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cyberEarth: A virtual simulation platform for robotics and cyber-physical systems

CyberEarth: A virtual simulation platform for robotics and c...

引用

2019 ieee international conference on Robotics and Biomimetics, ROBIO 2019

作者： Zhang, Xiaoyang Wang, Hongpeng Liu, Jingtai Li, Haifeng Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Tianjin300350 China Civil Aviation University of China Department of Computer Science and Technology Tianjin300300 China

ISBN: (纸本)9781728163215

The increasing sophisticated robot and intelligent system applications require universal visualization platforms which can guarantee the security and efficiency of task process execution in the situation of user-programming and using different kinds of automated equipment. In this paper, we present a universal visualization framework to build up program-driven simulation software of complex robots and intelligent systems by integrating several open-source technical modules, including Ubuntu Linux operation-system, QT Creator IDE environment, ROS robot operation system, OSG(OpenSceneGraph) 3D scene, osgEarth GIS(Geographic Information System)-based 3D scene, and also Python based user-programing robotic script language. Many complex visualization simulation systems of complex tasks in wide area and dynamic scenarios are realized by using this framework. Based on this framework, we built a virtual simulation platform cyberEarth for robotics and cyber-Physical systems. The typical robotic simulation task, which is a visual coverage task for Multi-Agent/UAV, is also introduced to demonstration the universality of this platform. © 2019 ieee.

关键词： intelligent systems

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F-Siamese Tracker: A Frustum-based Double Siamese Network for 3D Single Object Tracking

F-Siamese Tracker: A Frustum-based Double Siamese Network fo...

引用

ieee/RSJ international conference on intelligent Robots and systems (IROS)

作者： Zou, Hao Cui, Jinhao Kong, Xin Zhang, Chujuan Liu, Yong Wen, Feng Li, Wanlong Zhejiang Univ Inst Cyber Syst & Control Hangzhou 310027 Zhejiang Peoples R China Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China Huawei Noahs Ark Lab Hong Kong Peoples R China

ISBN: (纸本)9781728162126

This paper presents F-Siamese Tracker, a novel approach for single object tracking prominently characterized by more robustly integrating 2D and 3D information to reduce redundant search space. A main challenge in 3D single object tracking is how to reduce search space for generating appropriate 3D candidates. Instead of solely relying on 3D proposals, firstly, our method leverages the Siamese network applied on RGB images to produce 2D region proposals which are then extruded into 3D viewing frustums. Besides, we perform an online accuracy validation on the 3D frustum to generate refined point cloud searching space, which can be embedded directly into the existing 3D tracking backbone. For efficiency, our approach gains better performance with fewer candidates by reducing search space. In addition, benefited from introducing the online accuracy validation, for occasional cases with strong occlusions or very sparse points, our approach can still achieve high precision, even when the 2D Siamese tracker loses the target. This approach allows us to set a new state-of-the-art in 3D single object tracking by a significant margin on a sparse outdoor dataset (KITTI tracking). Moreover, experiments on 2D single object tracking show that our framework boosts 2D tracking performance as well.

关键词： Computer vision

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Energy-to-peak filtering for discrete-time singular systems via normal transformation

Energy-to-peak filtering for discrete-time singular systems ...

引用

2010 international conference on intelligent control and Information Processing, ICICIP 2010

作者： Jia, Peigang Wang, Ping Yan, Maode Department of Machinery Manufacture Xi'an Technological University Xi'an China Department of Automation Chang'an University Xi'an China

ISBN: (纸本)9781424470488

This paper investigates the energy-to-peak filtering for discrete-time singular system. Based on the admissibility assumption and restricted system equivalence of singular systems, the singular system model can be converted into a normal state-space form via normal transformation. Then, a set of necessary and sufficient conditions for the solvability of this problem are established in the framework of linear matrix inequalities (LMIs). When these LMIs are feasible, an explicit expression of a desired filter is given. Finally, an illustrative example is given to verify the applicability of the proposed approach. © 2010 ieee.

关键词： Linear matrix inequalities

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A novel switching method in producing two-phase output from single-phase input

A novel switching method in producing two-phase output from ...

引用

ieee international conference on cyber technology in automation, control, and intelligent systems

作者： M. Esmaeili N. Niassati A. Salimi E. Afjei Department of Electrical Engineering Malek Ashtar University of Technology Shahin Shahr Isfahan Iran Department of Electrical & Computer Engineering Shahid Beheshti University Tehran Iran

In this study, a new method is presented for producing two-phase AC output, from a single-phase AC input, based on the studies performed in [1] and also other novel techniques. Initially, the main idea behind the proposed method is presented and discussed, and then a practical switching and circuitry configuration, in order to achieve the aims of the idea is presented. Finally, simulation is performed in MATLAB®/SIMULINK™ environment, in order to investigate the performance of the proposed technique. First a load and circuitry configuration is chose, to provide the maximum output voltage amplitude. Then output is investigated using other configurations. The results are presented and discussed.

关键词： Mathematical model Switches Integrated circuit modeling Switching circuits Load modeling Induction motors Software packages

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Traffic data collection and management based on spatial information technology

Traffic data collection and management based on spatial info...

引用

6th ieee international conference on intelligent Transportation systems

作者： Chen, XW Ma, L Zhang, FZ Yang, DK Peking Univ Inst Remote Sensing & Geog Informat Syst Beijing Peoples R China

ISBN: (纸本)0780381254

By introducing spatial information technology (SIT), including remote sensing, geographic information system (GIS), satellite navigation system, etc., the principals and methodologies of traffic information collection and management based on SIT were discussed in this paper. The analysis and fusion of all the available information by the support of GIS was described, and the Traffic Information Management System (TIMS) was designed and developed, which has many features such as friendly interface, easy operation and versatile functions. The system can be widely applied to traffic control, vehicle guidance and dispatching, route planning and infrastructure construction.

