics in control, automation and robotics, ICINCO 2007

作者： Tsai, Cheng-Hung Lu, Flung-Ching Department of Electrical Engineering China Institute of Technology 245 Yen-Chiu Yuan Road 3rd Sec. Taipei 11581 Taiwan Department of Electrical Engineering Tatung University 40 Chungshan North Road 3rd Sec. Taipei 10451 Taiwan

This paper presents a new circuit design scheme of the space-vector pulse-width modulation (SVPWM) strategy, including linear and overmodulation ranges. The proposed scheme has been developed using the state-of-the-art field-programmable gate array (FPGA) technology. The SVPWM control integrated circuit (IC) can be realized by using only a single FPGA (Cyclone) from Altera, Inc. Experimental results show that this controller can present an excellent drive performance and its switching frequency, which can be set to over 100kHz, is adjustable as well as its deadtime. The output fundamental frequency can be adjusted over 2000Hz. This SVPWM IC can be included in the digital current control loop for stator current regulation. The IC also provide a simple hardware and low cost for high-performance ac drives.

关键词： Integrated circuits

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