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2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)最新文献

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Text-frame classification 文本框的分类
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451630
Muhamad Jaliluddin Mazlan, Z. Ibrahim, Z. Kasiran
{"title":"Text-frame classification","authors":"Muhamad Jaliluddin Mazlan, Z. Ibrahim, Z. Kasiran","doi":"10.1109/IRIS.2015.7451630","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451630","url":null,"abstract":"Text-frame classification for video is important prior to text detection and recognition to ensure that the text detection and recognition process is being conducted only for frames that consist of text. Otherwise, detecting and recognizing text on non-text frames will lead to false positive where non-text objects may be mistakenly classified as text. In this paper, we investigate the use of texture features for classifying the frame as either consists of text or not. This is because text has a different texture compared to the non-text. An experimental evaluation on Histogram of Oriented Gradient (HOG) and Scale-Invariant Feature Transform (SIFT) with Support Vector Machine (SVM), K-Nearest Neighbor (KNN) and AdaBoost classifiers has been conducted on ICDAR2003 dataset. The result indicates that SIFT outperforms the existing features for text-frame classification and Adaboost is a better text-frame classifier compared to KNN and SVM.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126226659","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 real-time Model Based Visual Servoing application for a differential drive mobile robot using Beaglebone Black embedded system 基于Beaglebone Black嵌入式系统的差动移动机器人实时模型视觉伺服应用
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451609
I. Siradjuddin, S. P. Tundung, Agustien S. Indah, S. Adhisuwignjo
{"title":"A real-time Model Based Visual Servoing application for a differential drive mobile robot using Beaglebone Black embedded system","authors":"I. Siradjuddin, S. P. Tundung, Agustien S. Indah, S. Adhisuwignjo","doi":"10.1109/IRIS.2015.7451609","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451609","url":null,"abstract":"This paper presents a Model Based Visual Servoing (MBVS) control strategy for a differential drive mobile robot navigation using single camera attached on the robot platform. Four points image features are used to compute the angular velocities of the right wheel and the left wheel. The model based visual servoing scheme was simulated using visual servoing platform (ViSP) libraries. The simulation results show the effectiveness of the designed control law. The control law performances are measured both in the image space and in the control input space. The effectiveness of the MBVS has also been verified in real-time experiments using Beaglebone Black as the main hardware controller.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121449749","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: 15
Analytical design of low-cost wearable servo valve using buckled tubes 低成本可穿戴扣管伺服阀的解析设计
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451587
Keiichiro Koga, T. Akagi, S. Dohta, A. Nasir
{"title":"Analytical design of low-cost wearable servo valve using buckled tubes","authors":"Keiichiro Koga, T. Akagi, S. Dohta, A. Nasir","doi":"10.1109/IRIS.2015.7451587","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451587","url":null,"abstract":"Power assisted nursing care systems have received much attentions and those researches have been done actively. In such a control system, an actuator and a control valve are mounted on the human body. Designing the system, the size and weight of the valve become serious concerns. This paper presents a novel, low-cost and wearable servo valve using buckled tube. In the previous study, such a valve was proposed and tested. The analytical model of the valve was also reported. In this paper, the analytical design using the model is carried out. Pressure control performance of the valve is also estimated theoretically with various design parameters As a result, the suitable design parameters can be obtained from the simulation using the model of the valve.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133633618","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
Object tracking using SIFT and KLT tracker for UAV-based applications 目标跟踪使用SIFT和KLT跟踪无人机为基础的应用
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451588
Falah Jabar, Sajad Farokhi, U. U. Sheikh
