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3D Point-to-Keypoint Voting Network for 6D Pose Estimation

3D Point-to-Keypoint Voting Network for 6D Pose Estimation

引用

international conference on control, automation, robotics and Vision (ICARCV)

作者： Weitong Hua Jiaxin Guo Yue Wang Rong Xiong State key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

Object 6D pose estimation is an important research topic in the field of computer vision due to its wide application requirements and the challenges brought by complexity and changes in the real-world. We think fully exploring the characteristics of spatial relationship between points will help to improve the pose estimation performance, especially in the scenes of background clutter and partial occlusion. But this information was usually ignored in previous work using RGB image or RGB-D data. In this paper, we propose a framework for 6D pose estimation from RGB-D data based on spatial structure characteristics of 3D keypoints. We adopt point-wise dense feature embedding to vote for 3D keypoints, which makes full use of the structure information of the rigid body. After the direction vectors pointing to the keypoints are predicted by CNN, we use RANSAC voting to calculate the coordinate of the 3D keypoints, then the pose transformation can be easily obtained by the least square method. In addition, a spatial dimension sampling strategy for points is employed, which makes the method achieve excellent performance on small training sets. the proposed method is verified on two benchmark datasets, LINEMOD and OCCLUSION LINEMOD. the experimental results show that our method outperforms the state-of-the-art approaches, achieves ADD(-S) accuracy of 98.7% on LINEMOD dataset and 52.6% on OCCLUSION LINEMOD dataset in real-time.

关键词： three-dimensional displays Feature extraction Pose estimation Solid modeling Image color analysis Data mining Two dimensional displays

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Modeling and control of General Hydraulic Excavator for Human-in-the-loop automation

Modeling and Control of General Hydraulic Excavator for Huma...

引用

international conference on Tools for Artificial Intelligence (ICTAI)

作者： Guangda Chen Yinghao Gan Jiayi Chen Shuanwu Shi Wei Chen Yingfeng Chen Rong Xiong Changjie Fan Fuxi Robotics in NetEase Hangzhou P.R. China State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China College of Computer Science and Technology Hangzhou Dianzi University Hangzhou P.R. China Department of Automation Zhejiang University of Technology Hangzhou P.R. China

As labor shortages and safety regulations become more prominent, the need for human-in-the-loop automation of excavators is increasing. To meet this demand, we have developed a comprehensive modeling method for the excavator arm using nonlinear optimization approaches, including a simplified model that maps the task space to the joint space, as well as an equivalent model that maps the joint space to the actuator space. these models were then used to build a feedforward-PID joint velocity controller and a joint trajectory controller combined with position feedback, which forms the core of our proposed semi-automatic control system for the excavator arm. Our deployment scheme is simple and efficient, and has been deployed on two excavators of different makes and sizes. Experiments show that our deployment scheme performs well on both excavators, with an average error of 0.05 rad/s for the velocity controller and less than 5 cm for the trajectory controller. Using our semi-automatic system, we have completed demonstration experiments for precise digging and grading operations. A demonstration video can be found at https://***/N6I0WZGSF68.

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An Container Elastic Autoscaling Strategy Based Adaptive Integrated Resource Forecast

An Container Elastic Autoscaling Strategy Based Adaptive Int...

引用

international conference on Communications, Information System and Computer Engineering (CISCE)

作者： Weiwei Miao Yong Sun Zeng Zeng Tao Hong Maoran Xiao Information & Telecommunication Branch State Grid Jiangsu Electric Power Co. Ltd. Nanjing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350353174

ISBN: (纸本)9798350353181

the built-in elastic autoscaling strategy of Kubernetes, a container cloud orchestration and management system, balances the relationship between application service quality and cluster resource usage by regularly monitoring a single resource and comparing it with a set threshold to determine whether to scale up or down. However, the built-in strategy has the problems of incomplete evaluation of a single resource index, response delay and scaling jitter. To address the above problems, this paper uses an adaptive weighting algorithm to obtain a comprehensive prediction index based on long-range time multi-resource prediction sequences. this index is not only more comprehensive than a single index, but also measures the resource usage in the future time period, so that the adaptive comprehensive prediction index has the ability to more comprehensively measure the changes in application workload in the future time period. the experimental results show that the autoscaling strategy based on adaptive integrated resource forecast can effectively solve the problems of regulation lag and scaling jitter.

关键词： Clustering algorithms Jitter Containers Elasticity Prediction algorithms Time measurement Regulation

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Ontology Knowledge Based Multimodal Service Tasking Planning

Ontology Knowledge Based Multimodal Service Tasking Planning

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Xiaochen Zhang Guoliang Liu Wei Li Zhenhua Liu Shanmei Wang Jiwei Zhang Bin Wang Guohui Tian School of Control Science and Engineering Shandong University Jinan China Big Data and Artificial Intelligence Institute China Telecom Research Institute Beijing China Research Department Inspur Intelligent Technology Jinan China Department of Development Ji'nan Power Supply Company Jinan China Department of Investment and Development State Nuclear Electric Power Planning Design & Research Institute Co. LTD. Beijing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

Considering smart device and robot having entered the home environment to provide human with convenient services, this paper proposes a multimodal service system to enhance the system dynamic understanding of the environment and dynamic task planning capabilities. the proposed system introduces a family ontology to record information about the object, device, and user. the multimodal information can be acquired and updated automatically to the family ontology. the task planning and execution are introduced to dynamically generate task. Finally, the experiments in a family environment prove that the system has outstanding task processing capabilities and environmental understanding.

