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2022 International Conference on Service Robotics (ICoSR)最新文献

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Deep learning based cross-view image matching for UAV geo-localization 基于深度学习的无人机地理定位横视图像匹配
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00028
Xubo Luo, Yaolin Tian, Xue Wan, Jingzhong Xu, Tao Ke
{"title":"Deep learning based cross-view image matching for UAV geo-localization","authors":"Xubo Luo, Yaolin Tian, Xue Wan, Jingzhong Xu, Tao Ke","doi":"10.1109/ICoSR57188.2022.00028","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00028","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) geo-localization refers to finding the position of a given aerial image in a large reference satellite image. Due to the large scale and illumination difference between aerial and satellite images, it is challenging that most existing cross-view image matching algorithms fail to localize the UAV images robustly and accurately. To solve the above problem, a novel UAV localization framework containing three-stage coarse-to-fine image matching is proposed. In the first stage, the satellite image is cropped into several local reference images to be matched with the aerial image. Then, ten candidate local images are selected from all of the local reference images with a simple and effective deep learning network, LPN. At last, a deep feature-based matching is employed between candidate local reference images and aerial images to determine the optimal position of the UAV in the reference map via homography transformation. In addition, a satellite-UAV image dataset is proposed, which contains 3 large-scale satellite images and 1909 aerial images. To demonstrate the performance of the proposed method, experiments on the large-scale proposed dataset are conducted. The experimental results illustrate that for more than 80% of the testing pair images, the proposed method is capable of refining the positioning error within 5 pixels, which meets the needs of UAV localization and is superior to other popular methods.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121084856","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
A Steel Billet Crack Marking System: Design And Implementation 钢坯裂纹标记系统的设计与实现
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00029
Zhifeng Liu, Zhiqing Li, Shugen Ma, Longchuan Li, Rui Li, Hongxing Zhou
{"title":"A Steel Billet Crack Marking System: Design And Implementation","authors":"Zhifeng Liu, Zhiqing Li, Shugen Ma, Longchuan Li, Rui Li, Hongxing Zhou","doi":"10.1109/ICoSR57188.2022.00029","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00029","url":null,"abstract":"In industrial billet casting, the billet's surface will inevitably crack. To mark cracks for the convenience of subsequent grinding work, a set of automatic steel billet crack marking robot is designed by our work. Based on our design, the robot combines the fluorescent magnetic powder liquid flaw detection and 3D reconstruction of steel billet to accurately mark cracks which can replace the manual marking scheme used in the current factory. In addition, due to the vibration problem in the process of billet transportation, we designed a shock-proof marker pen to ensure marking accuracy and reduce the impact of vibration on the robot. The results show that the robot can complete the automatic marking work without supervision.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"716 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133498097","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
Electricity market price calculation model and application based on system power generation cost 基于系统发电成本的电力市场价格计算模型及应用
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00015
Zhan Zhiming, Tang Yang, Liu Yifeng, Chen Meng, Huang Shanshan, Ye Ze, Li Na
{"title":"Electricity market price calculation model and application based on system power generation cost","authors":"Zhan Zhiming, Tang Yang, Liu Yifeng, Chen Meng, Huang Shanshan, Ye Ze, Li Na","doi":"10.1109/ICoSR57188.2022.00015","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00015","url":null,"abstract":"The cost of electricity is a key factor for the formation of electricity prices. In this work, we designed a cost model for calculating the electricity price that can calculate the hourly generation cost of the system, provides a potentially more reasonable explanation for the fluctuations of the electricity price. The total system generation capacity cost is shared according to the duration of the load and the load level by the peak-load responsibility method, obtained the system capacity cost per hourly kWh. Then, according to the power supply structure and the power output of each power supply in the system, calculating the marginal cost of the system per hourly kWh of electricity. Adding the system marginal cost to the system capacity cost to get the generation cost per unit of electricity. Finally, we used the actual data of Province A in Central China as a simulation example to verify the validity of the model. The model designed in this paper can provide a scientific basis for market players to make offer prices and government departments to regulate prices.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132199923","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
A Compact and Low-cost Gobang Robot 一种小型低成本五子棋机器人
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00021
Yangmuzi Zhang, Feifei Gu
