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Machine Vision Calibration of High Precision Platform Based on Adaptive Grid Method

Machine Vision Calibration of High Precision Platform Based ...

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2018 3rd international conference on Control, Automation and Artificial intelligence (CAAI 2018)

作者： Zhiqiang Kang Jinchi Bai Han Li School of Automation Northwestern Polytechnical University School of Mechanical and Electrical Engineering Xi'an University of Architecture and Technology Guangzhou Institute of Advanced Technology Chinese Academy of Sciences

The main purpose of this paper is to study the location calibration of 3-PPR high precision robot platform. The conventional precision calibration method has certain limitations, This paper adopts adaptive grid method for machine vision calibration, When the precision requirements are met, the mesh is reduced to continue calibration until the requirements are met. Otherwise automatically adjust the plane and continue to calibrate. The experimental results show that the adaptive mesh method has better performance than other methods, To meet the requirement of position calibration of 3D precision working platform with common plane.

关键词： high-precision robot three driving modules adaptive grid method high efficiency

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Spatial continuity and robot-embodied pointing behavior in videoconferencing 1

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23rd international conference on Collaboration Technologies, CRIWG 2017

作者： Onishi, Yuya Tanaka, Kazuaki Nakanishi, Hideyuki Department of Adaptive Machine Systems Osaka University 2-1 Yamadaoka SuitaOsaka565-0871 Japan

ISBN: (数字)9783319638744

ISBN: (纸本)9783319638737

There are several ways in which a conversation partner points to a remote place in videoconferencing: (1) displaying the partner’s pointing gesture, that is, ordinary videoconferencing, (2) displaying the partner’s arm on a tabletop display, (3) projecting a laser dot and it is synchronized with the laser pointer held by the partner, and (4) embodying the partner’s pointing behavior by a robotic pointer or a robotic arm. In this study, we implemented these methods on the videoconferencing system and compared the effect on social telepresence (i.e. the sense that a participant feels as if he/she meets with the conversation partner in the same place). We found that the fourth method, which embodied the remote partner’s pointing behavior, enhanced social telepresence. © Springer international Publishing AG 2017.

关键词： robotics

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An autonomous system based security mechanism for network coding applications in content-centric networking 1

引用

3rd international conference on Mobile, Secure, and Programmable Networking, MSPN 2017

作者： Xu, Li Li, Hui Hu, Jiawei Wang, Yunmin Zhang, Huayu Shenzhen Key Lab of Information Theory and Future Internet Architecture Future Network PKU Lab of National Major Research Infrastructure Huawei China PKU Jointly Eng. Lab of Future Network Based on SDN Shenzhen Graduate School Shenzhen Engineering Lab of Converged Networking Technology Peking University Shenzhen China

ISBN: (数字)9783319678078

ISBN: (纸本)9783319678061

Content-Centric Networking (CCN), is built on the notion of content-based security. With the integration of Network Coding (NC) into CCN to contribute to the best performance, security, one of the key features of CCN has been left behind. Though the permission for encoding/recoding content packets at producers and intermediate routers provides performance benefits, it also introduces additional security issues and disables existing security practices. In this paper, we fill the gap by analyzing new security challenges brought accordingly and proposing an Autonomous Systems (AS-s) based security mechanism for NC applications in CCN. It can not only guarantee the optimal performance of NC, but also offer the assurance for Integrity, Origin Authentication and Correctness of content packets, together with proving trustworthiness among border routers. More importantly, we also shed light on the performance issues and implementation problems of the mechanism. © 2017, Springer international Publishing AG.

关键词： Network coding

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Safe implementation of mixed-criticality applications in multicore platforms: A model-based design approach

Safe implementation of mixed-criticality applications in mul...

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international conference on Computer Safety, Reliability, and Security, SAFECOMP 2017 and 5th international Workshop on Assurance Cases for Software-Intensive Systems, ASSURE 2017, 12th Workshop on Dependable Embedded and Cyber-physical Systems and Systems-of Systems, DECSoS 2017, 6th international Workshop on Next Generation of System Assurance Approaches for Safety Critical Systems, SASSUR 2017, 3rd international Workshop on Technical and Legal Aspects of Data Privacy and Security, TELERISE 2017 and 2nd international Workshop on the Timing Performance in Safety Engineering, TIPS 2017

作者： Antonante, Pasquale Valverde-Alcalá, Juan Basagiannis, Stylianos Di Natale, Marco United Technologies Research Center Cork Ireland Scuola Superiore Sant’Anna Pisa Italy

ISBN: (纸本)9783319662831

Application complexity in safety-critical systems is currently creating an immediate need to employ new model-based approaches to ensure system’s safe operation in high performances. At the same time, hardware evolution through multicore and hybrid architectures, while serving performance requirements, has not been realized as a safe and technology-ready solution to be employed in critical domains. In this paper, we report our experiences on the development of a model-based design workflow for safety assurance in mixed-critical applications executed on multicore platforms. Starting from our application specification, we develop intermediate models and extract configuration parameters that help us define a task optimization problem. Tasks composing the application will be weighted according to their criticality degree, allowing us to solve an optimization problem for safe resource and time partitioning at the available multicore resources. Based on code-generation techniques, we automatically generate an optimal and safe schema to be implemented in a real-time operating system, safeguarding the multicore resources from errors while executing the tasks. Indicative results are being presented by a prototype tool developed for a case study while we reason about the applicability of the approach. © Springer international Publishing AG 2017.