关键词： System dynamics Knowledge based systems Ontologies Planning Smart devices informatics Robots

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Robust path planning for dynamic environment based on fractional attractive force

Robust path planning for dynamic environment based on fracti...

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IEEE SSD international Multi-conference on Systems, Signals and Devices

作者： B. Metoui P. Melchior S. Najar M.N. Abdelkrim A. Oustaloup MACS (Unité de Recherche Modélisation Analyse et Commande des Systèmes) Ecole Nationale d''Ingénieurs de Gabès Gabes Tunisia Département LAPS IMS UMR 5218 CNRSENSEIRB-ENSCPB Université Bordeaux 1 Talence France

In path planning, potential fields introduce force constraints to ensure curvature continuity of trajectories and thus to facilitate path-tracking design. In previous works, a path planning design by fractional (or generalized) repulsive potential has been developed to avoid fixed obstacles: danger level of each obstacle was characterized by the fractional order of differentiation, and a fractional road was determined by taking into account danger of each obstacle. If the obstacles are dynamic, the method was extended to obtain trajectories by considering repulsive and attractive potentials taking into account position and velocity of the robot with respect to obstacles. then, a new attractive force based on fractional potential was developed. the advantage of the generalized normalized force is the possibility to control its variation. the curve is continuously varying and depends only on one parameter, the noninteger order of the generalized attractive potential. But, in case of robot parameter variations, these two previous attractive forces do not allow to obtain robust path planning. A new fractional attractive force for robust path planning of mobile robot in dynamic environment was developed. In this paper, the robustness study in dynamic environment is presented. this method allows to obtain robust path planning despite robot mass variations.

关键词： Robustness Path planning Mobile robots Trajectory Roads Uniform resource locators Force control Orbital robotics Velocity control Robot motion

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Reverse blockchain technology and its application to improve the quality of control systems in conditions of network instability

Reverse blockchain technology and its application to improve...

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Blockchain Computing and Applications (BCCA), international conference on

作者： Volodymyr Khilenko Andrii Zinchenko Oleksii Stepanov Faculty of Informatics and Information Technologies Slovak University of Technology Bratislava Slovakia Department of Information Technologies National University of Life and Environmental Sciences of Ukraine Kyiv Ukraine Institute of Transport Systems and Technologies National Academy of Sciences of Ukraine Dnipro Ukraine

ISBN: (数字)9798350351538

ISBN: (纸本)9798350351545

the work proposes a technology for using a blockchain database to improve the quality of control systems for dynamic objects and technological processes in situations where the stability of communication systems is not ensured or loss of information and control signals is possible. the developed technology (hereinafter referred to as "reverse blockchain technology") involves the calculation of management signals based on a comparison of data from the blockchain database and forecast results obtained at the time of loss of the information signal. the description of the dynamics of the control object is considered in matrix form. Model experiments were carried out to select computational methods for processing signals and forming forecasts for the dynamics of an object. Recommendations are formulated to improve the reliability of control systems in conditions of instability of communication channels.

关键词： Protocols Databases Computational modeling Process control Predictive models control systems Stability analysis Mathematical models Blockchains Reliability

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Design and implementation of walking pattern and trajectory compensator of NAO humanoid robot

Design and implementation of walking pattern and trajectory ...

引用

IEEE international conference on System Engineering and Technology

作者： Hilmi Fadli Egi Hidayat Carmadi Machbub School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia

ISBN: (纸本)9781509050901

Humanoid robot is a dynamic robot which can walk with two legs like a human. Many researchers are interested in this class of robot due to its flexibility in reaching a variety of terrain and also its similarity to humans. the main problem often faced by developers is the motion control system which is rather nontrivial. Having 25 DOF with only two legs, it is difficult to model the robot movement that achieves static and dynamic balance. To facilitate the developer, there needs to be a model that can be used as a foundation for the development of robot motion system. this model allows us to obtain the information which needed in the formation of the robot posture. Information such as joint position, position of the center of mass, ZMP position, support polygon and load torque of each joint can affect the balance of the formed posture. In addition, with the establishment of some proper posture, it is possible to determine several sequential postures that generate a walking pattern. the walking pattern enables the humanoid robot to move to another place. However, in reality, this robot movement often has a shifting trajectory from the target location due to various reasons. A Neuro-Fuzzy system has been designed and implemented to compensate error in trajectory tracking. this system processes the trajectory shift by fuzzy logic (linguistic) combined with learning algorithms that allows the system to change its own structures to produce better control output. Smaller shift on trajectory is achieved as the number of learning iteration increases.

