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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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Study and Experiment on Positioning Error of SCARA robot Caused by Joint Clearance 10th

Study and Experiment on Positioning Error of SCARA Robot Cau...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Xu, Changyu Dong, Huimin Xu, Shangkun Wu, Yu Wang, Chenggang Dalian Univ Technol Dalian 116024 Peoples R China Dalian Yunming Automat Technol Co Dalian 116000 Peoples R China

ISBN: (纸本)9783319652924;9783319652917

Joint clearance is a main cause of generating positioning error in industry robot and the low repeatability and uncertainty make it difficult to compensate. This paper mainly focus on SCARA robot and study the effect of revolute joint clearance in positioning accuracy. First, the positioning error model in XOY plane related to joint clearance is set up and analysis to obtain the extreme error value is made. Then a combined idea to study the joint clearance is presented. From this way, the seemingly random clearance error vector can be predicted by some rough deciding factors. Therefore, if the distribution pattern of clearance vector and the rough decided value are obtained, a compensation is possible. Finally, the Ball-Bar was applied to carry out experiment for invalidation and further correction. From the experiment, some patterns are obtained and show that the clearance is indeed rough decided by some factors.

关键词： SCARA robot Joint clearance Positioning error Ball-Bar

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Robust real-time visual object tracking via multi-scale fully convolutional Siamese networks

Robust real-time visual object tracking via multi-scale full...

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international conference on Digital Image Computing - Techniques and applications (DICTA)

作者： Yang, Longchao Jiang, Peilin Wang, Fei Wang, Xuan Xi An Jiao Tong Univ Inst Artificial Intelligence & Robot 28 Xianning Rd Xian 710049 Shaanxi Peoples R China

ISBN: (纸本)9781538628393

Robust visual object tracking against occlusions and deformations is still very challenging task. To tackle these issues, existing Convolutional Neural Networks (CNNs) based trackers either fail to handle them or can just run in low speed. In this paper, we present a realtime tracker which is robust to occlusions and deformations based on a Region-based, Multi Scale Fully Convolutional Siamese Network (R-MSFCN). In the proposed R-MSFCN, the information of regions is extracted separately by the proposition of position-sensitive score maps on multiple convolutional layers. Combining these score maps via adaptive weights leads to accurate location of the target on a new frame. The experiments illustrate that our method outperforms state-of-the-art approaches, and can handle the cases of object deformation and occlusion at about 31 FPS.

关键词： Target tracking Visualization Convolution Robustness Real-time systems Strain

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Trajectory Tracking by Terminal Sliding Mode Control for a Three-Wheeled Mobile robot 1

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Shao, Jia-Xin Zhao, Yu-Dong Kim, Dong-Eon Lee, Jang-Myung Pusan Natl Univ Dept Elect & Comp Engn Busan 609735 South Korea Pusan Natl Univ Dept Elect Engn Busan 609735 South Korea

ISBN: (数字)9783319652986

ISBN: (纸本)9783319652986;9783319652979

In this paper, the issue of trajectory tracking for a non-holonomic three-wheeled mobile robot is researched and a controller with two layers' structure which separately deals with the kinematic and dynamic characteristics of the mobile robot system is constructed. For the kinematics, a conventional and common kinematic controller is chosen to transform the position tracking errors into command velocity which will be taken as the reference input into the proposed dynamic controller. For the dynamics, a terminal sliding mode control strategy is designed to track the command velocity generated by the kinematic controller. The stability of the proposed control scheme has been proved by Lyapunov theory. Practical experiments are carried out to verify the effectiveness and accuracy of the proposed control algorithm.

关键词： Wheeled mobile robot Trajectory tracking Terminal sliding mode control

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Foreground detection using region of interest analysis based on feature points processing 17th

Foreground detection using region of interest analysis based...

