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检索条件"任意字段=International Conference on Methods and Models in Automation and Robotics"

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Multiple Regression methods Based Core Rod Localization for Composite Insulators Images

Multiple Regression Methods Based Core Rod Localization for ...

引用

2025 international conference on Electrical automation and Artificial Intelligence, ICEAAI 2025

作者： Zheng, Zhihao Rao, Chengcheng Lin, Junsheng Yuan, Chao CSG Guangdong Power Grid Corporation Guangzhou China College of Electrical and Information Engineering Hunan University Changsha China

ISBN: (纸本)9798331506797

This study aims to detect the temperature rise of the core rod of composite insulators through infrared image thermography to assess their operating condition in the power system. Initially, the infrared images of composite insulators were preprocessed using image erosion to reduce the error of the skirt mask and highlight the core rod. Subsequently, linear regression methods were applied to the eroded images to separate the core rod and obtain its temperature distribution. The study compared four regression methods: ordinary least squares, ridge regression, Lasso regression, and Elastic Net regression, and evaluated the significance of the models using an F-test. © 2025 IEEE.

关键词： Composite Insulators Image Erosion Infrared Image Thermography Linear Regression Analysis

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UAV Wheat Rust Detection based on FasterNet-YOLOv8

UAV Wheat Rust Detection based on FasterNet-YOLOv8

引用

2023 IEEE international conference on robotics and Biomimetics, ROBIO 2023

作者： Liu, Huaiyu Zhang, Yueyuan Liu, Shuguang Zhao, Mengyang Sun, Lining Soochow University School of Mechanical and Electrical Engineering Department of Automation Engineering Suzhou215137 China Soochow University Robotics and Microsystems Center School of Mechanical and Electrical Engineering Suzhou215137 China

ISBN: (纸本)9798350325706

This paper introduces a UAV-based wheat rust detection system employing deep learning techniques. To address the limitations of traditional wheat rust disease detection methods, such as time and labor-intensive processes, lack of real-time monitoring, and excessive pesticide usage, In this paper, the YOLOv8 algorithm, representing the forefront of object detection methods is chosen for UAV wheat rust detection. We train the model on a prepared dataset. Subsequently, we evaluated 5 models, including YOLOv5, and YOLOv8, at two different scales (n, s) based on average precision (mAP@.5), precision, recall, and FPS. The experimental outcomes establish the superiority of the enhanced FasterNet-YOLOv8 model over YOLOv8 and YOLOv5 across all metrics, encompassing detection accuracy and processing speed. These findings affirm the viability of our suggested model within the UAV wheat rust monitoring system and underscore the efficacy of the model enhancements. © 2023 IEEE.

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Understanding Xacro Misunderstandings 39

Understanding Xacro Misunderstandings

引用

IEEE international conference on robotics and automation (ICRA)

作者： Albergo, Nicholas Rathi, Vivek Ore, John-Paul North Carolina State Univ Dept Comp Sci Raleigh NC 27695 USA North Carolina State Univ Elect & Comp Engn Dept Raleigh NC 27695 USA

ISBN: (纸本)9781728196817

The Xacro XML macro language can be used to augment the Universal Robot Description Format (URDF) and is part of a critical toolchain from geometric representations to simulation, visualization, and system execution. However, members of the robotics community, especially newcomers, struggle to troubleshoot and understand the interplay between systems and the Xacro preprocessing pipeline. To better understand how system developers struggle with Xacros, we manually examine 712 Xacro-related questions from the question and answer site *** and find Xacro misunderstandings fit into eight key categories using a systematic, qualitative approach called Open Coding. By examining the 'tags' applied to questions, we further find that Xacro problems manifest in a befuddlingly broad set of contexts. This hinders onboarding and complicates system developers' understanding of representations and tools in the Robot Operating System. We aim to provide an empirical grounding that identifies and prioritizes impediments to users of open robotics systems, so that tool designers, teachers, and robotics practitioners can devise ways of improving robot software tooling and education.

