2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA)最新文献_第5页

Online Adjustment of Two-stage Inference for Knowledge Caching 知识缓存两阶段推理的在线调整

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932779

Geonha Park, Changho Hwang

{"title":"Online Adjustment of Two-stage Inference for Knowledge Caching","authors":"Geonha Park, Changho Hwang","doi":"10.1109/RITAPP.2019.8932779","DOIUrl":"https://doi.org/10.1109/RITAPP.2019.8932779","url":null,"abstract":"With the rapid development of deep learning, many deep learning based smart services have emerged. These smart services usually consist of two components, the front-end user device and the back-end cloud server. The front-end device only collects queries from user and sends them to the server, and all operations of deep learning are computed in the server. This design has drawbacks of increasing load on the server and violating personal privacy. Knowledge caching is proposed in our prior work to mitigate these issues, which processes deep learning inference for frequently used queries of users in front-end devices.In this paper, in addition to cache a deep learning model for frequently used and privacy-related queries in the front-end device, we extend our prior work to implement the system on physical device and server. In particular, we design the online adjustment system for managing the status of devices and servers. This allows us to specify the process of caching the model, updating the cached model, and operating the entire system. We evaluate the system which is composed of NVIDIA Jetson Tegra X2 as the front-end device and the back-end server with TITAN Xp to confirm feasibility. As a result of evaluation, our new system shows better accuracy than the general model in the server.","PeriodicalId":234023,"journal":{"name":"2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133682268","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

Robust Few-Shot Pose Estimation of Articulated Robots using Monocular Cameras and Deep-Learning-based Keypoint Detection 基于单目摄像机的关节机器人鲁棒少镜头姿态估计及深度学习关键点检测

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932886

Jens Lambrecht

{"title":"Robust Few-Shot Pose Estimation of Articulated Robots using Monocular Cameras and Deep-Learning-based Keypoint Detection","authors":"Jens Lambrecht","doi":"10.1109/RITAPP.2019.8932886","DOIUrl":"https://doi.org/10.1109/RITAPP.2019.8932886","url":null,"abstract":"Camera-based pose estimation is a necessity for flexible applications in robotics, especially interaction between robots and mobile entities. Inspired by recent advancements in human pose estimation based on Convolutional Neural Networks, it is aspired to substitute the usage of artificial marker by automatically detecting inherent keypoints of the robot representing its 2D skeleton model. In addition, current encoder readings of the robot are utilized establishing the corresponding 3D skeleton model through forward kinematics. With the help of these 2D - 3D point correspondences, an estimation of the translation and orientation deviation between robot and camera is derived solving the perspective-n-point problem. An adequate approach for markerless keypoint detection of an UR5 robot is presented and evaluated in terms of precision and pose dispersion considering a dynamically moving robot. The promising results show that the novel method works robustly and reliably as a few-shot approach and copes with false positives as well as with partly occlusions and non-detected keypoints. Further potential is identified regarding enhancing the accuracy through the use of synthetic data.","PeriodicalId":234023,"journal":{"name":"2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA)","volume":"46 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131791377","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: 13

A Time-delayed Control Scheme with a Sliding Mode Controller for a Robot Manipulator* 机器人机械臂的时滞滑模控制方案*

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932849

Seul Jung

引用次数: 1

Study on Path Planning of Intelligent Mower Based on UWB Location 基于超宽带定位的智能割草机路径规划研究

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932875

Yang Liu, Mengqian Tian, Xingsong Wang, Jiadong Lv

引用次数: 4

Development of Leap Motion Capture Based - Hand Gesture Controlled Interactive Quadrotor Drone Game 基于跳跃动作捕捉的手势控制交互式四旋翼无人机游戏开发

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932800

A. Bandala, Jose Martin Z. Maningo, E. Sybingco, R. R. Vicerra, E. Dadios, Joshua Daniel D. Guillarte, Julius Oigimer P. Salting, Ma. Joyce Anne S. Santos, Basil Anton E. Sarmiento

{"title":"Development of Leap Motion Capture Based - Hand Gesture Controlled Interactive Quadrotor Drone Game","authors":"A. Bandala, Jose Martin Z. Maningo, E. Sybingco, R. R. Vicerra, E. Dadios, Joshua Daniel D. Guillarte, Julius Oigimer P. Salting, Ma. Joyce Anne S. Santos, Basil Anton E. Sarmiento","doi":"10.1109/RITAPP.2019.8932800","DOIUrl":"https://doi.org/10.1109/RITAPP.2019.8932800","url":null,"abstract":"This paper presents an interactive drone game which is controlled by bare hand gestures. A typical handheld or gamepad remote controller bids inconvenience due to unnatural hand movements of the pilot. This study removes the use of handheld controllers and instead employ a contact less hand gesture device for drone control. Several applications can be explored like task designation in a multi-drone system for construction, inspection and relief operations. The drone is controlled using a PID controller which maintains a given trajectory which is determined by the hand gesture of the controller. The platform chosen by this research is an interactive game of two drones which fire IR lasers. The objective of the game is to hit the opponent with the laser emission. This platform showcases the accurateness and reliability of the hand gesture control system by controlling a real time drone application. The accuracy and precision of the movements based on the gesture of the pilot will be tested through simulations and actual implementations.","PeriodicalId":234023,"journal":{"name":"2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123752855","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

A Fast Calibration Method for 3D Printing Robot Based on Distance Constraint 基于距离约束的3D打印机器人快速标定方法

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932922

Kaiwei Ma, Tianzheng Zhao, Lan Li, Orelaja Oluseyi Adewale, Dan Xia, Xingsong Wang

{"title":"A Fast Calibration Method for 3D Printing Robot Based on Distance Constraint","authors":"Kaiwei Ma, Tianzheng Zhao, Lan Li, Orelaja Oluseyi Adewale, Dan Xia, Xingsong Wang","doi":"10.1109/RITAPP.2019.8932922","DOIUrl":"https://doi.org/10.1109/RITAPP.2019.8932922","url":null,"abstract":"Aiming at the difficulty of tool center point (TCP) calibration of 3D printing robots, a fast calibration method is proposed. Firstly, the kinematics model of the robot is obtained according to the D-H parameters. Secondly, the coordinate system transformation model is established by using the positional relationship between the laser tracker and the robot. Thirdly, the position of the TCP relative to the measurement coordinate system is read by the laser tracker, and the position of the TCP relative to the base coordinate system is calculated by the kinematics model of the robot. Finally, the TCP is calculated using the distance constraint. In order to verify the effect of the method, a 3D printing experiment for repair of bone defect is carried out. In the experiment, the alginate hydrogel is used as the bio-ink, and the trajectory planning is performed by parametric method. Then, the EinScan-Pro is used to scan the printing effect. By comparing the scanned 3D models, its results demonstrate that the proposed method performs better than the traditional calibration method. With this method, the average error and standard deviation of the printing surface can be reduced by 49% and 13%, respectively, which effectively improves the processing quality of the traditional method.","PeriodicalId":234023,"journal":{"name":"2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127891577","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

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/ritapp.2019.8932904

引用次数: 0

Concept Design for Mole-Like Excavate Robot and Its Localization Method 类鼹鼠挖掘机器人的概念设计及其定位方法

2019 7th International Conference on Robot Intelligence Technology and Applications (RiTA) Pub Date : 2019-11-01 DOI: 10.1109/RITAPP.2019.8932732

Junseok Lee, Hyunjun Lim, Seungwon Song, H. Myung

引用次数: 4