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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation and Robotics"

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Transfer-Deep Learning Application for Ultrasonic Computed Tomographic Image Classification

Transfer-Deep Learning Application for Ultrasonic Computed T...

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international conference on control, automation and Diagnosis (ICCAD)

作者： Marwa Fradi Mouna Afif El-Hadi Zahzeh Kais Bouallegue Mohsen Machhout Monastir University Tunisia Laboratory of Informatics image and interaction L3i La Rochelle University France ISSAT Sousse Sousse University

ISBN: (数字)9781728169996

ISBN: (纸本)9781728170008

Deep-learning techniques have led to a technological progress in several fields such as robotics, mechanics, and medicine specifically in the area of medical imaging. On the light of these recent developments in deep learning it will be recorded that medical imaging evolution needs a transfer deep learning application for the classification process. In this paper, our approach consists on a deep learning transfer models such us Inception V3, MobileNet, NasNet and Ameobanet on Ultrasonic Computed tomography images (USCT) to classify them automatically into three classes. In the beginning, USCT dataset augmentation has been done with pre-processing algorithms. Then, a Transfer Convolutional Neural Network Architecture has been applied with different models on our dataset. Finally, we have implemented our neural network application on GPU. As results we have overcoming previously works by a value of 100% for train accuracy and a value of 96% for test accuracy with a short time process.

关键词： Deep learning Computer architecture Biomedical imaging Training Graphics processing units Computational modeling Classification algorithms

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Autonomous Canal Following by a Micro-Aerial Vehicle Using Deep CNN 6th

Autonomous Canal Following by a Micro-Aerial Vehicle Using D...

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6th international-Federation-of-Automatic-control (IFAC) conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Abbas, Syed M. Ali, Hashim Muhammad, Abubakr LUMS NCRA Natl Agr Robot Lab Sch Sci & Engn Dept Elect Engn Lahore Pakistan LUMS Sch Sci & Engn Dept Elect Engn Ctr Water Informat & Technol Lahore Pakistan Lahore Univ Management Sci Ctr Water Informat & Technol Sch Sci & Engn Dept Elect EngnNCRA Natl Agr Robot Lab Lahore Pakistan

Globally, large-scale irrigation canal networks serve as the backbone of agriculture in many important river basins. However, these water channels are in a constant threat of erosion, silt accumulation and structural damages over time which significantly reduces the water carrying capacity. Therefore, periodic inspections of the canals are required for critical operations and maintenance tasks. Due to the vast lengths of the channels and time-critical operations, automation has become a necessity. In this paper, we have proposed an aerial autonomous canal traversal system using ResNet50 inspired deep convolutional neural network. Given the uniqueness of our problem, we have generated our dataset for supervised learning and validation and later evaluated the proposed approach on a real canal. We have implemented our approach on a COTS micro-aerial vehicle. We have designed our system in such a way that it takes 200ms from perception to action thereby making the system real-time. We compare the superior performance of our ResNet50 inspired network with other state-of-the-art CNNs trained on canal datasets. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Agricultural robotics water management precision agriculture trajectory tracking CNN autonomous navigation Unmanned Aerial Vehicles

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Large deflection ofa compliant beam with non-uniform stiffness distribution using a PRB-3R model

Large deflection ofa compliant beam with non-uniform stiffne...

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2019 IEEE international conference on Real-Time Computing and robotics, RCAR 2019

作者： Jin, Hu Fang, Tao Chen, Haoyao Yildirim, Tanju Li, Weihua Zhang, Shiwu Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China 96 Jinzhai Rd. Hefei230026 China School of Mechanical Engineering and Automation in Harbin Institute of Technology Shenzhen State Key Laboratory of Robotics and System China Department of Materials and Mechatronic Engineering University of Wollongong WollongongNSW2522 Australia

ISBN: (纸本)9781728137261

Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot. © 2018 IEEE

关键词： Stiffness

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Distributed control for cooperative transportation in presence of unknown disturbance

Distributed control for cooperative transportation in presen...

