International Conference on Real-time Computing and Robotics最新文献

An optical system in solar-blind UV for corona discharge detection 一种用于日冕放电检测的紫外光学系统

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR.2016.7784047

Guohua Jiao, Yizhou Zhang, Yuming Dong, Yuanfu Lu, J. Lv

引用次数: 1

Auto-recognition Pedestrians Research Based on HOG Feature and SVM Classifier for Vehicle Images 基于HOG特征和SVM分类器的车辆图像行人自动识别研究

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR49640.2020.9303268

Yunsheng Li, Jie Cao, Xuewen Chen, Feng Zhao, Jingling Li

引用次数: 1

Locust-inspired jumping robot with the initial jumping posture control 蝗虫启发的跳跃机器人，具有初始跳跃姿态控制

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR.2016.7784097

Diansheng Chen, Kewei Chen, Ziqiang Zhang, Min Wang

{"title":"Locust-inspired jumping robot with the initial jumping posture control","authors":"Diansheng Chen, Kewei Chen, Ziqiang Zhang, Min Wang","doi":"10.1109/RCAR.2016.7784097","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784097","url":null,"abstract":"To improve the jumping performance, this paper presents a locust-inspired jumping robot with initial body posture adjustment and self-righting mechanisms. A segmental gear, stretching and triggering the spring for storage and rapid release of energy, is used for the jumping mechanism. A pair of front legs driven by an additional motor is used for the initial body posture adjustment. Furthermore, a pole leg is added to the jumping legs to perform the self-righting mechanism. Therefore, the robot can recover its body from the upside down posture on the ground and simultaneously recover the jumping legs and store energy. Experimental results indicate that the jumping robot with the size of 12 cm × 8 cm × 2.9 cm and 300 g weight can jump across the obstacle with the controlled trajectory. The initial body posture can range from 0 deg to 60 deg and will up to 90 deg when stretch the length of forelegs. Furthermore, the robot can recover its body posture on the ground and store the energy for the second jump within 3 s. Our work may provide reference for the further researches of taking-off posture control mechanisms.","PeriodicalId":169202,"journal":{"name":"International Conference on Real-time Computing and Robotics","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115394457","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

Real-time detection and localization using SSD method for oyster mushroom picking robot* 基于SSD方法的平菇采摘机器人实时检测与定位

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR49640.2020.9303258

Qian Yang, Jiacheng Rong, Pengbo Wang, Zhan Yang, C. Geng

{"title":"Real-time detection and localization using SSD method for oyster mushroom picking robot*","authors":"Qian Yang, Jiacheng Rong, Pengbo Wang, Zhan Yang, C. Geng","doi":"10.1109/RCAR49640.2020.9303258","DOIUrl":"https://doi.org/10.1109/RCAR49640.2020.9303258","url":null,"abstract":"Mushroom picking robot could significantly decrease the labor cost during production process. As well as humans, robots need to know what the mushroom is, where it is, and finally harvest it. This paper proposes an accurate and real-time capable object detection and localization approach for the use on oyster mushroom picking robot. Detection information of a neural network is combined with depth information from a RGB-D camera, which is mounted on the picking robot platform. The SSD object detection algorithm is used as convolutional neural network. In order to find the detected object in the 3D environment, the depth image based on binocular and structured light principles is also used to locate the precise position. In the evaluation part, the labelled images (4000 training, 300 validation and 300 test) of this study are tested. The results of picking robot experiments in the greenhouse showed that the recognition FI score of oyster mushroom had reached 0.951, and the 3D localization error of the vision system was only 2. 43mm, which guarantee the real-time performance and positioning requirements of oyster mushroom picking robots.","PeriodicalId":169202,"journal":{"name":"International Conference on Real-time Computing and Robotics","volume":"165 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115696022","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: 4

Analysis of Wireless Electromagnetic Wave Propagation Mechanism for Coal Mine Rescue Robot 煤矿救援机器人无线电磁波传播机理分析