{"title":"Object tracking using SIFT and KLT tracker for UAV-based applications","authors":"Falah Jabar, Sajad Farokhi, U. U. Sheikh","doi":"10.1109/IRIS.2015.7451588","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451588","url":null,"abstract":"In this paper, we propose a semi-automatic object tracking method based on a Scale Invariant Feature Transform (SIFT) and Kanade-Lucas-Tomasi (KLT) tracker. In our approach, the region of interest is specified by the user and then the interest points are detected. The tracker is then used to track the specified object in the consecutive frames. To overcome rapid changes of appearance, occlusion or disappearance from the camera view, we employ a forward-backward error compensation. Experimental results on VIVID dataset indicates that the proposed method has superior overall performance compared to more common methods in the field.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117246651","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
Robust optimal control for attitude tracking of hexarotor UAVs: Switching robust compensator approach 六旋翼无人机姿态跟踪的鲁棒最优控制:切换鲁棒补偿方法
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451577
Nurul Dayana Salim, Dafizal Derawi, H. Zamzuri, Mohd Azizi Abdul Rahman, K. Nonami
{"title":"Robust optimal control for attitude tracking of hexarotor UAVs: Switching robust compensator approach","authors":"Nurul Dayana Salim, Dafizal Derawi, H. Zamzuri, Mohd Azizi Abdul Rahman, K. Nonami","doi":"10.1109/IRIS.2015.7451577","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451577","url":null,"abstract":"This paper proposes a robust optimal control design for attitude tracking of hexarotor unmanned aerial vehicles (UAVs) in varying operating conditions subject to external disturbances under the presence of parametric uncertainties, nonlinear dynamics, and coupling. All these uncertainties are considered as equivalent disturbance in this paper. The proposed attitude controller is designed for pitch, roll, and yaw subsystems and it consists of a nominal optimal controller and switching robust compensator. The nominal optimal controller is based on linear quadratic regulator (LQR) control approach to achieve good tracking performance in nominal condition. The switching robust compensator is added in order to improve the attitude tracking performance due to the presence of equivalent disturbance where the amount of equivalent disturbance is changing dynamically. The simulation results prove that the switching robust compensator has ability to maintain the robustness in small and large amount of equivalent disturbance. It also prove that the attitude tracking errors are bounded in specified boundaries.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130574060","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 stack expansion technique for hardware stack in PIC18F devices 一种用于PIC18F硬件堆栈的堆栈扩展技术
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451607
Syh-Ren Tan, Syh-Yuan Tan
{"title":"A stack expansion technique for hardware stack in PIC18F devices","authors":"Syh-Ren Tan, Syh-Yuan Tan","doi":"10.1109/IRIS.2015.7451607","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451607","url":null,"abstract":"In this paper, we present a technique to break the size limit of hardware stack by expanding the limit to the size of RAM. Specifically, we enable PIC18F46K22 to support massive recursive operations with software accessible hardware stack. This approach can support programs which require stack size larger than the hardware stack provided in a 8-bit PIC microcontroller.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126959304","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
Modern practical application and research on teleoperated excavators control, feedback and perception issues in post disaster recovery operation 遥控挖掘机在灾后恢复作业中的控制、反馈和感知问题的现代实际应用与研究
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451608
Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin
{"title":"Modern practical application and research on teleoperated excavators control, feedback and perception issues in post disaster recovery operation","authors":"Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin","doi":"10.1109/IRIS.2015.7451608","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451608","url":null,"abstract":"This paper discusses the modern practical application and research on teleoperated excavators and related issues regarding the use of such system in high risk and dangerous post disaster recovery operation. We describe the issues of teleoperated excavator system, with respect to control strategy, feedback displays, perception, latency, master-slave technology and sustainability. Practical application in Japan for post disaster recovery operation and various research developments in unmanned and teleoperated construction system are also presented. The recent development in various disasters in Malaysia should enlighten the public and the government on the future direction in the advanced technology for disaster risk reduction and post disaster management in the country.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127526317","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: 8
Robotic cans surface inspection system based on shape features 基于形状特征的机器人罐面检测系统
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451623
