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2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)最新文献

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Numerical Investigation of Localized Surface Plasmon Resonance (LSPR) based Sensor for Glucose Level Monitoring 基于局部表面等离子体共振(LSPR)的血糖监测传感器的数值研究
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358441
Kawintida Santavanond, C. Viphavakit, W. Patchoo, H. El-khozondar, W. Mohammed
{"title":"Numerical Investigation of Localized Surface Plasmon Resonance (LSPR) based Sensor for Glucose Level Monitoring","authors":"Kawintida Santavanond, C. Viphavakit, W. Patchoo, H. El-khozondar, W. Mohammed","doi":"10.1109/ICA-SYMP50206.2021.9358441","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358441","url":null,"abstract":"This study aims to apply Localized Surface Plasmon Resonance (LSPR), Maxwell Garnett's formula, and Fabry-Perot theory together to design and develop a LSPR enhanced gold colloidal nanoparticles (AuNPs) sensor to be used in biomedical applications such as detection of glucose level in urine for early stage screening of diabetic patients. In this work, the LSPR based sensor has been designed and studied numerically to detect the glucose level from the change in the effective index resulting in a red shift of the absorption peak. The sensors were designed to have various sizes of the gold nanoparticles in a range between 20 nm and 100 nm by having different molar ratio with Trisodium Citrate (TSC) which acts as stabilizer in the synthesis. The maximum possible sensitivity of the sensor can be achieved with 70 nm diameter of gold nanoparticles at 0.2 volume fraction of AuNP to glucose solution.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133614840","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
Twist-based Crouching Motion for Multi-Legged Inspection Robot 基于扭曲的多足检测机器人蹲伏运动
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358442
M. Phlernjai, Pran Piyathassrikul, P. Ratsamee
{"title":"Twist-based Crouching Motion for Multi-Legged Inspection Robot","authors":"M. Phlernjai, Pran Piyathassrikul, P. Ratsamee","doi":"10.1109/ICA-SYMP50206.2021.9358442","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358442","url":null,"abstract":"The monitoring and inspection of the condition of buildings, towers, or large chemical tanks have been dangerous for workers. Also, these processes can also be very costly. A wall climbing multi-legged robot can be used to tackle the problem stated. The robot has to alternatively climb and crouch to move the inspection probe close to the wall surface. The typical wall-sticking crouching motion of hexapods could not do this without an additional actuator at the foot base. This paper proposes a new crouching mechanism using the twisting action of the robot legs. The mathematical model of the twisting crouch is introduced and A prototype test has been done to confirm the validity of the proposed concept.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134015842","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
An Energetic Analysis of Rhomboidal Linkage Robots for Hopping Lunar Exploration 跳跃月球探测菱形连杆机器人的能量分析
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358244
J. Lo, B. Parslew
{"title":"An Energetic Analysis of Rhomboidal Linkage Robots for Hopping Lunar Exploration","authors":"J. Lo, B. Parslew","doi":"10.1109/ICA-SYMP50206.2021.9358244","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358244","url":null,"abstract":"In this paper, we present a conceptional design framework for jumping robots for lunar exploration. A method is developed for spring placement and sizing that maximises the onboard elastic potential energy storage, which is essential for space missions. In the class of rhomboidal linkage robots, the analysis shows that torsion springs placed at the knee joints store more energy than the commonly used extension or linear compression springs for a given charging-actuator force; torsion springs store around 80% of the idealized maximum attainable elastic energy storage, compared to only 60% for an extension spring. A physical demonstrator is developed using torsion springs, and exhibits repeatable jumps with an average jump height of 1.1m under earth gravity, equivalent to 6.7m under lunar gravity. However, preliminary trials show the choice of substrate is shown to influence the jump height. This effect is predicted to be pronounced when jumping from lunar regolith.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123798035","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
Automatic Bus Stop Detection with Deep Neural Networks and Bi-directional LSTM 基于深度神经网络和双向LSTM的公交车站自动检测
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358448
Jitpinun Piriyataravet, W. Kumwilaisak, J. Chinrungrueng