关键词： traffic information spatial information technology remote sensing geographic information system satellite navigation system

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Design of intelligent Traffic Signal controller

Design of Intelligent Traffic Signal Controller

引用

3rd ieee international conference on Computer Science and Information technology (ICCSIT)

作者： Zhang, Haitao Zhang, Juwei Henan Univ Sci & Technol Elect & Informat Engn Coll Luoyang Peoples R China

ISBN: (纸本)9781424455379

Aiming the deficiency of control performance of existing traffic signal controller, we finish whole design of intelligent traffic signal controller based on MPC8245 processor and Hard Hat Linux kernel. After designing minimum system of MPC8245, we extend Compact PCI bus so as to finish video capture, network communication, and serial communication utilizing all kinds of PCI card. In our systems we finish the functions of signal acquisition and control by a multi-serial port card based on Compact PCI bus, so we expound the design theory of multi-serial card, and the design method of drivers. In addition, we tailor Linux kernel and me system, and make system satisfy the application requirements of traffic signal control. As a result, traffic signal controller has strong intelligent control performance, and makes the implementation of intelligent traffic possible.

关键词： component Traffic Signal controller MPC8245 Compact PCI Hard Hat Linux

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Mandibular movement experiment of a masticatory robot

Mandibular movement experiment of a masticatory robot

引用

ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Haiying Wen Ming Cong Guifei Wang Weiliang Xu School of Mechanical Engineering Dalian University of Technology Dalian China Department of Mechanical Engineering The University of Auckland Auckland New Zealand

A masticatory robot that can simulate jaw movement and occlusal forces like human will find many applications in dentistry, food science and biomechanics. Based on the biological finding about mastication system and its motion characteristics, an actuation redundant parallel mechanism with point contact higher kinematic pair (6PUS-2HKP) for simulating mastication movement is introduced. The coordinate system of the robot is established. The kinematics of this redundantly actuated spatial parallel mechanism is derived. In order to test the robot's performance, a mouth opening and closing trajectory was planned. Experiment result shows that the robot can perform one full mouth opening and closing cycle within 1 s and the robot is able to reproduce the mouth opening and closing movements like humans.

关键词： Robot kinematics Dentistry Kinematics Mouth Trajectory Torque

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Proposal of intelligent Cross-Platform Interface for robotics middleware

Proposal of Intelligent Cross-Platform Interface for robotic...

引用

ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Arturo E. Cerón López Edwardo F. Fukushima Department of Mechanical and Aerospace Engineering Tokyo Institute of Technology Tokyo Japan

The current standard approach for developing robot software applications is to use middleware for robotics. Protocols and paradigms have been set by the available middleware. However, not all of them share a common interface, resulting in difficulties when developing robot applications using software developed for different platforms. Even inside the same platform similar issues arise when software elements inside it are made by different developers. The research objective is to propose and define an intelligent Cross-Platform Interface (ICPI) that enables data sharing among software elements from different developers, as well as data from different middleware platforms. Such interface is to be complemented by additional modules residing inside it to enhance the functionality. In this article one of the modules is discussed, this module is for the administration of data and software in a robot application. The Administration by Roles module is presented to act as the manager module of the ICPI, the module enables the categorization of software elements and their related data.

关键词： Robots Middleware Data structures Databases Servers Protocols

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Design and test of automatic toward-target sprayer used in orchard

Design and test of automatic toward-target sprayer used in o...

引用

ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Zou Wei Wang Xiu Deng Wei Su Shuai Wang Songlin Fan Pengfei National Research Centre of Intelligent Equipment for Agriculture Beijing Academy of Agriculture and Forestry Sciences Beijing China Beijing Research Centre of Intelligent Equipment for Agriculture Beijing Academy of Agriculture and Forestry Sciences Beijing China

ISBN: (纸本)9781479987313

In order to meet the requirements of large-scale spraying operations in the orchards which covers an extensive area, an Automatic Toward-target Sprayer was designed. The sprayer uses two infrared sensors, which are respectively mounted on both sides of the machine, to detect fruit trees. The control system detects the speed of the tractor in real time by processing the pulse signal of a Hall sensor. If the target is detected, the location and speed, which can be used to calculate the position and width of spraying, will be stored in the memory. After the tractor traveling a certain distance, the spraying valves are triggered. If there is a tree, the sprayer will start spraying, if there is a gap, the sprayer will stop spraying. The spraying width can be changed by setting control parameters to accommodate different size trees. Actual test application shows that while the tractor is moving at a low speed which is not more than 1.5m/s, and the target is within the detection range of the sensor(

关键词： Spraying Valves Agricultural machinery Infrared sensors Solenoids Vegetation control systems

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Exact Reachability of Linear Stochastic System with Partial Information

Exact Reachability of Linear Stochastic System with Partial ...

引用

ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Jiaye Yao Wei Wang Juanjuan Xu School of Control Science and Engineering Shandong University Jinan China

ISBN: (数字)9798331506056

ISBN: (纸本)9798331506063

In this paper, we study the exact reachability of a kind of linear stochastic systems with partial information. The system is described by a class of Itô stochastic differential equation that includes a controller and two independent multiplicative noises, only one of which is available to design the controller. The main contribution is to derive the necessary and sufficient Gramian criterion for the exact reachability of the system with partial information. In particular, the derived result contains the case with complete information as a special case.

关键词： automation Stochastic systems Noise Differential equations control systems intelligent systems

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