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2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)最新文献

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Path Planning Based on Mixed Algorithm of RRT and Artificial Potential Field Method 基于RRT和人工势场法混合算法的路径规划
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570910
S. Huang
{"title":"Path Planning Based on Mixed Algorithm of RRT and Artificial Potential Field Method","authors":"S. Huang","doi":"10.1109/IRCE53649.2021.9570910","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570910","url":null,"abstract":"Aiming at the problems of random sampling and low efficiency of the path planning algorithm of rapidly-exploring random trees (RRT), an improved algorithm combined with the artificial potential field method (APF) is proposed. This method first introduces a probability value in the expansion step of the random tree in the basic RRT algorithm to speed up the convergence of the random tree to the target node and adds a gravitational component to the random tree to guide the tree to grow towards the target point to speed up the search process. Establish a repulsion field around obstacles to limit the search area between obstacles and reduce the randomness of the path. In this research, in addition to the RRT algorithm, the RRT* algorithm will also be used for improvement. The simulation experiment results show that the proposed method is significantly optimized in time, path length and the number of iterations.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122840860","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: 6
Research on Application of Handle System in the Industrial Internet 处理系统在工业互联网中的应用研究
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570920
Yang‐Cheng‐Kuang Chen, Zhongbin Zheng, Song Luo, Shiqiang Li
{"title":"Research on Application of Handle System in the Industrial Internet","authors":"Yang‐Cheng‐Kuang Chen, Zhongbin Zheng, Song Luo, Shiqiang Li","doi":"10.1109/IRCE53649.2021.9570920","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570920","url":null,"abstract":"The Handle protocol has the technical advantages of general efficiency, safety, reliability, and autonomous control in processing digital object identification. The Handle system built on the basis of this protocol can digitize, identify, and network physical objects. It provides an infrastructure-level technical solution for the interconnection of industrial objects in the Industrial Internet. At present, the Handle system has become to the mainstream identifier resolution technology of the Industrial Internet, and the industrial internet identifier resolution system constructed from this has become to an important part of the industrial internet system architecture. Additionally, this paper analyzes and researches its application such as supply chain collaboration, product traceability and maintenance of equipment based on the identifier resolution system constructed by the Handle system.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128196659","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
Human Digital Twin—Enabling Human-Agents Collaboration 人类数字孪生-实现人类代理协作
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570890
W. Hafez
{"title":"Human Digital Twin—Enabling Human-Agents Collaboration","authors":"W. Hafez","doi":"10.1109/IRCE53649.2021.9570890","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570890","url":null,"abstract":"Smart environments, such as Industry 4.0 or smart cities, are based on digital technologies that collect large amounts of data and artificial intelligence applications—or agents—to analyze this data and optimize various operational aspects of the environment. However, any intelligent environment must include humans. In this case, the interactions between humans and agents, referred to as human-agent interaction (HAI), will occur in complex arrangements involving multiple humans and agents interacting concurrently along with various scenarios. Agents’ ability to learn and perform their tasks is contingent on some degree of consistency in their interactions with humans. A lack of such consistency would jeopardize their learning and performance. It is thus necessary to integrate humans and agents across the entire environment consistently. Assuming that HAI is a complex system, the paper argues that ensuring HAI consistency can be achieved by deploying a new class of agents devoted to managing human-agent interactions, the Human Digital Twin (HDT). The proposed HDTs are placed alongside each human in the HAI environment to observe and learn about their interaction patterns and then use them to ensure HAI consistency.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128844035","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
Intelligent Explosive Ordnance Disposal UAV System Based on Manipulator and Real-Time Object Detection 基于机械臂和实时目标检测的智能排爆无人机系统
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570974
Han-Sheng Wu, L. Jiang, Xuancen Liu, Jie Li, Yue-neng Yang, Shifeng Zhang
{"title":"Intelligent Explosive Ordnance Disposal UAV System Based on Manipulator and Real-Time Object Detection","authors":"Han-Sheng Wu, L. Jiang, Xuancen Liu, Jie Li, Yue-neng Yang, Shifeng Zhang","doi":"10.1109/IRCE53649.2021.9570974","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570974","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) has a broad application prospect in explosive ordnance disposal (EOD) operations, due to the excellent mobility in complex terrain. In this paper, an intelligent air-to-ground EOD system based on a multi-rotor UAV platform with a mechanical manipulator device is proposed. The detection of grenade models in complex environments is achieved by using a gimbaled camera, which adopts the object detection method based on Yolov3-tiny framework. The mechanical manipulator is composed of a 4-DoF robotic arm and a terminal flexible gripper, which is designed to achieve visual-based manipulation. The configuration can adjust pose autonomously to get close to the target and adaptively grasp objects of different physical characteristics. The proposed system is verified by grenade detection tests and grasping experiment in outdoor environment.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123136247","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
A Hybrid Network Model Based on the Construction of Virtual Service Areas for Taxi Demand Prediction 基于虚拟服务区构建的出租车需求预测混合网络模型
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570927
Xin Liu, Li-min Guo, Bolin Yang