{"title":"Automatic Bus Stop Detection with Deep Neural Networks and Bi-directional LSTM","authors":"Jitpinun Piriyataravet, W. Kumwilaisak, J. Chinrungrueng","doi":"10.1109/ICA-SYMP50206.2021.9358448","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358448","url":null,"abstract":"This paper presents a novel method in bus stop prediction from bus GPS trajectories. Our proposed bus stop prediction algorithm is based on the deep neural network and time filtering algorithm. Bus speed histograms of all locations along a route are first constructed. A bus speed histogram and a bus heading direction at each location are input features of a deep neural network. A deep neural network consists of the CNN networks and fully connected networks. The outputs from a deep neural network of all locations along a route are inputs to the LSTM network. It outputs soft decisions of bus stop prediction of all locations. The time filtering algorithm refines the results obtained from the LSTM network. It constructs time histograms of all locations and extracts the most probable timestamps of all locations. Then, a linear regression method is used to correct timestamps. Time distributions can be derived from the updated timestamp and are compared with a reference distribution. Locations with time distributions close to the reference distributions are predicted as bus stop locations. We compare our algorithm on a set of GPS data of NSTDA bus service. The proposed technique can outperform conventional bus prediction methods.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131644668","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
Control of TWIR using LQR Controller and Compound Disturbance Observer 用LQR控制器和复合扰动观测器控制TWIR
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358452
Khanh G. Tran, T. T. Nguyen, Toi Q. Pham, P. D. Nguyen, Duc V. Nguyen, P. Nguyen, Hoang M. Pham, P. D. Nguyen, NamHoai Nguyen
{"title":"Control of TWIR using LQR Controller and Compound Disturbance Observer","authors":"Khanh G. Tran, T. T. Nguyen, Toi Q. Pham, P. D. Nguyen, Duc V. Nguyen, P. Nguyen, Hoang M. Pham, P. D. Nguyen, NamHoai Nguyen","doi":"10.1109/ICA-SYMP50206.2021.9358452","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358452","url":null,"abstract":"In this paper, a LQR controller in combination with compound disturbance observer was designed and applied for a two-wheeled inverted pendulum robot (TWIR) in laboratory. The experimental results showed that the designed controller was able to handle with model's uncertainty and unknown input disturbance.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126259392","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
Copyright 版权
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ica-symp50206.2021.9358434
{"title":"Copyright","authors":"","doi":"10.1109/ica-symp50206.2021.9358434","DOIUrl":"https://doi.org/10.1109/ica-symp50206.2021.9358434","url":null,"abstract":"","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132924771","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
Configurable Hardware Architecture of Multidimensional Convolution Coprocessor 多维卷积协处理器的可配置硬件结构
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358447
Geranun Boonyuu, Sumek Wisayataksin
{"title":"Configurable Hardware Architecture of Multidimensional Convolution Coprocessor","authors":"Geranun Boonyuu, Sumek Wisayataksin","doi":"10.1109/ICA-SYMP50206.2021.9358447","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358447","url":null,"abstract":"We propose a configurable coprocessor for the convolutional neural network (CNN) that suit various models of CNN. It can operate 2D standard convolution, 2D depthwise separable convolution, 3D convolution, and a fully connected layer. The proposed processing cluster consists of 72 processing units (PUs) of half-precision floating-point to assist the main processor in embedded systems. The experimental results on Artix-7 FPGA revealed that our design has 12.16 GOPs per cluster. Moreover, this architecture was designed to be scalable for the systems with higher performance.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132941035","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
Enabling Continuous Drone Tracking Across Translational Scene Transitions through Frame-Stitching 通过帧拼接实现跨平移场景转换的连续无人机跟踪
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358444
Jiahe Yi, Kim Hoe Chew, S. Srigrarom
