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2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS)最新文献

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The Gripping Posture Prediction of Eye-in-hand Robotic Arm Using Min-Pnet 基于Min-Pnet的手眼机械臂抓取姿态预测
2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2022-08-24 DOI: 10.1109/ARIS56205.2022.9910442
Chin-Sheng Chen, Tai-Chun Li, Nien-Tsu Hu
{"title":"The Gripping Posture Prediction of Eye-in-hand Robotic Arm Using Min-Pnet","authors":"Chin-Sheng Chen, Tai-Chun Li, Nien-Tsu Hu","doi":"10.1109/ARIS56205.2022.9910442","DOIUrl":"https://doi.org/10.1109/ARIS56205.2022.9910442","url":null,"abstract":"This study focuses on using RGB-D images and modifying an existing machine learning network architecture to predict the gripping posture of a successfully grasped object. A five-finger(5-Fin) gripper designed to mimic the human palm was tested to demonstrate that it can perform a more delicate mission than many two- or three-finger grippers. Experiments were conducted using the 6-DOF robot arm with the 5-Fin and 2-Fin grippers to perform at least 100 actual machine grasps, and compared to the results of other studies. It was demonstrated that our network could perform as well as a deep network architecture with little training data and omitting steps such as posture evaluation. When combined with the hardware advantages of the 5-Fin gripper, it can produce an automated system with a gripping success rate of over 90%.","PeriodicalId":254572,"journal":{"name":"2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129630185","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
Genetic algorithm-determined artificial neural network architecture for predicting power usage effectiveness (PUE) in a data center 遗传算法确定的预测数据中心电力使用效率的人工神经网络体系结构
2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2022-08-24 DOI: 10.1109/ARIS56205.2022.9910452
Chakradhar Kalle, Chin-Sheng Chen, Shih-Yu Li, Tamilarasan Sathesh
{"title":"Genetic algorithm-determined artificial neural network architecture for predicting power usage effectiveness (PUE) in a data center","authors":"Chakradhar Kalle, Chin-Sheng Chen, Shih-Yu Li, Tamilarasan Sathesh","doi":"10.1109/ARIS56205.2022.9910452","DOIUrl":"https://doi.org/10.1109/ARIS56205.2022.9910452","url":null,"abstract":"The accurate estimation of a data center's power use effectiveness (PUE) is critical for refinery operations. The predictions of two machine learning models are compared in this research: genetic algorithms combined with artificial neural networks are both artificial neural networks. Using a new method for genetically improving artificial neural networks (ANN), PUE has been predicted (GA). The number of neurons in the hidden layer is determined by the genetic algorithm. The artificial neural network model has 18 variables as inputs. The best structure and training parameters for an ANN have been shown to be determined by the genetic algorithm. Furthermore, an artificial neural network model powered by a genetic algorithm was assessed, and the findings suggested that the PUE may be predicted with some accuracy. This method can help to increase forecast accuracy.","PeriodicalId":254572,"journal":{"name":"2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123078826","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
High-fidelity Simulation of a Humanoid Robot Driving an E-scooter using Web technologies 基于Web技术的仿人机器人驾驶电动滑板车的高保真仿真
2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2022-08-24 DOI: 10.1109/ARIS56205.2022.9910451
J. Baltes, Ugo Roux, Saeed Saeedvand
{"title":"High-fidelity Simulation of a Humanoid Robot Driving an E-scooter using Web technologies","authors":"J. Baltes, Ugo Roux, Saeed Saeedvand","doi":"10.1109/ARIS56205.2022.9910451","DOIUrl":"https://doi.org/10.1109/ARIS56205.2022.9910451","url":null,"abstract":"This paper proposes a versatile and extremely portable simulator and benchmark for the development of humanoid robots in highly dynamic environment. It is a proof of concept on the feasibility of using web technologies to develop flexible, efficient, and highly portable environment for robot development. The environment described in this paper models the driving test for scooters in Taiwan. A humanoid robot is controlling an E-scooter in the simulation. The simulator is built on web technologies and therefore does not