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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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Design and analysis of dual-arm SCARA robot based on stereo simulation and 3D modeling

Design and analysis of dual-arm SCARA robot based on stereo ...

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2018 IEEE International Conference on Information and automation, ICIA 2018

作者： Liu, Baohong He, Yongyi Kuang, Zhipeng School of Mechatronics Engineering and Automation Shanghai University Key Laboratory of Intelligent Manufacturing and Robotics Shanghai China

ISBN: (纸本)9781538680698

The Dual-arm SCARA robot is a robot that has been developed on the basis of a single-arm SCARA robot. It is applied to industrial production. In order to improve the robot's adaptability to complex tasks, the intelligence and the accuracy of the operation. Meanwhile, the efficiency of the robot is greatly improved. A new type of dual-arm SCARA robot is designed and analyzed based on MATLAB stereo simulation and SOLIDWORKS 3D modeling. Using SOLIDWORKS to draw the three-dimensional model of the robot, the solid model of the dual-arm SCARA robot body is obtained;Using MATLAB to obtain the curve of joint speed, joint acceleration, and joint displacement;Using MATLAB to obtain the end effector motion trajectory curve and joint driving force curve;Using MATLAB to obtain a dual-arm SCARA robotic collaborative workspace Diagram. The rationality and reliability of the new dual-arm SCARA robot are verified with Stereo simulation analysis and three-dimensional modeling analysis. © 2018 IEEE.

关键词： MATLAB

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Pupil Location Method Based on Feature Searching and C-V Extension Model 10

Pupil Location Method Based on Feature Searching and C-V Ext...

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10th International Conference on intelligent Human-Machine Systems and Cybernetics, IHMSC 2018

作者： Zhao, Weichi Zhao, Qijie Lu, Jianxia School of Mechatronics Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

ISBN: (纸本)9781538658369

Pupil images are usually disturbed by pupil deformation, eyebrows, eyelid and eyelash occlusions, uneven illumination and light spots, which results into inaccurate pupil location. For pupil images with interference, this paper proposes a pupil location method based on the feature searching and a C-V extension model with the constraint of standard deviation-mean and convexity. Firstly, a novel contrast stretching function is used in image preprocessing;Secondly, an objective function of feature searching is constructed to locate the pupil center and estimate the pupil area, positioning pupil preliminarily;Finally, through the C-V extension model with the constraint of standard deviation-mean and convexity, the initial contour curve extends outward and locates the pupil, positioning pupil accurately. Experimental results of processing collected images show that the method proposed in this paper can locate the pupil accurately and quickly. © 2018 IEEE.

关键词： Eye tracking

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Driver's head behavior detection using binocular infrared camera

Driver's head behavior detection using binocular infrared ca...

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2018 IEEE International Conference on Information and automation, ICIA 2018

作者： Wu, Yijing Zhao, Qijie Jiang, Junye School of Mechatronics Engineering and Automation Shanghai University China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics China

ISBN: (纸本)9781538680698

Driver's head behavior detection is very important for safe driving and smart driving. It can be judged based on changes in driver's head pose. In this paper, we propose a driver's head pose estimation method based on binocular infrared camera. The head coordinate system can be established by combining two-dimensional image feature point information and three-dimensional point cloud information. With the camera coordinate system as a reference, the pose of the head coordinate system is obtained in real time, which indicate the driver's head pose. The experiments of head rotation are conducted in a real vehicle environment, and the results show that the proposed method can effectively detect driver's head behavior. © 2018 IEEE.

关键词： Infrared devices

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An Indoor Positioning Algorithm Against NLOS Error Based on UWB 41

An Indoor Positioning Algorithm Against NLOS Error Based on ...

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第41届中国控制会议

作者： Mingxiang Liao Yongbo Li Guangyao Wang Zhenyu Lei Zihao Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Ultra-wideband（UWB） positioning technology has absolute advantages due to its centimeter-level accurate positioning ***,the positioning accuracy is greatly reduced because of the inability to completely solve the error caused by non-line-of-sight（NLOS） and multi-path *** present,the Chan-Taylor（C-T） combination algorithm proposed by scholars can achieve a good positioning effect in the line-of-sight（LOS） environment,but in the NLOS environment,positioning deviation of this algorithm is large .Aiming at the problem of low localization accuracy in NLOS environment,this paper presents a Chan-Taylor-Kalman（CTK） joint positioning algorithm based on UWB and adapted to NLOS *** basic idea of CTK joint positioning algorithm is to introduce weight coefficients on the basis of C-T combination algorithm to reduce the situation of non-convergence of positioning results;then combined with the improved Kalman filter to eliminate outliers and eliminate the influence of the non-line-of-sight *** show that under the same NLOS environment,the probability of the positioning error of the C-T combination positioning algorithm greater than 20 cm is about 60%,while the probability of the positioning error of the CTK joint positioning algorithm greater than 10 cm is only about 10%.

关键词： UWB NLOS indoor positioning Chan-Taylor combination algorithm Kalman filter

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Process knowledge representation of aircraft assembly based on ontology 4

Process knowledge representation of aircraft assembly based ...

