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检索条件"任意字段=3rd International Conference on Robotics, Control and Automation Engineering, RCAE 2020"

共 547 条记录，以下是411-420 订阅

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Map Registration of Lidar-based 2D NDT Map and Vision-based 3D NDT Map with Known Initial Robot Poses 2018

Map Registration of Lidar-based 2D NDT Map and Vision-based ...

引用

international conference on robotics, control and automation engineering (rcae) / international conference on Advanced Mechanical and Electrical engineering (AMEE)

作者： Hong, Hyunki Lee, Beomhee Seoul Natl Univ Dept Elect & Comp Engn ASRI 1 Gwanak Rd Seoul South Korea

ISBN: (纸本)9781450361026

This paper focuses on the multi-robot mapping, especially the collaboration of vision-and 2D lidar-mounted robots with known initial poses. Since the scale of the map built by a single vision sensor is hardly the same to the real world scale, the scale should be estimated to register the 2D map built by 2D lidar and 3D map built by a vision sensor. In this paper, we propose a method of converting maps into NDT maps to rapidly register the two maps in multiple resolutions based on minimizing the modified objective function of distribution-to-distribution normal distributions transform (NDT-D2D). Instead of scaling the 3D map, the proposed method updates the 2D map within optimization. In the experiment, we showed the registration of 2D NDT map built by gmapping with 2D lidar and 3D NDT map built by direct sparse odometry (DSO) with vision sensor. As a result, the runtime was 0.041 second, and the error of the estimated scale was 18.0%.

关键词： Normal distributions transform map registration heterogeneous sensors

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An Integrated Sensor System for Prosthetic Socket Design 2018

An Integrated Sensor System for Prosthetic Socket Design

引用

international conference on robotics, control and automation engineering (rcae) / international conference on Advanced Mechanical and Electrical engineering (AMEE)

作者： Xu, W. van Heesewijk, A. Tayler, M. Zhu, X. Lorenzelli, L. Haidar, A. S. Gao, J. Arapkoules, N. Univ Surrey Guildford GU2 7XH Surrey England Fdn Bruno Kessler Via Santa Croce 77 I-38122 Trento Italy London Prosthet Ctr 20 Kingsmill Business Pk Kingston Upon Thames KT1 3GZ Surrey England TWI Ltd Grant Pk Cambridge CB21 6AL England I Knowhow Kifisias 116 Ave & Davaki 1 Str Athens 11526 Greece

ISBN: (纸本)9781450361026

Prosthetic socket is an interface to attach a prosthesis to the residual limb of an amputee. The comfort of the amputee relies on the socket as the body weight of the amputee, during walking, running or climbing, is loaded to the residual limb via the socket. Currently a prosthetic socket is designed using a trial and error method by a prosthetist who needs to be well trained. In order to optimize the design of the socket for the lower limb amputees, an integrated sensors system was developed. This paper presents an integrated tri-axial force sensor system for the design of the prosthetic socket.

关键词： Sensor Prosthetic Socket Limb Pressure

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Swing Process Model Design of a Cutter Suction Dredger Based on RBF-ARX Model 3

Swing Process Model Design of a Cutter Suction Dredger Based...

引用

3rd international conference on automation, control and robotics engineering (CACRE)

作者： Jiang, Shuang Ni, Fusheng Qian, Lina Hohai Univ Educ Minist Dredging Technol Engn Res Ctr 200 Jinling North Rd Changzhou City Peoples R China

The swing process of a cutter suction dredger are affected by many factors, which changed time and nonlinear. So it is difficult to describe the change law accurately. The swing process model based on RBF-ARX model is established after detailed analysis of the formation process of dredger production. The shortcomings of the traditional neural network could be overcome by this method, such as slow convergence rate, more hidden layer. After modeling, the linear and nonlinear parameters of the RBF-ARX model are identified off-line by using SNPOM (Structured Nonlinear Parameter Optimization Method). Then the errors of the output of the model and the real data are compared and analyzed by simulation. The result show that the swing process model can accurately describe the dynamic characteristics of the system in the global range, and the model output is well fitted with the real data of a cutter suction dredger.

