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2015 6th International Conference on Automation, Robotics and Applications (ICARA)最新文献

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Spatial probability distribution for port planning in minimal invasive robotic surgery (MIRS) 微创机器人手术(MIRS)中港口规划的空间概率分布
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081148
Jessica Hutzl, H. Wörn
{"title":"Spatial probability distribution for port planning in minimal invasive robotic surgery (MIRS)","authors":"Jessica Hutzl, H. Wörn","doi":"10.1109/ICARA.2015.7081148","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081148","url":null,"abstract":"In minimal invasive robotic surgery (MIRS) port placement has a particular status accounted for joint limits of the robots. The port depicts a pivot point so that the robots movement is constraint by reducing its degrees of freedom (DOF). Additionally the workspace of reachable points is limited by the instrument length and the robots' flexibility. Our approach for optimizing the port position and evaluate the robots' performance uses a knowledge base, represented by trajectories, to generate a master trajectory of a specific operation type. Therefor a cluster algorithm is applied to establish a Markov model. To handle loops a second order Markov model is created as well. With the help of the each trajectory a transition matrix is build. By combining the most likely transitions of the clusters the chain is generated, giving a rough approximation of a master trajectory. A spatial probability distribution can be calculated for each point by discretization. Therefor, only the relevant clusters, respectively their points, are taken in account. This reflects the probability of a predicted direction by a specific point, which allows a more precise preparation of a master trajectory. After a workspace analysis of the robot it is possible to combine the knowledge of the robot's workspace and the trajectory of interest. By means of selected evaluation factors the robot's performance with a given pivot point is analyzed.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124858832","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
Immersive teleoperation of a robot arm using electro-tactile feedback 使用电触觉反馈的机器人手臂的沉浸式远程操作
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081164
D. Pamungkas, K. Ward
{"title":"Immersive teleoperation of a robot arm using electro-tactile feedback","authors":"D. Pamungkas, K. Ward","doi":"10.1109/ICARA.2015.7081164","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081164","url":null,"abstract":"Teleoperation can allow an operator to control a robot remotely in inaccessible and hostile places. To achieve more dexterous control of a tele-operated robot some researchers are developing user interfaces equipped with vision and tactile feedback. 3D visual perception and tactile feedback can also assist the operator to feel immersed in the robot's environment and embodied within the robot to some extent. Most existing tactile feedback systems use electro-mechanical actuators and linkages. However, these systems are complex, cumbersome and consequently make it difficult for the operator feel embodied within the robot. To improve on these drawbacks, this paper introduces an immersive teleoperation system comprised of a 3D stereo vision head set combined with an electro-tactile feedback system. Our electro-tactile feedback system is compact, nonmechanical and versatile. Experimental results are provided which show how this form of immersive 3D perception and tactile feedback system can enable the user to achieve more dexterous control of a robot arm by enabling the operator to effectively see what robot sees and experience what the robot feels while performing work with the robot.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"473 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127006327","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: 18
Stability control for manipulator space capture by using Particle Swarm Optimization based on distributed controllable dampers 基于分布式可控阻尼器的粒子群优化机械臂空间捕获稳定性控制
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081211
Zhang Yi-chi, Chu Ming, Sun Han-xu, Dong Zheng-hong
{"title":"Stability control for manipulator space capture by using Particle Swarm Optimization based on distributed controllable dampers","authors":"Zhang Yi-chi, Chu Ming, Sun Han-xu, Dong Zheng-hong","doi":"10.1109/ICARA.2015.7081211","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081211","url":null,"abstract":"The capture of space floating target tends to excite the oscillation of the manipulator's base. In this paper, a multi-dof manipulator with controllable damper in all the joints is proposed to realize the stability control for the base. Firstly, the general dynamical equations including the controllable damping matrix are established by using Kane method. Then, the Particle Swarm Optimization (PSO) is employed to calculate the optimal damping torques of all the dampers, which are used to consume the collision energy. The numerical experiments for a two-joint manipulator space capture with four-dof controllable dampers are researched to validate the effectiveness. The simulation results show that the proposed method can significantly reduce base attitude changes and vibration to ensure stabilization.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"194 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115645880","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
