2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)最新文献_第3页

Vibration Suppression and Compliance Control of a Flexible Cantilever Beam using Manipulators 基于机械手的柔性悬臂梁振动抑制与柔度控制

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612664

Xianwei Yuan, Pengyu Jie, Yuhao Meng, Haiping Zhou, Ke Li, Guangzeng Chen, Y. Lou

{"title":"Vibration Suppression and Compliance Control of a Flexible Cantilever Beam using Manipulators","authors":"Xianwei Yuan, Pengyu Jie, Yuhao Meng, Haiping Zhou, Ke Li, Guangzeng Chen, Y. Lou","doi":"10.1109/WRCSARA53879.2021.9612664","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612664","url":null,"abstract":"In this paper, a vibration suppression and compliance control algorithm for a flexible cantilever beam using multiple manipulators is proposed. The system of vibration suppression and the operating principle of the multiple manipulators are first introduced. The cantilever beam is modelled as a distributed parameter system following the Euler-Bernoulli Beam theory. Then the dynamic response of the cantilever beam is carried out to design the control law of vibration suppression. To prevent the extreme pressure on the beam exerted by manipulators, a compliance control algorithm is presented. In this way, the manipulator will move along with the displacement of the beam when the pressure between the beam and manipulators exceed the threshold. Finally, numerical simulations are provided to illustrate the performance of the algorithm. The results of simulations reveal that the manipulators can suppress the vibration of the cantilever beam effectively and the stresses of the beam at arbitrary positions are reduced. Meanwhile, the contact forces between the beam and manipulators can be controlled within the specified threshold.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115384226","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 Learning from Demonstration Method for Robotic Assembly with a Dual-Sub-6-DoF Parallel Robot* 双副六自由度并联机器人装配的学习演示方法*

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612676

Haopeng Hu, Zhilong Zhao, Xiansheng Yang, Y. Lou

引用次数: 0

TSD: A new dataset for shadow detection of transparent objects TSD:透明物体阴影检测新数据集

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612672

Di Lu, Zuwei Yan, Cheng Xu, Jiaqi Li, Rui Zhang, Shuhuan Wen

{"title":"TSD: A new dataset for shadow detection of transparent objects","authors":"Di Lu, Zuwei Yan, Cheng Xu, Jiaqi Li, Rui Zhang, Shuhuan Wen","doi":"10.1109/WRCSARA53879.2021.9612672","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612672","url":null,"abstract":"In recent years, with the rapid development of deep learning and its wide application in the field of computer vision, a series of shadow detection algorithms based on deep learning have been proposed on public datasets such as SBU and ISTD. These shadow detection algorithms verify better performance than traditional shadow detection algorithm based on the physical model. However, the existing shadow detection dataset only performs image acquisition for non-transparent objects, and ignores the requirement for shadow removal of transparent objects in practical applications. Therefore, in this article, we will focus on the production of the transparent object shadow detection dataset, and propose a method of making synthetic dataset pictures through Blender software. We propose a new dataset for shadow detection of transparent objects and the new dataset contains 800 images including 100 images with complex backgrounds, 233 images with bright backgrounds and 467 images without backgrounds. We also verify it on the existing shadow detection algorithm. The experimental results show that the datasets we made has good characteristics and can be better used for the training of shadow detection networks and the detection of shadow positions of transparent objects.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123257080","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 Comprehensive Comparison of Three Desired Acceleration Calculation Methods for Mass Production of Adaptive Cruise System 自适应巡航系统量产所需加速度三种计算方法的综合比较

