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检索条件"任意字段=5th International Conference on Robotics and Automation Systems, Robotics 2010"

共 1354 条记录，以下是71-80 订阅

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Cervical lesion segmentation via transformer-based network 5

Cervical lesion segmentation via transformer-based network

引用

5th international conference on Computer Vision, Image and Deep Learning, CVIDL 2024

作者： Shen, Nanyan Lu, Wei Gao, Huayu Li, Jing Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China Shanghai University School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9798350373820

Colposcopic diagnosis and directed biopsy is the foundation of cervical cancer screening. Automatic segmentation of cervical lesion in colposcopic images can provide great assistance and convenience. However, the existing methods based on CNNs only differentiate the abnormality from healthy tissue, which is hard to further subdivide the lesion. In this paper, a Transformer-based network called TransNet is proposed which can extract the cervical lesion and recognize the corresponding category of each lesion. Unlike the other CNN-based methods, a more powerful vision transformer is adopted as the encoder. Extensive experiments on a large clinical colposcopic image dataset show that TransNet outperforms the existing state-of-art methods and achieves great improvement. © 2024 IEEE.

关键词： Image segmentation

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A Top-View Hand Gesture Recognition System for IoT Applications 5

A Top-View Hand Gesture Recognition System for IoT Applicati...

引用

5th international conference on Smart systems and Inventive Technology, ICSSIT 2023

作者： Wisener, William J. Rodriguez, Jorge Diaz Ovando, Ammy Woolford, Christopher Patel, Kishan Kennesaw State University Dept. of Robotics and Mechatronics Engineering Department of Physics AtlantaGA United States

ISBN: (纸本)9781665474672

Gesture recognition integrated into Internet of things (IoT) systems is a growing field with opportunities for improvement. Identifying hand gestures from vertical angles with a cooperative network of cameras can enable a broader collection of control methods for controlling IoT devices within residential and commercial environments. Integrating this smart home framework with other IoT control methodologies also creates a more user-friendly experience. To generate a proof of concept of the effectiveness with this control framework, a convolutional neural network was created using the YOLOv7 deep learning architecture and Roboflow software. this image detection network was connected to a simulated IoT device via Home Assistant home automation software and communicates using the MQTT protocol. the gesture detection system was tested on different camera setups to evaluate the importance of camera position and data sharing within a smart-home device network. © 2023 IEEE.

关键词： Internet of things

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Implementation of an Unmanned Gas Inspection System for Coal Mines 5

Implementation of an Unmanned Gas Inspection System for Coal...

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Zhang, Weiguo Automation Co. Ltd. Changzhou213015 China

ISBN: (纸本)9798350357950

In response to the current situation of coal mine gas inspection and the shortcomings of traditional manual gas inspection and intelligent gas inspection, this paper introduces an implementation method of an unmanned coal mine gas inspection system. On the basis of constructing the lora wireless network in the coal mine underground, this method realizes a network communication method of local wireless network and underground backbone ring network;Considering that gas inspection sites in coal mines involve many communication and power supply cables that are difficult to lay, wireless multi-parameter inspection equipment, electronic fence equipment, etc. have been adopted to achieve automatic inspection and alarm;Finally, in conjunction with the upper computer system software and mobile APP application, the fully automatic control process of gas inspection was completed, ensuring the authenticity and reliability of gas inspection data, greatly saving human resources investment on the coal mine site. © 2023 IEEE.

关键词： automatic inspection electronic fence gas inspection lora wireless network multi-parameter inspection equipment

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Research on Mobile Robot Path Planning Based on A∗ Algorithm with Specific Node Priority 5

Research on Mobile Robot Path Planning Based on A∗ Algorith...

