The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent最新文献

Towards learning from demonstration system for parts assembly: A graph based representation for knowledge 面向零件装配演示系统的学习:基于图的知识表示

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-10-09 DOI: 10.1109/CYBER.2014.6917456

Yue Wang, R. Xiong, Longbin Shen, K. Sun, Jiafan Zhang, Liwei Qi

{"title":"Towards learning from demonstration system for parts assembly: A graph based representation for knowledge","authors":"Yue Wang, R. Xiong, Longbin Shen, K. Sun, Jiafan Zhang, Liwei Qi","doi":"10.1109/CYBER.2014.6917456","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917456","url":null,"abstract":"The industrial robot plays an increasingly important role in manufacturing industry, but it is limited by its high prerequisite of programming on users, which is time consuming and challenging. In this context, a mechanism enabling autoprogram of robot is desired. Learning from demonstration system (LDS) is one of systems that aim on this goal. In this paper, we present a graph based representation of knowledge called assembly graph (AG) to describe the knowledge on parts assembly, which is independent on specific workspace or robot. Based on this graph representation, a LDS framework is then proposed for parts assembly to enable knowledge transform and knowledge transfer. The former means that the knowledge on part assembly can be transformed from the human to the robot and the latter means that the knowledge can be transferred from the leaned computer to any other robots with other workspace. Besides, we present an implementation of this conceptual framework consisting of two stages including demonstration and execution. In demonstration stage, a human teacher shows the process of parts assembly, which is recorded by a camera system. The assembly relations are detected from images and represented by AG. It is solved by taking property of parts as well as the robot into consideration to obtain the precise pose of each part. By using the solution, the robot can assemble the parts as shown in demonstration in the execution stage. In the experiment, the building blocks are used for assembly. Our robot succeeds in assembling some building blocks together which is initially demonstrated by a human teacher.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"59 12","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113938176","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

A preliminary review on metrics for modular snake robots locomotion 模块化蛇形机器人运动指标的初步研究

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-10-09 DOI: 10.1109/CYBER.2014.6917521

L. Paez, Kamilo Melo

引用次数: 2

Towards a ranking approach for sensor services using primitive cognitive network process 基于原始认知网络过程的传感器服务排序方法

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-10-09 DOI: 10.1109/CYBER.2014.6917487

K. Yuen, Wei Wang

引用次数: 10

Integration of work operation and embodied multimodal interaction in task modeling for collaborative robot development 协同机器人开发任务建模中工作操作与多模态交互的集成

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-10-09 DOI: 10.1109/CYBER.2014.6917534

J. T. Tan, Keisuke Okuno, T. Inamura

引用次数: 2

An automated method to calibrate industrial robot kinematic parameters using Spherical Surface constraint approach 基于球面约束的工业机器人运动学参数自动标定方法

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917491

Yong Liu, Dingbing Shi, Jixiang Ding

引用次数: 10

Output regulation problem for linear time-delay systems 线性时滞系统的输出调节问题

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917474

Maobin Lu, Jie Huang

引用次数: 18

Webcam based non-contact real-time monitoring for the physiological parameters of drivers 基于网络摄像头的驾驶员生理参数非接触式实时监测

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917541

Qi Zhang, Guoqing Xu, Ming Wang, Yimin Zhou, WeiTing Feng

引用次数: 35

A chattering-free terminal sliding mode control of direct-drive PMSG for wind generation system 风力发电系统直接驱动PMSG无抖振终端滑模控制

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917478

Li-Xia Sun, Zhe Wang, Fenghui Han, Feng Yong

{"title":"A chattering-free terminal sliding mode control of direct-drive PMSG for wind generation system","authors":"Li-Xia Sun, Zhe Wang, Fenghui Han, Feng Yong","doi":"10.1109/CYBER.2014.6917478","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917478","url":null,"abstract":"In order to enhance the stability, the control scheme for the wind power generation should have strong robustness. Sliding mode control is powerful to reject disturbance and has good robustness. However, sliding mode control is a fast switching control essentially. While accelerating the speed to reach the sliding surface, it will result in large chattering which can induce high-frequency oscillation of the output of wind power generation system. This paper proposes a novel chattering-free terminal sliding mode control based on the vector control technology, and applies it to control direct driven permanent magnet synchronous generator(PMSG). Speed and dq-axis current regulator are designed to ensure the rotor speed and current to reach the given values in finite time, respectively. The method proposed can estimate the chattering and enhance the system dynamic and static performance. Compared with PI control, the simulation results verify that the speed and current can track the given value more rapidly. Moreover, it has strong robustness to disturbance.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125289498","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

Reliability modeling method of electronic products considering failure mechanism dependence 考虑失效机理依赖的电子产品可靠性建模方法

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917500

Ying Chen, C. Ye, Xiaoqin Zhang, R. Kang, Dan Xue

引用次数: 1

On the design of a biopsy needle-holding robot for a novel breast biopsy robotic navigation system 针对新型乳腺活检机器人导航系统，设计了一种抱针机器人

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Pub Date : 2014-06-04 DOI: 10.1109/CYBER.2014.6917511

Narucha Tanaiutchawoot, Cholatip Wiratkapan, Bantita Treepong, J. Suthakorn

{"title":"On the design of a biopsy needle-holding robot for a novel breast biopsy robotic navigation system","authors":"Narucha Tanaiutchawoot, Cholatip Wiratkapan, Bantita Treepong, J. Suthakorn","doi":"10.1109/CYBER.2014.6917511","DOIUrl":"https://doi.org/10.1109/CYBER.2014.6917511","url":null,"abstract":"Nowadays, breast cancer is the most common female cancer worldwide. The widely use of mammogram and ultrasound (US) increases the possibility to detect the nonpalpable lesions. Core needle biopsy (CNB) under US guidance for the lesions detected on US is the procedure of choice to retrieve tissue for histopathologic study, resulting in appropriate treatment planning. This procedure requires skill and experience of radiologist in order to obtain the sufficient tissue for accurate histopathologic diagnosis. Our new breast biopsy guidance system comprises of a passive robotic needle and its graphical user interfaces: GUI on MATLAB and 3D Slicer interface based on real-time data from optical tracking system. The passive robot consists of 5 DOFs; the first and the second DOFs are for translation curvature, the third and fourth DOFs are for rotation motions, and the fifth DOF is for needle insertion. The robot is designed based on breast features, and its movements are based on friction method. The robot has high tensile strength and good impact resistance due to Polyoxymethylene (POM) or Polyacetal is used as its material. The experimental results have shown very high success rates to perform simulated breast biopsy, and the robot can increase the accuracy and proficiency of needle insertion.","PeriodicalId":183401,"journal":{"name":"The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent","volume":"187 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122488205","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: 7