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612615

Yong Lu, Diange Yang, Jingning Yang, Yichao He, He Tian

{"title":"A Comprehensive Comparison of Three Desired Acceleration Calculation Methods for Mass Production of Adaptive Cruise System","authors":"Yong Lu, Diange Yang, Jingning Yang, Yichao He, He Tian","doi":"10.1109/WRCSARA53879.2021.9612615","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612615","url":null,"abstract":"An important technology of the adaptive cruise system is the calculation of desired acceleration. Based on the changing states of the ego and target vehicle, the calculated desired acceleration is executed by the ego vehicle actuator. After a while, the ego vehicle reaches the speed of the target vehicle and maintains the expected time interval. LQR(Linear quadratic regulator), MPC(model predictive control), and KE(kinematics equations) are most commonly used in mass production. This paper first introduces principles and realization of three desired acceleration calculation methods, secondly analyzes key calibration parameters and their role in each method, and finally compares the advantages and disadvantages of the three methods and their future optimization directions. This paper guides for engineers to develop and test adaptive cruise systems. According to the requirements of the OEM(original equipment manufacturer), tier 1 selects the appropriate desired acceleration solution and calibrates the key parameters, so that the mass production system is accepted.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124194884","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

ATFVO: An Attentive Tensor-compressed LSTM Model with Optical Flow Features for Monocular Visual Odometry ATFVO:一种具有光流特征的专注张量压缩LSTM模型

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612673

Hongwei Ren, Chenghao Li, Xinyi Zhang, Chenchen Ding, Changhai Man, Hao Yu

{"title":"ATFVO: An Attentive Tensor-compressed LSTM Model with Optical Flow Features for Monocular Visual Odometry","authors":"Hongwei Ren, Chenghao Li, Xinyi Zhang, Chenchen Ding, Changhai Man, Hao Yu","doi":"10.1109/WRCSARA53879.2021.9612673","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612673","url":null,"abstract":"This paper proposes a new framework called ATFVO which can be deployed on the edge device to resolve monocular visual odometry problem. The vast majority of visual odometry algorithms using deep learning are equivalent to or beyond the traditional visual odometry algorithms in performance, however they do not consider the computing capability of edge equipment. In this paper, convolution neural network (CNN) and attentive tensor-compressed compression LSTM (A-T-LSTM) are used, with optical flow feature as input and a 6-DoF absolute-scale pose as output. The framework is fused with the spatio-temporal feature and deal with the overfitting problem of over-parameterized LSTM with high-dimensional inputs, and utilizes attention mechanism to get poses from the sequence output of T-LSTM. The poses are estimated from the original RGB images sequence without depending on any prior knowledge. The experimental outcomes at the KITTI dataset display that, in compared with the performance of the most advanced methods, the single T-LSTM model is 141× smaller than the original LSTM model, and the entire model is nearly one-seventh of DeepVO with a speed 23× faster than Flowdometry. The proposed VO is deployed to the robot based on raspberry pi, which can achieve real-time inference and navigate a cruise.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126203997","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

Development of indoor positioning system based on Bluetooth 基于蓝牙的室内定位系统的开发

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612702

Siyun Liu, Q. Qi, Changhui Song, Huifeng Cheng, Wenhao Xian, Bing Wu, Yue Wang

引用次数: 1

An anti-trackslip path tracking algorithm for steel box girder inspection robot based on model prediction control 基于模型预测控制的钢箱梁检测机器人防滑轨路径跟踪算法

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612687

Zhenbo Yang, Lei Xue, Peng Wang, Shaobin Wei, He Gao, Yufang Wen, Yong Tao

{"title":"An anti-trackslip path tracking algorithm for steel box girder inspection robot based on model prediction control","authors":"Zhenbo Yang, Lei Xue, Peng Wang, Shaobin Wei, He Gao, Yufang Wen, Yong Tao","doi":"10.1109/WRCSARA53879.2021.9612687","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612687","url":null,"abstract":"An anti-trackslip path tracking algorithm for steel box girder inspection robot based on model prediction (MPC) is proposed in this paper. This algorithm is oriented to the actual needs of the automatic inspection of steel box girder of super large bridges. It solves the slippage problem of the inspection robot because of the wear of driving wheels and slippery contact. The kinematic models of longitudinal and lateral slippage were established and corrected after analyzing the robot sliding control and slippage parameter estimation methods. The robot system error dynamic model and the error model based on state extension were proposed by overall considering control constraints. The robot’s optimized objective function was constructed to convert MPC problem into quadratic programming. Finally, path tracking simulations were performed on the inspection robot under pure rolling and sliding conditions, respectively, using the improved MPC (IMPC) algorithm and the front-wheel feedback algorithm. The comparison showed that the IMPC algorithm exceeded the front-wheel feedback algorithm based on geometrical tracking in tracking precision, proving the effectiveness of the proposed IMPC in anti-trackslip path tracking.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133723438","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

