2014 World Automation Congress (WAC)最新文献_第3页

Characterization for photovoltaic generation systems via Higher Order Wavelet Neural Networks 基于高阶小波神经网络的光伏发电系统表征

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936021

L. J. Ricalde, E. H. Rubio, E. Ordonez, Lifter O. Ricalde

引用次数: 1

AUV location detection in an enclosed environment 水下航行器在封闭环境中的定位检测

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6935995

Mohan Kumar, Satish Vaishnav, M. Jamshidi, M. Joordens

引用次数: 1

On GPGPU parallel implementation of hands and arms motion estimation of a car driver with depth image sensor by particle filter 基于GPGPU的粒子滤波深度图像传感器汽车驾驶员手、臂运动估计并行实现

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6935867

N. Ikoma

{"title":"On GPGPU parallel implementation of hands and arms motion estimation of a car driver with depth image sensor by particle filter","authors":"N. Ikoma","doi":"10.1109/WAC.2014.6935867","DOIUrl":"https://doi.org/10.1109/WAC.2014.6935867","url":null,"abstract":"GPGPU parallel computation technology has been combined with depth image sensor such as Microsoft Xbox360 KINECT for real-time estimation of car driver's hands and arms motion with an elaborated tracking method based on particle filter. Vision observation by KINECT including depth image provides more accurate hand/arm region information, so we can extend the motion estimation method, not only on hands/wrists region with skin color cue, but also on arms region not necessarily having skin color, based on a depth signal. In addition, with particle filter for state estimation in robust and in sequentially with GPGPU parallel implementation for real-time computation, it allows us to develop a real-time motion estimation system of a car driver. Contribution of this paper is twofold; 1) to provide whole summary of steering hands / arms motion estimation methods so far based on particle filters and partially with the aid of GPGPU technology, and 2) to propose a new system implementation of GPGPU parallel particle filter not only for hands/wrists region but also for arms region of a car driver with the aid of depth image sensor. Some experimental results have been shown with the proposed implementation.","PeriodicalId":196519,"journal":{"name":"2014 World Automation Congress (WAC)","volume":"211 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134303531","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

Positive observer design for fractional order systems 分数阶系统的正观测器设计

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936032

B. Shafai, Amirreza Oghbaee

引用次数: 10

3D plane detection for robot perception applying particle swarm optimization 基于粒子群优化的机器人感知三维平面检测

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936041

H. Masuta, Shinichiro Makino, Hun-ok Lim

{"title":"3D plane detection for robot perception applying particle swarm optimization","authors":"H. Masuta, Shinichiro Makino, Hun-ok Lim","doi":"10.1109/WAC.2014.6936041","DOIUrl":"https://doi.org/10.1109/WAC.2014.6936041","url":null,"abstract":"This article describes a 3D plane detection method for an intelligent robot to perceive an unknown object with 3D range sensor. Previously, various method has been proposed to perceive unknown environment. However, the previous unknown object detection method has problems which are high computational costs and low-accuracy for small object. In order to solve the mentioned problems, we have proposed an online processable unknown object detection based on a 3D plane detection method. The proposed method consists of simple plane detection applying particle swarm optimization (PSO) with region growing (RG) and integrated object plane detection. The simple plane detection is focused on small plane detection and reducing computational costs. To improve the accuracy, we apply PSO and RG. And, integrated object plane detection focuses on stability of detecting plane. As experimental results, we show that the computational cost is reduced to be able to calculate in real time for robot operation. And, the proposed method detects small planes of specific objects. Furthermore, we discuss the capability of proposed method which coordinate the ability of reducing computational costs and improving the plane detection accuracy.","PeriodicalId":196519,"journal":{"name":"2014 World Automation Congress (WAC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114407606","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

