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检索条件"任意字段=ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics"

共 97 条记录，以下是41-50 订阅

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Particle filtering for position based 6DOF visual servoing in industrial environments

Particle filtering for position based 6DOF visual servoing i...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： Ibarguren, Aitor Martínez-Otzeta, José María Maurtua, Iñaki Fundación Tekniker Apdo. 44 Otaola 20 20600 Eibar Gipuzkoa Spain

ISBN: (纸本)9789898565211

Visual servoing allows the introduction of robotic manipulation in dynamic and uncontrolled environments. this paper presents a position-based visual servoing algorithm using particle filtering. the objective is the grasping of objects using the 6 degrees of freedom of the robot manipulator (position and orientation) in nonautomated industrial environments using monocular vision. A particle filter has been added to the positionbased visual servoing algorithm to deal with the different noise sources of those industrial environments (metallic nature of the objects, dirt or illumination problems). this addition allows dealing with those uncertainties and being able to recover from errors in the grasping process. Experiments performed in the real industrial scenario of ROBOFOOT project showed accurate grasping and high level of stability in the visual servoing process.

关键词： Visual servoing

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the ALNS Metaheuristic for the Maintenance Scheduling Problem 18

The ALNS Metaheuristic for the Maintenance Scheduling Proble...

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18th international conference on informatics in control, automation and robotics (icinco)

作者： Woller, David Kulich, Miroslav Czech Tech Univ Czech Inst Informat Robot & Cybernet Jugoslavskych Partyzanu 1580-3 Prague 16000 6 Czech Republic Czech Tech Univ Fac Elect Engn Dept Cybernet Karlovo Namesti 13 Prague 12135 2 Czech Republic

ISBN: (纸本)9789897585227

Transmission maintenance scheduling (TMS) is an important optimization problem in the electricity distribution industry, with numerous variants studied and methods proposed over the last three decades. the ROADEF challenge 2020 addresses a novel version of the TMS problem, which stands out by having multiple timedependent properties, constraints, and a risk-based aggregate objective function. therefore, the problem is more complex than the previous formulations, and the existing methods are not directly applicable. this paper presents a method based on the Adaptive Large Neighborhood Search metaheuristic. the method is compared with the best-known solutions from the challenge qualification phase, in which more than 70 teams participated. the result shows that the method yields consistent performance over the whole dataset, as the method finds the best-known solutions for half of the dataset and finds solutions consistently within 5h gap.

关键词： Adaptive Large Neighborhood Search Metaheuristics Combinatorial Optimization Maintanance Scheduling ROADEF 2020

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Selective image diffusion for oriented pattern extraction

Selective image diffusion for oriented pattern extraction

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4th international conference on informatics in control, automation and robotics

作者： Histace, A. Courboulay, V. Menard, M. ENSEA UCP ETIS UMR CNRS 8051 6 Ave Ponceau F-95014 Cergy France Univ La Rochelle L3i Pole Sci & Technol F-17000 La Rochelle France

ISBN: (纸本)9789728865832

Anisotropic regularization PDE's (Partial Differential Equation) raised a strong interest in the field of image processing. the benefit of PDE-based regularization methods lies in the ability to smooth data in a nonlinear way, allowing the preservation of important image features (contours, corners or other discontinuities). In this article, a selective diffusion approach based on the framework of Extreme Physical Information theory is presented. It is shown that this particular framework leads to a particular regularization PDE which makes it possible integration of prior knowledge within diffusion scheme. As a proof a feasibility, results of oriented pattern extractions are presented on ad hoc images. this approach may find applicability in vision in robotics.

关键词： image diffusion extreme physical information oriented pattern extraction selectivity

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Identifying the left ventricle optimally in cardiac mr images by comparing state-of-the-art segmentation methods 14

Identifying the left ventricle optimally in cardiac mr image...