关键词： Legged locomotion Robot kinematics Trajectory Humanoid robots Fuzzy logic Robot sensing systems

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A Hybrid Feature Selection Method for Human Activity Recognition

A Hybrid Feature Selection Method for Human Activity Recogni...

引用

international conference on Pattern Analysis and Intelligent Systems (PAIS)

作者： Redouane Saifi Achour Achroufene Hocine Attoumi Lydia Souici Faculty of Exact Sciences Laboratory of Medical Informatics (LIMED) University of Bejaia Bejaia Algeria

ISBN: (数字)9798350350265

ISBN: (纸本)9798350350272

Human Activity Recognition (HAR) is a highly active research field, as it is essential in various domains such as healthcare, surveillance, sports, robotics, etc. Many HAR systems are based on Machine Learning (ML) algorithms. However, deploying these systems is often a significant challenge due to their spatial and temporal complexity, especially in real-time applications where quasi-instantaneous recognition is imperative. this article proposes a novel hybrid feature selection approach that optimizes the execution time of a HAR system. the feature selection combines Cuckoo Search (CS) and Recursive Feature Elimination (RFE) algorithms. Subsequently, the selected features feed into various ML classification algorithms such as Support Vector Machine (SVM), Random Forest (RF), and Logistic Regression (LR) to recognize activities. the proposed approach significantly reduces the number of features and, consequently, the temporal complexity. the results of the experiment performed on the UCI-HAR dataset compete with those achieved in the state-of-the-art using fewer features.

关键词： Support vector machines Radio frequency Surveillance Feature extraction Vectors Classification algorithms Complexity theory

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Incorporating the User Attention in User Interface Logs 18

Incorporating the User Attention in User Interface Logs

引用

18th international conference on Web Information Systems and Technologies, WEBIST 2022

作者： Martínez-Rojas, A. Jiménez-Ramírez, A. Enríquez, J.G. Lizcano-Casas, D. Departamento de Lenguajes y Sistemas Informáticos Escuela Técnica Superior de Ingeniería Informática Avenida Reina Mercedes s/n Sevilla41012 Spain Universidad a Distancia de Madrid UDIMA Vía de Servicio A-6 15 Collado Villalba Madrid28400 Spain

ISBN: (纸本)9789897586132

Business process analysis is a key factor in the lifecycle of Robotic Process automation. Currently, task mining techniques provide mechanisms to analyze information about the process tasks to be automated, e.g., identify repetitive tasks or process variations. Existing proposals mainly rely on the user interactions with the UIs of the system (i.e., keyboard and mouse level) and information that can be gathered from them (e.g., the window name) which is stored in a UI event log. In some contexts, the latter information is limited because the system is accessed through virtualized environments (e.g., Citrix or Teamviewer). Other approaches extend the UI Log, including screenshots to address this issue. Regardless of the context, the aim is to store as much information as possible in the UI Log so that is can be analyzed later on, e.g., by extracting features from the screenshots. this amount of information can introduce much noise in the log that messes up what is relevant to the process. To amend this, the current approach proposes a method to include a gaze analyzer, which helps to identify which is process-relevant information between all the information. More precisely, the proposal extends the UI Log definition with the attention change level, which records when the user’s attention changes from one element on the screen to another. this paper sets the research settings for the approach and enumerates the future steps to conduct it. Copyright © 2022 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： robotics

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Development of a Support System for Diabetic Patients at Home Using a Smartphone

Development of a Support System for Diabetic Patients at Hom...

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international conference on Soft Computing and Intelligent Systems

作者： Hiroshi Narazaki Jun Ishizaki Hiroshi Inada Shoko Tani Kazuo Nakazawa Haruhiko Nishimura Graduate School of Applied Informatics University of Hyogo Osaka Saiseikai Suita Hospital Research Institute National Cerebral and Cardiovascular Center

ISBN: (纸本)9781467327428

Recently, the number of patients with diabetes mellitus (DM) has been increasing. Because DM causes many complications, it is important for patients with DM to control their blood sugar levels. However, there is not an effective method for the patients to manage their blood sugar levels at home. therefore, we developed a home support system for the patients by which the patient can accumulate various biological measured data and send the data to a medical institution. At the institution, a physician can check the data and provide instructions via e-mail to the patient at home. the system is composed of a smartphone used by the patient, a server installed at the medical institution and a personal computer (PC) used by the physician. the patient measures data such as weight, blood pressure, blood sugar, etc. at home and send these data to the server using the smartphone. the physician can check the patient data, including a medical and medication history, and provide instructions via e-mail to the patient using the PC. For our purpose, an Android smartphone was selected as a terminal, and the system was created using XML so that the data could be read with a web browser in any environment. We anticipate our developed system will be useful to support patients with DM at home.

关键词： Component (diabetes mellitus Support system for patients with DM at home Management of a blood sugar level Android smartphone)

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