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17th international conference on Next Generation Teletraffic and Wired/Wireless Advanced Networks and Systems, NEW2AN 2017, 10th conference on Internet of Things and Smart Spaces, ruSMART 2017 and 3rd international Workshop on Nano-scale Computing and Communications, NsCC 2017

作者： Ustyuzhanin, Nikita Gilmutdinov, Marat 67 Bolshaya Morskaya str. Saint-Petersburg190000 Russia Skolkovo Innovation Center Skolkovo Institute of Science and Technology Building 3 Moscow143026 Russia

ISBN: (纸本)9783319673790

Analysis of regions of interest is a promising approach for performance improvement of many applications related to video signal processing and transmission. Many state-of-the-art methods face challenges like global luminance changing, objects camouflage, etc. This paper is dedicated to a new method of foreground detection employing region of interest analysis. The main idea of the proposed method is processing feature points located in the regions with object movement. The performance of the foreground detection was estimated using ground truth data and F1-Score criterion. © 2017, Springer international Publishing AG.

关键词： Video signal processing

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IPv4/IPv6-independent termination based on the QinQ technology 3

IPv4/IPv6-independent termination based on the QinQ technolo...

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3rd international conference on Fuzzy Systems and Data Mining, FSDM 2017

作者： Bian, Yong-Tao China University of Mining and Technology Network and Information Center Xuzhou Jiangsu221116 China

ISBN: (纸本)9781614998273

The QinQ + DHCP mode is used for solving problems such as Campus Network IP conflicts, ARP virus overflow, and Broadcasting excess flow. Therefore, this model is being adopted by a large number of colleges and universities. At present, many colleges and universities access IPv6 networks. However, some BRAS devices that focus on IPv4 applications do not support IPv6 addresses with stateful assignments. If stateless address allocation occurs, a large number of logical subinterfaces are often created, and many lines of command lead to low efficiency. This study aimed to investigate the practical significance of IPv4/IPv6-independent termination using the QinQ technology. In the QinQ architecture, a small BRAS device supporting the IPv6 address state assignment can be added, and the IPv4/IPv6-independent termination can be achieved using a virtual local area network transmission technology. © 2017 The authors and IOS Press. All rights reserved.

关键词： Internet protocols

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A Method of Computed-Torque Deviation Coupling Control Based on Friction Compensation Analysis 10th

A Method of Computed-Torque Deviation Coupling Control Based...

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10th international conference on Intelligent robotics and applications (ICIRA

作者： Yan, Yao Liang, Le Chen, Yanyan Wang, Yue Liu, Yanjie China Shipbldg Ind Corp Res Inst 716 Lianyungang 222061 Jiangsu Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Heilongjiang Peoples R China

ISBN: (纸本)9783319652924;9783319652917

In order to improve the trajectory tracking precision and reduce the synchronization error of a 6-DOF lightweight robot, computed-torque deviation coupling control strategy based on friction compensation analysis is presented. The mathematical models of the robot which include kinematic model and dynamic model are established. The single joint Lugre friction model is proposed, and the parameters of the friction model are identified by experiment. Since it is difficult to describe the real-time contour error of the robot for complex trajectory, the adjacent coupling error is analyzed to solve the problem. Combined with friction compensation and coupling performance of the robot, computed-torque deviation coupling controller is designed and validated by simulation analysis. A servo control experimental system is constructed, and verified that the synchronization error are significantly decreased and the trajectory error is reduced from (-0.8 degrees similar to 1 degrees) to (-0.230 degrees similar to 0.587 degrees) after the friction compensation is added. The effectiveness of the control algorithm is validated by the experimental results, thus the control strategy can improve the robot's trajectory tracking precision significantly.

关键词： Computed-torque control Lugre friction model Friction compensation Adjacent coupling error Trajectory precision

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Real-Time Ball Detection and Following Based on a Hybrid Vision System with Application to robot Soccer Field 4th

Real-Time Ball Detection and Following Based on a Hybrid Vis...

