2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)最新文献

Analysis and Design of Direct Yaw-Moment Control for Distributed Drive Electric Vehicles Considering Replay Attacks 考虑重放攻击的分布式驱动电动汽车直接偏航力矩控制分析与设计

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240318

Wanke Cao, Xingfu Shen, Heping Ling

{"title":"Analysis and Design of Direct Yaw-Moment Control for Distributed Drive Electric Vehicles Considering Replay Attacks","authors":"Wanke Cao, Xingfu Shen, Heping Ling","doi":"10.1109/ACIRS58671.2023.10240318","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10240318","url":null,"abstract":"In this paper, the lateral motion control problem of distributed drive electric vehicles (DDEVs) under the coupling effects of large random attack-induced delays is studied. The external interface assembled in intelligent connected vehicles (ICVs) makes the in-vehicle controller area network (CAN) more vulnerable to cyber-attack, which negatively impact real-time control performance and stability. Based on the notion of multi-hop loop delay, the delay composition of direct yaw-moment control (DYC) under replay attack is analyzed in detail and its upper bound formula is derived based on reasonable analysis. Furthermore, the polytopic inclusion technique based on Tylor series expansion is used to describe network uncertainty, and a delay-tolerant linear quadratic regulator (LQR) method based on $H_{infty}$ is adopted for robust tracking control. Finally, simulation results based on hardware-in-loop (HIL) experiment indicate that proposed analysis and control scheme can deal with the negative effects of replay attack and ensure reliable vehicle dynamics performance.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125885329","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

Hand Gesture Wheelchair Control Based on the Wrist Rotation with Agglomerative Hierarchical Clustering Method 基于聚合层次聚类方法的手腕旋转轮椅手势控制

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10239686

M. Rusydi, Yuli Afmi, Ropita Sari, Adam Jordan, Fiqi Rahmadani, Hermawan Nugroho, A. W. Setiawan

{"title":"Hand Gesture Wheelchair Control Based on the Wrist Rotation with Agglomerative Hierarchical Clustering Method","authors":"M. Rusydi, Yuli Afmi, Ropita Sari, Adam Jordan, Fiqi Rahmadani, Hermawan Nugroho, A. W. Setiawan","doi":"10.1109/ACIRS58671.2023.10239686","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10239686","url":null,"abstract":"A person with disabilities is in a state of self-limitation, which can be physical, cognitive, mental, sensory, emotional, and other, so they need assistive devices. A wheelchair is a tool used to help people with walking difficulties. The use of conventional wheelchairs and electric wheelchairs with a joystick is uncomfortable for a person who has a problem with fingers and toes. This study provides an alternative method to control an electric wheelchair using wrist rotation to solve the limitations of conventional wheelchairs and enhances mobility for individuals without fingers. Two flex sensors and one gyro sensor is attached to the hand to detect five wrist rotation for forward, backward, turn right, turn left, and normal (stop). An Agglomerative Hierarchical Clustering (AHC) is implemented to recognize the wrist rotation. There are 450 training data for each wrist rotation with 100% accuracy. The developed algorithms is tested for real implementation with six adults operating the wheelchair along the trajectory. The result shows that this method is available to control the electric wheelchair. Finally, this intelligent electric wheelchair system controlled by wrist rotation based on the AGHC method can be used as an alternative to help persons with a disability in moving, especially those with problems with their fingers.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115525751","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

Magnetic-Optical Hybrid Actuated Soft Actuator for Adjustable Robotic Application 用于可调机器人的磁光混合驱动软驱动器

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10239935

Xiyue Cui, Qiliang Dong, Wenkun Huang, Siyang Chen, Weilin Zhang, Jincheng Li, Yuanyuan Yang

{"title":"Magnetic-Optical Hybrid Actuated Soft Actuator for Adjustable Robotic Application","authors":"Xiyue Cui, Qiliang Dong, Wenkun Huang, Siyang Chen, Weilin Zhang, Jincheng Li, Yuanyuan Yang","doi":"10.1109/ACIRS58671.2023.10239935","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10239935","url":null,"abstract":"Recently, the development of soft robots has become increasingly rapid, resulting in a more diverse demand for soft actuators. However, many existing soft actuators are powered by a single source, which greatly limits their functionality and application scenarios. The application of multiple sources to control soft actuators to develop new functions and more application scenarios is of great importance. Herein, we propose a hybrid magnetically and optically responsive actuator, which is composed of GO/PDMS-Fe3O4 NPs bilayer film. The magnetic actuation relies on the embedded Fe3O4 NPs and the light actuation works due to the photothermal effect of GO and the thermal expansion/ water desorption of PDMS/ GO. The developed actuator exhibits high-efficiency actuation in both optical and magnetic field. Experiments are carried to demonstrate the superiority of the hybrid actuation, including the motion of soft actuator on glass surface and obstacle environment. The results suggest such hybrid actuating approach offer the soft actuator good flexibility and adjustability in different terrains, showing great potential for the diverse robotic applications.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125863292","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