{"title":"A Compact and Low-cost Gobang Robot","authors":"Yangmuzi Zhang, Feifei Gu","doi":"10.1109/ICoSR57188.2022.00021","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00021","url":null,"abstract":"This paper proposed a compact and low-cost Gobang robot, which can realize combat between a robot and a real person. Three modules, which includes the vision module, the chess playing strategy module, and the human-robot module, have been accomplished and integrated. Several key problems and challenges in the procedure of human-robot interaction have been solved: 1) robust and accurate detection of the chessboard corners; 2) efficient mapping between the logical and physical boards; 3) robust recognition, classification and grasping of chess pieces; 4) determination of the best drop position of the robot. The workflow of playing chess is as follows. At first, the visual module captures the current situation on the chessboard, and returns the results to the background Gobang program in real time. Then the program judges the current playing status. If it is the robot's turn to play, the robot control module works. The best position for the next move was returned. The robot goes grab a chess piece and then drops down it in the specified position. Hundreds of actual human-robot combats validate the performance of the proposed project. Due to its advantages of low cost and harmlessness to human eyes compared with computer games, the proposed Gobang robot has great potential to be a domestic robot.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132813633","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
Design of a self-sustaining robot for the monitoring of carrot crop plants 胡萝卜作物自维持监测机器人的设计
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00036
Emerson Faustino Cardenas Acosta, Brayan Jesús León Quilca
{"title":"Design of a self-sustaining robot for the monitoring of carrot crop plants","authors":"Emerson Faustino Cardenas Acosta, Brayan Jesús León Quilca","doi":"10.1109/ICoSR57188.2022.00036","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00036","url":null,"abstract":"Foodborne diseases are those that originate from the consumption of raw or spoiled food and this can affect the health of people who consume it, as it may contain viruses, parasites, bacteria and other diseases. In this project, the design of the system was carried out of an intelligent self-sustaining robot for the monitoring of carrot cultivation plants with the purpose of to analyze the images it captures in real time, through three cameras, in order to be able to identify possible plants infected by bacteria or parasites, so that they have finally been removed by the staff, in order not to infect the other plants, also for color recognition of the plant, a code was made in Python applying the use of the OpenCV artificial vision library, on the other hand, in order to stimulate the robot's trajectory, a module (GPS) was implemented, then the robot's route was made using the simulator CoppeliaSim where the trajectory distance that will go through the robot and the detection of lateral ranges so that the robot goes through the center and not present difficulties when performing a task.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129118112","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
Adaptive Force Tracking Control of Manipulator in Uncalibrated Varied Environment Based on Variable Impedance Control 基于变阻抗控制的无标定变环境下机械臂自适应力跟踪控制
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00047
Yufei Zhou, Zhongcan Li, Shunfeng He, Jingkai Cui, Mingchao Zhu
{"title":"Adaptive Force Tracking Control of Manipulator in Uncalibrated Varied Environment Based on Variable Impedance Control","authors":"Yufei Zhou, Zhongcan Li, Shunfeng He, Jingkai Cui, Mingchao Zhu","doi":"10.1109/ICoSR57188.2022.00047","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00047","url":null,"abstract":"Manipulators usually need to contact with environment when executing polishing, grinding, welding and other tasks. Maintaining the stable contact force is crucial to the successful execution of the mission. However, the traditional constant impedance control algorithm connot track desired force if the environment information is unknown. This paper presents a new variable impedance control algorithem is proposed based on force feedback. An adaptive control law is used to adjust the damping parameters of variable impedance control algorithm. Environmental location estimation error can be compensated by adaptive impedance control law. The algorithm is very simple which only need the force sensor to detect the end-effertor contact force. Routh criterion is used to analysed stability of the admittance controller. To verifying the effectiveness, a series of simulations were carried out. Small force tracking errors can be achieved with the proposed algorithm.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127959478","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
Automatic ultrasound scanning for the Carotid Artery by robotic system 用机器人系统对颈动脉进行自动超声扫描
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00039
Jing Xia, Fu Deng, Guanghui Yun, Quan Zhang, Zhen Liu
