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作者： Xu, Cui Zheng, Ying Wang, Zengfu Department of Automation University of Science and Technology China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Anhui Province China

ISBN: (纸本)9781424421756

In this paper a novel eye corner (canthus) detection method is proposed. The method is based on sematic features which are extracted from the structure and appearance characteristics of canthus. The eyelids are first fitted to construct an angle model. Based on this model, one feature is proposed to characterize the appearance difference between inner and outer canthus regions, and another feature is proposed to emphasize the role of the canthus angle bisector region. The two features are fused in a logistic regression classifier to detect accurate canthus. The effectiveness and accuracy of the proposed method are demonstrated in experiments. © 2008 IEEE.

关键词： Semantics

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Registration of inconsistent point cloud maps with large scale persistent features 15

Registration of inconsistent point cloud maps with large sca...

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15th International Conference on Informatics in Control, Automation and robotics, ICINCO 2018

作者： Thompson, Simon Yokozuka, Masahi Hashimoto, Naohisa Smart Mobility Research Group Robot Innovation Research Center National Institute of Advanced Industrial Science and Technology Tsukuba Japan

ISBN: (纸本)9789897583216

Accurate point cloud registration techniques such as Iterative Closest Point matching have been developed to produce large scale 3D maps of the environment. Typically they iteratively register point clouds captured from adjacent sensor scans resulting in point clouds which are largely consistent. However, merging two seperate point cloud maps constructed at different times can lead to significant inconsistencies between the point clouds. Existing point based registration techniques can be sensitive to local minima caused by such inconsistencies. Feature based approaches can overcome local minimum but are typically less accurate, and can still suffer from correspondence errors. We introduce Large Scale Persistent Features (LSPFs), sub regions of point clouds that have orthogonal planar regions that are consistent and persist over a large spatial area. Each LSPF is used to calculate an individual transformation estimate using traditional registration techniques. Sampling Consensus is then used to select the best transform which is used for registration, avoiding local minima. LSPF registration is applied to simulated point cloud maps with known inconsistencies and shown to perform with more accuracy and lower computation time than other popular approaches. In addition, real world registration results are presented which demonstrate LSPF registration between MMS maps and low cost sensor maps captured 6 months apart. Copyright © 2018 by SCITEPRESS – Science and technology Publications, Lda. All rights reserved

关键词： Iterative methods

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Global Dynamic Modeling of Electro-Hydraulic 3-UPS/S Parallel Stabilized Platform by Bond Graph

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Chinese Journal of Mechanical Engineering 2016年第6期29卷 1176-1185页

作者： ZHANG Lijie GUO Fei LI Yongquan LU Wenjuan Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control Yanshan University Key Laboratory of Advanced Forging & Stamping Technology and Science of Ministry of Education Yanshan University Parallel Robot and Mechatronic System Laboratory of Hebei Province Yanshan University

Dynamic modeling of a parallel manipulator（PM） is an important issue. A complete PM system is actually composed of multiple physical domains. As PMs are widely used in various fields, the importance of modeling the global dynamic model of the PM system becomes increasingly prominent. Currently there lacks further research in global dynamic modeling. A unified modeling approach for the multi-energy domains PM system is proposed based on bond graph and a global dynamic model of the 3-UPS/S parallel stabilized platform involving mechanical and electrical-hydraulic elements is built. Firstly, the screw bond graph theory is improved based on the screw theory, the modular joint model is modeled and the normalized dynamic model of the mechanism is established. Secondly, combined with the electro-hydraulic servo system model built by traditional bond graph, the global dynamic model of the system is obtained, and then the motion, force and power of any element can be obtained directly. Lastly, the experiments and simulations of the driving forces, pressure and flow are performed, and the results show that, the theoretical calculation results of the driving forces are in accord with the experimental ones, and the pressure and flow of the first limb and the third limb are symmetry with each other. The results are reasonable and verify the correctness and effectiveness of the model and the method. The proposed dynamic modeling method provides a reference for modeling of other multi-energy domains system which contains complex PM.

关键词： screw bond graph multi-energy domains 3-UPS/S parallel mechanism electro-hydraulic servo system

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Research on Path Planning of Breast Ultrasound Examination robot *

Research on Path Planning of Breast Ultrasound Examination R...

