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17th international conference on Intelligent robotics and Applications, ICIRA 2024

17th International Conference on Intelligent Robotics and Ap...

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17th international conference on Intelligent robotics and Applications, ICIRA 2024

ISBN: (纸本)9789819607709

The proceedings contain 197 papers. The special focus in this conference is on Intelligent robotics and Applications. The topics include: Design and Kinematics Characteristic analysis of a 3-PURU/S Photoelectric Stabilized Platform;vibration analysis and Test of Working Arm of the Anchor Drilling Robot;design and Optimization of Vibration Sieve for Specific Sandy Soil and Its Screening Motion Parameters;Design of a Trajectory-Tracking Controller for OMRs Based on Minimizing Tire Wear;conceptual Design, Control System Development and Prototype Fabrication of a 5-Axis Hybrid Machining Robot for Handicraft Carving;twin Mushroom Picker Suspension Chassis Design Facing the Narrow Space;Kinematic Calibration Method Based on Point Cloud Measurement for 3-RPS Parallel Robot;design and analysis of a Multi-panel Solar Array with Struts;design and analysis of a Consecutive Aquatic Jumping Robot Inspired by Water-Dwelling Frog Hind Legs;design of Multi-Mode Morphing Wings Based on Multi-Stable Beam-Type Metastructures;kinematic Modeling and analysis of Robotic Axial Tilt Errors;Minimum Jerk Trajectory Planning for a Redundant Actuated Three-DOF Cable-Suspended Parallel Robot with Parallelogram Architecture;Kinematic analysis and Control Strategy Research of Hydraulic Robotic Arm Drive Module 2-UPS+U Parallel Mechanism;design and Envelope Grasping analysis of Deployable Manipulator for Space Capture;design, Modelling and Experiment of a Spatial Multi-locomotion Tensegrity Mobile Robot;Inverse Dynamics Model Learning for Robotic Manipulator Based on Swarm Optimization AdaBoost-LSTM;design and Experiment of a Percussion Mechanism for a Self-Penetrating Drilling Robot;thermal-Structural analysis of a Deployable Metamorphic Robotic Grasper with Finite Element Method;design and analysis of an Origami-Inspired Gripper with Passive Bistable Grasping Capability;pneumatic Gripper Design Concurrent Shape Topology Optimization.

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Predictive Value Chain analysis to Improve Generalization Accuracy In Quality Assurance

Predictive Value Chain Analysis to Improve Generalization Ac...

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2024 international conference on Control and Automation, Electronics, robotics, Internet of Things, and Artificial intelligence, CERIA 2024

作者： Harmayani Sihombing, Poltak Mahyudin Elveny, Marischa Universitas Sumatera Utara Postgraduate Program in Computer Science Faculty of Computer Science and Information Technology Medan Indonesia Universitas Sumatera Utara Faculty of Computer Science and Information Technology Medan Indonesia Universitas Sumatera Utara Faculty of Computer Science and Information Technology Postgraduate Doctorate in Computer Science Medan Indonesia

ISBN: (纸本)9798331511166

Adaptive predictive analysis model utilizing Spiking Neural Networks (SNNs) to enhance quality assurance processes in Smart Campus environments. Traditional predictive models often struggle with the dynamic and complex nature of educational data, leading to inaccurate predictions and inefficient decision-making. SNNs, inspired by biological neurons, are particularly suited for processing temporal data and adapting to evolving patterns. The proposed model integrates spike-timing-dependent plasticity (STDP) and dynamic weight adjustment to continuously learn and refine predictions in response to real-time data, ensuring improved accuracy and robustness. The study uses historical data from the Internal Quality Assurance System (SPMI) over a three-year period, focusing on key performance indicators such as student enrollment trends, faculty productivity, and resource utilization. Experimental results demonstrate that the SNN-based model outperforms traditional neural networks, achieving a 20% reduction in Mean Squared Error (MSE) and a higher R-squared value. These findings indicate that the model not only enhances predictive accuracy but also offers significant improvements in operational efficiency and resource management. By providing timely and precise insights, this model supports proactive decision-making in educational institutions, enabling administrators to optimize resource allocation, monitor academic quality, and anticipate future challenges. This research contributes to the growing field of artificial intelligence in education, offering a scalable, adaptive approach to managing complex data and improving institutional performance in real-time. © 2024 IEEE.