关键词： Radial basis function networks

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Deep Learning Based Semantic Labelling of 3D Point Cloud in Visual SLAM 3

Deep Learning Based Semantic Labelling of 3D Point Cloud in ...

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3rd international conference on automation, control and robotics engineering (CACRE)

作者： Qi, Xuxiang Yang, Shaowu Yan, Yuejin Natl Univ Def Technol State Key Lab High Performance Comp Changsha 410073 Hunan Peoples R China Natl Univ Def Technol Coll Comp Changsha 410073 Hunan Peoples R China

Three-dimensional (3D) point cloud understanding is important for autonomous robots. However, point clouds are normally irregular and discrete. It is challenging to obtain semantic information from them. In this paper, we present a method to build a dense semantic map, which utilizes both two-dimensional (2D) image labels and 3D geometric information. The dense point cloud is built by using a state-of-the-art RGB-D SLAM system. It is further segmented into meaningful clusters using a graph-based method. Then, image keyframes during the SLAM process are used to extract semantic image labels by a convolution neural network (CNN). Finally, these semantic labels are projected to the point cloud clusters to achieve a 3D dense semantic map. The effectiveness of our method is validated on a popular public dataset.

关键词： Graphic methods

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The Design of Intelligent Grasping control System for a Special Operation Manipulator 3

The Design of Intelligent Grasping Control System for a Spec...

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3rd international conference on automation, control and robotics engineering (CACRE)

作者： Deng, Songbo Cai, He Li, Ke Li, Tongtong Deng, Tao Wang, Yanbo Beijing Res Inst Precise Mechatron & Controls 1 South Da Hongmen Rd Beijing Peoples R China

In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.

关键词： Inverse problems

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Fuzzy Lookup Table controller (FLTC) via Center Average De-fuzzifier (CAD) with a New Efficient Heaviside Search Algorithm (HSA) for Lookup Table Implementation 3

Fuzzy Lookup Table Controller (FLTC) via Center Average De-f...

引用

3rd international conference on automation, control and robotics engineering (CACRE)

作者： Wang, Chi-Hsu Hor, Kar-Chun Chen, Wei-Chuan Natl Chiao Tung Univ Dept Elect & Comp Engn 1001 Univ Rd Hsinchu 300 Taiwan Natl Chiao Tung Univ Coll Elect & Comp Engn 1001 Univ Rd Hsinchu 300 Taiwan

This paper proposes an alternate interpretation of the traditional lookup table controller via the Center Average De- fuzzier (CAD) in Fuzzy Set Theory with a set of Disjoint Block Pulse Membership Functions (DBPMFs). Further, a new Heaviside Search Algorithm (HSA) is also proposed to implement the Fuzzy Lookup Table controller (FLTC) in a more efficient way. The computation complexity of our new HSA is O(Sigma R-i), where R-i is the number of membership functions for i th input variable in FLTC. Whereas the average computational complexity in traditional Linear Search Algorithm (LSA) is O((Sigma R-i)/2). In comparison with LSA, the HSA also reduces the complexity of coding significantly in the same order as the comparison of computation complexities between HSA and LSA. The balancing of Inverted Pendulum System (IPS) is adopted as the benchmark to show the feasibility and efficiency of this new FLTC and HSA.

关键词： controllers

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A Novel 2R Parallel Mechanism for Alt-azimuth Pedestal 3

A Novel 2R Parallel Mechanism for Alt-azimuth Pedestal

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3rd international conference on automation, control and robotics engineering (CACRE)

作者： Xu, C. C. Xue, C. Duan, X. C. Minist Educ China Key Lab Elect Equipment Struct Design 2 South Taibai Rd Xian Shaanxi Peoples R China

This paper presents a novel 2R parallel mechanism used as alt-azimuth pedestal, i. e. a 2-DOF (degree-of-freedom) pedestal for supporting and rotating equipment about two perpendicular axes. Its active joints are two sliders equipped with servo control on a circular rail. The synchronous and asynchronous motions of the two sliders lead to the azimuth (rotation about the vertical axis) and pitch (rotation about the horizontal axis) of the rotatable platform, respectively. The DOF computation and kinematics are dealt with firstly, and then the dynamic model of the 2R parallel mechanism is established by using the Lagrange equation. Eventually, a numerical simulation of the typical trajectory motion is carried out, and the actuating torque needed in the actuators for the trajectory tracking motion is worked out by employing the derived inverse dynamic equations, which is consistent with the result obtained from commercial software. This study lays a solid base for the further investigation and engineering implementation of the 2R parallel mechanism.