关键词： Software Tools for Robot Programming methods and Tools for Robot System Design Software-Hardware Integration for Robot Systems

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Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots 39

Centroidal Aerodynamic Modeling and Control of Flying Multib...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Hui, Tong Paolino, Antonello Nava, Gabriele L'Erario, Giuseppe Di Natale, Fabio Bergonti, Fabio Braghin, Francesco Pucci, Daniele Ist Italiano Tecnol Artificial & Mech Intelligence Genoa Italy Politecn Milan Dept Mech Engn Milan Italy Univ Manchester Sch Comp Sci Manchester Lancs England Univ Napoli Federico II Dept Ind Engn Naples Italy

ISBN: (纸本)9781728196817

This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aero-dynamic forces acting on the centroidal dynamics. First, aero-dynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.

关键词： Analytical models Shape Computational fluid dynamics Computational modeling Simulation Aerodynamics Robustness

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Based on an improved Zero-DCE++ low-light enhanced object detection algorithm

Based on an improved Zero-DCE++ low-light enhanced object de...

引用

2024 international conference on Mechatronic Engineering and Artificial Intelligence, MEAI 2024

作者： Bai, Xuecheng Gao, Hongwei Zhao, Zhanpeng Yan, Zhiwen School of Automation and Electrical Engineering Shenyang Ligong University Liaoning Shenyang110159 China Institute of International Engineering Shenyang Ligong University Liaoning Shenyang110159 China China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang110159 China Xi'an Modern Control Technology Research Institute Xi'an710100 China

ISBN: (纸本)9781510689176

Low-light image quality often suffers from noise, color distortion, and reduced contrast, challenging accurate object detection. Traditional enhancement methods can lead to over-processing and semantic information loss. This study presents an enhanced low-light image detection model based on an improved Zero-DCE++ algorithm, integrated with YOLOv8 for high-speed, accurate detection. Key improvements include the CBAM attention mechanism to enhance feature extraction in low-light areas, DCNv2 for capturing complex object details, and a Local Region Brightness Curve Enhancement Module to prevent overexposure in well-lit areas. The proposed model was tested on the Night Drone dataset, where it achieved superior performance in image quality and detection accuracy compared to state-of-the-art methods. This approach demonstrates significant potential for applications requiring reliable object detection in challenging low-light conditions. © 2025 SPIE.

关键词： Semantic Segmentation

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An Occlusion Removal Approach for Surgical Instruments Based on the Optical Flow-Guided models 21

An Occlusion Removal Approach for Surgical Instruments Based...

引用

21st IEEE international conference on Mechatronics and automation (IEEE ICMA)

作者： Wang, Wanqing Liu, Fucheng Hao, Jianxiong Shi, Chaoyang Tianjin Univ Sch Mech Engn Tianjin 300072 Peoples R China

ISBN: (纸本)9798350388084;9798350388077

Surgical instrument removal has become increasingly necessary to provide precise information during intraoperative execution. Occlusions in the endoscopic view caused by interactions between surgical instruments and organs can impede a surgeon's ability to accurately assess internal tissue, as well as certain computer-assisted surgical algorithms that rely on endoscopic images. This work demonstrates a novel application of removing surgical instruments from endoscopic video utilizing flow-guided image inpainting methods. A comparative experiment was conducted to validate the advantages of the improved method. Additionally, two task-based experiments including target tracking and image fusion experiments were conducted to further demonstrate its potential as a preprocessing step for other visual algorithms.

关键词： Surgical instruments removal Video inpainting Flow-guided model

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A model for optimizing the identification of process variants in Robotic Process automation 10

A model for optimizing the identification of process variant...

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10th international conference on Social Networks Analysis, Management and Security, SNAMS 2023

作者： Mohammadi, Fatemeh Vanani, Iman Raeesi University of Milan Departement of Computer Science Milano Italy Allameh Tabataba'i University Departement of Management and Accounting Tehran Iran

ISBN: (纸本)9798350318906

This research focuses on enhancing the identification of process variants in robotic process automation (RPA) by using process mining techniques. It introduces a novel approach for identifying RPA automation candidates, combining diverse data and process science techniques not explored previously. The study analyzed event logs from the Figshare database, applying various process mining methods to evaluate processes and identify RPA-suitable activities. The proposed model's efficiency was measured against two baseline models, showing superior performance in multiple criteria. © 2023 IEEE.