{"title":"A Hybrid Network Model Based on the Construction of Virtual Service Areas for Taxi Demand Prediction","authors":"Xin Liu, Li-min Guo, Bolin Yang","doi":"10.1109/IRCE53649.2021.9570927","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570927","url":null,"abstract":"With the development and progress of smart cities, ride-hailing have high passenger demand because of high spatial and temporal flexibility. However, when ride-hailing platforms dispatch vehicles, it finds that lots of vehicles wandering areas with no demand and areas with passenger demand have no service vehicles, resulting in increased vehicle costs, reduced benefits, and increased passenger waiting times. To solve this problem, it is necessary to accurately predict high demand areas to guide service vehicles to converge to these areas earlier, which helps to balance the demand and supply of the ride-sharing platform. Therefore, we propose a hierarchical clustering application algorithm based on distance and density (HDDCA) to construct virtual service areas, and a hybrid network based convolutional and time-series models is used for demand prediction. To improve the prediction accuracy, the correlation between virtual service areas is explored and used as the input of the prediction model to predict the demand for different virtual service areas in the next interval. In addition, the attention mechanism is also used to capture external factors with different weights. In this paper, experiments are conducted on the travel data set of Haikou City in 2017, and the results show that the prediction accuracy of this method is better than that of some typical models and existing deep neural network models, which validates the effectiveness.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131070851","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
Fault Diagnosis of Gearbox Based on Digital Twin Concept Model 基于数字孪生概念模型的齿轮箱故障诊断
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570997
Jiao Hu, N. Hu, Peng Luo, Yi Yang
{"title":"Fault Diagnosis of Gearbox Based on Digital Twin Concept Model","authors":"Jiao Hu, N. Hu, Peng Luo, Yi Yang","doi":"10.1109/IRCE53649.2021.9570997","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570997","url":null,"abstract":"This paper presents a simulation model of the digital twin concept applied in fault diagnosis of gear system. The frequencies of vibration response of the gearbox are complicated due to the amplitude and frequency modulation caused by the gear fault, and the empirical formula is usually used to replace the fault excitation when studying the fault. The digital twin based on multi-physical fields and multi-scale parameters is introduced into health state maintenance of gearbox due to its high-fidelity behavior simulation characteristics and excellent virtual space visualization. In this paper, a digital twin concept model of a gear system with internal fault excitation is proposed to study the typical fault mechanism. The results show that the digital twin model can effectively reveal the fault mechanism and dynamic properties of the gearbox with a broken tooth, providing effective technical support for health state monitoring and remaining useful life prediction in the follow-up.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"281 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132448169","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 Novel Human Lower Limb Simulation Test System for Gravity-Counteracting Exoskeletons 一种新型抗重力外骨骼人体下肢模拟试验系统
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570893
Jingshuo Gao, Yongqing Zhang, Jianbin Liu
{"title":"A Novel Human Lower Limb Simulation Test System for Gravity-Counteracting Exoskeletons","authors":"Jingshuo Gao, Yongqing Zhang, Jianbin Liu","doi":"10.1109/IRCE53649.2021.9570893","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570893","url":null,"abstract":"The paper presents a novel human lower limb simulation test system, which can be used to replace real human lower limb in experiment and evaluate performance of lower limb exoskeletons, especially gravity-counteracting exoskeletons. Based on wire driving, the test system can simulate the rotation of the hip joint and knee joint of human lower limb to realize the simulation of human gait, which can provide more reliable and safer test conditions compared with human-involved tests. Employing the test system, offsetting efficiency can be obtained from the perspective of energy consumption. A human lower limb simulation test system prototype was designed and manufactured accordingly. Experiment results validate the proposed method and show huge potential for multiple exoskeleton test.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114420438","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
HiCOMEX: Facial Action Unit Recognition Based on Hierarchy Intensity Distribution and COMEX Relation Learning 基于层次强度分布和COMEX关系学习的面部动作单元识别
2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE) Pub Date : 2021-09-18 DOI: 10.1109/IRCE53649.2021.9570872
Ziqiang Shi, Liu Liu, Zhongling Liu, Rujie Liu, Xiaoyue Mi, Murase Kentaro
{"title":"HiCOMEX: Facial Action Unit Recognition Based on Hierarchy Intensity Distribution and COMEX Relation Learning","authors":"Ziqiang Shi, Liu Liu, Zhongling Liu, Rujie Liu, Xiaoyue Mi, Murase Kentaro","doi":"10.1109/IRCE53649.2021.9570872","DOIUrl":"https://doi.org/10.1109/IRCE53649.2021.9570872","url":null,"abstract":"The detection of facial action units (AUs) has been studied as it has the competition due to the wide-ranging applications thereof. In this paper, we propose a novel framework for the AU detection from a single input image by grasping the Co-Occurrence and Mutual EXclusion (COMEX) as well as the intensity distribution among AUs. Our algorithm uses facial landmarks to detect the features of local AUs. The features are input to a bidirectional long short-term memory (BiLSTM) layer for learning the intensity distribution. Afterwards, the new AU feature continuously passed through a self-attention encoding layer and a continuous-state modern Hopfield layer for learning the COMEX relationships. Our experiments on the challenging BP4D and DISFA benchmarks without any external data or pre-trained models yield F1-scores of 63.7% and 61.8% respectively, which shows our proposed networks can lead to performance improvement in the AU detection task.","PeriodicalId":160003,"journal":{"name":"2021 4th International Conference on Intelligent Robotics and Control Engineering (IRCE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128779246","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
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