Hydrodynamic Characteristics of Manta Ray-Inspired Robot 蝠鲼启发机器人的流体动力学特性

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10239843

Aihu Jia, Yuntao Guan, Zheming Zhuang, Longfei Du, Yunlong Fu, Xiaotong Wang, Jun Chen, Shaoqiong Yang

引用次数: 0

Application of Maneuvering Based Control for Autonomous Inspection of Aquaculture Net Pens 基于机动控制在水产养殖网栏自主检测中的应用

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10239708

Alexandre Cardaillac, H. B. Amundsen, Eleni Kelasidi, M. Ludvigsen

引用次数: 0

Navigation of Ground Robots with Reinforcement Learning 基于强化学习的地面机器人导航

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240285

Sharanya S, Divya Radhakrishna Varma, Ajay Paul

引用次数: 0

Absence-Free Vision: An Intelligent Classroom Attendance System with Facial Recognition 无缺勤视觉:基于人脸识别的智能课堂出勤系统

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240420

Samuel Velasquez Caceres, Eduardo Vilcahuaman Morales, Frank Zárate Peña

{"title":"Absence-Free Vision: An Intelligent Classroom Attendance System with Facial Recognition","authors":"Samuel Velasquez Caceres, Eduardo Vilcahuaman Morales, Frank Zárate Peña","doi":"10.1109/ACIRS58671.2023.10240420","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10240420","url":null,"abstract":"Attendance taking is a fundamental process in educational environments, but in Peru, there has been a lack of technological advancements in this area, resulting in disadvantages such as delays and human errors. Therefore, the objective of this research project is to propose a facial recognition system for attendance taking in university classrooms using cameras and artificial intelligence based on machine learning. To achieve this objective, the VDI 2206 design methodology is employed, which allows for establishing project requirements and conducting an initial design. Electronic models will be created and integrated into the proposed system. As a result, a detailed electrical diagram, a flowchart of the facial recognition process, a programming model for accurate student identification, and an implementation model in a real-world environment are expected to be obtained. The proposed system aims to optimize and streamline the attendance taking process in university classrooms, eliminating the need for manual intervention and minimizing errors. It is anticipated that this efficient and accurate solution will enhance academic management and the overall educational experience. In conclusion, this research project focuses on developing a facial recognition system for attendance taking in university classrooms within the Peruvian context. By utilizing advanced technologies and the VDI 2206 design methodology, the aim is to achieve an efficient and reliable system that optimizes the attendance taking process and contributes to an enhanced educational experience.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127442852","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

Systematic Optimization of Parameters for Adaptive Local Trajectory Planning Using Genetic Algorithm 基于遗传算法的自适应局部轨迹规划参数系统优化

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10239709

Jie Zhang, Marian Göllner, X. Liu-Henke, Thomas Vietor

引用次数: 0

Obstacle-Avoidance Path Planning of Robot Arm Based on Improved RRT Algorithm 基于改进RRT算法的机械臂避障路径规划

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240377

Chong Hu, Chunyang Mu, Ma Xing, C. Zhang, Wenya Zhou, Ke Yang

{"title":"Obstacle-Avoidance Path Planning of Robot Arm Based on Improved RRT Algorithm","authors":"Chong Hu, Chunyang Mu, Ma Xing, C. Zhang, Wenya Zhou, Ke Yang","doi":"10.1109/ACIRS58671.2023.10240377","DOIUrl":"https://doi.org/10.1109/ACIRS58671.2023.10240377","url":null,"abstract":"In the application of RRT (Rapidly-exploring Random Trees) algorithm in obstacle avoidance path planning of redundant robot arms in high-dimensional space, the sampling area of random sampling points is large, the search time is long, the path twists and turns, and the redundant points are too many. In this paper, an efficient sampling RRT algorithm with adaptive step size and fast automatic convergence is proposed. Firstly, by adding the optimized gravity function, the step size of the extended tree is changed adaptively and the convergence is stronger. Secondly, the limited sampling of parent node area expansion is proposed to avoid useless point sampling and repeated point sampling, so that the utilization of sampling points is greatly improved. Finally, by changing the way of parent node reconnection and re-selection, the path tortuous degree is lower, the path planning cost and redundancy points are reduced, and MATLAB software is used to carry out the path planning simulation experiment. By comparing RRT, gravitational field RTT and RRT* algorithm, the improved RRT algorithm has significantly improved in distance, time and number of nodes. It has important engineering application value.","PeriodicalId":148401,"journal":{"name":"2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131045380","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

Accuracy Analysis of Hybrid Mechanism for Aero-Engine Installation 航空发动机安装用混合动力机构精度分析

2023 8th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2023-07-07 DOI: 10.1109/ACIRS58671.2023.10240753

Jiawei Han, Jinwei Liu, Hongjie Du, Sijun Zhu

引用次数: 0