关键词： robotics

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A FIWARE based Input-Output Supervisor Control Implementation 29

A FIWARE based Input-Output Supervisor Control Implementatio...

引用

29th IEEE international conference on Emerging Technologies and Factory automation, ETFA 2024

作者： Menexis, Antonios N. Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Skarpetis, Michael G. School of Science National & Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euripus Campus Euboea 34400 Greece

ISBN: (纸本)9798350361230

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed. © 2024 IEEE.

关键词： Cloud Computing Smart Data models Supervisory Control

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Milling Tool Wear Estimation Using Machine Learning with Feature Extraction Approach

Milling Tool Wear Estimation Using Machine Learning with Fea...

引用

2024 MIT Art, Design and Technology School of Computing international conference, MITADTSoCiCon 2024

作者： Misal, Aarya Karandikar, Hrishikesh Sayyad, Sameer Bongale, Arunkumar Kumar, Satish Warke, Vivek Symbiosis Institute of Technology Dept. of Robotics and Automation Pune India

ISBN: (纸本)9798350362879

A cutting tool in any milling operation eventually becomes less efficient due to wear, which could result in reduction of quality and dimensional accuracy of the product during manufacturing. Precise and continuous monitoring is required to avoid these issues in machining. Manual inspection and arbitrary assessment have traditionally been used to identify faults and categorise machine tool wear. However, this method is time consuming and is prone to errors. The purpose of this study is to offer more effective, reliable, and accurate methods to predict tool wear using various data-driven machine learning models, which can then be used to determine Remaining Useful Life (RUL) of the milling tool. This paper implements the IEEE NUAA Ideahouse tool wear dataset containing various sensor readings and makes use of the TSFEL (Time Series Feature Extraction Library) for automatic feature extraction in the temporal, spectral and statistical domain, followed by the implementation of PCC (Pearson's Correlation Coefficient) for the selection of features that have a significant impact on tool wear. ML models such as K-Nearest Neighbors, Decision Tree, and Random Forest provides fairly good results with scaled data followed by feature extraction. All the models are evaluated based on MSE, MAPE and R2 score, by passing unscaled and scaled selected features in temporal, spectral and statistical domains to find out the model best suited for accurate tool wear prediction in order to assist in predictive maintenance. © 2024 IEEE.

关键词： Feature extraction

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Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots 39

Design and Quasistatic Modelling of Hybrid Continuum Multi-A...

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IEEE international conference on robotics and automation (ICRA)

作者： Mitros, Zisos Sadati, S. M. Hadi Nousias, Sotirios Da Cruz, Lyndon Bergeles, Christos Kings Coll London Sch Biomed Engn & Imaging Sci Robot & Vis Med RViM Lab London England UCL Dept Med Phys & Biomed Engn London England Moorfields Eye Hosp London England

ISBN: (纸本)9781728196817

Continuum surgical robots can navigate anatomical pathways to reach pathological locations deep inside the human body. Their flexibility, however, generally comes with reduced dexterity at their tip and limited workspace. Building on recent work on eccentric tube robots, this paper proposes a new continuum robot architecture and theoretical framework that combines the flexibility of push/pull actuated snake robots and the dexterity offered by concentric tube robotic end-effectors. We designed and present a prototype system as a proof-of-concept, and developed a tailored quasistatic mechanics-based model that describes the shape and end-effector's pose for this new type robotic architecture. The model can accommodate an arbitrary number of arms placed eccentrically with respect to the backbone's neutral axis. Our experiments show that the error between model and experiment is on average 3:56% of the manipulator's overall length. This is in agreement with state of the art models of single type continuum architecture.

关键词： Shape Navigation Statistical analysis Snake robots Predictive models End effectors Stability analysis

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