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IEEE International Conference on robotics and Biomimetics

作者： Xinran Zhang Haiyan Du Yongde Zhang Guoqiang Gao Key Laboratory of Advanced Manufacturing and Intelligent Technology Harbin University of Science and Technology Harbin China Foshan Baikang Robot Technology Co. Ltd. Foshan China

Breast cancer is the cancer with the highest incidence among women. The detection of breast cancer has received increasing attention. As an excellent medical image of the breast, ultrasound has the advantages of real-time execution, high efficiency and convenient operation, which is beneficial to the examination of breast cancer. Scanning path planning is an important part of ultrasound-guided breast examination. robot-assisted ultrasonic scanning can reduce the labor intensity of doctors and standardize the scanning process. Good path planning ensures the efficiency of ultrasonic testing and the accuracy of testing results. The scanning path planning of robot-assisted breast ultrasound examination based on binocular vision is studied. The binocular camera was used to collect photos of the breast model. The binocular camera is calibrated and corrected. The depth information is obtained by stereo image matching, and the breast model is obtained. The ultrasonic scanning path is acquired by model information and path extraction. The experimental results show that the robot can complete breast ultrasound scanning according to the predetermined path, and the accuracy and efficiency of the scanning operation are improved.

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Structural design and simulation analysis of an orthodontic wire bending robot 20

Structural design and simulation analysis of an orthodontic ...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Han, Liu Jingang, Jiang Yanze, Li Yongde, Zhang Harbin University of Science and Technology Key Laboratory of Advanced Manufacturing and Intelligent Technology Ministry of Education No.52 of Xuefu Road Heilongjiang Province Harbin China Foshan Baikang Robot Technology Co. Ltd Room B429 Block B Nanhai Industrial Think Tank City Phase I Taoyuan Road Guangdong Province Foshan City China

ISBN: (纸本)9798350320831

Based on the manual orthodontic wire bending motion, the type and number of degrees of freedom required for bending complex closed gap curves were analysed, and the resulting degrees of freedom were processed and calculated as the basic requirements for the structural design of the robot, while the current problem of the orthodontic wire bending robot not being able to continuously feed the wire was solved by using the counter-rotating collet feeding mechanism, which improved the operational efficiency of the robot. The kinematic model of the robot was established using the D-H method, and the kinematic analysis and simulation of the robot were carried out using MATLAB to verify the smoothness of the robot's motion. At the same time, ANSYS simulation software was used to verify the stiffness characteristics of the robot during operation, completing the verification of feasibility. © 2023 IEEE.

关键词： robots

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Static compensation ZMP algorithm preventing tips-over of a tele-operation excavator

Static compensation ZMP algorithm preventing tips-over of a ...

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29th International Symposium of Automation and robotics in Construction, ISARC 2012

作者： Yu, Bo-Hyun Park, Ki-Young Lee, Kyung-Don Han, Chang-Soo Department of Robot Technology Institute for Advanced Engineering Young-in Korea Republic of Department of Mechanical Engineering Hanyang University An-san Korea Republic of

Purpose: Research on tele-operated excavators that protect the operator from the risk of tip-over excavators in hazardous working areas has increased in popularity. The tele-operated excavator is able to protect workers from risks in hazardous working areas, but the operator cannot directly access the tip-over information from the tele-operated excavator. We propose the static compensation ZMP (Zero Moment Point) algorithm for preventing excavator tip-overs. Method: Firstly, kinematic and kinetic analysis of the excavator was performed. Secondly, static compensation ZMP algorithm, which uses ZMP algorithm to determine gait stability of a biped walking robot, was developed to prevent tips-over of tele-operation excavator. Static compensation ZMP algorithm minimizes ZMP-error due to rapidly changing excavator acceleration using the center of gravity through a static compensation algorithm. Finally, the result of the proposed algorithm is simulated by RecurDyn model with Matlab Simulink co-simulation method. Results & Discussion: In the simulation result ZMP has been compared to static compensation ZMP-algorithm using an excavator dynamic model. From these results we see that the ZMP value is bigger than the static compensation ZMP. This means that the general ZMP is disturbed due to rapidly changing excavator acceleration. This problem is minimized by the static compensation ZMP-algorithm.

关键词： MATLAB

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RFID-enabled Target Tracking and Following with a Mobile robot Using Direction Finding Antennas

RFID-enabled Target Tracking and Following with a Mobile Rob...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Myungsik Kim Nak Young Chong Hyo-Sung Ahn Wonpil Yu the School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan the Intelligent Robot Research Division ETRI Daejeon Korea

A stand-alone direction finding RFID reader is developed for mobile robot applications employing a dual-directional antenna. By adding search and localization capabilities to the current state of RFID technology, robots will be able to acquire and dock to a static target in a real environment without requiring a map or landmarks. Furthermore, we demonstrate RFID-enabled tracking and following of a target moving unpredictably with a mobile robot. The RFID reader keeps the robot aware of the direction of arrival (DOA) of the signal of interest toward which the dual-directional antenna faces the target transponder. The simulation results show that the proposed RFID system can track in real time the movement of the target transponder. To verify the effectiveness of the system in a real environment, we perform a variety of experiments in a hallway including target tracking and following with a commercial mobile robot.