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Zhou, Zhenwu Yu, Wenjie Li, Ping Yan, Hanbing Chengdu University of Information Technology School of Automation Chengdu China

ISBN: (纸本)9798350357950

Aiming to address the problem of robots based on QR code navigation being unable to reach QR code nodes in time to correct dead reckoning errors, this paper proposes an improved A∗ algorithm. the improved method firstly groups all QR code nodes into a dedicated node list, separated from ordinary nodes. It then applies a QR code reward function to weight the nodes in the dedicated node list. Finally, it modifies the weighting of the heuristic function to prioritize generating paths that pass through specific nodes in order to reach the target node. through simulation experiments, the proposed improved method increases the number of times the robot passes through the QR code nodes while ensuring path safety, effectively reducing dead reckoning errors, and improving the accuracy and efficiency of robot navigation. © 2023 IEEE.

关键词： A dead reckoning QR code navigation QR code reward function specific node list

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Research on Adaptive Forward-Looking Distance Unmanned Vehicle Path Tracking Algorithm Based on Road Curvature 5

Research on Adaptive Forward-Looking Distance Unmanned Vehic...

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Liu, Shunxin Li, Ping Qin, Dongxing Yu, Wenjie Chengdu University of Information Technology School of Automation chengdu China

ISBN: (纸本)9798350357950

In order to improve the path tracking accuracy and stability of low-speed autonomous vehicles during turning maneuvers, this study proposes an adaptive forward-looking distance path tracking algorithm based on road curvature. the algorithm utilizes vehicle localization data and the curvature information of the path at the look_ahead point. By combining a formula for adaptive forward-looking distance derived from extensive physical experiments, the algorithm adjusts the forward-looking distance to obtain appropriate look_ahead points and the steering angle of the autonomous vehicle's front wheels. While maintaining algorithm stability, it effectively reduces the lateral error of the autonomous vehicle during turning maneuvers. Experimental results demonstrate that the proposed adaptive forward-looking distance path tracking algorithm outperforms traditional pure tracking algorithms in terms of accuracy and stability. © 2023 IEEE.

关键词： component forward looking distance path curvature

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Learning-Based Temporal Logic Control for Continuous POMDPs 5

Learning-Based Temporal Logic Control for Continuous POMDPs

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Zhang, Keyi Kan, Zhen University of Science and Technology of China Department of Automation Hefei China

ISBN: (纸本)9798350357950

Partially Observable Markov Decision Process (POMDP) is a mathematical framework used to model decision problems in partially observable environments. In real-world scenarios, such as robot navigation, we often encounter continuous and uncertain environments. the objective of this study is to address the decision-making problem for agents operating in such uncertain and continuous environments, while dealing with complex tasks. We utilize Inequality Linear Temporal Logic (iLTL) to describe these complex tasks, and integrate a Limit-Deterministic Generalized Büchi Automaton (LDGBA) derived from iLTL with POMDP. this integration allows us to derive effective policies for accomplishing complex tasks. In this paper, we employ a point-based reinforcement learning approach to solve continuous POMDPs. We represent the observation, transition, and belief using Gaussian mixtures and the reward design in reinforcement learning is guided by the automaton. To evaluate the feasibility of our approach, we conduct experiments in a simulated robotic domain and compare the performance with traditional reinforcement learning methods. © 2023 IEEE.

关键词： continuous POMDP iLTL LDGBA reinforcement learning

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Design of Autonomous Fire Hose Docking System for Intelligent Fire-Fighting Robots 5

Design of Autonomous Fire Hose Docking System for Intelligen...

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Yang, Zhiwei Zhang, Fei Shang, Weiwei Chaoxia, Chenyu University of Science and Technology of China Department of Automation Hefei China

ISBN: (纸本)9798350357950

Although existing fire-fighting robots have been able to extinguish fires, the docking task of fire hoses has always been the key obstacle to achieving autonomous fire extinguishing functions for fire-fighting robots. therefore, it is crucial to enable robots to autonomously dock fire hoses to fire hydrants. To solve this problem, we design a new multi-DOF docking mechanism and develop a vision-guided autonomous fire hose docking system based on a robot operating system. When the robot detects the fire, the camera mounted on it can guide the docking system to complete the docking of the fire hose, laying the foundation for the robot to achieve autonomous fire extinguishing. © 2023 IEEE.