{"title":"Automatic ultrasound scanning for the Carotid Artery by robotic system","authors":"Jing Xia, Fu Deng, Guanghui Yun, Quan Zhang, Zhen Liu","doi":"10.1109/ICoSR57188.2022.00039","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00039","url":null,"abstract":"In this paper, we present an autonomous robotic system which is composed of a 7-DoF manipulator and a conventional medical ultrasound diagnostic equipment, which used to automatically search and detect the carotid artery for diagnostic purposes. In the acquired real-time images, multiple anatomical features are used to detect carotid artery landmarks through a yolov5-based detection model. Based on the image processing results, a scanning strategy was designed to search for the desired imaging plane of the carotid artery by adjusting the position and rotation of the ultrasound probe. The experimental results show that the system can achieve high accuracy carotid artery detection and more clarity ultrasound images by adjusting the position and attitude of the probe to achieve automatic scanning of the carotid artery.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"354 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131620995","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
Motion planning of space robot obstacle avoidance based on DDPG algorithm 基于DDPG算法的空间机器人避障运动规划
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00040
Hanying Sang, Shuquan Wang
{"title":"Motion planning of space robot obstacle avoidance based on DDPG algorithm","authors":"Hanying Sang, Shuquan Wang","doi":"10.1109/ICoSR57188.2022.00040","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00040","url":null,"abstract":"In order to solve the problem of unstructured environment and complex operation task of space robot, this paper use DDPG algorithm which is data-driven and model free in the obstacle avoidance motion planning of 7-DOF space robot of free-floating base. Aiming at the difficulty and the low speed of the convergence of DDPG algorithm, artificial guidance term is added on the basis of traditional sparse reward function. This paper proposes an improved method of reward function based on task decomposition architecture, in which the weight coefficients of obstacle avoidance guidance term and target guidance term are dynamically adjusted. Simulation results show that the proposed method effectively improves the convergence performance of the algorithm, and enables the space robot to better complete the task of avoiding collision and approaching the target point.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130160407","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
An Autonomous Grasping Control System Based on Visual Object Recognition and Tactile Perception 基于视觉物体识别和触觉感知的自主抓取控制系统
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00023
Jing An, Tong Li, Gang Chen, Q. Jia, Junpei Yu
{"title":"An Autonomous Grasping Control System Based on Visual Object Recognition and Tactile Perception","authors":"Jing An, Tong Li, Gang Chen, Q. Jia, Junpei Yu","doi":"10.1109/ICoSR57188.2022.00023","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00023","url":null,"abstract":"Despite the impressive progress of vision guidance in robot grasping, robots are not proficient in fine manipulation tasks, especially applying algorithms to real robot grasping systems where a single vision data does not solve the problem of contact perception of the target surface in fine grasping. So we propose a real-time robot grasping method based on position and contact force control, where vision is used for identify and locate the grasping target, and haptics is used to perform stable grasping. Using ZED camera and robotiq three-finger hand claw equipped with uskin haptic sensor, we trained the grasping targets with cylindrical or spherical shapes such as oranges and water bottles in CoCo dataset, and the results show that the grasping position error of the robot grasping system does not exceed 0.04m, the relative error not more than 6%, and the PID-based force control makes the grasping more stable, which proves the effectiveness of the grasping control method with visual-touch information integration.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127477175","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
Cooperative differential game-based approximate optimal tracking control for reconfigurable robot 基于协作微分对策的可重构机器人近似最优跟踪控制
2022 International Conference on Service Robotics (ICoSR) Pub Date : 2022-06-01 DOI: 10.1109/ICoSR57188.2022.00014
B. Dong, Tianjiao An, B. Ma, Yuan-chun Li
{"title":"Cooperative differential game-based approximate optimal tracking control for reconfigurable robot","authors":"B. Dong, Tianjiao An, B. Ma, Yuan-chun Li","doi":"10.1109/ICoSR57188.2022.00014","DOIUrl":"https://doi.org/10.1109/ICoSR57188.2022.00014","url":null,"abstract":"In this paper, a cooperative differential game-based approximate optimal tracking control method is proposed for the reconfigurable robot system. The reconfigurable robot system's dynamic model is expressed by the subsystem's formulation. According to the adaptive dynamic programming (ADP) approach, the approximate optimal tracking control policy is developed by a fuzzy logic-based cooperative differential game manner for addressing the coupled HJB equation. Then, the closed-loop robotic system is proved to be asymptotically stable according to the Lyapunov theorem. At last, two types of simulation results have proved the effectiveness as well as the advantage of the proposed cooperative differential game-based approximate optimal tracking control method.","PeriodicalId":234590,"journal":{"name":"2022 International Conference on Service Robotics (ICoSR)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130891757","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
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