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2019 IEEE international conference on Real-Time Computing and robotics, RCAR 2019

作者： Zhang, Xiaozhen Zhang, Fan Huang, Panfeng Wang, Chen Zhao, Yakun Liu, Ya National Key Laboratory of Aerospace Flight Dynamics Research Center for Intelligent Robotics School of Astronautics Northwestern Polytechnical University 127 West Youyi Road Xi’an China Key Laboratory for Highway Construction Technology Equipment of Ministry of Education Chang’an University Xi’an China

ISBN: (纸本)9781728137261

A new system for cooperative transportation is proposed in this paper. A brand new system by using quadrotors connected via a net is designed, which is named quadrotors-net transportation system (QNTS). The dynamics model of each quadrotor is simplified to a second-order system, and the flexible net is considered to be a serial mass-spring models. All the quadrotors are treated as followers of a virtual second-order individual leader. A general method of the virtual leader’s path (or called transportation path) is given. The oscillation of net and payload on quadrotors is regard as an unknown disturbance. To solve this unknown disturbance, the classic distributed controller is improved for the quadrotors. Finally, a simulation example of a transportation task by using QNTS is given to verify the proposed control scheme. © 2018 IEEE.

关键词： Distributed parameter control systems

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A low-cost, wide-range and multi-functional vision backend of sailboat research testbed

A low-cost, wide-range and multi-functional vision backend o...

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2019 IEEE international conference on Real-Time Computing and robotics, RCAR 2019

作者： Yu, Xianggang Qi, Weimin Sun, Qinbo Liu, Hengli Sun, Zhenglong Qian, Huihuan Shenzhen Institute of Artificial Intelligence and Robotics for Society China Chinse University of Hong Kong Shenzhen China

ISBN: (纸本)9781728137261

This paper describes a low-cost, wide-range and multi-functional vision backend for Sailboat Research Testbed (SRT). SRTs are of great significance in autonomous sailing vessels (ASVs) research. The motivation behind this vision backend is the demand for various functions of an SRT, such as sailboat localization and control, yet the cost of building such a testbed should be economic. Hence, cost-effective hardware along with robust and lightweight vision algorithms are integrated into a vision backend to assist our SRT. This vision backend overcomes several inherent problems when applying some CV algorithms in the water environment, and presents multiple functionalities with high performance. This paper details our solutions and design of this vision backend. Moreover, a variety of schemes are introduced to reduce the cost when building SRTs. © 2018 IEEE.

关键词： Sailing vessels

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Color extraction from lyrics 2019

Color extraction from lyrics

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4th international conference on automation, control and robotics Engineering, CACRE 2019

作者： Hori, Gen Faculty of Business Administration Asia University Tokyo180-8629 Japan

ISBN: (纸本)9781450371865

We establish a procedure for color extraction from lyrics based on the distributed semantic representation obtained by word2vec. To extract colors from lyrics, we exploit the fact that the cosine similarities between words and color names tend to reflect the actual colors of the things the words indicate. We select important words that characterize the lyrics according to the tf-idf statistic and estimate the colors of the important words using the cosine similarities between the words and color names. For evaluation of the color extraction procedure, we implement a software system that automatically generate images based on the colors extracted from given English lyrics. We conduct a subjective evaluation of the color extraction procedure using the software system and the lyrics of three Beatles songs. © 2019 Copyright is held by the owner/author(s).

关键词： Color

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The EEG-based lower limb exoskeleton system optimization strategy based on channel selection

The EEG-based lower limb exoskeleton system optimization str...

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2019 IEEE international conference on Real-Time Computing and robotics, RCAR 2019

作者： Long, Xingguo Ma, Yue Ma, Xunju Yan, Zefeng Wang, Can Wu, Xinyu Shenzhen 518055 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology CAS University of Chinese Academy of Sciences Chinese University of Hong Kong Department of Mechanical and Automation Engineering

ISBN: (纸本)9781728137261

Compared with traditional exoskeleton robots, the brain-computer interface (BCI) based lower limb exoskeleton system can directly control the robot by recording the user's brain activity signals, such as the electroencephalogram (EEG). The brain activity signals contain the original and global motion intention, which is capable of operating the walking assistance exoskeleton device in a way that matches the operator's will more closely. In our previous work, an EEG-based lower limb exoskeleton system and a human-machine interaction paradigm that orient to the scenario of dynamic motion is designed. However, the EEG sensor configuration is a time-consuming process and limit the utility of the EEG based system. Besides, channel redundancy makes it difficult to explore experimental mechanisms of the designed paradigm. Therefore, in this paper, a heuristic channel selection optimization algorithm with the L1 norm is applied to the BCI system. Based on the data of four subjects, we verify the performance of the selected optimal channel subset and explore a universal optimal channel subset. Tested on another two new subjects, the universal optimal subset shows a promising prospect in improving the performance of the EEG-based exoskeleton system. © 2019 IEEE.