关键词： Computer operating systems

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Introduction to SinJAR (a New Tool for Reverse Engineering Java applications) and Tracing Its Malicious Actions Using Hidden Markov Models 16

Introduction to SinJAR (a New Tool for Reverse Engineering J...

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16th international conference on New Trends in Intelligent Software Methodologies, Tools and Techniques (SoMeT)

作者： Fattahi, Jaouhar Mejri, Mohamed Ziadia, Marwa Pricop, Emil Samoud, Ouejdene Def Res & Dev Canada Valcartier Res Ctr 2459 Bravoure Rd Quebec City PQ G3J 1X5 Canada Laval Univ Dept Comp Sci & Software Engn Quebec City PQ Canada Petr Gas Univ Ploiesti Automat Control Comp & Elect Dept Ploiesti Romania

ISBN: (纸本)9781614998006;9781614997993

In this paper, we are proposing a new tool for reversing Java applications called SinJAR. SinJAR is a lightweight software written in Java aiming at inspecting bytecode at compile time and producing the structure tree of a targeted application. Besides, it is able to detect vulnerabilities and security weaknesses inside the Java code. SinJAR can be used for two purposes. The first one is sane and consists in using it to verify whether or not an application is safe and compliant with its specification. The second one is malicious and consists in spying applications through their bytecode and exploiting vulnerabilities that they may enclose. In this paper, we will show how to detect SinJAR malicious actions after showing the capabilities of the tool through few ad hoc attack scenarios conducted in a real military context.

关键词： Reverse engineering Java reflection bytecode vulnerability anomaly detection security SinJAR Hidden Markov Model

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Slicing Simulation Models into Co-simulations 8th

Slicing Simulation Models into Co-simulations

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8th international conference on Industrial applications of Holonic and Multi-Agent Systems (HoloMAS)

作者： Novak, Petr Wimmer, Manuel Kadera, Petr TU Wien Christian Doppler Lab Model Integrated Smart Prod Business Informat Grp Inst Software Technol & Interact Syst A-1040 Vienna Austria Czech Tech Univ Prague 16636 Czech Republic Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague 16636 Czech Republic

ISBN: (纸本)9783319646350;9783319646343

The emerging generation of large-scale cyber-physical production systems, which represents a backbone of a trend denoted as Industrie 4.0, broadly adopts fundamentals laid by the multi-agent system paradigm. The joint roots of these concepts bring not only advantages such as flexibility, resilience or self-organization, but also severe issues such as difficult validation and verification of their behavior. Simulations are a well proven strategy facilitating these issues. Although simulations as virtual copies of real system behavior are useful test-beds for various experiments and optimizations along the entire industrial plant life-cycle, their design and integration are time-consuming and difficult. This paper proposes a new method to facilitate slicing of a monolithic simulation into a co-simulation, which is a simulation consisting of multiple inter-linked simulation units. The proposed method aims at specifying interfaces of the simulation units as well as routing signals for integrating the simulation units. The method improves engineering and re-design of co-simulations in terms of saving time and effort for creating and integrating complex co-simulations.

关键词： Simulation modeling Modularization and slicing Holonic principles for process simulation Multi-agent systems

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Requirements and complexity analysis of cross-layer design optimization for adaptive inter-vehicle DSRC 1

引用

3rd international conference on Mobile, Secure, and Programmable Networking, MSPN 2017

作者： Ansari, Keyvan Naghavi, Hannaneh Sadat Tian, Yu-Chu Feng, Yanming The University of the Sunshine Coast Sippy Downs Australia Queensland University of Technology Brisbane Australia

