Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019最新文献

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An AirSea Manta-Ray Robot in 5G OGCE 5G OGCE中的海空蝠鲼机器人
Zhi-Ying Lv, Zhongfeng Wang, Yi Lv, M. Yuan
{"title":"An AirSea Manta-Ray Robot in 5G OGCE","authors":"Zhi-Ying Lv, Zhongfeng Wang, Yi Lv, M. Yuan","doi":"10.1145/3325693.3325704","DOIUrl":"https://doi.org/10.1145/3325693.3325704","url":null,"abstract":"Based on the fifth generation of mobile communication (5G), 5G open grid computing environment (5G OGCE), in order to realize the exploitation and utilization of marine resources and energy, this paper presents an air and sea robot, which can fly and dive in the sea and air at the same time, and it is called an air and sea (air-sea) Manta Ray robot. Its purpose is to carry out resources and energy exploitation and development under the support of 5G OGCE, and perform the tasks of different air and sea operation areas: (1) quickly implement underwater operations, operate in the underwater operation area during long voyage, monitor deep-sea oil exploitation, exploitation and utilization of seabed resources and energy, seabed rare earth and combustible ice mining and ocean current power generation; (2) fly over the ocean during long voyage to track the migration of Marine organisms and Marine migratory birds; (3) build manned air-sea vehicle that can act as the personnel and material transfer machine for the undersea space station. When undersea mining is carried out, it can complete adaptive control, and monitor the work of undersea underwater equipment. (4) Perform work and assignments in a large area of underwater and above water, as well as over the sea, in a swarm working mode and distributed working mode. By using the control-cloud architecture in 5G OGCE, the exploitation of seabed resources and the production of submarine intelligent factories centered on the submarine space station can be realized.","PeriodicalId":114622,"journal":{"name":"Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132615947","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: 3
A New Design of Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia 一种用于截瘫的一自由度主动下肢矫形器的新设计
G. Obinata, Takuhiro Sunada, Yanling Pei
{"title":"A New Design of Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia","authors":"G. Obinata, Takuhiro Sunada, Yanling Pei","doi":"10.1145/3325693.3325707","DOIUrl":"https://doi.org/10.1145/3325693.3325707","url":null,"abstract":"This paper has proposed a new design of active lower limb orthosis which is called as oneDHALO (one-actuator Drive Hip and Ankle Linked Orthosis). The oneDHALO has a linking mechanism which connects both ankle joints with a medial hip joint and an actuator which drives the rotation angle. The joints linkage mechanism keeps feet always in parallel with the floor to avoid stumbling and assists swinging of the leg. In addition, one servo motor has been introduced to assist and control the movement constrained by the mechanism. To match the active movement to walking phase, optical sensors have been introduced at soles of the feet. The control device which consists of internal communication system, sensor interfaces and a single board computer (Raspberry Pi) is designed for all in one with the mechanical part of the orthosis. This presentation reveals the preliminary experimental results of the system to show the good points of the design.","PeriodicalId":114622,"journal":{"name":"Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117224629","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
Planar Homography based Monocular SLAM Initialization Method 基于平面单应性的单目SLAM初始化方法
Fang Sun, Xiangyi Sun, Banglei Guan, Tao Li, Cong Sun, Yingchao Liu
{"title":"Planar Homography based Monocular SLAM Initialization Method","authors":"Fang Sun, Xiangyi Sun, Banglei Guan, Tao Li, Cong Sun, Yingchao Liu","doi":"10.1145/3325693.3325700","DOIUrl":"https://doi.org/10.1145/3325693.3325700","url":null,"abstract":"Simultaneous Localization and Mapping (SLAM) is a popular topic in autonomous robots navigation. It has been studied for decades in both computer vision and robotics communities. Monocular systems is more cost effective compared to RGBD or Stereo systems; however, it is relatively complicated to initialize due to scale uncertainty. Under certain conditions, it is assumed that the camera only moves in a planar scene, which provides us with homography constraints. In this paper, the efficiency of monocular initialization was improved based on the open source platform ORB-SLAM2, employing the algorithm based on planar homography constraints. We compared the improved algorithm with the source code of ORB-SLAM2 on the public datasets. It showed that our algorithm has better stability and robustness in the planar scene dataset and more initializing map points.","PeriodicalId":114622,"journal":{"name":"Proceedings of the 2019 2nd International Conference on Service Robotics Technologies - ICSRT 2019","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123092538","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: 3
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