关键词： Equations of motion

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A Seed Planting Robot with Two control Variables

A Seed Planting Robot with Two Control Variables

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international conference on Trends in Electronics and Informatics (ICEI)

作者： Retheep Raj Ajay Aravind V.S Akshay Mariya Chandy N.D Sharun ICE Department N.S.S. College of Engineering Palakkad India

This paper deals with the use of automation and robotics in the field of agriculture. An automatic seed planting robot controlled using two variables is proposed in this work. Using the length and breadth as two variables, seed planting robot plant the seeds in the selected area. The proposed robot automatically carries out soil digging, seed planting and covering of soil after planting a seed in a sequence, once it reaches the selected area of planting. The proposed seed planting robot is also provided with the option of watering and adding fertilizer after planting the seed. The seed planting robot is controlled by a smartphone using Bluetooth and Arduino to control and automate the complete planting.

关键词： conferences Robot kinematics Fertilizers Bluetooth Robot sensing systems automation

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Analysis on Attitude Fluctuation in Vertical Descent of Multi-rotor UAVs 3

Analysis on Attitude Fluctuation in Vertical Descent of Mult...

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3rd international conference on automation, control and robotics engineering (CACRE)

作者： Li Chenglong Yang Zuqiang Gou Jiangchuan Civil Aviat Flight Univ China Coll Air Traff Management 46Sect 4Nanchang Rd Guanghan City 618307 Sichuan Peoples R China China Elect Technol Corp Informat Sci Acad 4 Bldg36 North Rd Beijing 100086 Peoples R China

ISBN: (纸本)9781510873377

In continuous vertical descent, multi-rotor UAVs' attitude will meet the problem of attitude fluctuation and tends to divergence. The problem comes from the flight controller instead of vortex-ring state. Based on an eight-rotor UAV's nonlinear model in hovering mode, the control law is analysed by using transfer function. The first reason is that the inner ring and outer ring bandwidths of the PID cascade controller do not match well. And the other one is that the lower linear operating point and lower average rotor speed during descent lead to less thrust and torque per propeller, which make it more difficult to resist wind disturbances. By adjusting the position loop's parameters in descent, the eight-rotor UAV reduced the requirement of horizontal position accuracy, and the stability of horizontal attitude control increased, which finally obtained a better performance.

关键词： Unmanned aerial vehicles (UAV)

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The Research on the Ice Thickness Detection System Based On Capacitance Sensor 3

The Research on the Ice Thickness Detection System Based On ...

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3rd international conference on automation, control and robotics engineering (CACRE)

作者： Du Xiaoting Anhui Sanlian Coll Econ & Technol Dev Zone 47 Hean Rd Hefei Anhui Peoples R China

ISBN: (纸本)9781510873377

A transmission line remote monitoring system combined with wireless sensor technology was designed, through the single-chip computer control to complete the system data from the collection to send all aspects of data processing work. The icing monitoring system uses capacitive thickness detection sensors to collect data from multiple capacitance values and send the collected data to the control center processor through the serial port. The processor then processes the data and stores it on the SD card. in. Through the single-chip computer control to complete the system data from collection to send all aspects of data processing. The processor finishes the data transmission and connects with the GPRS communication module through the RS232 serial port. The automatic detection of ice thickness using the difference in resistance characteristics of air and ice, it is a new type of object surface ice coating thickness detection method. The utility model can be applied to real-time continuous automatic monitoring engineering application fields of high-pressure transmission lines and fixed towers, buildings or various equipment surfaces, suspension brackets, forest branches, and the like.

关键词： Electric lines

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