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An Extended Family of Rigidly Foldable Origami Tubes

JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2017年第2期9卷 021002页

作者： Chen, Yan Lv, Weilin Li, Junlan You, Zhong Tianjin Univ Key Lab Mech & Equipment Design Minist Educ Tianjin 300072 Peoples R China Tianjin Univ Sch Mech Engn Tianjin 300072 Peoples R China Univ Oxford Dept Engn Sci Parks Rd Oxford OX1 3PJ England

Rigidly foldable origami tubes with open ends have been reported in the past. Here, using a mechanism construction process, we show that these tubes can be used as building blocks to form new tubes that are rigidly foldable with a single degree-of-freedom (SDOF). A combination process is introduced, together with a possibility of inserting new facets into an existing tube. The approach can be applied to both single and multilayered tubes with a straight or curved profile. Our work provides designers great flexibility in the design of tubular structures that require large shape change. The results can be readily utilized to build new structures for engineering applications ranging from deployable structures, meta-materials to origami robots.

关键词： origami tube rigid origami mechanisms

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Information and Software Technologies 1st ed. 2017

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丛书名： Communications in Computer and Information Science

2017年

作者： Robertas Damaševičius Vilma Mikašytė

ISBN: (数字)9783319676425

ISBN: (纸本)9783319676418

This book constitutes the refereed proceedings of the 23nd international conference on Information and Software Technologies, ICIST 2017, held in Druskininkai, Lithuania, in October 2017. The 51 papers presented were carefully reviewed and selected from 135 submissions. The papers are organized in topical sections on information systems; business intelligence for information and software systems; software engineering; information technology applications.

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A Fast 3D Object Recognition Pipeline in Cluttered and Occluded Scenes 10th

A Fast 3D Object Recognition Pipeline in Cluttered and Occlu...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Zheng, Liupo Wang, Hesheng Chen, Weidong Shanghai Jiao Tong Univ Shanghai 200240 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

In this paper we propose a framework for instance recognition and object localization in cluttered and occluded household environment for robot grasping task. The whole system bases on a coarse to fine pipeline in combination with the state-of-the-art methods of RGBD-based object detection. We build a sparse feature model by extracting structure key points incorporating texture cues in the train procedure. After that, the paper demonstrates how the algorithm decreases the time complexity and simultaneously guarantees the accuracy of the recognition and pose estimation. Quantitative experimental evaluations are presented using both acknowledged ground truth dataset and real-world robot perception system.

关键词： Object recognition RGBD-image Clutter Pose estimation

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A New Method of Determining Relative Orientation in Photogrammetry with a Small Number of Coded Targets 10th

A New Method of Determining Relative Orientation in Photogra...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Wu, Hao Zhang, Xu Zhu, Limin Shanghai Jiao Tong Univ Robot Inst 800 Dongchuan Rd Shanghai 200240 Peoples R China Shanghai Univ Sch Mechatron Engn & Automat 99 Shangda Rd Shanghai 200444 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

In traditional close range photogrammetry, more than eight coded targets are adopted to determine the relative orientation. Generally, dozens or hundreds are needed for higher precision. It is a tedious task to place them in the scene. In this paper, a new method with less than eight coded targets is proposed. The key idea is the coded pattern not only provides identification information, but also contains substantial location information. A new detection method of coded targets is developed to recognize the coded targets and excavate the location information in the coded pattern. All this location information is adopted to determine the relative orientation. The experiment results show that two coded targets are enough to determine the relative orientation, and three are enough for high precision.

关键词： Photogrammetry Coded targets Relative orientation Corner information

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Decision Evolution Set: A New Method of Rough Set in Time Series 3

Decision Evolution Set: A New Method of Rough Set in Time Se...

