2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献_第4页

A Localization Method for the Magnetic Levitation Capsule Robot 磁悬浮胶囊机器人的定位方法

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903985

Jiapeng Yang, Junyi Wei, Fengwu Wang, Li Song, Jiawei Zhao, Lin Feng

引用次数: 0

Robot Grasping using Dilated Residual Convolutional Neural Network 基于扩展残差卷积神经网络的机器人抓取

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903934

Jing Zhao, Liang Ye, Yufeng Wang, Huasong Min

{"title":"Robot Grasping using Dilated Residual Convolutional Neural Network","authors":"Jing Zhao, Liang Ye, Yufeng Wang, Huasong Min","doi":"10.1109/WRCSARA57040.2022.9903934","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903934","url":null,"abstract":"Grasping detection for multiple objects is an important task in the application of robots. Despite the achievement obtained by several encoding-decoding deep learning models, grasping detection for objects with much different sizes is still not well solved. In this paper, a Dilated Residual Connection Neural Network (DR-ConvNet) is proposed to achieve the multi-object grasping detection in RGB-D images. On one hand, the detection and location for small objects can addressed well due to the encoding-decoding structure. On the other hand, the proposed dilated residual module can capture more complete features for large objects by its larger receptive field than ordinary convolutions. To verify and highlight the advantages of the proposed DR-ConvNet, an expanded new dataset called S-Cornell is built based on the Cornell grasping dataset. On this dataset, the proposed method can achieve 9S.7% and 95.4% accuracy in single-object and multi-object grasping detection respectively. Several experiments prove that the proposed model can outperform some current popular grasping detection methods in RGB-D images.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"263 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":"132424058","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

Human-Robot Cooperative Motion Constraint Control of Surgical Robot Based on Virtual Fixture 基于虚拟夹具的手术机器人人机协同运动约束控制

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903968

Jiayu Zhu, Zhen Sun, Yu Shen, Baiquan Su, Yansong Qi, Junchen Wang

{"title":"Human-Robot Cooperative Motion Constraint Control of Surgical Robot Based on Virtual Fixture","authors":"Jiayu Zhu, Zhen Sun, Yu Shen, Baiquan Su, Yansong Qi, Junchen Wang","doi":"10.1109/WRCSARA57040.2022.9903968","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903968","url":null,"abstract":"Surgical robot is one of the most important application fields of human-robot collaboration. Since the operating objects are often fragile human tissues, how to improve the safety of the surgical process is the key for practical application of surgical robots. General human-robot interaction methods for safety such as collision detection and obstacle avoidance are relatively passive and robot-based, having difficulty in dealing with complex surgical scenarios. Virtual Fixture(VF), an active motion constraint method, is more suitable for shared control in surgical scenarios. This paper introduces a combination of VF method with admittance control for avoiding damage to robot or tissues while complying with doctor’s intention. Firstly, in order to obtain the human-robot interaction force, a statistical method for six-dimensional force sensor calibration is proposed. Then, two velocity-based admittance control models are compared by simulation, and the first order inertial model is selected. On the basis of these, a variety of hard VFs with visual information are established. Finally, the effectiveness of the proposed method and the causes of violation are analyzed by experiments on a serial robot manipulator.","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":"131753208","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

Magnetic Manipulation of a Magnetotactic Bacteria-based Biomicrorobot 一种基于趋磁细菌的生物微型机器人的磁操纵

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903935

Yiming Ji, Junjie Xu, Luyao Wang, Wei Zhang, Lin Feng

引用次数: 0

Research on control of steel beam welding production line 钢梁焊接生产线的控制研究

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903981

L. Quan, M. Mingyang, H. Zhengjun

引用次数: 1

Allocation of Multi-UAVs Timing-dependent Tasks based on Completion Time 基于完成时间的多无人机时序任务分配

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903983

Yuheng Chen, Jinchao Chen, Chenglie Du

引用次数: 0

Application of Generative Adversarial Networks in Gesture Recognition* 生成对抗网络在手势识别中的应用*

