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检索条件"任意字段=4th International Conference on Robotics and Control Engineering, RobCE 2024"

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Proceedings - 4th conference on Computing Education Practice, CEP 2020

Proceedings - 4th Conference on Computing Education Practice...

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2nd international conference on robotics, control and Automation engineering, RCAE 2019 and 2nd international conference on Advanced Mechanical and Electrical engineering, AMEE 2019

ISBN: (纸本)9781450376228

the proceedings contain 66 papers. the topics discussed include: effect of foil thickness on the hydrodynamic behavior of a self-sustained oscillating foil system;simulation on SiC based three phase boost power factor correction rectifier using MATLAB PLECS model and its numerical analysis verification;research on switching power supply module for high voltage pulse step modulation series power supply;simulation analysis of seismic performance of UHV high-resistance loops connected by hard tubular busbars;research on seismic optimization of equipment interconnection system on 1000 kV converter transformer-firewall;field-circuit coupling model and analysis of step and touch voltage under the influence of multi-factor;research on identification algorithm of functionally significant item for aircraft maintenance support;and mitigating the vibration on UHV converter transformer during rails movement by a new cart.

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Detecting objects and people and tracking movements in a video using tensorflow and deeplearning

Detecting objects and people and tracking movements in a vid...

引用

international conference on Advanced Systems and Electric Technologies (IC_ASET)

作者： Jemai Bornia Ali Frihida Christophe Claramunt Robotics Computing and Complex Systems National Engineering School of Tunis (ENIT) University Tunis El Manar Tunisia Naval Academy Research Institute Brest France

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

With the advent of the digital age and more specifically videos, a huge amount of data is produced every day such as television archiving, video surveillance, etc. Faced with the need to keep control over this content, to be able to analyze it, classify it and many other applications, the need for algorithms capable of performing this task efficiently and quickly is undeniable. the proposed approach permits the analysis of video sequences using deep learning and TensorFlow technologies. the proposed approach splits video in set of images, detects objects/entities present in these images and stores their descriptions into a standard XML file. With an algorithm we developed, we're able track motion that animated entities in the video sequences.

关键词： Eigenvalues and eigenfunctions Feature extraction Deep learning XML Image color analysis Neural networks Image segmentation

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Electrical and Mechanical Sensor-Based Mass Flow Rate Measurement System: A Comparative Approach

Electrical and Mechanical Sensor-Based Mass Flow Rate Measur...

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international conference on robotics and Automation Sciences (ICRAS)

作者： Usama Abrar Liu Shi Nasif Raza Jaffri Michael Short Khawar Hasham School of Control and Computer Engineering North China Electric Power University Beijing 102206 China School of Computing Engineering and Digital Technologies Teesside University Middlesbrough Cleveland TS1 3BA UK Interactive Group Islamabad Pakistan

ISBN: (数字)9781728198576

ISBN: (纸本)9781728198583

Gas-Solid flow finds its application in various industries such as chemical and food processes, pharmaceuticals, automobile and power generation. the precise measurement and real-time monitoring of the flow process have garnered a lot of attraction in the modern industrial era. the effective utilization, with high efficiency, of the resources have compelled the researchers to investigate Gas-Solid flow monitoring and measurement process for the last two decades. Efforts are extended to design instruments for flow pattern visualization and quantification of mass flow rate. Generally, volumetric flow concentration and velocity profile of the solid particles are required to find the mass flow rate (MRF) in the case of non-invasive measurement techniques. this paper proposes a novel non-invasive mass flow rate measurement system for solid particles where electrical and mechanical sensors are simultaneously used to compensate each other's associated drawbacks. the solid particles are allowed to slide along an insulated inclined channel under the effect of gravity. the velocity profile and volumetric flow concentration are calculated using electrical sensors. Furthermore, load cell serves as a second sensor to calculate the mass flow rate. the experimental results from both the sensors are compared to investigate the accuracy and relative errors of both the sensors under different conditions.

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control of the Passive-Dynamic Locomotion of the Compass-Gait Biped Robot

Control of the Passive-Dynamic Locomotion of the Compass-Gai...