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR.2018.8621677

Xusheng Xue, Kun Ma, H. Ma, W. Shang, Hongwei Fan

{"title":"Analysis of Wireless Electromagnetic Wave Propagation Mechanism for Coal Mine Rescue Robot","authors":"Xusheng Xue, Kun Ma, H. Ma, W. Shang, Hongwei Fan","doi":"10.1109/RCAR.2018.8621677","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621677","url":null,"abstract":"The wireless data transmission technology is an important part of improving the coal mine communication technology in underground. It is the realization of the wireless data signal transmission under the strong electromagnetic, closed and changeable environment, which becomes the important safeguard of the coal mining operation. In this paper, by using numerical simulation tools, a wireless electromagnetic wave transmission model for underground mine is established, and the mechanism of wireless electromagnetic wave transmission in complex environment is revealed. We study the attenuation characteristics of electromagnetic wave, visual wave propagation, surrounding rock roughness, dust and so on. Simulation results show that wireless electromagnetic channel transmission loss is very large under the influence of the roadway space, the walls roughness, the dust concentration and other non ideal environmental factors. According to the study, the change law of total attenuation loss of wireless communication channel is obtained, which provides a reliable basis for establishing and optimizing the wireless communication system of underground mine.","PeriodicalId":169202,"journal":{"name":"International Conference on Real-time Computing and Robotics","volume":"9 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131539917","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

Uncalibrated Image-Based Visual Servoing Control based on Image Occlusion using Dual Adaptive Strong Tracking Kalman Filter 基于双自适应强跟踪卡尔曼滤波的图像遮挡无标定视觉伺服控制

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR52367.2021.9517372

Xiaolin Ren, Hongwen Li

引用次数: 0

A Control Scheme for Teleoperation Robot Arms Based on Markov Jump Systems with Time-delay 基于时滞马尔可夫跳跃系统的遥操作机械臂控制方案

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR54675.2022.9872235

Yiwei Zhao, Junhua Gu, Hongxian Li

引用次数: 0

A Structural-Dynamic-Modeling Method for Long Cantilever Beam 长悬臂梁的结构动力学建模方法

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR49640.2020.9303328

Yufei Zhao, Ke Li, Zhongzhe Zhang, Yanbo Wang, Pengyu Jie, Yuhao Meng, Y. Lou

{"title":"A Structural-Dynamic-Modeling Method for Long Cantilever Beam","authors":"Yufei Zhao, Ke Li, Zhongzhe Zhang, Yanbo Wang, Pengyu Jie, Yuhao Meng, Y. Lou","doi":"10.1109/RCAR49640.2020.9303328","DOIUrl":"https://doi.org/10.1109/RCAR49640.2020.9303328","url":null,"abstract":"In order to effectively suppress the fatigue failure of the long cantilever beam structure at the distal connection when it is subjected to periodic vibrations continuously from the fixed end, and to protect the cantilever beam structure, it is necessary to apply an active vibration suppression control algorithm for auxiliary support mechanism held at the far connection. To this end, the cantilever beam structure dynamic modeling is proposed, which provides a model basis for the control algorithm analysis, parameter design and research. Based on the analysis of the Euler-Bernoulli beam vibration model and the flexible foundation simplified model, the differential vibration equation of the cantilever beam with the flexible foundation at the auxiliary support point is derived from the periodic vibration signal input at the fixed end, and the structural deduction is consistent with the actual structural dynamics model. Through calculation and simulation, the dynamic response of the flexible foundation cantilever beam is obtained and the accuracy of the model is confirmed. Therefore, it provides an effective modeling solution for the long cantilever beam structure and has certain reference significance for the vibration suppression of the manipulator with flexible foundation.","PeriodicalId":169202,"journal":{"name":"International Conference on Real-time Computing and Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130635600","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

Simplification of Dynamic Equations of a Nonholonomic Motion Transfer Mechanism 非完整运动传递机构动力学方程的简化

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR52367.2021.9517569

Yong Wang, Jin-Ping Cui, Jing Xiao, Huailing Zhang

引用次数: 0

Stability analysis of a mobile health care robot 移动医疗机器人的稳定性分析

International Conference on Real-time Computing and Robotics Pub Date : 1900-01-01 DOI: 10.1109/RCAR.2016.7784096

Diansheng Chen, Sitong Lu, Xuanxuan Luo, Min Wang

引用次数: 2