关键词： Data accuracy

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Towards Clear Evaluation of Robotic Visual Semantic Navigation 9

Towards Clear Evaluation of Robotic Visual Semantic Navigati...

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9th international conference on Automation, robotics and Applications (ICARA)

作者： Gutierrez-Alvarez, Carlos Hernandez-Garcia, Sergio Nasri, Nadia Cuesta-Infante, Alfredo Lopez-Sastre, Roberto J. Univ Alcala Dept Signal Theory & Commun Alcala De Henares Spain Rey Juan Carlos Univ Super Polytechn Sch Comp Sci Mostoles Spain Univ Alicante Inst Comp Res Alicante Spain

ISBN: (纸本)9781665489218

In this paper we address the problem of visual semantic navigation (VSN), in which a robot needs to navigate through an environment to reach an object having only access to egocentric RGB perception sensors. This is a recently explored problem, where most of the approaches leverage last advances in deep learning models for visual perception, combined with reinforcement learning (RL) strategies. Nonetheless, after a review of the literature, it is complicated to perform direct comparisons between the different solutions. The main difficulties lie in the fact that the navigation environments in which the experimental metrics are reported are not accessible, and each approach uses different RL libraries. In this paper, we release a publicly available experimental setup for the VSN problem, with the aim of providing a clear benchmark. It has been constructed using pyRIL, an open source python library for RL, and two navigation environments: Miniwolrd-Maze from gym-miniworld, and one 3D scene from HM3D dataset using AI Habitat simulator. We finally propose a state-of-the-art VSN model, consisting in a Contrastive Language Image Pretraining (CLIP) visual encoder plus a set of two recurrent neural networks for producing the discrete navigation actions. This model is evaluated in the proposed experimental setup, with a careful analysis of the main VSN challenges, namely: the sparse rewards problem;and the exploitation-exploration trade-off. Code is available at: https://***/gramuah/vsn.

关键词： navigation reinforcement learning robot deep learning

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Core Challenges in Embodied Vision-Language Planning 32

Core Challenges in Embodied Vision-Language Planning

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32nd international Joint conference on Artificial intelligence (IJCAI)

作者： Francis, Jonathan Kitamura, Nariaki Labelle, Felix Lu, Xiaopeng Navarro, Ingrid Oh, Jean Bosch Ctr Artificial Intelligence Beijing Peoples R China Carnegie Mellon Univ Sch Comp Sci Pittsburgh PA 15213 USA Komatsu Ltd Tokyo Japan

ISBN: (纸本)9781956792034

Recent advances in the areas of Multimodal Machine Learning and Artificial intelligence (AI) have led to the development of challenging tasks at the intersection of Computer Vision, Natural Language Processing, and robotics. Whereas many approaches and previous survey pursuits have characterised one or two of these dimensions, there has not been a holistic analysis at the center of all three. Moreover, even when combinations of these topics are considered, more focus is placed on describing, e.g., current architectural methods, as opposed to also illustrating high-level challenges and opportunities for the field. In this survey paper, we discuss Embodied Vision-Language Planning (EVLP) tasks, a family of prominent embodied navigation and manipulation problems that jointly leverage computer vision and natural language for interaction in physical environments. We propose a taxonomy to unify these tasks and provide an indepth analysis and comparison of the current and new algorithmic approaches, metrics, simulators, and datasets used for EVLP tasks. Finally, we present the core challenges that we believe new EVLP works should seek to address, and we advocate for task construction that enables model generalisability and furthers real-world deployment.

关键词： Computer vision

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Design and Kinematics Characteristic analysis of a 3-PURU/S Photoelectric Stabilized Platform 17th

Design and Kinematics Characteristic Analysis of a 3-PURU/S ...