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international conference on Advanced Systems and Electric Technologies (IC_ASET)

作者： Wafa Znegui Hassène Gritli Safya Belghith Higher Institute of Information and Communication Technologies Université de Carthage Borj-Cedria Tunis Tunisia Laboratory of Robotics Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis Université de Tunis El Manar Tunis Tunisia

ISBN: (数字)9781728163567

ISBN: (纸本)9781728163574

this paper discusses a stabilization method for the passive dynamic walking (PDW) of the compass-gait biped robot using an explicit analytical classical expression of the controlled Poincaré map in order to control its passive gaits. A linearization method is used to cast the problem from the impulsive hybrid nonlinear dynamics into the linear dynamics around a desired one-periodic hybrid limit cycle of the PDW. thus, using the first-order Taylor approximation, we design an explicit expression of the controlled Poincaré map. In order to control the passive gaits, we develop first the linearized Poincaré map obtained around the period-one fixed point. We adopt a state-feedback control law using the LMI approach to stabilize this fixed point. We present finally some simulation results to reveal the efficiency of the designed control law in the control of the passive-dynamic locomotion of the compass-gait biped robot.

关键词： Legged locomotion Robots Nonlinear dynamical systems Mathematical model Limit-cycles Hip Dynamics

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Accurate object recognition for unmanned aerial vehicle electric power inspection using an improved YOLOv2 algorithm 4

Accurate object recognition for unmanned aerial vehicle elec...

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4th IEEE international conference on Data Science in Cyberspace, DSC 2019

作者： Chen, Qiang Gao, Yunyuan Peng, Yun Zhang, Jianhai Sun, Ke Intelligent Control and Robotics Institute Hangzhou Dianzi University Hangzhou China Department of Biomedical Engineering University of Houston Houston United States School of Computer Science and Technology Hangzhou Dianzi University Hangzhou China Hangzhou Chuangjiang Information Technology Co. Ltd. Hangzhou China

ISBN: (纸本)9781728145280

With the growing application of Unmanned Aerial Vehicle (UAV) in the electric power inspection, there is an increasing demand for accurate recognition of power tower components from a large number of pictures and videos. Traditional machine learning methods require feature extraction of, such as edge, color, texture, etc., are not suitable for the complex scene of the UAV electric power inspection. the end-toend object detection algorithm YOLOv2, offers overall high recognition accuracy and speed, but is less so in recognizing small targets. In this study, the YOLOv2 was improved by: 1)adding an additional passthrough layer to the original network to fuse more fine-grained features to improve the recognition capability for small targets, and 2) removing the redundant convolutional layers and reducing the number of the filters in the middle convolutional layers to simplify the network structure. the datasets are from Multi-rotor UAV inspection of high voltage transmission lines. three types of power tower components including the tower, tower base, and signs are selected as recognition targets. Results showed that the mean average precision (mAP) of the improved model for three types of target recognition was increased to 98.19%, higher than that of the original one, and the recognition speed was increased by 35%. © 2019 IEEE.

关键词： Inspection

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Bond graph based flatness control of four wheeled differentially driven mobile robot: A Simulation study 19

Bond graph based flatness control of four wheeled differenti...

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Proceedings of the 2019 4th international conference on Advances in robotics

作者： Saumya Ranjan Sahoo Shital S. Chiddarwar Mohsin Dalvi Rahul M. R. Department of Mechanical Engineering Visvesvaraya National Institute of Technology Nagpur

ISBN: (纸本)9781450366502

In this paper, bond graph modelling of a four wheel differentially driven mobile robot is presented. Using BG_V21 tool box in MATLAB, the bond graph is generated and mathematical model is extracted by applying the bond properties. Flatness of the system is analysed and a set of flat output is computed. A linear flatness based controller is proposed in this work to track the desired trajectory. Further, it is verified by applying the backstepping controller. From the simulation results, it is evident that the dynamics of the four wheeled differentially driven mobile robot extracted from bond graph model is accurate. Moreover, flatness based controller is found to have better performance when compared with backstepping controller.

关键词： Mobile robot

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Vibration test and vibration reduction design of UAV load radar 2019

Vibration test and vibration reduction design of UAV load ra...

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4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Changshuai, Yu Haitao, Luo Siwei, Guo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China Institute of Mechanical Engineering and Automation Northeastern University Shenyang China

ISBN: (纸本)9781450371865

Lidar has entered a practical stage in military fields such as obstacle avoidance, chemical and biological warfare agent detection and underwater target detection of low-altitude flying UAV. Due to the influence of vibration and airflow fluctuation caused by aircraft flying, the imaging is prone to blur and even damage the lidar. In order to overcome this phenomenon, this paper firstly tests the vibration of lidar in the position of UAV installation and UAV engine under the condition of UAV flying in the air. After testing and analysis, if no vibration reduction measures are taken, the lidar may work abnormally or even be damaged. the acceleration response at the location of lidar installation is used as the input condition of the shaking table to process the lidar. To achieve the simulated load, the vibration reduction measures of the T-type shock absorber are selected and the response of the load is tested under the input condition of the shaking table;the T-type shock absorber is applied to the UAV, and the response of the UAV lidar simulated load is tested under the UAV flight condition;through the vibration test and the UAV flight condition test, the vibration reduction effect of the T-type shock absorber is finally verified, and the method of vibration reduction is verified. It is of great significance to realize seamless fusion of lidar measurement and photography for UAV. © 2019 Association for Computing Machinery.