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3rd international conference on Fuzzy Systems and Data Mining (FSDM)

作者： Hu, Yuwen Xu, Jiucheng Yi, Xiaoyu Henan Normal Univ Coll Comp & Informat Engn Xinxiang 453007 Henan Peoples R China Engn Technol Res Ctr Comp Intelligence & Data Min Xinxiang 453007 Henan Peoples R China Henan Normal Univ Xinxiang 453007 Henan Peoples R China

ISBN: (纸本)9781614998280;9781614998273

Rough set theory is conceived as an effective mathematical tool to deal with uncertain information. However, rough set is not suitable to deal with dynamic data, some methods are proposed to solve this question. Evolution model of granular decision is an extension for time series sets based on classical rough set model. Its purpose is to research the rules of decision on time series. Evolution model of granular changes the focus from static decision information system to dynamic time series. It researches the regulations of evolution in decision information system which will be changed in time series. It is a new method to research decision information system. Evolution model of granular decision has the unique advantage in application, but it does not have the clear concept for classification of attributes. This paper gives a concept for decision evolution set based on evolution model of granular decision, and researches its effects in application.

关键词： rough Set Granular Decision Time Series Decision Evolution

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Ensemble of Vector and Binary Descriptor for Loop Closure Detection 4th

Ensemble of Vector and Binary Descriptor for Loop Closure De...

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4th international conference on robot intelligence technology and applications (RiTA)

作者： Salameh, Mohammed Omar Abdullah, Azizi Sahran, Shahnorbanun Univ Kebangsaan Malaysia Fac Informat Sci & Technol Ctr Artificial Intelligence Technol Pattern Recognit Res Grp Bangi 43600 Malaysia

ISBN: (纸本)9783319312934;9783319312910

Loop closure detection plays an important role in vSLAM for building and updating maps of the surrounding environment. An efficient vSLAM system needs an informative descriptor for landmark description and stablemodel formaking decisions. Most of the solutions dependent on using a single descriptor for landmark description, whereas other solutions proposed to use a combination of descriptors. However, these solutions still have the limitation in correctly detecting a previously visited landmark. In this paper, an ensemble of loop closure detection is proposed using Bayesian filter models for making decisions. In this approach, a set of different keypoint descriptors is used as input to bag-of-word descriptors. After that, these descriptors, i.e., SIFT, SURF, and ORB, are used to construct Bayesian filter models and ensemble learning algorithm for loop closure detection. The proposed approach is validated on a public dataset, namely City-Center dataset (CiC). The results shown that the proposed ensemble algorithm outperforms single model and existing loop closure detection system approaches. It gives 87.96% for ensemble learning and 86.36% for the best single model and 37, 80, 81% for FAB-MAP, PIRF-Nav2.0, and RTAB-MAP, respectively.

关键词： Appearance-based localization Loop closure detection Ensemble learning

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The Future of Artificially Intelligent Assistants 17

The Future of Artificially Intelligent Assistants

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23rd ACM SIGKDD international conference on Knowledge Discovery and Data Mining (KDD)

作者： Muthukrishnan, Muthu Tomkins, Andrew Heck, Larry Agarwal, Deepak Geramifard, Alborz Rutgers State Univ New Brunswick NJ 08901 USA Google Mountain View CA USA Amazon Boston MA USA LinkedIn Sunnyvale CA USA

ISBN: (纸本)9781450348874

Artificial intelligence has been present in literature at least since the ancient Greeks. Depictions present a wide range of perspectives of AI ranging from malefic overlords to depressive androids. Perhaps the most common recurring theme is the AI Assistant: C3PO from Star Wars;the Jetson's Rosie the robot;the benign hyper-efficient Minds of lain M. Banks's Culture novels;the eerie HAL 9000 of Arthur C. Clarke's 2001: A Space Odyssey. Today, artificially intelligent assistants are actual products in the marketplace, based on startling recent progress in technologies like speaker-independent speech recognition. These products are in their infancy, but are improving rapidly. In this panel, we will address the product and technology landscape, and will ask a series of experts in the field plus the members of the audience to take a stance on what the future of artificially intelligent assistants will look like.