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14th international conference on informatics in control, automation and robotics, icinco 2017

作者： Xiong, Jingjing Yang, Yongming Wang, Zhenzhou State Key Labs for Robotics Shenyang Institute of Automation Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang Liaoning Province China

ISBN: (纸本)9789897582646

In medical diagnosis, the movement of the left ventricle (LV) could be used to estimate the volume of the left ventricle and the dyssynchrony of the heart, which can provide the basis for diagnosis of heart diseases. Identification of the LV endocardium, especially the images with poor image quality and images in apical or basal slices, is still a very challenging problem. In this paper, an automatic segmentation method based on threshold is proposed. this method works well in image both with good quality and bad quality. We tested the proposed SDD method with other 15 state-of-the-art segmentation methods by 104 frames of testing Cardiac MR images from Computing and Computer Assisted Intervention (MICCAI) 2009 challenge. Finally, we assessed the deviation between the automatically segmented and benchmark manual contours. the proposed method achieved 0.9172 average Dice metric, 1.9817 mm average perpendicular distance (APD). these results compared with other methods indicate that the proposed SDD method is an effective and viable method to identify the boundary of left ventricle. © 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved.

关键词： Heart

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Feeding a genetic algorithm with an ant colony for constrained optimization an application to the unit commitment problem

Feeding a genetic algorithm with an ant colony for constrain...

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icinco 2008 - 5th international conference on informatics in control, automation and robotics

作者： Sandou, Guillaume Font, Stéphane Tebbani, Sihem Hiret, Arnaud Mondon, Christian Supelec Automatic Control Department 3 rue Joliot Curie 91192 Gif-sur-Yvette France EDF Recherche et Développement 6 quai Watier 78401 Chatou France

ISBN: (纸本)9789898111319

In this paper, a new optimisation strategy for the solution of the classical Unit Commitment problem is proposed. this problem is known to be an often large scale, mixed integer programming problem. Due to high combinatorial complexity, the exact solution is often intractable. thus, a metaheuristic based method has to be used to compute a very often suitable solution. the main idea of the approach is to use ant colony algorithm, to explicitly deal with the feasibility of the solution, and to feed a genetic algorithm whose goal is to intensively explore the search space. Finally, results show that the proposed method leads to the tractable computation of satisfying solutions for the Unit Commitment problem.

关键词： Genetic algorithms

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RTFM: Towards Understanding Source Code using Natural Language Processing 17

RTFM: Towards Understanding Source Code using Natural Langua...

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17th international conference on informatics in control, automation and robotics (icinco)

作者： Galanis, Maximilian Dietrich, Vincent Kast, Bernd Fiegert, Michael Siemens AG Corp Technol Otto Hahn Ring 6 D-81739 Munich Germany

ISBN: (纸本)9789897584428

the manual configuration of today's autonomous systems for new tasks is becoming increasingly difficult due to their complexity. One solution to this problem is to use planning algorithms that can automatically synthesize suitable data processing pipelines for the task at hand and thus simplify the configuration. Planners usually rely on models, which are created manually based on already existing methods. these methods are often provided as part of domain specific code libraries. therefore, using existing planners on new domains requires the manual creation of models based on the methods provided by other libraries. To facilitate this, we propose a system that generates an abstract semantic model from C++ libraries automatically. the necessary information is extracted from the library using a combination of static source code analysis to analyze its header files and natural language processing (NLP) to analyze its official documentation. We evaluate our approach on the perception domain with two popular libraries: HALCON and OpenCV. We also outline how the extracted models can be used to configure data processing pipelines for the perception domain automatically by using an existing planner.

关键词： Semantics-based Software Engineering Information Extraction Natural Language Processing Planning

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Forecasting the class of daily clearness index for PV applications 15

Forecasting the class of daily clearness index for PV applic...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Nunnari, Giuseppe Dipartimento di Ingegneria Elettrica Elettronica e Informatica Universitá degli Studi di Catania Viale A. Doria 6 Catania95125 Italy