A new motors fault tolerance control strategy to 4WID electric vehicle 一种新的四驱电动汽车电机容错控制策略
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081119
H. Qiu, Z. Qi
{"title":"A new motors fault tolerance control strategy to 4WID electric vehicle","authors":"H. Qiu, Z. Qi","doi":"10.1109/ICARA.2015.7081119","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081119","url":null,"abstract":"Four wheels independent driving (4WID) electric vehicle uses four motors. if some motors get faults, the whole vehicle would loss the stability to cause casualties. To solve the problem mentioned above, the fault tolerance control strategy of two motors of the 4WID electric vehicle running in straight line was studied and solved in this paper. The two-motor-fault modes were listed in all its aspects and the mathematic models of seven degrees of freedom were established. To achieve a good driving stability and dynamic characteristic with motors in failure state, the motors fault tolerance control strategies were proposed based on the performance of the 4WID electric vehicle and simulated by MATLAB/Simulink. The results show that the control strategies for torque re-allocation with motors in failure states can meet the designed demands, which provides a basis for the designing of whole vehicle's control strategy of the 4WID electric vehicle.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129614029","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
Towards automatic colour segmentation for robot soccer 机器人足球颜色自动分割的研究
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081195
D. Bailey, M. Contreras, G. S. Gupta
{"title":"Towards automatic colour segmentation for robot soccer","authors":"D. Bailey, M. Contreras, G. S. Gupta","doi":"10.1109/ICARA.2015.7081195","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081195","url":null,"abstract":"Tuning the colour thresholds within robot soccer is laborious, and sensitive to changes in illumination. An algorithm for automatic gain control and white balancing within the camera is described. This significantly reduces the effects of the variations in lighting on the thresholds. Next, a new colour space is proposed which maximises the hue separation of the different coloured regions to improve the colour discrimination. Finally several automatic segmentation techniques are briefly discussed. All of the algorithms are designed to operate on data directly streamed from the camera, enabling a low latency FPGA implementation.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"767 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123003585","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
Application of a commodity smartphone for fall detection 一种用于跌倒检测的商用智能手机的应用
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081198
T. Dinh, M. Chew
{"title":"Application of a commodity smartphone for fall detection","authors":"T. Dinh, M. Chew","doi":"10.1109/ICARA.2015.7081198","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081198","url":null,"abstract":"This paper presents a low-cost fall detection solution based on the use of a commodity smartphone. By collecting, processing and analyzing in real-time signals collected from the smartphone built-in sensors (tri-axis accelerometer and tri-axis gyroscope), the device is able to differentiate a genuine fall occurrence from routine motions of normal daily activities. This enables to generate an immediate alert to a caretaker (such as healthcare personnel, a family member or helper) if a monitored person falls.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128281556","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: 10
Design and implementation of a wireless sensor network for rose greenhouses monitoring 玫瑰大棚监测无线传感器网络的设计与实现
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081156
Mayra Erazo-Rodas, David Rivas, Milton Perez, Omar Galarza-Barrionuevo, Victor Bautista, Mónica Huerta, J. Rojo-álvarez
{"title":"Design and implementation of a wireless sensor network for rose greenhouses monitoring","authors":"Mayra Erazo-Rodas, David Rivas, Milton Perez, Omar Galarza-Barrionuevo, Victor Bautista, Mónica Huerta, J. Rojo-álvarez","doi":"10.1109/ICARA.2015.7081156","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081156","url":null,"abstract":"This work presents the design and implementation of a wireless sensor network, by using the ZIGBEE communication standard, for system monitoring on watering, climate control, and lighting on rose greenhouses. Our aim was to develop a remote and low-cost supervision system, for providing farmers in small and medium enterprises in the flower-growing sector with the possibility of continuous follow-up of greenhouses and immediate corrective actions on them, hence improving the productivity. Our results show that after three months of the network deployed and being operative on an Ecuadorian greenhouse, climate changes impact on the rose quality and diseases were dramatically reduced.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"55 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128358665","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: 23