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903984

Wendi Zhu, Yang Yang, Lina Chen, Jinyu Xu, Chenjie Zhang, Hongxi Guo

{"title":"Application of Generative Adversarial Networks in Gesture Recognition*","authors":"Wendi Zhu, Yang Yang, Lina Chen, Jinyu Xu, Chenjie Zhang, Hongxi Guo","doi":"10.1109/WRCSARA57040.2022.9903984","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903984","url":null,"abstract":"Aiming at the problem of insufficient accuracy of gesture recognition under the condition of small samples, a gesture generation method based on Generative Adversarial Networks is proposed to expand the dataset. For the expansion of gesture dataset, the idea of adversarial training in Generative Adversarial Networks is adopted, the discriminator model of deep convolution and the generator model of deep transpose convolution are designed respectively, the training process is optimized by using the way of adaptive learning rate, and the gesture is generated according to the gesture image in the gesture dataset created by the user. Then the accuracy is verified by using the real gesture image and the generated gesture image. With that, based on the complex characteristics of the algorithm for generating gesture image, it is proposed to directly generate the Fourier Descriptors of the image, so that the gesture has translation, scaling and rotation invariance, and their accuracy and training time are tested respectively. The experimental results show that comparing with generating gesture images, the training time of directly generating Fourier Descriptors is shorter and the recognition accuracy is higher.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"9 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":"123939798","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

Multi-functional Neurosurgical Tool with CCD-Imaging, Suction and Electrical Coagulation 多功能神经外科工具与ccd成像，吸引和电凝

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903970

Baiquan Su, Yinjia Zhang, Yi Gong, Jie Tang, Lixin Xu, Han Li, Zehao Wang, Shaolong Kuang, Wenyong Liu, J. Lei, Weifeng Yao, Junchen Wang, Wei Xiu, Yang Gao

引用次数: 1

Vehicle Trajectory Prediction for Automated Driving Based on Temporal Convolution Networks 基于时间卷积网络的自动驾驶车辆轨迹预测

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903992

Daofei Li, Houjian Li, Yang Xiao, Bo Li, Binbin Tang

{"title":"Vehicle Trajectory Prediction for Automated Driving Based on Temporal Convolution Networks","authors":"Daofei Li, Houjian Li, Yang Xiao, Bo Li, Binbin Tang","doi":"10.1109/WRCSARA57040.2022.9903992","DOIUrl":"https://doi.org/10.1109/WRCSARA57040.2022.9903992","url":null,"abstract":"For automated driving, trajectory prediction of other surrounding vehicles is crucial to ego vehicle’s driving decision. This is especially important when automated vehicles, e.g. SAE level 3 vehicles or fully-automated robotaxis, share the open road with human-driven vehicles. One of the main research directions in this field is to adopt the methods of deep learning. We propose a TCN-MLP encoder-decoder framework that considers both the trajectory data of predicted vehicle and surrounding vehicles in the input. To handle more complex trajectory prediction, a driving intention recognition module is added to the model to identify the intentions in longitudinal and lateral directions. Based on the HighD dataset, we have tested the proposed model and its two variations for ablation experiment. The results show that our model can achieve more accurate trajectory prediction than the state-of-the-art approaches, and the prediction RMSE is reduced by about 33.3% on average. Our model may serve as a promising solution to vehicle trajectory prediction problems in highway scenes.","PeriodicalId":106730,"journal":{"name":"2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"45 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":"122008882","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

Optimal Grasping Pose Selection Method for Dual-arm Robot Based on Improved Genetic Algorithm 基于改进遗传算法的双臂机器人抓取姿态优化选择方法

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2022-08-20 DOI: 10.1109/WRCSARA57040.2022.9903933

Yong Tao, Jiahao Wan, Haitao Liu, He Gao, Yufang Wen

引用次数: 0