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2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)最新文献

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Intelligent image base visual servoing controller for robot arm 基于智能图像的机械臂视觉伺服控制器
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297178
Kao-Shing Hwang, Jia-Lin Lee, Wei-Cheng Jiang
{"title":"Intelligent image base visual servoing controller for robot arm","authors":"Kao-Shing Hwang, Jia-Lin Lee, Wei-Cheng Jiang","doi":"10.1109/ARIS.2017.8297178","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297178","url":null,"abstract":"In this paper, the main objective is to design a gain controller for a robot arm based on reinforcement learning methods. The controller is applied in image base visual servoing. The image feature error is used to form the state space. When the robot perceives a state by using a camera, the controller based on Q-Learning will output a control gain to the robot arm. Because Q-Learning does not have any knowledge about the environment, it is suitable to be controller for decision making. After some learning iterations, the controller can output a series of control gain to achieve the goal. The results of simulation confirm the proposed method that can achieve the goal of sample efficiency.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132682708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Autonomous path generation platform for robot simulation 机器人仿真自主路径生成平台
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297186
Amit Kumar Bedaka, Chyi-Yeu Lin
{"title":"Autonomous path generation platform for robot simulation","authors":"Amit Kumar Bedaka, Chyi-Yeu Lin","doi":"10.1109/ARIS.2017.8297186","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297186","url":null,"abstract":"The complex requirements associated with the robot research has given a challenge for software developers to think about the easy development process, cost effectiveness, and user-friendly environment. As a result, an offline CAD-based tool for technical computing industry is developed using a visual studio with open cascade (OCC) libraries to generate a path for robot simulation. In the present approach, OCC environment is developed to import CAD model of the robot manipulator and workpieces without the need of integrating with commercial CAD packages. In addition, the developed system provides important steps: extracting CAD information for path planning, checking the reachability of manipulators, and simulating the motion to check and avoid the possible collision before mapping to a real site. Using the extracted information, the robot manipulator can then automatically follow a path generated by the OCC geometric kernels. The path generation tool based on the OCC platform is more efficient and easier to develop for various applications. The simulation platform developed in this work can serve as an independent and valuable development tool in the intelligent automation industry.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127884120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
A novel data hiding method in block truncation coding compressed images 一种新的块截断编码压缩图像的数据隐藏方法
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297190
S. Chien, Feng-Chia Chang, Bo-Yan Chen, Yung-Yao Chen
{"title":"A novel data hiding method in block truncation coding compressed images","authors":"S. Chien, Feng-Chia Chang, Bo-Yan Chen, Yung-Yao Chen","doi":"10.1109/ARIS.2017.8297190","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297190","url":null,"abstract":"Cloud computing can improve the processing efficiency of applications in a smart city. For instance, in a future smart house, the home-based health care system may take advantage of cloud computing to provide real-time disease management services. However, because cloud is an Internet-based computing system, in which everything is processed online, the transition time of uploading medical images through the Internet will be a concern. Therefore, the image size cannot be too large. In addition, for the privacy concern, when uploading personal medical images to the Internet, they security level of these images should be enhanced. To deal with the abovementioned problems, this paper presents a novel data hiding method, which hides arbitrary data in block truncation coding compressed images. Experimental results show that the stego images produced from this work achieve both high data capacity and pleasing image quality.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127234969","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and implementation of a dung beetle robot 屎壳郎机器人的设计与实现
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297175
Jhih Chen, Jen-Wei Wang, H. Hsu, Yu-Sheng Chiang, Pei-Chun Lin
{"title":"Design and implementation of a dung beetle robot","authors":"Jhih Chen, Jen-Wei Wang, H. Hsu, Yu-Sheng Chiang, Pei-Chun Lin","doi":"10.1109/ARIS.2017.8297175","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297175","url":null,"abstract":"This paper describes the development of a dung beetle robot. The work studied the dung ball rolling motion of dung beetles, and the equations for rolling motion were derived. Then, a bio-inspired dung beetle robot, which could mimic the ball rolling motion of dung beetles, was built.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133791432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Design and implementation of a spider monkey robot 蜘蛛猴机器人的设计与实现
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297185
Wen-Yung Li, Yu-Hsun Wang, Chih-Tien Kuo, Pei-Chun Lin
{"title":"Design and implementation of a spider monkey robot","authors":"Wen-Yung Li, Yu-Hsun Wang, Chih-Tien Kuo, Pei-Chun Lin","doi":"10.1109/ARIS.2017.8297185","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297185","url":null,"abstract":"We report on the development of a spider monkey robot that simulates the arboreal locomotion of a spider monkey, including brachiating on and between the tree-limb-mimicking tubes. The work started from an understanding of the locomotion mechanism of a spider monkey, and then the robot was developed by transforming the bio-inspired information into engineering-feasible solutions. By using the stable motion pattern of its simplified model, the robot can successfully brachiate experimentally.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"1 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132570305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Deep belief network based gaze tracker for auto-aiming system 基于深度信念网络的自动瞄准系统注视跟踪器
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297183
Chih-Wei Chien, Ting-Nan Tsai, Li-Fan Wu, Nien-Chu Fang, C.-Y. Liu, Tzuu-Hseng S. Li