Ehsan Ahanchian, S. M. S. Ahmad, M. Hanafi
{"title":"Robotic cans surface inspection system based on shape features","authors":"Ehsan Ahanchian, S. M. S. Ahmad, M. Hanafi","doi":"10.1109/IRIS.2015.7451623","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451623","url":null,"abstract":"Computer vision systems are one of the most widely used techniques in Automation and have been extensively used for industry automation. Industrial automation deals mainly with the automation of production, quality control and materials management processes. One trend is the increasing use of Machine vision to offer automatic inspection and robot guidance functions, while the other is a continued increase in the use of robots. The aim of this paper is to provide a robotic cans surface inspection system based on the shape. The proposed system is simple and user friendly yet accurate, uses Hu moment as a feature of detected shape in the image and compared to the range of acceptable Hu moment gained from training. It is composed of a camera attached to a PC with TCP/IP, image acquisition, analysis, and inspection implemented by Open CV Library for image processing. The method described in this paper checks on the statistical-based approaches for feature extraction such as moment feature as part of the final inspection system. Robotic arm is programed as a client server method to receive action and position from the PC, which carries out the image processing as well.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127533262","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
Design, simulation, and kinematic analysis of a manipulator-based 3D position tracking system 基于机械手的三维位置跟踪系统的设计、仿真和运动学分析
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451586
Muhaimin Mohd Fadzil, A. M. Faudzi, Mostafa Sayahkarajy, M. A. Shamsudin, D. Dewi, E. Supriyanto
{"title":"Design, simulation, and kinematic analysis of a manipulator-based 3D position tracking system","authors":"Muhaimin Mohd Fadzil, A. M. Faudzi, Mostafa Sayahkarajy, M. A. Shamsudin, D. Dewi, E. Supriyanto","doi":"10.1109/IRIS.2015.7451586","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451586","url":null,"abstract":"In recent decades, the use of three-dimensional ultrasound (3DUS) imaging of organs has been growing rapidly compared to its two-dimensional ultrasound (2DUS) type. The use of freehand technique in 3DUS system may help to improve the natural flexibility performance. To realize a 3DUS freehand imaging, a position tracking system which measures the US probe position in real time is added. The design, simulation, and analysis of a new 6 degree-of-freedom (6DOF) manipulator-based position tracking system for 3DUS probe are presented in this paper. The forward kinematics of the manipulator was calculated using the Denavit-Hartenberg (D-H) convention. The position of end-effector, which represented the US probe position, was then measured using the joint parameters. The mathematical equations were then verified using Robotic Toolbox in MATLAB as the simulation software. The results of both simulation and equation verified the validity of the kinematic equations.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116817515","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
Detection strategy for kidnapped robot problem in landmark-based map Monte Carlo Localization 基于地标的地图蒙特卡罗定位中被绑架机器人问题的检测策略
2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS) Pub Date : 2015-10-01 DOI: 10.1109/IRIS.2015.7451590
I. Bukhori, Z. Ismail, T. Namerikawa
{"title":"Detection strategy for kidnapped robot problem in landmark-based map Monte Carlo Localization","authors":"I. Bukhori, Z. Ismail, T. Namerikawa","doi":"10.1109/IRIS.2015.7451590","DOIUrl":"https://doi.org/10.1109/IRIS.2015.7451590","url":null,"abstract":"This paper proposes a new method to detect the kidnapped robot problem event in Monte Carlo Localization. The method is designed such that it can provide accurate detection in wide range of particles' convergence level and does not depend too much on the re-localization/recovery process. The proposed method combines the difference in particle's weight, maximum current weight, and difference in particles' standard deviation. The addition of these two parameters is believed to be superior to a pure maximum current weight parameter for kidnapping detection. A series of simulation tests are executed to prove it. These simulations show that the proposed method outperforms the maximum current weight parameter in terms of accuracy, ability to detect kidnapping during early stage of localization, and independency towards the success of the re-localization process.","PeriodicalId":175861,"journal":{"name":"2015 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)","volume":"67 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126773038","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: 16
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