2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献_第7页

Dynamic sensor-based control 动态传感器控制

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838639

Sylvain Vandernotte, A. Chriette, P. Martinet, Adolfo Suarez-Roos

{"title":"Dynamic sensor-based control","authors":"Sylvain Vandernotte, A. Chriette, P. Martinet, Adolfo Suarez-Roos","doi":"10.1109/ICARCV.2016.7838639","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838639","url":null,"abstract":"Robots in industries are often used for repetitive tasks. Their motions rely on precise virtual model of their environment and they are not able to handle changes or unexpected events. This disqualifies them to perform tasks that would require precision in a non controlled environment such as an assembly task in real world. Visual servoing is a well known tool to control the robot using spatial sensors. It includes real world references at control law level. But, visual servoing and more generally sensor-based control schemes provide kinematic control law and do not consider robot dynamics. As consequences, tracking performances are poor and convergence behavior is hardly predictable. In this paper, we proposed a new control scheme considering second order sensor-based control law and robot dynamics. Our main goal is to enable full trajectory tracking in sensor-space. Additionally, the scheme is compatible with priority-ordered task sequencing and it can be also used within a hybrid control scheme where force control is considered. This new control scheme brings the possibility to make easier the robot task definition, dividing a complex positioning task into small easy-manageable ones. Multi-tasks operation has been validated in simulation by using MSC Adams software [1] and where the robot has to perform an engraving task on a surface.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129468509","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

Development of a lightweight power-assist suit using pneumatic artificial muscles and balloon-amplification mechanism 采用气动人造肌肉和气球放大机构的轻型动力辅助服的研制

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838564

H. Inose, Shun Mohri, Yasuyuki Yamada, Taro Nakamura, Kazuya Yokoyama, Isao Kikutani

{"title":"Development of a lightweight power-assist suit using pneumatic artificial muscles and balloon-amplification mechanism","authors":"H. Inose, Shun Mohri, Yasuyuki Yamada, Taro Nakamura, Kazuya Yokoyama, Isao Kikutani","doi":"10.1109/ICARCV.2016.7838564","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838564","url":null,"abstract":"Low back pain of workers is increased in workplaces that involve hard work. It is caused by excessive loading of the waist joint and muscle fatigue. Therefore, power-assist suits have been developed to decrease the load on the waist joint. However, previous power-assist suits have had problems such as low output or heaviness. Thus, we have developed an assist suit that is lightweight and exerts a large force. A balloon actuator and pneumatic artificial muscles are attached to assist suit as the actuators. The assist suit has various desirable features: lightweight, flexibility, and high output. First, human motion is analyzed for the development of the assist suit. The assist suit is developed to assist the waist joint torque. The assist suit is modeled, and the theoretical values of its generation force are estimated using an assist-suit model. Finally, the assist suit is evaluated by measuring the surface electromyography (EMG). The EMG of the wearer is compared with that without the suit. The effectiveness of the assist suit is confirmed by a decrease in EMG.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129487742","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

Automated license plate detection using a support vector machine 自动车牌检测使用的支持向量机

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838653

S. Miyata, Kenji Oka

引用次数: 15

1st prototype of a variable viscoelastic joint system with a clutch composed of pneumtic air muscle and magneto rheological brake 由气动气肌和磁流变制动器组成的可变粘弹性关节系统的第一个原型

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838562

Auth Manabu Okui, S. Iikawa, Yasuyuki Yamada, Taro Nakamura

引用次数: 12

A novel approach to steel rivet detection in poorly illuminated steel structural environments 光照不足的钢结构环境中钢铆钉检测的新方法

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838630

G. Paul, Liyang Liu, Dikai Liu

{"title":"A novel approach to steel rivet detection in poorly illuminated steel structural environments","authors":"G. Paul, Liyang Liu, Dikai Liu","doi":"10.1109/ICARCV.2016.7838630","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838630","url":null,"abstract":"It is becoming increasingly achievable for steel bridge structures, which are normally both inaccessible and hazardous for humans, to be inspected and maintained by autonomous robots. Steel bridges have been traditionally constructed by securing plate members together with rivets. However, rivets present a challenge for robots both in terms of cleaning and surface traversal. This paper presents a novel approach to RGB-D image and point cloud analysis that enables rivets to be rapidly and robustly located using low cost, non-contact sensing devices that can be easily affixed to a robot. The approach performs classification based on: (a) high-intensity blobs in color images, (b) the non-linear perturbations in depth images, and (c) surface normal clusters in 3D point clouds. The predicted rivet locations from the three classifiers are combined using a probabilistic occupancy mapping technique. Experiments are conducted in several different lab and real-world steel bridge environments, where there is no external lighting infrastructure, and the sensors are attached to a mobile platform, i.e. a climbing inspection robot. The location of rivets within 2m of the robot can be robustly located within 10mm of their correct location. The state of voxels can be predicted with above 95% accuracy, in approximately 1 second per frame.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131354013","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

Recognition of human activity using Internet of Things in a non-controlled environment 在不受控制的环境中使用物联网识别人类活动

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838750

Hamdi Amroun, Nizar Ouarti, M. Ammi

{"title":"Recognition of human activity using Internet of Things in a non-controlled environment","authors":"Hamdi Amroun, Nizar Ouarti, M. Ammi","doi":"10.1109/ICARCV.2016.7838750","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838750","url":null,"abstract":"Recognition of human activity in a non-controlled environment remained an unsolved problem. In this study, we wonder if accurate recognition of activity can be obtained using Internet of Things technology. We propose a processing methodology that can allow to an automatic system like a robot to recognize human activity. The approach consists of the classification of some activities of the subjects: walking, standing, sitting and laying. The study exploits a standard smartwatch and a smartphone carried by participants during a non-controlled experiment. We propose a pre-computation using Discrete Cosine Transform (DCT), and we identify the best window width and feature length that provides the best results. We show that Support Vector Machines (SVM) provides better results compared with Decision Tree algorithms (DT). The results also demonstrate that participants' activities were classified with an accuracy of more than 91% in a non-controlled environment, with a non-controlled position of the smartphone. We define the notion of transient that corresponds to the transition between two activities as well between two positions of the sensors. The last result shows that removing the transients provides better results for the classification, i.e. 98%. This approach shows that it is possible for a robot assistant to understand the human behavior only using standard Internet of Things technology in a non-controlled environment.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"106 1-2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116118948","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: 14

An experimental evaluation of balance strategy based obstacle avoidance 基于平衡策略的避障实验评估

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838720

R. Chang, Rong Ding, Mengxiang Lin, Dechao Meng, Zeye Wu, Meng Hang

引用次数: 5

A method of simultaneous location and mapping based on RGB-D cameras 一种基于RGB-D相机的同步定位与制图方法

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838786

Xin Liu, B. Guo, Chao Meng

引用次数: 5

Estimation of reproduction number of dengue transmission in a partially susceptible population 部分易感人群登革热传播繁殖数的估计

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838856

Chunqing Wu, Patricia J. Y. Wong

引用次数: 0

A source-seeking strategy for an autonomous underwater vehicle via on-line field estimation 基于在线场估计的自主水下航行器寻源策略

2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838757

Xiaodong Ai, Keyou You, Shiji Song

引用次数: 7