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检索条件"任意字段=5th International Conference on Automation, Control and Robotics Engineering, CACRE 2020"

共 159 条记录，以下是11-20 订阅

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Video Flame Recognition Based on Feature Fusion and Extreme Learning Machine 5

Video Flame Recognition Based on Feature Fusion and Extreme ...

引用

5th international conference on automation, control and robotics engineering, cacre 2020

作者： Zhong, Chen Tian, Zhijia Ding, Hongjun Wang, Ke Research Institute of Mem Shenyang Fire Science and Technology Shenyang China Harbin Institute of Technology State Key Laboratory of Robotics and Systems Harbin China

ISBN: (纸本)9781728198880

this paper proposes a video flame detection method based on Extreme Learning Machine (ELM). Visual Background Extractor++(ViBE++) algorithm is used to extract the dynamic foreground features of flame video images, and combined with color histogram threshold analysis, the flame region in the image is segmented. By extracting and processing the flame geometrical features such as roundness, sharpness and gravity center, the dynamic and static features of flame image are fused, thus the suspected flame area is screened out. Using the geometric features of suspected flame area and based on ELM model, the training and classification of sample sets are performed. Experimental results show that this method has higher operating speed and accuracy under the condition of less environmental interference. © 2020 IEEE.

关键词： Knowledge acquisition

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Time-Optimal Trajectory Planning Based on Dynamics for Industrial Robot 5

Time-Optimal Trajectory Planning Based on Dynamics for Indus...

引用

5th international conference on automation, control and robotics engineering, cacre 2020

作者： Wang, Rundong Kong, Minxiu Cheng, Yanchun Castellani, Marco Harbin Institute of Technology State Key Laboratory of Robotics and System School of Mechatronics Engineering Harbin China University of Birmingham Department of Mechanical Engineering Birmingham United Kingdom

ISBN: (纸本)9781728198880

Given the trajectory of the industrial robot in Cartesian space, the existing methods only consider the kinematic constraints when optimizing the time trajectory planning, and ignore the maximum driving ability of the motor, which is likely to cause an overrun alarm and greatly reduce the trajectory accuracy. therefore, this paper studies the time-optimal trajectory planning algorithm based on dynamics. Firstly, the algorithm discretizes the path, calculates the Cartesian coordinates of each discrete point and the differential about the path length. then, this algorithm considers the constraints of dynamics and kinematics, uses the principle of linear programming, recursively calculates the upper limit value of speed and the maximum acceleration value at each discrete point, and calculates the speed value at each discrete point and keeps it within its allowable ranges. Finally, this algorithm uses the speed to calculate the corresponding time of each discrete point, and according to the interpolation period, outputs the path position of each period, the position and orientation in the Cartesian space and joint parameters. the MATLAB program is written to verify the feasibility and efficiency of the algorithm. © 2020 IEEE.

关键词： Industrial robots

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Dynamic Visual SLAM Based on Semantic Information and Multi-View Geometry 5

Dynamic Visual SLAM Based on Semantic Information and Multi-...

引用

5th international conference on automation, control and robotics engineering, cacre 2020

作者： Shi, Junyi Zha, Fusheng Guo, Wei Wang, Pengfei Li, Mantian Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728198880

Visual Simultaneous Localization and Mapping (Visual SLAM) is considered to be one of the important foundations for mobile robots to move toward intelligence, which gives robots the ability to autonomously locate and construct maps in an unknown environment. In the past decades, great progress has been made in the field of visual SLAM, relatively mature algorithm system and program architecture are gradually developed. However, the current researches on visual SLAM mostly assume that the surrounding environment is static, which greatly limits the application of SLAM systems in real world. Aiming at the urgent need of mobile robots for precise localization and map construction in dynamic environment, methods are proposed in this paper. Image semantic segmentation based on deep learning and multi-view geometry methods are combined to recognize and segment moving objects. Only background features are used for camera tracking to avoid the impact of moving objects. Furthermore, an experimental platform is built using RGB-D camera and motion capture device, the effectiveness of the algorithm is verified by public datasets and real scene data. © 2020 IEEE.

关键词： Semantics

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Research on power modeling of the industrial robot based on ResNet 7

Research on power modeling of the industrial robot based on ...

引用

7th international conference on automation, control and robotics engineering (cacre)

作者： Yao, Ming Zhao, Qinzhi Shao, Zhufeng Zhao, Yanling Tsinghua Univ State Key Lab Tribol Beijing Peoples R China Tsinghua Univ Inst Mfg Engn Beijing Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing Peoples R China China Natl Machine Tool Qual Supervis Testing Ctr Beijing Peoples R China Tsinghua Univ Dept Precis Instrument Beijing Peoples R China Instrumentat Technol & Econ Inst Beijing Peoples R China

ISBN: (数字)9781665403870

ISBN: (纸本)9781665403870

With the development of intelligent manufacturing and the popularization of industrial robots (IR), the energy consumption (EC) of IR become increasingly significant and attract attention from academia and industry. Accurate EC modeling and prediction is the premise and basis for energy efficiency optimization of IR. In recent years, intelligent algorithms like neural networks have been introduced into the EC modeling of IR, and high-precision models can be constructed without complex modeling and parameter identification process. In contrast with the direct modeling method based on mechanism model, data-driven modeling has significant efficiency and application advantages. In this paper, we propose a ResNet-based IR power modeling method. the deep learning algorithm is used to establish the precise mapping between the operating parameters and power of the industrial robot. then, the model is applied to another industrial robot by transfer learning, which realizes the rapid construction and deployment of power models for different IR. the experimental results show that the proposed IR power modeling method can accurately construct the power model and achieve 21.83% less error. After transfer learning, the power model can be accurately constructed even when the amount of data is reduced by 80%, which facilitates the large-scale practical application of IR and their energy efficiency improvement.