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

作者： Shangari, Taher Abbas Shamshirdar, Faraz Azari, Bita Heydari, Mohammadhossein Sadeghnejad, Sourosh Baltes, Jacky Amirkabir Univ Technol Dept Mech Engn Bioinspired Syst Design Lab Tehran Polytech 424 Hafez AvePOB 15875-4413 Tehran 158754413 Iran Univ Manitoba Autonomous Agents Lab Winnipeg MB R3T 2N2 Canada

ISBN: (纸本)9783319312934;9783319312910

Circle detection is one of the most important problems in image processing since circular objects, such as balls, are observed frequently in many natural and artificial environments and problems such as light variations, occlusions, shadows, circle-shaped objects, and real-time processing have to be managed. The previous methods are either edge-based which generally suffer from processing burden or color-based and cannot deal with color variations suitably. This paper presents a real-time ball detection framework that uses both color information and shape information together to detect and track a ball robustly. The results demonstrate superiority of the proposed method over the previous. After classifying the color space, image segmentation, building regions, and extracting objects, to reduce the computation, it is focused on finding the green horizon to eliminate a part of the image, which is beyond the field border. Afterward some filters based on circle-fitting methods, image moments are applied to detect and track the ball. The results show that these filters are real-time, robust against occlusion and are able to track the ball even for distances more than six meters.

关键词： Circle detection Real-time ball detection Color and shape information Circle-fitting method

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Time-Aware Test Case Execution Scheduling for Cyber-Physical Systems 23rd

Time-Aware Test Case Execution Scheduling for Cyber-Physical...

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33rd international conference on Logic Programming / 23rd international conference on Principles and Practice of Constraint Programming (CP) / 20th international conference on Theory and applications of Satisfiability Testing (SAT)

作者： Mossige, Morten Gotlieb, Arnaud Spieker, Helge Meling, Hein Carlsson, Mats ABB Robot Bryne Norway Simula Res Lab Lysaker Norway Univ Stavanger Stavanger Norway RISE SICS Kista Sweden

ISBN: (纸本)9783319661582;9783319661575

Testing cyber-physical systems involves the execution of test cases on target-machines equipped with the latest release of a software control system. When testing industrial robots, it is common that the target machines need to share some common resources, e.g., costly hardware devices, and so there is a need to schedule test case execution on the target machines, accounting for these shared resources. With a large number of such tests executed on a regular basis, this scheduling becomes difficult to manage manually. In fact, with manual test execution planning and scheduling, some robots may remain unoccupied for long periods of time and some test cases may not be executed. This paper introduces TC-Sched, a time-aware method for automated test case execution scheduling. TC-Sched uses Constraint Programming to schedule tests to run on multiple machines constrained by the tests' access to shared resources, such as measurement or networking devices. The CP model is written in SICStus Prolog and uses the Cumulatives global constraint. Given a set of test cases, a set of machines, and a set of shared resources, TC-Sched produces an execution schedule where each test is executed once with minimal time between when a source code change is committed and the test results are reported to the developer. Experiments reveal that TC-Sched can schedule 500 test cases over 100 machines in less than 4 min for 99.5% of the instances. In addition, TC-Sched largely outperforms simpler methods based on a greedy algorithm and is suitable for deployment on industrial robot testing.

关键词： Testing

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A review of the applications and hotspots of reinforcement learning

A review of the applications and hotspots of reinforcement l...

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2017 IEEE international conference on Unmanned Systems (ICUS)

作者： Jun Hou Hua Li Jinwen Hu Chunhui Zhao Yaning Guo Sijia Li Quan Pan the Northwestern Polytechnical University School of Automation

ISBN: (纸本)9781538631089;9781538631072

The learning behavior of the agent is a challenging and interesting issue in an unknown *** learning obtain the developed strategy through exploration and interaction with the environment,and the characteristic of online learning make it as an important branch of machine learning *** this paper,we summarize the current research of the reinforcement learning applications and ***,the principle,structure and the main classic algorithms of the reinforcement learning are ***,according to the recent research results,we introduce four main applications of reinforcement learning,namely robot,unmanned aerial vehicle,multi-agent and intelligent ***,the research hotspots and the development direction of the reinforcement learning are introduced,which conclude the partial perception,hierarchical reinforcement learning,combination with other artificial intelligence technologies and game theory.

关键词： Reinforcement learning application agent

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