关键词： Electroencephalography

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Design of a Soft Gripper Mold for an End Effector in the automation of Sugarcane Packaging

Design of a Soft Gripper Mold for an End Effector in the Aut...

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international conference on Humanoid, Nanotechnology, Information Technology, Communication and control, Environment and Management (HNICEM)

作者： Danielle Grace D. Evangelista Rhen Anjerome R. Bedruz Ryan Rhay P. Vicerra Argel A. Bandala De La Salle University Manila Philippines

ISBN: (纸本)9781665429979

Sugarcane is one of the top three most produced agrarian crops in the Philippines. In addition to that, the country belongs to the top 10 countries in the world that is well-known for sugarcane production and reported to be the fifth producer of sugarcane in the asia Pacific Region as of 2017. In the export and distribution of the crop to both local and foreign consumers, packaging is an important part of the manufacturing process with which its efficiency and speed can be improved by using pick-and-place robots. Additionally, careful grasping must be observed in handling the crops to avoid bruising or damaging and that it must be kept at standard and optimum conditions in its travel to the consumers. Considering the ability of soft robots, the dimensions of sugarcane crops, and end effector attributes suitable for the packaging of sugarcane crops, this study aims to design a soft gripper mold for an end effector to be used in the sugarcane packaging process. The design is a rib-segmented, three-fingered gripper with pneumatic and textile layers. It is 135 mm in length, 45 mm in width, and 10 mm in height. Based on these, the researchers aim to use this design for fabrication.

关键词： Packaging Soft robotics Agriculture End effectors Grippers Standards Textiles

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Design of Overall Framework of Self-Service Big Data Governance for Power Grid 4th

Design of Overall Framework of Self-Service Big Data Governa...

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4th international conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Qiao, Lin Zhou, Qiaoni Song, Chunhe Wu, Hao Liu, Biqi Yu, Shimao State Grid Liaoning Electric Power Co. Ltd. Shenyang110000 China Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China

ISBN: (纸本)9783030323875

At present, power grid companies have not formed a complete data quality control system and a comprehensive and effective data quality assurance mechanism, which restricts the deep mining of data value. In this paper, based on the full-service unified data center of power Grid Company, a general framework of self-service power grid big data governance is presented. Firstly, the related work of big data governance is reviewed;secondly, the architecture and characteristics of the grid company’s full-service unified data center are analyzed;thirdly, the related requirements of self-service grid big data governance are analyzed;fourthly, the overall framework of self-service grid big data governance is proposed. Compared with other general big data governance framework, the proposed framework considers the specification of power grid as well as the features of self-service, making the framework more feasible. © 2019, ICST Institute for Computer Sciences, Social informatics and Telecommunications Engineering.

关键词： Big data

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A Data Quality Improvement Method Based on the Greedy Algorithm 4th

A Data Quality Improvement Method Based on the Greedy Algori...

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4th international conference on Machine Learning and Intelligent Communications, MLICOM 2019

作者： Wang, Zhongfeng Fu, Yatong Song, Chunhe Ge, Weichun Qiao, Lin Zhang, Hongyu Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China State Grid Liaoning Electric Power Co. Ltd. 110000 Shenyang China

ISBN: (纸本)9783030323875

High-quality data is very important for data analysis and mining. Data quality can be indicated by many indicators, and some methods have been proposed for data quality improvement by improving one or more data quality indicators. However, there is few work to discuss the impact of the processing order of data quality indicators on the overall data quality. In this paper, first, some data quality indicators and their improvement methods are given;second, the impact of the processing order of data quality indicators on the overall data quality is discussed, and then a novel data quality improvement method based on the greedy algorithm is proposed. Experiments have been shown that the proposed method can improves the data quality while reducing the time and computational costs. © 2019, ICST Institute for Computer Sciences, Social informatics and Telecommunications Engineering.

关键词： Data reduction

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