关键词： Artificial intelligence intelligent assistants conversational bots speech recognition

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Survey on artificial intelligence for additive manufacturing 23

Survey on artificial intelligence for additive manufacturing

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23rd IEEE international conference on Automation and Computing, ICAC 2017

作者： Yang, Jimeng Chen, Yi Huang, Weidong Li, Yun School of Engineering University of Glasgow GlasgowG12 8LT United Kingdom School of Computer Science and Network Security Dongguan University of Technology Dongguan523808 China State Key Laboratory of Solidification Processing Northwestern Polytechnical University Xi'an710072 China

ISBN: (纸本)9780701702618

Additive manufacturing of three-dimensional objects are now more and more realised through 3D printing, known as an evolutional paradigm in the manufacturing industry. Artificial intelligence is currently finding wide applications to 3D printing for an intelligent, efficient, high quality, mass customised and service-oriented production process. This paper presents a comprehensive survey of artificial intelligence in 3D printing. Before a printing task begins, the printability of given 3D objects can be determined through a printability checker using machine learning. The prefabrication of slicing is accelerated through parallel slicing algorithms and the path planning is optimised intelligently. In the aspect of service and security, intelligent demand matching and resource allocation algorithms enable a Cloud service platform and evaluation model to provide clients with an on-demand service and access to a collection of shared resources. We also present three machine learning algorithms to detect product defects in the presence of cyber-attacks. Based on the reviews on various applications, printability with multi-indicators, reduction of complexity threshold, acceleration of prefabrication, real-time control, enhancement of security and defect detection for customised designs are seen of good opportunities for further research, especially in the era of Industry 4.0. © 2017 Chinese Automation and Computing Society in the UK - CACSUK.

关键词： Machine learning

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A Methodology to Determine the High Performance Area of 6R Industrial robot 10th

A Methodology to Determine the High Performance Area of 6R I...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Wang, Nianfeng Zhang, Zhifei Zhang, Xianmin South China Univ Technol Sch Mech & Automot Engn Guangdong Prov Key Lab Precis Equipment & Mfg Tec Guangzhou 510640 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

To find an area where the robot can obtain a higher kinematic performance is a meaningful work for path planning and off-line programming. In this paper, a methodology was proposed to determine the high performance area (HPA) of a 6R industrial robot. Monte Carlo method was used to get a point cloud of the reference point of the end effector. The manipulability measure was selected as a performance index to filter the point cloud. A grid was defined to approach the filtered point cloud and its boundary was then extracted and smoothed. An example was presented to show that the proposed methodology is feasible to determine the HPA of a 6R industrial robot.

关键词： High performance area Performance index Monte Carlo method

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Research on the Synchronous Control of the Pneumatic Parallel robot with Two DOF 10th

Research on the Synchronous Control of the Pneumatic Paralle...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Wang, Shaoning Wang, Tao Wang, Bo Fan, Wei Beijing Inst Technol Beijing Peoples R China

ISBN: (纸本)9783319652924;9783319652917

Basing on the structure of the pneumatic parallel robot with two degrees of freedom (DOF), this paper studies the control method of synchronous coordinated motion of two cylinders in the parallel mechanism to ensure the horizontal attitude of the end position of the parallel mechanism and the trajectory planning. Two active cylinders in the parallel mechanism cannot be controlled coordinately because of the compressibility of gas, the variety of the load force of parallel mechanism and the difference of cylinder pressure changing in the motion. The paper uses the fuzzy adaptive PID control algorithm with gravity compensation and the object-oriented coordinated method to control the motion of the active cylinder. Firstly, the pneumatic parallel mechanism in this paper is introduced. Then the paper studies on the control method when cylinders swing, which is the fuzzy adaptive PID control algorithm. In the end, two cylinder coordinated motion control method is researched based on the parallel mechanism. The synchronous motion control method lays a theoretical foundation for the study of pneumatic parallel mechanism and improves the pneumatic parallel robot technology.

关键词： Two Degree Of Freedom Pneumatic parallel robot Synchronous coordinated control Gravity compensation

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