关键词： Target tracking Mobile robots Directive antennas Mobile antennas Radiofrequency identification Transponders Receiving antennas Transmitting antennas Direction of arrival estimation robotics and automation

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Face Mask Recognition System with YOLOV5 Based on Image Recognition 6

Face Mask Recognition System with YOLOV5 Based on Image Reco...

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6th IEEE International Conference on Computer and Communications, ICCC 2020

作者： Yang, Guanhao Feng, Wei Jin, Jintao Lei, Qujiang Li, Xiuhao Gui, Guangchao Wang, Weijun Intelligent Robot Equipment Center Guangzhou Institute of Advanced Technology Chinese Academy of Sciences Guangzhou511458 China Intelligent Robot Equipment Center University of Chinese Academy of Sciences Beijing100039 China

ISBN: (纸本)9781728186351

The rapid development of computer vision makes human-computer interaction possible and has a wide application prospect. Since the discovery of the first case of COVID-19, the global fight against the epidemic has begun. In addition to various studies and findings by medical and health care experts, people's daily behaviors have also become key to combating the epidemic. In China, the government has taken active and effective measures of isolation and closure, as well as the active cooperation of the general public, such as it is unnecessary to stay indoors and wear masks. China, as the country with the first outbreak of the epidemic, has now become the benchmark country of epidemic prevention in the world. Of course, it is not enough for people to wear masks consciously. Wearing masks in all kinds of public places still needs supervision. In this process, this paper proposes to replace manual inspection with a deep learning method and use YOLOV5, the most powerful objection detection algorithm at present, to better apply it in the actual environment, especially in the supervision of wearing masks in public places. The experimental results show that the algorithm proposed in this paper can effectively recognize face masks and realize the effective monitoring of personnel. © 2020 IEEE.

关键词： COVID-19

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Human-robot interaction as a cooperative game

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作者： Lee, Kang Woo Hwang, Jeong-Hoon School of Media Soongsil University Sangdo-dong 511 Dongjak-gu Seoul 156-743 Korea Republic of Human-Robot Interaction Research Center Korea Advanced Institute of Science and Technology 373-1 Guseong-dong Yuseong-gu Daejeon 305-701 Korea Republic of

ISBN: (纸本)9780387749341

As robots become important parts of our daily lives and interact with human users, human-robot interaction (HRI) is raised as an important issue in robotics as well as relevant academic areas, and researchers in those areas pay more attention to how robots can communicate and cooperate with humans. Nevertheless, there seem to be few theoretical frameworks that guide designing, evaluating, and explaining human-robot interaction. Much current research on the topic is rather technically oriented, and thus suffers from poverty of theory. This does not simplyoriginate from the current limitation of artificial intelligence (AI) technologies or lack of formalization of psychological studies. The studies on humans and robots have been independently carried on in psychology and robotics, and, no theoretical bridge that links two agents with heterogeneous abilities has been developed to explain the interaction process. In this chapter we try to build a bridge between human and robot using a gametheoretic approach. Game theory has been developed to explain strategic decision making with respect to another agent's decision. It also has been widely applied to explain human behavior and design interaction processes not only in psychology, auction, military strategy, diplomatic policy, and law enforcement [2, 5, 8], but also computational biology, artificial intelligence, and so on. Game theory provides a formal framework to account for interaction activities in various situations. Especially, our research interests focus on communicative interaction and cooperative decision making that is described later. © 2008 Springer Science+Business Media, LLC.

关键词： Human computer interaction

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Fuzzy logic based 2D position estimation for small robotic fish using low cost MEMS accelerometer

Fuzzy logic based 2D position estimation for small robotic f...

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IEEE 15th International Conference on advanced robotics: New Boundaries for robotics, ICAR 2011

作者： Yoo, Taesuk Hong, Sung Kyung Ryuh, Youngsun Department of Aerospace Engineering Sejong University Korea Republic of Center for the Advanced Robot Industry Korea Institute of Industrial Technology Korea Republic of

ISBN: (纸本)9781457711589

This paper presents an effective calibration method and a fuzzy logic based smart signal-processing algorithm in order to accurately estimate a 2D position for small robotic fish with MEMS accelerometers. For position estimation, it is easy to be influenced by errors which come from MEMS accelerometer. The sources of error can be categorized into two groups, deterministic type and stochastic type. The former primarily includes bias, scale factor error and non-orthogonality;the latter contains signal drifting. Subsequently, the least squares algorithm is used to modify the deterministic error and the fuzzy filter can suppress the stochastic noise. Therefore, the proposed method integrated of least squares algorithm and fuzzy signal processing is utilized to enhance the accuracy and performance of MEMS accelerometer. The experimental results show the efficiency of this algorithm. © 2011 IEEE.

关键词： Fuzzy logic

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