4 Degree-of-Freedom haptic device for surgical simulation 4 .用于手术模拟的自由度触觉装置

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936126

Michael Mortimer, B. Horan, A. Stojcevski

{"title":"4 Degree-of-Freedom haptic device for surgical simulation","authors":"Michael Mortimer, B. Horan, A. Stojcevski","doi":"10.1109/WAC.2014.6936126","DOIUrl":"https://doi.org/10.1109/WAC.2014.6936126","url":null,"abstract":"Haptic interaction is a growing area of research and enables users to interact with virtual objects using their haptic sensory modality. Haptically enabled surgical simulation can allow users to be trained with realistic haptic feedback. Commercial-Off-The-Shelf (COTS) haptic devices typically provide either 3 or 6-Degrees of Freedom (DOF). While low-cost 3-DOF COTS haptic devices do exist, in many surgical simulation scenarios haptic feedback in more than 3-DOF is required. This work presents a low-cost attachment for retrofitting a 4th DOF to the affordable 3-DOF Phantom Omni haptic device. The attachment allows the provision of torque feedback around the stylus' longitudinal axis lending itself to applications where 3-DOF Cartesian forces and 1-DOF torque feedback are required, such as surgical screw insertion. In order to integrate the 4th DOF attachment, the kinematics of the resulting device are considered, and the Jacobian determined. The workspace of the Phantom Omni is also considered as well as the effect of stylus orientation on the ability to display torque. Finally the generation of forces and torques for simulating pedicle screw insertion as required in scoliosis surgery is discussed.","PeriodicalId":196519,"journal":{"name":"2014 World Automation Congress (WAC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114437277","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

Recommender systems in e-commerce 电子商务中的推荐系统

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6935763

Sanjeevan Sivapalan, A. Sadeghian, H. Rahnama, A. M. Madni

引用次数: 566

A pose graph based visual SLAM algorithm for robot pose estimation 一种基于姿态图的机器人姿态估计视觉SLAM算法

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936197

Soonhac Hong, C. Ye

引用次数: 9

Estimation of user's hand motion based on EMG and EEG signals 基于肌电和脑电信号的用户手部运动估计

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936115

K. Kiguchi, K. Tamura, Y. Hayashi

{"title":"Estimation of user's hand motion based on EMG and EEG signals","authors":"K. Kiguchi, K. Tamura, Y. Hayashi","doi":"10.1109/WAC.2014.6936115","DOIUrl":"https://doi.org/10.1109/WAC.2014.6936115","url":null,"abstract":"A surface EMG signal is one of the most widely used signals as input signals to wearable robots. However, EMG signals that are used to estimate motions are not always available to all users. On the other hand, an EEG signal has drawn attention as input signals for those robots in recent years. The EEG signals can be measured even with amputees and paralyzed patients who are not able to generate some EMG signals. However, the measured EEG signal does not have one-to-one relationships with the corresponding brain part. Therefore, it is more difficult to find the required signals for the control of the robot in accordance with the intention of the user's motion using the EEG signals compared with that using the EMG signals. In this paper, both the EMG and EEG signals are used to estimate the user's motion intention. In the proposed method, the EMG signals are used as main input signals because the EMG signals have higher relative to the motion of a user in comparison with the EEG signals. The EEG signals are used as sub signals in order to cover the estimation of the intention of the user's motion when all required EMG signals cannot be measured. The effectiveness of the proposed method has been evaluated by performing experiments.","PeriodicalId":196519,"journal":{"name":"2014 World Automation Congress (WAC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122968763","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

Navigation for autonomous robots in partially observable facilities 自主机器人在部分可观察设施中的导航

2014 World Automation Congress (WAC) Pub Date : 2014-10-27 DOI: 10.1109/WAC.2014.6936134

Henry I. Ibekwe, A. Kamrani

{"title":"Navigation for autonomous robots in partially observable facilities","authors":"Henry I. Ibekwe, A. Kamrani","doi":"10.1109/WAC.2014.6936134","DOIUrl":"https://doi.org/10.1109/WAC.2014.6936134","url":null,"abstract":"Designing mobile robots that navigate indoor environments autonomously is known to be a difficult problem. A critical issue is in the formulation of robust motion control algorithms capable of reliably sensing partial or incomplete information from the environment and using this information to choose appropriate actions to achieve its designed goals. As an example, suppose we wish to deploy a mobile robot that autonomously patrols defined locations at a hazardous high-security facility. The robot must maintain accurate knowledge of its location, while using sensory data to recognize objects and obstacles in its immediate vicinity. Its task is to inspect the desired locations within a defined time period and provide real-time data in the event of an incident. The problem is thus to choose appropriate actions that result in accomplishing the patrol in a minimal amount of time in the partially structured environment. To solve this problem we adopt the Partially Observable Markov Decision Processes (POMDP) formalism to find near-optimal and efficient policies that provides a description the robot's motion in environments with incomplete state information. POMDP is a generalization of Markov Decision Processes (MDPs). It models a system as a coupling of an agent/decision maker (robots in our case) and an environment. We also present a methodology called Goal-Specific Representation (GSR) to reduce the size of the state-space for computational efficiency and propose an extension to the methodology.","PeriodicalId":196519,"journal":{"name":"2014 World Automation Congress (WAC)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121683396","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