ISBN: (数字)9783319678078

ISBN: (纸本)9783319678061

Accurate implementation of communications protocol stacks is unavoidable, however the traditional protocol stack designed for Dedicated Short Range Communications (DSRC) does not efficiently support safety applications. DSRC protocol stack must satisfy some stringent performance requirements by safety applications in challenging scenarios such as heavy road traffic. Several communications solutions, and industry standards including the recently published SAE-J2945.1 standard, are proposed for vehicular safety systems, but by what means such systems can address the stringent requirements of safety applications and the scalability issue in their actual deployment is still an open question. With the current spectrum allocations for vehicular DSRC and the data traffic generated by cooperative applications, the radio channels could be easily saturated in the absence of effective control algorithms, resulting in unstable inter-vehicle communications and eventually failure of the system. The results of several simulation studies are presented in this paper to evaluate the DSRC channel and understand the parameters affecting its state. This paper proposes a cross-layer designed controller for inter-vehicle safety messaging to address the channel congestion problem of vehicular networks. The proposed controller enjoys a design supporting direct and in-direct interfacing between layers with awareness control aiming at serving the stringent requirements of DSRC safety applications. The message dissemination controller receives feedback such as channel utilization, outdated packets and vehicle density information from cross-layer sources to control the load on the radio channels by adjusting the transmit power and message intervals. The necessity of instant adjustments requires the mechanism to be utilized with a decentralized yet cooperative coordination. The aim of this study is to validate the cross-layer design for DSRC and is fundamentally different to that of the message

关键词： Dedicated short range communications

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Trajectory-Keeping Control of AUV Based on RNM-ADRC Method Under Current Disturbances for Terrain Survey Mission 10th

Trajectory-Keeping Control of AUV Based on RNM-ADRC Method U...

引用

10th international conference on Intelligent robotics and applications (ICIRA

作者： Chen, Tao Gao, Hang Xu, Da Wan, Chuang Wang, Yuzhu Yan, Zheping Harbin Engn Univ Coll Automat Harbin 150001 Peoples R China Key Lab Underwater Robot Technol Harbin 150001 Peoples R China

ISBN: (纸本)9783319652894;9783319652887

Trajectory-keeping is the main motion mode of AUV (Autonomous Underwater Vehicle) for terrain survey mission. However, it is not easy to realize an accurate trajectory-keeping control especially under current disturbances. Auto disturbance rejection control (ADRC) is an effective control method with good robustness, fast response and precise compensation of disturbance, but is difficult to select the parameters. So, the recurrent networks model (RNM) is used to optimize the parameters of ADRC in this paper. By RNM, the parameters of ADRC can realize real-time optimizing to reject the disturbances much better. Then, the RNM-ADRC controller is designed for heading control of AUV with cross tracking error (CTE) heading guidance method. Simulations show that the controller proposed in this paper has strong adaptability, fast response and good disturbance rejection. The trajectory-keeping effect using RNM-ADRC is better than ADRC under strong current disturbance.

关键词： AUV Trajectory-keeping RNM-ADRC Current disturbances

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An approach to the bio-inspired control of self-reconfigurable robots 1

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12th international conference on Bio-Inspired Computing: Theories and applications, BIC-TA 2017

作者： Bie, Dongyang Gutiérrez-Naranjo, Miguel A. Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology HarbinHeilongjiang China Department of Computer Science and Artificial Intelligence University of Seville Seville Spain

ISBN: (数字)9789811071799

ISBN: (纸本)9789811071782

Self-reconfigurable robots are robots built by modules which can move in relationship to each other. This ability of changing its physical form provides the robots a high level of adaptability and robustness. Given an initial configuration and a goal configuration of the robot, the problem of self-regulation consists on finding a sequence of module moves that will reconfigure the robot from the initial configuration to the goal configuration. In this paper, we use a bio-inspired method for studying this problem which combines a cluster-flow locomotion based on cellular automata together with a decentralized local representation of the spatial geometry based on membrane computing ideas. A promising 3D software simulation and a 2D hardware experiment are also presented. © Springer Nature Singapore Pte Ltd 2017.

关键词： Modular robots

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Concepts for reliable communication in a software-defined network architecture

Concepts for reliable communication in a software-defined ne...

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作者： von Tüllenburg, Ferdinand Pfeiffenberger, Thomas Salzburg Research ForschungsgmbH Jakob Haringerstr. 5/3 Salzburg5020 Austria

ISBN: (纸本)9783319662831

Not available services or service interruption could have different impact to our social life. Emails or messages which are not delivered in a proper time-frame could lead to omit a meeting or a discussion with colleagues. Interconnected CPS in different domains, like autonomous driving, smart grids, Industry 4.0, needs a guaranteed and safe delivery of information. Nowadays distributed application in critical infrastructures such as transportation (e.g. air traffic management, train control, traffic management), financial services, or electricity systems, are often implemented in dedicated network infrastructures not using the public Internet. This leads to high expenditures (CAPEX and OPEX) for the companies to maintain these separated and dedicated telecommunication infrastructure. Our approach in this work is to verify concepts to share the Internet, as a telecommunication infrastructure for critical and non-critical applications. This reduces the effort to implement and to manage different communication architectures. The present work develops and evaluates methods and procedures that enable high reliable communication between two endpoints over several shared telecommunication networks for future critical and uncritical applications. Our approach shows that it is possible to use the public Internet for future communication requirements in a converged network. Further innovations include the integration of novel network technologies, such as software-defined networks (SDN), programming protocol independent packet processors (P4), and self-adaptive and autonomous network management functions. © Springer international Publishing AG 2017.

关键词： Network management

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