{"title":"Deep belief network based gaze tracker for auto-aiming system","authors":"Chih-Wei Chien, Ting-Nan Tsai, Li-Fan Wu, Nien-Chu Fang, C.-Y. Liu, Tzuu-Hseng S. Li","doi":"10.1109/ARIS.2017.8297183","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297183","url":null,"abstract":"This paper proposes a design of an auto-aiming system, which is capable of tracking a user's gaze automatically. The auto-aiming system is composed of an electric gun control system and a wearable gaze tracker. According to a user's gaze direction which is captured by the helmet camera, the gun can automatically aim an object which the user is looking at. The mapping model between the user's eye movement and the shooting direction of the gun is established by a Deep Belief Network (DBN). This DBN-based gaze tracking model allows the auto-aiming shooting system to aim the target timely and accurately. Finally, the experiment results demonstrate the proposed auto-aiming system for different users can achieve an average accuracy of 96%.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129275450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementation of a mobile spherical robot with shape-changed inflatable structures 具有可变形充气结构的移动球形机器人的实现
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297199
Kuan-Yi Ho, N. Mayer
{"title":"Implementation of a mobile spherical robot with shape-changed inflatable structures","authors":"Kuan-Yi Ho, N. Mayer","doi":"10.1109/ARIS.2017.8297199","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297199","url":null,"abstract":"We are currently building a big robot (ca. 2m height) that has the shape of a sphere. The robot can be controlled by transforming its shape and thus can move. The structure of the spherical robot has several inflatable sections around the sphere and a pneumatic system inside to control the air pressure of each section. In the static state, the section towards the ground is deflated. Thus, the robot stays at the same position. When the robot shall move forward, the above-mentioned section is inflated while the neighboring section towards the intended direction is deflated. In this way, the robot rolls towards the next section and moves to the particular direction. Due to their design, the robots are very fluffy and light-weighted. Thus, using them in human environment appears to be very safe in spite of their size. So the robot can be used for outdoor surveillance. In parks and also road-works in order to warn traffic. As a beginning to this topic, we implement a model of smaller size.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124834173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 6
On 3D autonomous delivery systems: Design and development 关于3D自动交付系统:设计和开发
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8361592
B. Li, He Lin, H. Samani, Laurel C. Sadler, T. Gregory, Brian Jalaian
{"title":"On 3D autonomous delivery systems: Design and development","authors":"B. Li, He Lin, H. Samani, Laurel C. Sadler, T. Gregory, Brian Jalaian","doi":"10.1109/ARIS.2017.8361592","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8361592","url":null,"abstract":"This paper presents a novel 3D delivery system utilizing a UAV. In the example presented within this paper, the system receives a request for delivery via a designed APP from a client and later delivers that item to a desired location in the three dimensional environment. The UAV has the ability to navigate in the outdoor environment and move from the base location to the supplier at the first stage and later find the optimum path to the client for delivery. The system focuses on delivering above ground level locations, such as a specified floor in a building. This system can be used in various realistic scenarios in order to autonomously deliver goods from an arbitrary point to a client in multistory buildings such as an office or home.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115127055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Zone protection approach of data center system reliability and power quality 数据中心系统可靠性和电能质量的区域保护方法
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297187
M. Wiboonrat
{"title":"Zone protection approach of data center system reliability and power quality","authors":"M. Wiboonrat","doi":"10.1109/ARIS.2017.8297187","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297187","url":null,"abstract":"A critical analysis of power quality and power reliability in data centers is important as steppingstone for improving data center operation efficiency. All data center standards such as, Uptime Tier Classification, TIA-942, BICSI 002, BITKOM, and eN 50600, are defined system reliability design by topology but not mentioned on power quality. Most of topology defines by a single line diagram of power distribution systems (PDS). The PDS design approach is using a coherent zone protection mechanism. This mechanism is tried to get rid of single points of failure by applying redundant topology such as N (by N ≥ 1), N+1, 2N, 2(N+1), and 2N+2N through PDSs. This paper describes the zone protection approach of system reliability and power quality design for Tier 4 data centers. This paper was conducted design analysis of power distribution systems (PDS) from 8 (Tier 3) data centers and 2 (Tier 4) data centers while compared 5 data center standards subject to how to build the highest reliability and harmonic control of data center through zone protection as a recheck point. The results of zone protection analysis proposes a new practical topology of PDS in data center that can be practically deployment in order to improve the overall power quality and reliability of the data centers.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125836388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Intelligent all-day vehicle detection based on decision-level fusion using color and thermal sensors 基于颜色和热传感器决策级融合的智能全天候车辆检测
2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2017-09-01 DOI: 10.1109/ARIS.2017.8297189
S. Chien, Feng-Chia Chang, Chiung-Cheng Tsai, Yung-Yao Chen
{"title":"Intelligent all-day vehicle detection based on decision-level fusion using color and thermal sensors","authors":"S. Chien, Feng-Chia Chang, Chiung-Cheng Tsai, Yung-Yao Chen","doi":"10.1109/ARIS.2017.8297189","DOIUrl":"https://doi.org/10.1109/ARIS.2017.8297189","url":null,"abstract":"Recently, research topics involving vehicle detection become popular for the automotive advanced driver assistance systems (ADAS). Vehicle detection is an important part of unmanned vehicle driving. It is particularly challenging in real-world scenarios due to several uncontrollable factors, such as variances in light, weather, and unpredictable scenes. Most vehicle detection techniques focus on using a visible spectrum color camera to carry out day-time vehicle detection, or using an infrared thermal imaging camera to carry out night-time vehicle detection. However, fewer researches for all-day vehicle detection have been done so far. In this paper, we present a novel all-day vehicle detection method, in which both visible and thermal information are used to detect the vehicles separately, and the final decision is made by decision-level fusion. The experimental results demonstrate that the proposed method can effectively detect vehicles in different environments and achieve robust recognition rates.","PeriodicalId":104750,"journal":{"name":"2017 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116545239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
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