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2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献

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Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision* 基于pc的开放式工业机器人实时机器视觉控制系统设计
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584214
Yanan Liu, T. Hu, Hepeng Ni, Chengrui Zhang, Baoying Lin, E. Judd
{"title":"Design of a PC-based Open Industrial Robot Control System Integrated with Real-Time Machine Vision*","authors":"Yanan Liu, T. Hu, Hepeng Ni, Chengrui Zhang, Baoying Lin, E. Judd","doi":"10.1109/WRC-SARA.2018.8584214","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584214","url":null,"abstract":"This paper presents a new industrial robot control system integrated with real-time image processing based on a Windows PC. This enables both machine vision and robot control tasks to be carried out on a single general-purpose computer rather than using two separate systems to perform different tasks. To accomplish this, a three-layer software structure is developed along with a series of standard peripheral devices in the hardware layout. Real-time performance of the system is tested and we demonstrate the system on a DELTA parallel manipulator. Experimental results show that the manipulator can pick up 120 objects on a moving conveyor per minute. This work demonstrates the feasibility of integrating real-time machine vision tasks with robot control tasks without dedicated hardware.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120980258","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 and Control of a Soft Combined Actuator 软组合作动器的设计与控制
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584248
Nanlin. Lin, Peichen Wu, Menghao Wang, Fan Yang, Jizhou Wei, Xiaoping Chen
{"title":"Design and Control of a Soft Combined Actuator","authors":"Nanlin. Lin, Peichen Wu, Menghao Wang, Fan Yang, Jizhou Wei, Xiaoping Chen","doi":"10.1109/WRC-SARA.2018.8584248","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584248","url":null,"abstract":"Soft pneumatic actuators (SPAs) are developing rapidly in the fields of human-robot interaction and cooperation, owing to their flexiblility, light weight and safety. They will neither cause harm to human nor break themselves. The main hurdles in application of SPAs are their poor load capability and motion accuracy. Because of the inherent compliance of the materials and structures, they are not able to ensure enough strength, i.e. heavy loads can’t be supported. Even light load will give rise to the considerable deformation, which severely affects their precision. Here, a novel soft actuator is proposed, with the capability of bearing the load heavier than itself, thanks to its variable stiffness structure. When working with heavy load, its movement accuracy can still be guaranteed. Meanwhile, since high nonlinearity exists in the working process of most SPAs, approximate models or finite element analysis should be used to obtain the solution. For our actuator, by contrast, the closedform analytical solutions can be got for the forward and inverse kinematics, making it more stable and reliable. We tested the variable-stiffness characteristics and motion accuracy, the mean error of our actuator is less than 10 mm with different weights, thus it holds prospects for a wide variety of applications.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131074884","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
Fault tolerant control method for displacement sensor fault of wheel-legged robot based on deep learning 基于深度学习的轮腿机器人位移传感器故障容错控制方法
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584226
Zhou Gao, Liling Ma, Junzheng Wang
{"title":"Fault tolerant control method for displacement sensor fault of wheel-legged robot based on deep learning","authors":"Zhou Gao, Liling Ma, Junzheng Wang","doi":"10.1109/WRC-SARA.2018.8584226","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584226","url":null,"abstract":"In this paper, a fault-tolerant control method based on deep learning is proposed for multi displacement sensor fault of a wheel-legged robot with new structure. Unlike most methods that only detect a single sensor, the proposed method can detect a large number of sensors simultaneously and rapidly. The residual error is generated by sensor values and the prediction model which is established by deep belief network(DBN) in deep learning, to detect faults and locate faulty sensors. Then, by using other non-faulty sensor information to reconstruct the signal through the neural network and combining with the coupling relationship of the 6-DOF platform, the fault sensor signal can be estimated accurately and the error accumulation problem can be also solved. Comparing the two algorithms of neural network and support vector machine(SVM), the reconstruction signal of neural network has higher accuracy. So, the performance of the wheel-legged robot can be guaranteed within a safety range. It is proved that the proposed method has high reliability and stability.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126220901","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: 5