关键词： Optical radar

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Adaptive control for a class of nonlinear system using general type-2 fuzzy neural networks approximator 2019

Adaptive control for a class of nonlinear system using gener...

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4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Hu, Yi Wang, Haipeng Zhao, Tao Dian, Songyi College of Electrical Engineering Sichuan University Chengdu China ShanDong LuNeng Intelligence Technology Co. Ltd. ShanDong China

ISBN: (纸本)9781450371865

In this paper, an indirect adaptive controller with general type-2 fuzzy neural networks (GT2FNN) approximator is proposed for a general class of SISO nonlinear systems. General type-2 fuzzy system (GT2FS) can be considered as a collection of numerous interval type-2 fuzzy systems (IT2FS) by-plane. By using the recently introduced adaptive modulation factor into GT2FNN, the computational complexity and time-consuming are greatly reduced in the type reduction of IT2FS. the KM algorithm can be avoided in the type reduction of GT2FNN. Compared to the conventional GT2FNN, the proposed GT2FNN has obvious advantages in computational complexity and time consumption. the Lyaponov approach proves the stability of the closed-loop system. the simulation results show that the tracking performance of GT2FNN approximator is better than IT2FNN and T1FNN approximator. © 2019 Association for Computing Machinery.

关键词： Fuzzy neural networks

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Automatic basketball detection in sport video based on R-FCN and soft-NMS 2019

Automatic basketball detection in sport video based on R-FCN...

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4th international conference on Automation, control and robotics engineering, CACRE 2019

作者： Liang, Qiaokang Mei, Li Wu, Wanneng Sun, Wei Wang, Yaonan Zhang, Dan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing National Engineering Laboratory for Robot Vision Perception and Control Hunan University Changsha410082 China Department of Mechanical Engineering York University TorontoM3J 1P3 Canada

ISBN: (纸本)9781450371865

In basketball videos, the ball is always so small in the camera that its appearance feature is hard to be extracted. In this paper, we introduce a deep-learning technology to detect the basketball. Specifically, we train our basketball detection model based on the Region-based Fully Convolutional Networks (R-FCN) which uses the fully convolutional Residual Network (ResNet) as the backbone network. What’s more, we apply some new techniques including Online Hard Example Mining (OHEM), Soft-NMS and multi-scale training strategy to achieve higher detection accuracy. In detail, the OHEM method can reduce the cost of fine-tuning during training by calculating the loss of the RoIs. Soft-NMS can reduce the false positive rate by decreasing the object detection score between the overlap object. And the multi-scale training can improve the detection performance by receiving the good feature from the object with different scale. Finally, we achieve a mean average precision (mAP) value of 89.7% on a public basketball dataset. It proves that applying the deep-learning approach to basketball detection is effective. © 2019 Copyright is held by the owner/author(s).

关键词： Object recognition

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Design and fabrication of robotic autopsy Saw 19

Design and fabrication of robotic autopsy Saw

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9th international conference on Biomedical engineering and Technology, ICBET 2019

作者： Jumlongkul, Arnon Chutivongse, Panuwat School of Medicine Mae Fah Luang University Chiang Rai57100 Thailand Department of Forensic Medicine Faculty of Medicine Chulalongkorn University Bangkok10330 Thailand

ISBN: (纸本)9781450361309

An autopsy saw is a device for opening cadaveric skulls. Most electric saws generate bone dust and can also cause loud noise pollution. Sometimes technicians might be injured in the autopsy operating room, whilst using either hand saws or electric autopsy saws. To help protect physicians and their colleagues from potentially unsafe working conditions, the robotic autopsy saw was developed for this purpose. this project demonstrates the design and fabrication of an electric circular saw that can be controlled at distance by remote control, so increasing human safety, limiting cadaveric secretion and bone dust contamination, and reducing noise. the device consists of a control unit for the saw frame, a speed control for the saw blade, a control to set blade depth, and an electrical control box that uses pulse width modulation (PWM). the results showed that this machine can minimize bone dust contamination, reduce heavy noise and increase human safety, mostly due to the use of a remote control unit. this instrument can cut many spherical objects like a calvarium. For future studies, the unit and blade function should be adjusted using wireless remote control and the machine needs to be installed on the ceiling for easy attachment to the head of the corpse. © 2019 Association for Computing Machinery.

关键词： robotics

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