关键词： Industrial robotics Power Modeling Deep Learning ResNet Transfer Learning

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Development of a Semi-Rigid Tendon Actuated Limb for robotics Applications 5

Development of a Semi-Rigid Tendon Actuated Limb for Robotic...

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5th international conference on robotics and automation engineering, ICRAE 2020

作者： Nurtay, Bekarys Suranshy, Tomiris Folgheraiter, Michele Nazarbayev University School of Engineering and Digital Sciences Department of Robotics and Mechatronics Nur-Sultan Kazakhstan

ISBN: (纸本)9781728189819

this paper presents the design and modeling of a lightweight tendon actuated robotic limb. the mechanical structure consists of a sequence of four semi-rigid segments realized in thermoplastic polyurethane material and connected through torsional springs. this allows the limb to keep a straight position without the application of forces and facilitates the control of the limb while performing flexion and extension movements. A static model is presented to predict the tension of the tendons in order to reach a defined orientation. Simulations were conducted in a V-REP Python environment to demonstrate the controllability of the limb while performing simple movements and trajectories. © 2020 IEEE.

关键词： Tendons

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conference Speakers

Conference Speakers

引用

automation, control and robotics engineering (cacre), international conference on

Lists the authors included in the conference proceedings.

ISBN: (数字)9781728198880

ISBN: (纸本)9781728198897

Lists the authors included in the conference proceedings.

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Study Case: Teleoperated Voice Picking Robots prototype as a logistic solution in Honduras 5

Study Case: Teleoperated Voice Picking Robots prototype as a...

引用

5th international conference on control and robotics engineering (ICCRE)

作者： Ordonez Avila, Jose Luis Jimenez, Hector Marquez, Tania Munoz, Carlos Max Carrazco, Alberto Elena Perdomo, Maria Miselem, David Nolasco, David Univ Tecnol Ctr Amer Fac Engn San Pedro Sula Honduras

ISBN: (纸本)9781728167916

this paper provides a general description of the steps followed to construct an automated Voice Picking Robot. the proposed unit can avoid obstacles, identify objects picking and placing them at their right location. the model is equipped with wireless connectivity to allow its remote control, and it features four wheels and 45-degree rollers. the robot materials are aluminum plates, Polylactic Acid plastic, six NEMA 17 stepper motors, and the ATmega3287P microcontroller. Testing conducted on the robot functioning demonstrates that it behaves as expected and that it can become a useful technological aid in a variety of logistics, industrial, or manufacturing processes.

关键词： automation logistics robotics industrial application

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Kinematic Modeling of A Constant Curvature Continuum Manipulator Using Finite Element Analysis 5

Kinematic Modeling of A Constant Curvature Continuum Manipul...

引用

5th international conference on control, automation and robotics (ICCAR)

作者： Gonzales, Fritz Cyrill D. Ramos, Manuel C., Jr. Univ Philippines Diliman Elect & Elect Engn Inst Quezon City Philippines

ISBN: (纸本)9781728133263

Over the past few years, soft continuum manipulators gained popularity in advanced robotic systems due to its compliance and ability to execute different complicated tasks in an unstructured environment that are not possible with hard manipulators. In this field of soft robotics, series of experiments and revisions are usually performed first to come up with a nearly perfect hardware prototype. Only after these validations will simulations and kinematic modeling be performed. Recent advancement in the research field includes simulation using the combination of finite element analysis and a mathematical soft-ware for performing numerical iterations. this paper presents a kinematic modeling of a single link constant curvature continuum manipulator based on finite element analysis. the approach aims to demonstrate the capability of finite element analysis to do a "specific" modeling of soft continuum manipulator, i.e., pressure and actuator's length relationship. the result allows us to do complete simulation and modeling of forward and inverse kinematics even if a hardware prototype has not been constructed yet.

关键词： soft robotics continuum manipulator kinematic modeling finite element analysis

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Design and Research for the control System of a Micro Autonomous Underwater Vehicle 5

Design and Research for the Control System of a Micro Autono...

引用

5th international conference on robotics, control and automation engineering, RCAE 2022

作者： Quanshan, Wang Tao, Han Chuanzhi, Fan Yi, Yang Zhiqiang, Hu Shenyang Ligong University Liaoning Province Shenyang China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Province Shenyang China

ISBN: (纸本)9781665459419

A three-inch diameter Micro Autonomous Underwater Vehicle(Micro AUV) control system was designed and developed, of which the hardware and software control platform based on the MOOS System and BeagleBone Black as the core microcontroller was built. Based on the structure and navigation features of the Micro AUV, a cascade PID controller was designed for the Micro AUV to sail underwater with a certain heading and depth. Finally, the validity and reliability of the control system and controller were verified by the underwater experiments in the lake. © 2022 IEEE.

关键词： Autonomous underwater vehicles

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Robotic wheelchair control considering user comfort - Modeling and experimental evaluation

Robotic wheelchair control considering user comfort - Modeli...

引用

ICINCO 2008 - 5th international conference on Informatics in control, automation and robotics

作者： Solea, Razvan Nunes, Urbano ISR - Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9789898111319

this paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. the transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. the user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used.

关键词： Sliding mode control

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