Fully-pipelined CORDIC-based FPGA Realization for a 3-DOF Hexapod-Leg Inverse Kinematics Calculation 基于全流水线cordic的三自由度六足反运动学计算FPGA实现
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584238
Guillermo Evangelista, Carlos Olaya, Erick Rodríguez
{"title":"Fully-pipelined CORDIC-based FPGA Realization for a 3-DOF Hexapod-Leg Inverse Kinematics Calculation","authors":"Guillermo Evangelista, Carlos Olaya, Erick Rodríguez","doi":"10.1109/WRC-SARA.2018.8584238","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584238","url":null,"abstract":"This paper presents a CORDIC-based FPGA realization for a 3-DOF hexapod-leg inverse kinematics calculation. This architecture design proposal is approached first by an inverse kinematics equations analysis and how are these adapted to design an architecture scheme based on CORDIC operations. After that, a 3-DOF hexapod-leg working area is analyzed to get the CORDIC convergence requirements. Subsequently, we designed an iterative 32-bit floating point CORDIC entity that met the convergence and accuracy requirements. Moreover, a fully pipelined VLSI architecture is designed, respective hardware and clock signaling considerations are described in order to achieve high frequency and throughput. Finally, both results proposed and obtained through the kinematic calculations software, which included the angles equations used to calculate precision, hardware requirements and processing speed.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125503732","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
Improved Monocular ORB-SLAM2 Inspired By The Optical Flow With Better Accuracy 受光流启发改进的单目ORB-SLAM2，精度更高
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584216
Yifan Wang, Huiliang Shang
{"title":"Improved Monocular ORB-SLAM2 Inspired By The Optical Flow With Better Accuracy","authors":"Yifan Wang, Huiliang Shang","doi":"10.1109/WRC-SARA.2018.8584216","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584216","url":null,"abstract":"ORB-SLAM2 is currently the best open source SLAM system with high positioning accuracy and map reusability. However, when using a monocular camera in a dynamic environment, the accuracy will be disturbed by the moving objects. Besides, even though there are no moving objects in the frame, there is space for further improvement in accuracy. This article improves the feature point selection based on monocular ORB-SLAM2 system, by creatively using the idea comes from optical flow and then using the K-Means algorithm to classify the matched feature point pairs. The existing open source datasets are used for evaluating the improvement. Under the pre-requirement that the improved system should ensure the real-time performance, the positioning accuracy of the improved system has been significantly improved.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"05 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130261193","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
WRC SARA 2018 Index WRC SARA 2018指数
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/wrc-sara.2018.8584229
{"title":"WRC SARA 2018 Index","authors":"","doi":"10.1109/wrc-sara.2018.8584229","DOIUrl":"https://doi.org/10.1109/wrc-sara.2018.8584229","url":null,"abstract":"","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121548012","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
Multi-sensor Fusion Glass Detection for Robot Navigation and Mapping 面向机器人导航与测绘的多传感器融合玻璃检测
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584213
Hao Wei, Xue-En Li, Ying Shi, Bo You, Yi Xu
{"title":"Multi-sensor Fusion Glass Detection for Robot Navigation and Mapping","authors":"Hao Wei, Xue-En Li, Ying Shi, Bo You, Yi Xu","doi":"10.1109/WRC-SARA.2018.8584213","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584213","url":null,"abstract":"Simultaneous Localization and Mapping(SLAM) has become an essential function of the robot, but existing SLAM algorithms cannot work robustly and stably in a glass environment, especially when using low cost sensors. In this paper, we propose an efficient and robust method to detect glass based on multi-sensor fusion technology of ultrasonic and laser scan data. By integrating the glass detection algorithm with SLAM, we have improved an existing SLAM algorithm to provide more accurate mapping and localization results. On this basis, we proposed a new robot navigation method and experimented on the robot platform, the experiments show that the new navigation frame increased robot navigation efficiency by 11% in glass environment.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125150894","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: 17
DSmT based Detection Model of the Ultrasonic Sensor for Estimating Indoor Environment Contour 基于DSmT的超声传感器室内环境轮廓估计检测模型
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584235
Xiaoying Han, S. Yuan, Xue Yan, Pei Wang, Hongmin Mao