关键词： Camera Vision Fire Hose Docking Intelligent Fire-fighting Robot

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Vision-based Air-writing Character Segmentation and Reproduction 5

Vision-based Air-writing Character Segmentation and Reproduc...

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Zhang, Yi Zeng, Chao Yang, Chenguang College of Automation Science and En-gineering South China University of Technology Guangzhou China College of Automation Guangdong University of Technology Guangzhou China

ISBN: (纸本)9798350357950

To address the writing needs of visually impaired individuals, this paper proposes an air-writing segmentation and reproduction system that combines the advantages of air-writing with the efficiency of robotic learning by demonstration (LID). the solution utilizes the Mediapipe Hand to record the writer's continuous spatial character trajectory in front of the camera, and later uses a rule-based approach to achieve automatic segmentation of the continuous character trajectory. In addition, the utilization of dynamic movement primitives (DMPs) maintains the writer's original writing habits while reproducing the char-acters in a designated area, adhering to the writing specifications and ensuring legibility. the proposed system was tested on 15 sets of continuous word trajectories covering 26 letters, experimen-tally proves the effectiveness of the algorithm. © 2023 IEEE.

关键词： air-writing character segmentation Dynamic Movement Primitives (DMPs)

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Problems and Requirements for the Robotic Disassembly of Lithium-Ion Batteries in the Automotive Industry 5th

Problems and Requirements for the Robotic Disassembly of Lit...

引用

5th international conference of international-Federation-for-the-Promotion-of-Mechanism-and-Machine-Science Italy (IFToMM Italy)

作者： Quattrucci, Luca Ceccarelli, Marco Santoro, Marco Russo, Matteo Univ Roma Tor Vergata I-00133 Rome Italy ENEA Casaccia Res Ctr I-00123 Rome Italy

ISBN: (纸本)9783031645716;9783031645693;9783031645686

this paper discusses challenges behind automation and human-robot cooperation in industrial disassembly tasks with a case study on lithium-ion car batteries. To numerically characterize this application, the performance of a robot and a human on an unscrewing task are reported and compared. the advantages and disadvantages of both options are discussed by proposing and analyzing a new performance criterion that successfully gives indications on human-robot task distribution.

关键词： robotics Human-robot collaboration Task distribution Robotic disassembly Car batteries Recycling

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Wheel-Inertial Fusion Localization Strategy for Mobile Robots in Confined Pipeline Spaces 5

Wheel-Inertial Fusion Localization Strategy for Mobile Robot...

引用

5th international conference on robotics, Intelligent Control and Artificial Intelligence, RICAI 2023

作者： Liang, Hongpeng Zhang, Shuyue Mao, Jianliang Zhang, Chuanlin College of Automation Engineering Shanghai University of Electric Power Shanghai China

ISBN: (纸本)9798350357950

Pipeline robots hold significant promise in fields like large-scale industrial manufacturing and electric energy production. However, their current limitations in precise positioning and autonomous operation are primarily due to the constraints of the narrow and confined pipeline environments. To address the common issue of noise interference with conventional inertial positioning systems, we propose an enhanced wheel-inertial fusion positioning framework aimed at achieving effective robot positioning for short to medium-range travel. this method comprises a front-end positioning module and a parallel-running back-end positioning module. In the front-end positioning, robot pose is calculated based on data from inertial measurement units (IMU) and wheel encoders, utilizing the error state Kalman filter (ESKF) fusion algorithm and graph optimization. the back-end module focuses on global optimization of historical poses and inertial parameters through graph optimization. Additionally, the system estimates certain inertial parameters during the system's initialization phase. Experimental results show that the method presented in this paper effectively improves the robot's positioning accuracy in closed pipelines. © 2023 IEEE.

关键词： ESKF fusion location graph optimization pipeline space

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