5 DOF Capsule Endoscopy with Wi-Fi based Video Transmission Module 5 DOF胶囊内窥镜与基于Wi-Fi的视频传输模块

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612621

Junyi Wei, Li Song, Xinyang Wang, Jiawei Zhao, Lin Feng

{"title":"5 DOF Capsule Endoscopy with Wi-Fi based Video Transmission Module","authors":"Junyi Wei, Li Song, Xinyang Wang, Jiawei Zhao, Lin Feng","doi":"10.1109/WRCSARA53879.2021.9612621","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612621","url":null,"abstract":"Endoscopy is an effective tool for early diagnosis and treatment of gastrointestinal diseases. An increasing number of medical institutions prefer wireless capsule endoscopy (WCE) rather than traditional endoscopies. However, the capsule endoscopy that launched in the current commercial market have disadvantages of inability of active locomotion and low data transmission rate. This paper presents a 6 square coils electromagnetic control system with Wi-Fi based video transmission module for WCE. By adjusting the driven current of these coils, the electromagnetic device is able to generate uniform magnetic field to control the rotation as well as a gradient magnetic field to control the propulsion of the capsule endoscopy. In addition, the proposed WCE improves the transmission rate via high frequency communication technology. This WCE is Wi-Fi enabled in the frequency of 2.4 GHz which achieves a data rate up to 150 Mbps. The designed WCE employs an in-body transceiver receiving control signals and transferring image data outside the body. Compare to current commercial capsule endoscopy, the experiment results demonstrate that the proposed WCE achieves high transmission rate up to 30 frame per second (fps). Furthermore, it realizes the five degree of freedom motion and improves the control precision.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125597882","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

On the Offset-free Nonlinear Model Predictive Control for AUV Docking* AUV对接无偏移非线性模型预测控制研究*

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612699

K. Shi, Xiaohui Wang, Huixi Xu

{"title":"On the Offset-free Nonlinear Model Predictive Control for AUV Docking*","authors":"K. Shi, Xiaohui Wang, Huixi Xu","doi":"10.1109/WRCSARA53879.2021.9612699","DOIUrl":"https://doi.org/10.1109/WRCSARA53879.2021.9612699","url":null,"abstract":"The docking control of AUV is disturbed by model mismatch and sea current. This paper presents a method of AUV docking control based on the application of offset-free nonlinear model predictive control (NMPC) with multiple dynamic constraints. The controller drives the AUV from the initial pose to the entrance of the docking station (DS) through the coordinated motion of the AUV’s surge, sway, heave and yaw. In the process of AUV docking, the control input range, static space and field of view (FOV) of positioning sensor are the constraints of NMPC controller. A state observer is designed to estimate the system state and external disturbance, and the estimation is combined with NMPC controller to ensure the offset-free docking of AUV in the presence of model mismatch and external disturbance. Real-time iteration (RTI) approach is used to solve the on-line NMPC problem in real time. The offset-free NMPC controller is demonstrated in simulation studies using a six degrees of freedom (6-DOF) nonlinear model of AUV. The results obtained demonstrate that the proposed method can realize offset-free AUV docking control even under significant plant-model mismatch and external persistent current disturbance.","PeriodicalId":246050,"journal":{"name":"2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128130131","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

Topology and Parameterization based Multi-Objective Optimization of Delta Parallel Robot Arm 基于拓扑和参数化的Delta并联机械臂多目标优化

2021 WRC Symposium on Advanced Robotics and Automation (WRC SARA) Pub Date : 2021-09-11 DOI: 10.1109/WRCSARA53879.2021.9612620

F. Yang, Lizhe Wang, Min Chen, Quan Zhang

引用次数: 0