2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献

Impedance-based Foot-end Torque Vibration Isolation Control of Parallel Structure Wheel-legged Robot 基于阻抗的并联结构轮腿机器人足端转矩隔振控制

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903930

Junfeng Xue, Shou-kun Wang, Jiehao Li, Junzheng Wang, Jialong Zhang, Zhihua Chen

引用次数: 0

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903957

Xiaowen Zhang, S. Yuan, F. Luan, Jiaqi Lv, Guifu Liu

{"title":"Similarity Mask Mixed Attention for YOLOv5 Small Ship Detection of Optical Remote Sensing Images","authors":"Xiaowen Zhang, S. Yuan, F. Luan, Jiaqi Lv, Guifu Liu","doi":"10.1109/WRCSARA57040.2022.9903957","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903957","url":null,"abstract":"Ship detection has always been an important and challenging task. Small ship targets and complex backgrounds in optical remote sensing images can both lead to false alarms and missed alarms in detection. The YOLO series algorithms have been widely used in optical remote sensing ship target detection, which has the advantage of fast detection speed. However, the YOLO series algorithms have poor detection performance when facing small targets. Therefore, we propose a new algorithm, SMMA-YOLOv5, which can improve the model detection accuracy without significantly increasing the model size. We first introduce a self-attention mechanism to replace some of the convolutional layers to capture the global information of the feature map. Second, we integrate an efficient channel attention (ECA) model to the self-attention mechanism to enable information interaction between channels without adding additional computational overhead. Furthermore, we propose a new similarity mask structure to filter out the invalid regions in the feature map based on the elements’ similarity. The experiments on the public MASATI ship dataset indicate that SMMA-YOLOv5 improves Precision by 3.9%, Recall by 5.3%, and AP by 5.4%, and prove the effectiveness of the algorithm while maintaining real-time detection.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125974193","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

A hybrid paradigm based on steady-state visual evoked potentials and motor imagery 基于稳态视觉诱发电位和运动意象的混合范式

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903988

Jiaxin Li, Jing Zhao, Ye Shi

引用次数: 0

Design of Photovoltaic Glass Automatic Stacking and Paper Laying Robot 光伏玻璃自动堆叠铺纸机器人的设计

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903977

A. Pan, B. Q. Liu, C. Ye

引用次数: 0

Image Based River Navigation System of Catamaran USV with Image Semantic Segmentation 基于图像语义分割的双体船USV河道导航系统

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903932

Ping Yang, Ch. H. Song, L. Chen, Weicheng Cui

{"title":"Image Based River Navigation System of Catamaran USV with Image Semantic Segmentation","authors":"Ping Yang, Ch. H. Song, L. Chen, Weicheng Cui","doi":"10.1109/WRCSARA57040.2022.9903932","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903932","url":null,"abstract":"USV’s river navigation system is very complex, including USV’s environmental perception, USV’s positioning, obstacle avoidance, and path planning. Different sensors are required in various applications, such as lidar or cameras in environmental perception, GPS or IMU in positioning, and ultrasonic sensors or cameras in obstacle avoidance. As an intuitive and affordable sensor, the cameras can be used for environment perception, obstacle recognition, and distance estimation for component stereo vision systems over a catamaran USV. This paper proposes an image based USV river navigation system. The main functions include riverbank line recognition and distance estimation. Aiming at the inaccurate of traditional riverbank line detection, we design a line segment detection algorithm for riverbank based on image semantic segmentation, which can effectively reduce the interference of the object’s texture on edge recognition while ensuring the object edge recognition. Subsequently, according to the built stereo vision system, the distance of the detected riverbank line is estimated for following navigation, obstacle avoidance, or other operations. We further demonstrate the designed catamaran USV and its stereo vision system. Compared with the traditional unsupervised straight line detection algorithm, its riverbank line detection function has been significantly improved, and its real-time ranging process is also more intuitive.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123381565","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