引用

17th international conference on Intelligent robotics and Applications

作者： Han, Bo Jia, Zizhao Jiang, Yuan Liu, Jiayao Han, Meng Yao, Jiantao Yanshan Univ Sch Mech Engn Qinhuangdao 066004 Hebei Peoples R China Yanshan Univ Hebei Prov Key Lab Parallel Robot & Mechatron Sys Qinhuangdao 066004 Hebei Peoples R China Northeastern Univ Qinhuangdao Sch Control Engn Qinhuangdao Hebei Peoples R China

ISBN: (纸本)9789819607709;9789819607716

This paper introduced a three-degree-of-freedom (3-DOF) photoelectric stabilized platform (PSP), and the Finite-Step-Integration (FSI) method was applied to analyze the kinematics characteristics. The motion process of the mechanism is segmented linearly, and the mathematical model of forward kinematics (FK) with iterative parameters is created and solved. The kinematic simulation is verified in ADAMS software, and the calculated results are compared with the simulation. The workspace of the PSP is analyzed to describe the working dimensionality characteristics. The results show that: the FK algorithm based on the FSI method has enough computational precision and can be efficient for the workspace analysis. This paper's research provides a good reference for the design and kinematics characteristic analysis of PSP.

关键词： Photoelectric Stabilized Platform Finite-Step-Integration Method Kinematic Characteristics Workspace

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A Visualized analysis of Service Assistive Robots for Families With Disabled Children Based on CiteSpace Data 3

A Visualized Analysis of Service Assistive Robots for Famili...

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3rd international conference on Service robotics, ICoSR 2024

作者： Ma, Yanlong Olive Tree International Academy Bfsu Hangzhou China

ISBN: (纸本)9798350367119

It has been estimated that about 15% of the global population, which represents more than one billion people are with disabilities, among them there are 250 million disabled children. In China, there are 3.87 million disabled children with over 200,000 new disabled children added to total population each year which is challenging for both those children as well as for their care providers and caregivers. Service assistive robotics (SABs) can help families with disabled children (FWDCs) to solve barriers, difficulties and practical problems. This paper has analyzed the 426 articles of SABs for FWDCs from 1990 to 2023 by using CiteSpace visualized approach. It has analyzed that: (1) The history development of the SABs for FWDCs study can be summarized into 3 periods: the beginning period (1990-2004), the rapid developing period (2005-2015), and the diversified developing period (2016-2023). (2) The top keywords are feature and functions, mobile robot, investment game, educational game, educational settings, task analysis. (3) At present studying, the main topics and hotspots are educational sciences, demand and need, computer and manufacturing system, emotion, trust and empathy, facilities and equipment, artificial intelligence, etc,. As a conclusion, the studies of SABs for FWDCs are developing very fast in the past 33 years. The study topics in recent years becomes more detailed and diverse. But the cross-disciplinary and diversified study is still needed to be improved. This paper sincerely hopes that more efforts can be contributed to the studies of SABs for FWDCs in the coming future. © 2024 IEEE.

关键词： Investments

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Sentiment analysis on the Use of Electric Vehicles With Long Short-Term Memory

Sentiment Analysis on the Use of Electric Vehicles With Long...

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2024 international conference on Control and Automation, Electronics, robotics, Internet of Things, and Artificial intelligence, CERIA 2024

作者： Nalawati, Rizki Elisa Liliana, Dewi Yanti Iswara, Ratna Widya Rozana, Izzati Fauziyah, Putri Dzakiyah Politeknik Negeri Jakarta Dept. of Informatics and Computer Engineering Depok Indonesia

ISBN: (纸本)9798331511166

Electric vehicles, or EVs, have drawn a lot of attention lately as an eco-friendly way to cut carbon emissions and lessen reliance on fossil fuels. This work uses a neural network model called Long Short-Term Memory (LSTM), which is effective at processing sequential input, to analyze user attitudes toward electric vehicles. Opinion data were gathered from the social media network Twitter between March 1st and March 31st, 2023, using the keyword "electric vehicles". Based on the obtained opinion data, the LSTM approach is utilized to categorize sentiments as positive or negative. Implementation of the random oversampling technique is important to be applied in increasing the accuracy of the n recall model for the specified class. The study's conclusions show that the LSTM model performs admirably when it comes to sentiment analysis using the test dataset. The model evaluation yields a precision of 99.65% and an accuracy rating of 97.79%. The modeling process is carried out with variance splitting data where the highest accuracy is obtained from a comparison of training testing data of 90%: 10%. © 2024 IEEE.

