2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)最新文献_第2页

Enabling Technologies for Smart Construction Engineering: a Review 智能建筑工程的使能技术综述

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216951

F. Parisi, A. M. Mangini, M. P. Fanti

引用次数: 3

Developing SCADA Systems to Monitor and Control Liquid and Detergent Factories 开发监控和控制液体和洗涤剂工厂的SCADA系统

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9217002

Tariku Sinshaw Tamir, Gang Xiong, Hiruy Mulugeta Menkir, Xiuqin Shang, Zhen Shen, Xisong Dong, Xiaoyan Gong

引用次数: 5

Multi-Agent Strategy Synthesis for LTL Specifications through Assumption Composition 基于假设组合的LTL规范多智能体策略综合

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216991

Georg Friedrich Schuppe, Jana Tumova

{"title":"Multi-Agent Strategy Synthesis for LTL Specifications through Assumption Composition","authors":"Georg Friedrich Schuppe, Jana Tumova","doi":"10.1109/CASE48305.2020.9216991","DOIUrl":"https://doi.org/10.1109/CASE48305.2020.9216991","url":null,"abstract":"We propose a compositional solution to the strategy synthesis problem for LTL specifications in the cooperative (heterogeneous) multi-agent scenario. A main challenge of the general strategy synthesis approach is the state-space explosion occurring during construction of a global model for agents with different, mutually dependent goals. Given a set of agents and their individual goal specifications represented through a local model and an LTL formula, we compute a compliant set of strategies that fulfill each agents’ goal specification. We avoid the state-space explosion by computing individual solutions for each agent separately and then composing these solutions. During the initial strategy computation, assumptions over the states of other agents not represented in the local model are generated only where needed. These assumptions are resolved during composition of the individual solutions to assure compliance of the computed strategies. The effectiveness of this approach is demonstrated in several simulation case studies and compared to the classical, monolithic approach.","PeriodicalId":212181,"journal":{"name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124389427","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

The orienteering Problem with Replenishment 定向运动中的补给问题

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216857

Nathan D. Wallace, He Kong, A. Hill, S. Sukkarieh

{"title":"The orienteering Problem with Replenishment","authors":"Nathan D. Wallace, He Kong, A. Hill, S. Sukkarieh","doi":"10.1109/CASE48305.2020.9216857","DOIUrl":"https://doi.org/10.1109/CASE48305.2020.9216857","url":null,"abstract":"The planning of long-duration missions for resource-constrained agents is a longstanding challenge not only in field robotics research, but also in the fields of vehicle routing and logistics. To efficiently plan missions over a larger time scale than an agent’s resource capacity natively allows, it is necessary to exploit the availability of recharging stations, where an agent can replenish its spent resources at the cost of time. This paper presents the Orienteering Problem with Replenishment, a novel extension of the orienteering problem, which can fully utilise the existence of recharging stations by not only revisiting such stations, but also intelligently managing the amount of time spent recharging at each stop. By leveraging the above mechanisms for overcoming the resource limitations of the platform, the proposed problem formulation allows for the planning of longer term missions. A suite of computational tests are performed to assess the proposed formulation, and its performance is analysed with respect to the impact of intelligent utilisation of the recharge points on reward acquisition. Finally, limitations of the proposed problem formulation are discussed, and avenues for future work are presented.","PeriodicalId":212181,"journal":{"name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124083665","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

Model-Based Suppression Control for Liquid Vessels Carried by a Humanoid Robot While Stair-Climbing 仿人机器人爬楼梯时携带液体容器的模型抑制控制

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216826

Jean Chagas Vaz, P. Oh

{"title":"Model-Based Suppression Control for Liquid Vessels Carried by a Humanoid Robot While Stair-Climbing","authors":"Jean Chagas Vaz, P. Oh","doi":"10.1109/CASE48305.2020.9216826","DOIUrl":"https://doi.org/10.1109/CASE48305.2020.9216826","url":null,"abstract":"This paper presents a study to evaluate the effects of sloshing phenomena while a humanoid robot climbs stairs while carrying water containers. Currently humanoid robots can perform a wide range of tasks including handling tools, climbing ladders, and patrolling rough terrain. However, when it comes to manipulation of objects humanoids are fairly limited. This becomes more apparent when humanoids have to handle non-rigid objects. Although many full-sized humanoids cost an extensive amount of money, they fail to respond to common tasks during disaster relief such as delivering water to the victims or possible fires. After disasters such as Hurricane Maria, the need for humanoid robots to assist in these scenarios is becoming increasingly evident. In previous work the authors have developed an algorithm which allows the robot to walk while carrying water buckets. Experiments conducted use the full-sized humanoid DRC-Hubo as an experimental platform. Moreover, a sloshing reduction controller is implemented in order to suppress rocking disturbances. The system was integrated via ROS (Robot Operating System). Additionally, the sloshing reduction was evaluated based on sensor data evaluation.","PeriodicalId":212181,"journal":{"name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126243833","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

Human Cyber-Physical Systems: A skill-based correlation between humans and machines 人类信息物理系统:人类和机器之间基于技能的关联

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216843

Emma M. Flores, Xun Xu, Yuqian Lu

引用次数: 5

One-Way Observation-based Cooperative Robot Mapping 基于单向观测的协作机器人映射

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216996

Heoncheol Lee

引用次数: 1

A Demonstrative Case Study of Minibus Assembly under GiMS GiMS下小巴装配的示范案例研究

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9217013

Nianzi Yang, Daqiang Guo, G. Huang

引用次数: 0

Performance Estimating in an Innovative AGVs-based Parcel Sorting System Considering the Distribution of Destinations 考虑目的地分布的创新agv包裹分拣系统性能评估

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216812

Lanfang Zi, Benhe Gao

引用次数: 1

Hybrid Frame-Event Solution for Vision-Based Grasp and Pose Detection of Objects 基于视觉的物体抓取和姿态检测的帧-事件混合解决方案

2020 IEEE 16th International Conference on Automation Science and Engineering (CASE) Pub Date : 2020-08-01 DOI: 10.1109/CASE48305.2020.9216970

Kyra Wang, Sihan Yang, Deepesh Kumar, N. Thakor

{"title":"Hybrid Frame-Event Solution for Vision-Based Grasp and Pose Detection of Objects","authors":"Kyra Wang, Sihan Yang, Deepesh Kumar, N. Thakor","doi":"10.1109/CASE48305.2020.9216970","DOIUrl":"https://doi.org/10.1109/CASE48305.2020.9216970","url":null,"abstract":"A key challenge in object manipulation using prosthetic hands is grasp detection and pose estimation, especially in cluttered scenes. Vision-based robotic grasping solutions typically only use conventional frame-based video cameras with high spatiotemporal redundancy, which is unsuitable for mobile platforms like prostheses with low processing power. On the other hand, while event-based dynamic vision sensors (DVS) have low spatiotemporal redundancy, their low resolution results in poor object segmentation and detection performance. In this paper we outline a novel hybrid solution inspired by the two-streams hypothesis of the neural processing of vision, utilizing both a frame-based video camera and a DVS to counter the pitfalls of both systems. By using computationally efficient object detection methods on the frame-based camera to highlight regions-of-interest (ROIs) for the DVS, we are able to perform pose estimation by computing the smallest axis of DVS events generated in the ROI. The proposed approach allows us to rapidly determine the required wrist rotation and a suitable grasp type to pick up objects using a prosthetic hand. Results on a laptop show that our method matches the accuracy of a conventional solution that employs only a frame-based video camera, while achieving 77.29% faster inference speed.","PeriodicalId":212181,"journal":{"name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132405154","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