State estimation of QAUV Based on dynamic model 基于动态模型的QAUV状态估计

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903961

Daxiong Ji, Rui Wang, Zhi Wang, Qinyuan Ren

引用次数: 0

A Real-time Interactive 3D Ultrasound Imaging System 实时交互式三维超声成像系统

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903990

Yi Lv, Yu Ning, Yu Shen, Junchen Wang, Mingbo Zhang

{"title":"A Real-time Interactive 3D Ultrasound Imaging System","authors":"Yi Lv, Yu Ning, Yu Shen, Junchen Wang, Mingbo Zhang","doi":"10.1109/WRCSARA57040.2022.9903990","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903990","url":null,"abstract":"Real-time 3D ultrasound (US) imaging has attracted more attention since it can display spatial 3D images of tissues and organs in real time to provide important information for diagnosis and intervention. In this study, Bezier interpolation and PNN reconstruction algorithms are combined to achieve real-time repeatable 3D reconstruction. A real-time interactive 3D US imaging system with a 2DB-mode probe is developed. The system employs an optical measuring equipment to collect six degrees of freedom (6-DoF) poses of the US probe. 2D US image acquisition using a calibrated probe with the pose information is performed to reconstruct a 3D volume. A multi-thread scheme is proposed to achieve real-time data acquisition, overlapped 3D reconstruction and volume visualization. Interactive functions and image segmentation enable users to freely select regions of interest (ROI) and adjust image color and opacity. The system was evaluated on a 3D printing femur model, a neck phantom and human carotid arteries. The surface point clouds segmented from the reconstructed 3D volumes were rigidly registered with the models whose CT scans were available. The surface matching error was used as the reconstruction error. The 3D volumes were reconstructed with different voxel sizes of (0.5 mm, 1.0 mm, 1.5 mm). The reconstruction errors of the femur and trachea model were (0.85 mm, 0.99 mm, 1.43 mm) and (0.96 mm, 1.17 mm, 1.37 mm), respectively. The 3D reconstruction on real human carotid arteries has confirmed the clinical feasibility.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132113336","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

Deep Learning Assisted Automated Separation Platform of Single Cells and Microparticles Using Optoelectronic Tweezers 基于光电镊子的深度学习辅助单细胞和微粒自动分离平台

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903963

Jiawei Zhao, Chunyuan Gan, Jiaying Zhang, Shuzhang Liang, Jiapeng Yang, Lin Feng

引用次数: 0

An IMM-BP based Algorithm for Tracking Maneuvering Underwater Targets by Multistatic Marine Robot Networks 基于IMM-BP的多静态海洋机器人网络水下机动目标跟踪算法

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903972

Feng Zheng, Yu Tian, Weicong Zhan, Jiancheng Yu, Kaizhou Liu

{"title":"An IMM-BP based Algorithm for Tracking Maneuvering Underwater Targets by Multistatic Marine Robot Networks","authors":"Feng Zheng, Yu Tian, Weicong Zhan, Jiancheng Yu, Kaizhou Liu","doi":"10.1109/WRCSARA57040.2022.9903972","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903972","url":null,"abstract":"A mobile and distributed multistatic active sonar network formed by a collection of autonomous marine robots is a significant type of tool for underwater surveillance applications such as antisubmarine warfare. Developing a tracker that fuses the sonar data collected by the robots to accurately estimate the locations and velocities of many underwater maneuvering targets is a crucial issue for realizing such a robotic surveillance network. This paper investigates this issue and an IMM-BP tracking strategy. The strategy adopts the interacting multiple model (IMM) method to cope with the problem of accurate tracking of highly maneuvering targets and employs a belief propagation (BP)-based tracking method to implement the Bayesian multisensor-multitarget tracking. And a new algorithm implementing the integration of the IMM method with the BP-based tracker is developed and presented in this paper. The main features of the algorithm include the extraction of measurement-target association information and its utilization in the model probability update step, and using a track score-based strategy and predicted measurements in the track management step to improve the performance of track confirmation and maintenance. The performance of the developed algorithm is validated with numerical simulations. The results show that the developed algorithm could accurately estimate the number and states of multiple maneuvering targets in environments with clutter and conditions of missed measurements.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131050675","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 Analysis of End-Effector for Multi-Target Spatial Operation 多目标空间操作末端执行器的设计与分析

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903986

Songbo Deng, Jiaqi Duan, Zelin Yang, Jiankang Zhi, H. Cai, Tao Yang, Yanbo Wang

{"title":"Design and Analysis of End-Effector for Multi-Target Spatial Operation","authors":"Songbo Deng, Jiaqi Duan, Zelin Yang, Jiankang Zhi, H. Cai, Tao Yang, Yanbo Wang","doi":"10.1109/WRCSARA57040.2022.9903986","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903986","url":null,"abstract":"With the development of space robot technology, it has become the main technical means to complete space payload replacement and operation with space manipulator. The end-effector is transferred to the desired position and attitude by space manipulator firstly, then end-effector conducts the final positioning and locking of the operating target. As the main part of space payload operations, the end effector requires large capture domain, high capture accuracy and high locking stiffness, which needs further research. A set of progressive closing capturing and positioning end-effector with synchronous action is designed in this paper according to the operation requirements of large range maneuvering with replaceable payload and high precision capturing and positioning. It has the characteristics of large position difference, small volume quality and universal capture interface. The transmission mechanism and capture finger configuration of end-effector are designed. A compliant control space manipulator with an end-effector is used to carry out replaceable payload capture test. The capture locking accuracy is measured in the air-bearing micro gravity environment. Based on the precision calibration results, the single-double finger configuration is optimized. Finally, the effectiveness of the design and control method of the end-effector are verified on ground test.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"62 21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132775610","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