require any complex installation of the software, in contrast to using the robotics operating system (ROS). Furthermore, the simulator engine runs complete in the browser and hence can be served from any of the free webhosting sites. The simulator features all functionality of a classic simulator such as a physics engine and 3D rendering. Furthermore, a client program can communicate with the simulation engine using websockets. This work was tested during the online FIRA RoboWorld Cup competition 2021 and proved popular amongst participants.","PeriodicalId":254572,"journal":{"name":"2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131240281","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
Study of Autonomous Robotic Lawn Mower Using Multi-Sensor Fusion Based Simultaneous Localization and Mapping 基于多传感器融合的自主割草机机器人同步定位与制图研究
2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2022-08-24 DOI: 10.1109/ARIS56205.2022.9910445
Meng-Huai Wu, Jyh-Cheng Yu, Yong-Cheng Lin
{"title":"Study of Autonomous Robotic Lawn Mower Using Multi-Sensor Fusion Based Simultaneous Localization and Mapping","authors":"Meng-Huai Wu, Jyh-Cheng Yu, Yong-Cheng Lin","doi":"10.1109/ARIS56205.2022.9910445","DOIUrl":"https://doi.org/10.1109/ARIS56205.2022.9910445","url":null,"abstract":"Most robotic lawnmowers on the market adopt buried metal wires to define the boundary and random walk movement to mow the lawn, leading to higher installation costs, overlapping work paths, and inefficient coverage. This study uses the data fusion of multiple sensors, including actuator encoders, Inertial Measurement Unit (IMU), and Light Detection and Ranging (LiDAR), for robot localization and path planning to develop an intelligent robotic lawn mower that automatically detects the mowing boundary and completely covers the lawn. Extended Kalman Filter (EKF) and Adaptive Monte Carlo Localization (AMCL) are used for robot localization. Gmapping SLAM algorithm is used to build the layered costmap, which serves as the basis for path planning. In response to the possibility of temporary changes to the mowing range, a virtual wall function was introduced to customize the work area. The proposed path planning combines partitioned boustrophedon path planning and boundary following to increase the coverage efficiency. A prototype is constructed, and the experimental result is presented to verify the strategy's feasibility and demonstrate its efficiency. The robotic lawnmower achieves a coverage rate of 92% in the test area of $boldsymbol{24 mathrm{m}^{2}}$ in about 20 minutes.","PeriodicalId":254572,"journal":{"name":"2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131643501","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
Design and Implementation of Wire-Driven Multi-Joint Robotic Arm 线驱动多关节机械臂的设计与实现
2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS) Pub Date : 2022-08-24 DOI: 10.1109/ARIS56205.2022.9910455
Cheng-Chao Huang, Chung-Liang Chang
{"title":"Design and Implementation of Wire-Driven Multi-Joint Robotic Arm","authors":"Cheng-Chao Huang, Chung-Liang Chang","doi":"10.1109/ARIS56205.2022.9910455","DOIUrl":"https://doi.org/10.1109/ARIS56205.2022.9910455","url":null,"abstract":"Compared with rigid robotic arms, soft robotic arms have the advantages of high degree of freedom, lightness, and flexibility. However, insufficient torque and overshoot often cause difficulties in arm control. A prototype of a wire-driven robotic arm is proposed. The design concept of the robotic arm comes from the skeletal joints of snakes, which are formed by a combination of multiple solid polygons and spherical joints. The bending process is similar to the muscle contraction when the snake's body is curled. A look-up table based servo control method is presented to rotate the motor to drive the arm to bend and move to a specific point within the bending range. The motion model of the robot arm is established by the MATLAB Simulink, and the simulation results are compared with the actual operation results to verify the controllability and positioning accuracy of the robotic arm.","PeriodicalId":254572,"journal":{"name":"2022 International Conference on Advanced Robotics and Intelligent Systems (ARIS)","volume":"279 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127385396","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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