关键词： Long short-term memory

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Conceptual Design, Control System Development and Prototype Fabrication of a 5-Axis Hybrid Machining Robot for Handicraft Carving 17th

Conceptual Design, Control System Development and Prototype ...

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17th international conference on Intelligent robotics and Applications

作者： Chen, Wenlong He, Zhen Li, Yulu Fang, Hanliang Yang, Fufu Zhang, Jun Fuzhou Univ Sch Mech Engn & Automat Fuzhou 350116 Peoples R China Fuzhou Univ Sch Adv Mfg Jinjiang 362251 Peoples R China

ISBN: (纸本)9789819607709;9789819607716

This paper aims to propose a cost-efficient 5-axis hybrid machining robot for handicraft carving. For this purpose, a conceptual design is performed with a hierarchical design strategy which consists of a 2UPR&2RPS parallel manipulator (PM) and an orthogonal sliding gantry. Based on the conceptual design scheme, a kinematic analysis is conducted to yield the inverse/forward position formulations and the predicted reachable workspace. Meanwhile, an open-architecture numerical control system is developed for the proposed hybrid machining robot, which includes hardware construction, post processing and human-machine interface (HMI) development. Finally, a laboratory prototype is fabricated and integrated with the developed control system to construct a 5-axis machining unit. A set of test is performed on the robot to verify its 5-axis machining capability. The test results indicate that the proposed hybrid machining robot provide a promising solution for handicraft carving.

关键词： Hybrid machining robot Conceptual design Kinematic analysis Control system handicraft carving

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Proceedings of 2023 3rd international conference on robotics and Artificial intelligence, JCRAI 2023

Proceedings of 2023 3rd International Conference on Robotics...

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3rd international conference on robotics and Artificial intelligence, JCRAI 2023

ISBN: (纸本)9798400707704

The proceedings contain 35 papers. The topics discussed include: design of inspection robot system for mining belt conveyor;efficient and robust robotic grasping in cluttered scenes: a point cloud-based approach with heuristic evaluation;a food package recognition and sorting system based on structured light and deep learning;research on machine learning algorithm-based approach for detecting abnormal data from environmental sensors in different dimensions;a novel method for detecting the width of tobacco filaments based on coordinate point fitting;design and implementation of the gait debugging platform for a kid-sized humanoid soccer robot;research on the application of artificial intelligence in comparative analysis of man-machine translation;conceptual design of a soft robot for camera guidance in endoscopic surgical interventions;and a prediction algorithm for user satisfaction rating based on random forest optimized by simulated annealing.

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Identification of a Generalized Base Inertial Parameter Set of Robotic Manipulators Considering Mounting Configurations

Identification of a Generalized Base Inertial Parameter Set ...

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IEEE international conference on robotics and Automation (ICRA)

作者： Troebinger, Mario Naceri, Abdeldjallil Chen, Xiao Sadeghian, Hamid Haddadin, Sami Tech Univ Munich Munich Sch Robot & Machine Intelligence D-80797 Munich Germany Univ Isfahan Fac Engn Esfahan *** Iran

ISBN: (纸本)9798350323658

Identifying the inertial parameters of real robotic manipulators is a fundamental step towards realistic modeling and better controller performances, which is crucial for safe human-robot interaction. Our work introduces a novel framework for identifying a generalized set of base inertial parameters of a serial link manipulator. This framework is designed to be adaptable to accommodate any new mounting configuration of the robot. Our theoretical analysis highlights the influence of the robot's mounting configuration on the emergence of new parameters that cannot be identified through the conventional vertical base-axis mounting approach studied previously. To validate our proposed framework, we carried out two main experiments: the first involved simulation to establish the feasibility of our concept, and in the second, our framework was employed on a Franka Emika Robot in a real-world scenario to demonstrate and validate our approach. Our simulation results confirmed the feasibility of our proposed framework, while our real-world experiment successfully identified the generalized base inertial parameter set and validated its applicability to a new robot mounting configuration.

关键词： Human robot interaction

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