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4th International Workshop of Advanced Manufacturing and automation, IWAMA 2014

作者： Yu, Ting Ting Cai, Hong Xia Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai University Shanghai China

ISBN: (纸本)9783038352532

In aviation industry, it’s urgent to build a scientific and effective knowledge system with high scalability to change the fact that the data is rich while the knowledge is deficient. We constructed the knowledge ontology of aircraft assembly with cyclic acquisition and seven step methods based on ontology thought. Then, we obtained the potential relationship related to process and abstract process ontology through logic reasoning. Finally, OWL is applied for ontology formal description to realize knowledge standardization and normalization. It’s meaningful to reuse, share the assembly process knowledge and further reasoning in the aviation field. © (2014) Trans Tech Publications, Switzerland.

关键词： Knowledge representation

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Representing Objects in Map Building Using A Semantic SLAM Scheme

Representing Objects in Map Building Using A Semantic SLAM S...

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2022 Chinese automation Congress, CAC 2022

作者： Yang, Yu Wang, Di Zheng, Weiqi Shanghai University Shanghai Key Laboratory of Intelligent Manufacturing and Robotics School of Mechatronics Engineering and Automation Shanghai China

ISBN: (纸本)9781665465335

In order to make the robot understand the scene better and the human-robot interaction more friendly, a lightweight semantic SLAM system is proposed in this paper. Our system uses a LIDAR combined with a camera to obtain object location in SLAM and determines object information such as category with a CNN-based object detector. The object identities are represented in the form of joint probability distributions that are updated by Bayes' theorem. The FPA algorithm is used to obtain parameter valuation with maximum posterior probability so as to determine the modeling feature parameters of objects on the map. The similarity between objects is measured with the Bhattacharyya coefficient to avoid duplicate modeling of identified objects in map updating. The proposed system is simulated in Gazebo and an effective scheme balancing accuracy and computation cost is obtained. Finally, experiments on a small indoor robot demonstrate the effectiveness of our method. © 2022 IEEE.

关键词： Semantics

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Research of Cartographer Graph Optimization Algorithm Based on Indoor Mobile Robot 2

Research of Cartographer Graph Optimization Algorithm Based ...

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2020 2nd International Conference on Artificial Intelligence Technologies and Application, ICAITA 2020

作者： Xu, Jiali Wang, Di Liao, Maosheng Shen, Wenshuai School of Mechatronics Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

In the recent years, mobile robot technology has received widespread attention from all over the world, and Simultaneous Localization and Mapping (SLAM) technology has always been a hot topic for researchers. In this paper, the Cartographer graph optimization SLAM algorithm is studied. Aiming at the problem that loopback detection may have wrong loopback points in the presence of noise, similar and uniform characteristics, a delay judgment module is added to filter the wrong loopback points. The Cartographer algorithm before and after optimization is deployed to the mobile robot platform based on ROS, and a 2D laser scanner is used for the map of indoor building. The experiment results prove that after the algorithm is improved, the overall relative error of the map is reduced by 1.148%, and the accuracy of mapping is improved. © 2020 Published under licence by IOP Publishing Ltd.

关键词： Mobile robots

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A method of laser focusing control in microlaser-induced breakdown spectroscopy

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Plasma Science and Technology 2019年第3期21卷 31-39页

作者： Wei WANG Lanxiang SUN Peng ZHANG Liming ZHENG Lifeng QI Wei DONG Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Key Laboratory of Networked Control System Chinese Academy of Sciences

This paper presents a method for the automatic adjustment of the laser defocusing amount in micro-laser-induced breakdown spectroscopy. A microscopic optical imaging system consisting of a CCD camera and a 20× objective lens was adopted to realize the method. The real-time auto-focusing of the system was achieved by detecting the effective pixels of the light spot generated by the laser pointer. The focusing accuracy of the method could achieve 3 μm. The element concentrations of Mn and Ni in low-alloy steels were analyzed at a crater diameter of about 35 μm using the presented method. After using the presented method, the determination coefficients of Mn and Ni both exceeded 0.997, with the root-mean-square errors being 0.0133 and 0.0395, respectively. Scanning analysis was performed on the inclined plane and the curved surface by means of focusing control and non-focusing control. Ten characteristic spectral lines of Fe were selected as the analysis lines. With the focusing control, the average relative standard deviations obtained on the inclined plane and curved surface were both less than 5%, and much less than the values without focusing control, 14.6% and 40.39%.

关键词： LIBS microanalysis ablation crater focusing control

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Plane Depth Estimation Based on Single Image and Projection of Four Laser Points 10

Plane Depth Estimation Based on Single Image and Projection ...

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10th International Conference on intelligent Human-Machine Systems and Cybernetics, IHMSC 2018

作者： Li, Xianfa Zhao, Qijie Lu, Jianxia Li, Yuwen School of Mechatronics Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai China

ISBN: (纸本)9781538658369

Single image depth estimation is a challenging problem and provides many application scenarios like object detection, pose calculation and path planning. To avoid the large data restriction in specific applications with deep learning based methods, this paper proposes a method of depth estimation for an arbitrary spatial plane using four laser points projected in the plane. Single plane is addressed at this work and the experimental results based on construction robot show that the proposed depth estimation method is feasible and valid. © 2018 IEEE.

关键词： Object detection

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