{"title":"DSmT based Detection Model of the Ultrasonic Sensor for Estimating Indoor Environment Contour","authors":"Xiaoying Han, S. Yuan, Xue Yan, Pei Wang, Hongmin Mao","doi":"10.1109/WRC-SARA.2018.8584235","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584235","url":null,"abstract":"In view of the uncertainty of ranging and direction angle in the ultrasonic sensor measurement, an ultrasonic distance detection model based on uncertainty region is first of all proposed through analyzing the working principle of the ultrasonic sensor. Moreover, the DSmT method is adopted to fuse the uncertainty data measured by using the ultrasonic sensor. Next, the Hough Transform and the least-square method are combined to estimate environmental contour. Finally, an indoor environment is measured and built by using the ultrasonic sensor hardware system for experimental verification. The environmental contour obtained in the experimental results is consistent with the real environment, which illustrates the feasibility and effectiveness of the proposed method. This proposed method has certain reference value for the research of the environmental mapping and positioning of the mobile robot.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131987545","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
Line-of-Sight Path Following of an Underactuated USV Exposed to Ocean Currents using Cascaded Theorem 基于级联定理的欠驱动USV暴露在洋流中的视线路径跟踪
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584241
Haibin Huang, Yanan Li, Yufei Zhuang, Mian Gong, Sanjay K. Sharma, Dianguo Xu
{"title":"Line-of-Sight Path Following of an Underactuated USV Exposed to Ocean Currents using Cascaded Theorem","authors":"Haibin Huang, Yanan Li, Yufei Zhuang, Mian Gong, Sanjay K. Sharma, Dianguo Xu","doi":"10.1109/WRC-SARA.2018.8584241","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584241","url":null,"abstract":"This paper presents a new path-following controller for an underactuated unmanned surface vessel (USV) exposed to unknown constant and irrotational ocean currents at a desired surge speed. The coordinate transformation is adopted to decouple the sway dynamic from the rudder angle and the USV model without the simplifying assumptions of having diagonal damping and inertia matrices is considered. The dynamics of the path-following errors are then expressed in a nonsingular way by using the moving Serret-Frenet (SF) frame. Next, the control strategy is designed using cascaded theorem, which comprises the line-of-sight (LOS) guidance principle, a path-variable updated law, and adaptive feedback linearizing techniques combined with a sliding mode, which guarantees that the error dynamics are uniform semiglobal exponential stable (USGES) and uniform globally asymptotic stable (UGAS). Finally, simulation results are presented to verify these theoretical results.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129315791","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
System Design and Experiment of Bionics Robotic Arm with Humanoid Characteristics 具有仿人特性的仿生机械臂系统设计与实验
2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2018-08-01 DOI: 10.1109/WRC-SARA.2018.8584199
Bing Liao, Hongbin Zang, Nana Zhu, Dongsheng Liu, Jiangmin Tuo, Tao He, Lei Hu, Zheng Yang
{"title":"System Design and Experiment of Bionics Robotic Arm with Humanoid Characteristics","authors":"Bing Liao, Hongbin Zang, Nana Zhu, Dongsheng Liu, Jiangmin Tuo, Tao He, Lei Hu, Zheng Yang","doi":"10.1109/WRC-SARA.2018.8584199","DOIUrl":"https://doi.org/10.1109/WRC-SARA.2018.8584199","url":null,"abstract":"Aiming at the problem of lack of humanoid characteristics of the current bionic robotic arm, a bionic robotic arm with anthropomorphic characteristics is designed. Based on ergonomic principles and kinematics analysis, the system design of RYRPRR-RP-RRRP structure was determined. The motion control of the 23 DOF (degree of freedom) of the entire arm is realized with 10 steering gears. Through the three-dimensional modeling, the structure of the arm’s mechanism components is made and the virtual simulation of the system is carried out. It was found that the motion space of the arm covered the commonly used work space of the human arm. The components are printed by 3D printing technology and are assembled, which the hardware and software of the control system are carried out. Operator’s arm color, depth image and bones are got by Kinect and the space vector method is used to calculate the joint angle data when the human arm moves. By setting communication with micro-controller, Arduino, by serial port, remote synchronization control of humanoid manipulator with gestural body language is achieved. The humanoid experiment of bionic robotic arm and human arm was carried out to finish the humanoid motion control of arm joint and the grasping, holding and handling of the object, which verified the rationality and feasibility of the system design. The bionic robotic arm has the characteristics of smart structure, convenient control, flexible movement, good human nature and low cost, and has important reference value for carrying out research on human bionics, medical prostheses and special environment teleoperation arms.","PeriodicalId":185881,"journal":{"name":"2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"s1-6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127197099","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
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