Decentralized formation control of quadcopters using feedback linearization 基于反馈线性化的四轴飞行器分散编队控制
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2015-02-01 DOI: 10.1109/ICARA.2015.7081205
A. Mahmood, Yoonsoo Kim
{"title":"Decentralized formation control of quadcopters using feedback linearization","authors":"A. Mahmood, Yoonsoo Kim","doi":"10.1109/ICARA.2015.7081205","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081205","url":null,"abstract":"This paper proposes a decentralized formation control scheme for a group of quadcopters using feedback linearization. Unlike most of the existing works that involve a complex design of nonlinear formation control laws, this work simplifies the design to yield an almost linear control law for under-actuated nonlinear quadcopters. In fact, a singularity-free dynamic inversion scheme is utilized such that the quadcopter dynamics can be treated as a linear system. Consequently, a linear formation control law can be designed for the resulting linear system to achieve desired positions and an identical heading angle through local information exchanges only. Although the present work considers quadcopter dynamics only, the proposed methodology can also be directly applied to attitude synchronization problems arising in space and robotic applications.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127301978","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: 10
A view-based method for local homing of unmanned rotorcraft 一种基于视角的无人旋翼机局部寻的方法
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 1900-01-01 DOI: 10.1109/ICARA.2015.7081189
Aymeric Denuelle, Saul Thurrowgood, F. Kendoul, M. Srinivasan
{"title":"A view-based method for local homing of unmanned rotorcraft","authors":"Aymeric Denuelle, Saul Thurrowgood, F. Kendoul, M. Srinivasan","doi":"10.1109/ICARA.2015.7081189","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081189","url":null,"abstract":"This paper describes a novel view-based method using panoramic images to perform local homing in outdoor environments. This holistic algorithm makes uses of difference images (in relation to a reference snapshot) to build an image reference frame centred at the home position. The currently experienced view at any local position is then projected onto this reference frame to determine the image coordinates and the homing vector. We present here results obtained in a simulated environment as well as from static outdoor tests. The biologically inspired algorithm described in this study is a feasible alternative to the local homing schemes that strongly rely on odometry or landmark extraction, making it therefore well suited for implementation onboard unmanned aerial vehicles.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"38 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":"130970182","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: 11
An efficient solution method for multibody systems with loops using multiple processors 多处理机环多体系统的一种有效求解方法
2015 6th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 1900-01-01 DOI: 10.1109/ICARA.2015.7081187
T. Ghosh, L. Nguyen, L. Quiocho
{"title":"An efficient solution method for multibody systems with loops using multiple processors","authors":"T. Ghosh, L. Nguyen, L. Quiocho","doi":"10.1109/ICARA.2015.7081187","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081187","url":null,"abstract":"This paper describes a multibody dynamics algorithm formulated for parallel implementation on multiprocessor computing platforms using the divide-and-conquer approach. The system of interest is a general topology of rigid and elastic articulated bodies with or without loops. The algorithm divides the multibody system into a number of smaller sets of bodies in chain or tree structures, called “branches” at convenient joints called “connection points”, and uses an Order-N (O (N)) approach to formulate the dynamics of each branch in terms of the unknown spatial connection forces. The equations of motion for the branches, leaving the connection forces as unknowns, are implemented in separate processors in parallel for computational efficiency, and the equations for all the unknown connection forces are synthesized and solved in one or several processors. The performances of two implementations of this divide-and-conquer algorithm in multiple processors are compared with an existing method implemented on a single processor.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"13 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":"130372652","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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