ISBN: (纸本)9789897583216

this paper deals with the problem of forecasting the class of the daily clearness index which can be relevant for PV applications. A large number of solar stations, publicly available, was processed by using five different approaches, namely, the feed-forward neural networks, the Hidden Markov models, the Naive-Bayes models, the Surrogate models and the Persistent models. Experimental results show that one-day ahead forecasting of the class of daily clearness can be reliable performed in a 2-class framework and with less accuracy in a 3-class framework. Furthermore, for this purpose, the HMM approach is recommended among the considered ones. the global performance of the class prediction models, evaluated by calculating the average confusion rate (CR), showed that using HMM models provide CR ≤ 0.3 for 2-class clustering classes, while, for the 3-class framework it rises to 0.35. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Neural network models

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Determination and control of the Satellites' Attitude by using a Pyramidal Configuration of Four control Moment Gyros 12

Determination and Control of the Satellites' Attitude by usi...

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12th international conference on informatics in control automation and robotics (icinco)

作者： Lungu, Romulus Lungu, Mihai Ioan, Mihai Univ Craiova Fac Elect Engn Carol Blv 6 Craiova Romania Univ Politehn Bucuresti Fac Aerosp Engn Bucharest Romania

ISBN: (纸本)9789897581496

the paper presents a new architecture for mini-satellites' attitude control using a cluster consisting of four control moment gyros, in pyramidal configuration, and feedback from the quaternion and angular velocity vectors. the designed control law modifies the cluster's equivalent gyroscopic moment, the equivalent kinetic moment and the angular velocities' vector, this leading to the modification of the quaternion vector and to the change of the satellite's attitude. Matlab environment is used for the architecture's software implementation and validation, this being achieved for a mini-satellite involved in a typical motion around its own axis.

关键词： control Moment Gyro Pyramidal Configuration Satellite Attitude control

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control of Force in Surgical Robots with Random Time Delays Using Model Predictive control 15th

Control of Force in Surgical Robots with Random Time Delays ...

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15th international conference on informatics in control, automation and robotics (icinco)

作者： Ladoiye, Jasmeet Singh Necsulescu, Dan S. Sasiadek, Jurek Univ Ottawa Ottawa ON K1N 6N6 Canada Carleton Univ Ottawa ON K1S 5B6 Canada

ISBN: (纸本)9783030319939;9783030319922

Robotic telesurgery has gained a lot of interest in the medical and engineering field with the advancement of technology over in Minimum Invasive Surgery (MIS) that uses small incisions to operate resulting in the faster recovery of the patients. In the commercially available surgical systems, the surgeon cannot feel the sense of touch of the environment, unlike open type surgery. the control becomes harder when the robotic surgery is performed remotely in the presence of time delays. the development of the force feedback will help to reduce the tissue damage and end-effector deflection. the primary goal of this work is to develop the force feedback for the surgical arms affected by the time delays. the random behavior of the network delays makes the control realization even harder and can make the response go unstable. A novel approach is used to develop the haptic feedback for the Minimally Invasive Robotic Systems (MIRS) by using Model Predictive control (MPC) in case of random communication delays.

关键词： Minimum invasive robotic surgery Surgical robots Force control Model Predictive control Telecommunication Bilateral master-slave control

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the hand-gesture-based control interface with wearable glove system 15

The hand-gesture-based control interface with wearable glove...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Berezhnoy, Vladislav Popov, Dmitry Afanasyev, Ilya Mavridis, Nikolaos Institute of Robotics Innopolis University Universitetskaya Str. 1 Innopolis420500 Russia

ISBN: (纸本)9789897583216

the paper presents an approach to building a gesture-based control interface with a wearable glove system and a real-time gesture recognition algorithm. the glove-based system is a wireless wearable device with hardware components, including Arduino Nano controller, IMU and flex sensors, and software for gesture recognition. Our gesture recognition methodology requires two stages: 1) Building a library of dynamic gesture models with the reference human gesture graphs;2) Gesture capturing and evaluating with fuzzy c-means (FCM) clustering and constructing grammars of gestures by fuzzy membership functions. the system tests were provided with 6 different dynamic gestures to control position and orientation of a quadcopter in V-Rep simulator that has demonstrated encouraging results with a reasonable quality of real-time gesture-based quadcopter control. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Gesture recognition

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