{"title":"Enabling Continuous Drone Tracking Across Translational Scene Transitions through Frame-Stitching","authors":"Jiahe Yi, Kim Hoe Chew, S. Srigrarom","doi":"10.1109/ICA-SYMP50206.2021.9358444","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358444","url":null,"abstract":"This paper introduces a method for enabling the continuous tracking of drones across translational scene transitions through the introduction of a stationary global frame. The main benefit of such a method is that it allows current pan-tilt-zoom (PTZ) cameras commonly used in security applications to be used in the domain of drone tracking. The first step in the process is to correct for lens distortion with the intrinsic parameters of the camera obtained through calibration. The motion of the camera frame is then estimated using the optical flow of tracked features from frame to frame. Information obtained about the translational motion of the frame is then used to construct a global frame on which object tracking is performed. Results from the comparison of object detection and tracking performed on two clips with and without pre-processing to construct the global frame show an improvement in tracking performance when the technique was applied to the video. The method was shown to successfully compensate for the relative velocity of objects in the frame relative to the frame, with no sudden changes of velocity during the scene transition. In addition, the introduction of a global frame enabled the continuous tracking of a stationary drone that was reassigned to a new track in the original video.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"48 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125884649","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
Model approximation of an arm of the NAO™ robot using system identification 利用系统识别对NAO™机器人手臂进行模型逼近
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358430
Enrique Jimenez-Vazquez, Julieta Ayala-Rodriguez, David Navarro-Duran, E. López-Caudana
{"title":"Model approximation of an arm of the NAO™ robot using system identification","authors":"Enrique Jimenez-Vazquez, Julieta Ayala-Rodriguez, David Navarro-Duran, E. López-Caudana","doi":"10.1109/ICA-SYMP50206.2021.9358430","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358430","url":null,"abstract":"This paper proposes a methodology to obtain a model approximation for the SoftBank NAO™ robot. It is worth to stress that the NAO™ robot is a closed commercial platform, namely, most of the parameter values are not available. Then, to improve the knowledge about dynamic behavior and to carry out further analysis, a mathematical model is necessary. The identification is achieved by basic knowledge form undergraduate control engineering courses, such as system identification, classic control, state space and robot dynamics. Model identification allow us to obtain unknown parameters of a first-order approximation of the mechanical dynamics for the NAO™ robotic arm. Additionally, a theoretical dynamic model is obtained by means of the Euler-Lagrange approach. Both viewpoints are complemented in order to compute the missing model parameters and to obtain a satisfactory approach. This demonstrates that even simple models can replicate without significant error the system dynamics","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125677377","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
Investigation of Contact Angles of SnAgCu Solder Paste Mixed with Graphene Oxide Using Digital Holography Technique 用数字全息技术研究氧化石墨烯混合SnAgCu锡膏的接触角
2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP) Pub Date : 2021-01-20 DOI: 10.1109/ICA-SYMP50206.2021.9358245
K. Jongjinakool, T. Prakobsang, S. Plaipichit, K. Kanlayasiri, M. Kitiwan, P. Buranasiri
{"title":"Investigation of Contact Angles of SnAgCu Solder Paste Mixed with Graphene Oxide Using Digital Holography Technique","authors":"K. Jongjinakool, T. Prakobsang, S. Plaipichit, K. Kanlayasiri, M. Kitiwan, P. Buranasiri","doi":"10.1109/ICA-SYMP50206.2021.9358245","DOIUrl":"https://doi.org/10.1109/ICA-SYMP50206.2021.9358245","url":null,"abstract":"Since lead is a pollutant to the environment, therefore lead-free solder paste compounds have been interested in many research teams. The objective of this research is the investigation properties of solder paste with graphene oxide and reduced graphene oxide. In our experimental method the solder pastes of SnAgCu mixed with graphene oxide with bad electrical conductivity at different concentration by weight of 0.00%, 0.05%, 0.1% and 0.2% respectively. Subsequently, the shape changes of the compounds have been investigated by using digital in-line holography using laser diode wavelength 635 nm as the light source. The solder paste compounds were melted at $250pm 5^{ circ} C$ and were recorded for every 5 seconds. Then, the contact angles of the melted solder paste compound have been determined using their digital holographic reconstructed images.","PeriodicalId":147047,"journal":{"name":"2021 Second International Symposium on Instrumentation, Control, Artificial Intelligence, and Robotics (ICA-SYMP)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125680201","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
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