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2019 4th International Conference on Robotics and Automation Engineering (ICRAE)最新文献

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Compressed Holistic Convolutional Neural Network-based Descriptors for Scene Recognition 基于压缩整体卷积神经网络的场景识别描述符
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043837
Shuo Wang, Xudong Lv, D. Ye, Bing Li
{"title":"Compressed Holistic Convolutional Neural Network-based Descriptors for Scene Recognition","authors":"Shuo Wang, Xudong Lv, D. Ye, Bing Li","doi":"10.1109/ICRAE48301.2019.9043837","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043837","url":null,"abstract":"Deep convolutional neural networks (CNN) have recently been widely used in many computer vision and pattern recognition applications. With the help of high-level image description features provided by CNN, the deep architecture models perform significantly better than state-of-the-art solutions that use traditional hand-crafted features. In this paper, we concentrate on the scene recognition problem especially for changing environments, such as view angle changes, illumination variations, occlusion, different weather conditions and seasons. We propose a new scene recognition system using the deep residual convolutional neural network (ResNet) as the image feature extractor. The initial feature vectors are chosen from specific layers of the network and after a series of post-processes, we can obtain the final image descriptor vectors for scene similarity measurement. The performance of our proposed methods is evaluated on four popular open datasets by comparing it with the classic FabMap method and some other deep learning-based methods.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"21 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":"116569922","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: 5
Research on Test System of Comprehensive Transmission Performance of Wide-range Gears 大量程齿轮综合传动性能测试系统研究
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043808
Fu Yi-Meng, Zhou Xiao-jun, Zhuo Yao-Bing, Lv Hao-Liang
{"title":"Research on Test System of Comprehensive Transmission Performance of Wide-range Gears","authors":"Fu Yi-Meng, Zhou Xiao-jun, Zhuo Yao-Bing, Lv Hao-Liang","doi":"10.1109/ICRAE48301.2019.9043808","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043808","url":null,"abstract":"According to the requirement of research on transmission performance of gear pair in chassis of a heavy-duty vehicle, this paper develops a comprehensive testing system suitable for wide-range gear pairs, which can realize various types of performance testing of parallel and spiral bevel gears under quasi-static and dynamic conditions. Then taking a hypoid gear for example, The finite element model of hypoid gear transmission system suitable for quasi-static tooth contact analysis is established. Through the contact analysis, the simulation results of tooth surface contact area, root bending stress and transmission error are obtained, which are in good agreement with the test results.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"7 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":"130310153","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
Laser Vision Detection Method for the Thermal Deformation of Tubesheet Welding 管板焊接热变形的激光视觉检测方法
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043842
Ting Lei, Hui Wang, Pengfei Xiong, Yu Huang, Huimei Liu
{"title":"Laser Vision Detection Method for the Thermal Deformation of Tubesheet Welding","authors":"Ting Lei, Hui Wang, Pengfei Xiong, Yu Huang, Huimei Liu","doi":"10.1109/ICRAE48301.2019.9043842","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043842","url":null,"abstract":"The thermal deformation of tubesheet in the welding process was inevitable. This can lead to the welding distance between tungsten electrode and tubesheet varied. The undercut, breakage and uneven weld of the tubes can be caused by the unreasonable welding distance. This paper developed a laser vision detection method to project lasers on tubesheet plane and extracted the intersection coordinate of cross-lines laser. The mathematical model between intersection coordinate and tubesheet thermal deformation was established. The steady and accuracy of this method in the detection of tubesheet thermal deformation were verified. The static detection error was no more than 0.006 mm. The maximum thermal deformation of tubesheet in our experiment was no more than - 2.6 mm. This study laid a foundation for on-line detect thermal deformation of robot welding tubesheet.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"2 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":"129343885","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
Copyright 版权
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/icrae48301.2019.9043834
{"title":"Copyright","authors":"","doi":"10.1109/icrae48301.2019.9043834","DOIUrl":"https://doi.org/10.1109/icrae48301.2019.9043834","url":null,"abstract":"","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"105 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":"132215929","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 Real-time Control Framework for a Modular Snake Robot 模块化蛇形机器人的实时控制框架
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043797
Yunhu Zhou, Zhiqi Li, Yuanfei Zhang, F. Ni, Yongjun Sun, Hong Liu
{"title":"The Real-time Control Framework for a Modular Snake Robot","authors":"Yunhu Zhou, Zhiqi Li, Yuanfei Zhang, F. Ni, Yongjun Sun, Hong Liu","doi":"10.1109/ICRAE48301.2019.9043797","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043797","url":null,"abstract":"The Robot Operating System (ROS) is widely adopted for the control of the robots which is usually running on the Linux system with a standard kernel. But snake robot has a high requirement for the real-time of the control framework since it has several modules which contain a variety of sensors. To solve the problem, the control frame based on the Xenomai real-time system is developed by inserting a patch to the kernel and the real-time performance can be further enhanced by priority scheduling. The proposed control framework of the snake robot is applied to deal with the non- real-time communication thread with ROS packages and the real-time communication thread with the joint controller. So the application programs based on the proposed control framework can realize the multi-task function and be compatible with the ROS system. At last, the experiments validate that the control framework can control the hardware of the snake robot efficiently.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"27 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":"134195903","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
Electromagnetic Artificial Muscle Technologies Revisited: Basis for the Design of Magnetic Coupled Artificial Exoskeletal Muscle 电磁人工肌肉技术再认识:磁耦合人工外骨骼肌肉设计的基础
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043809
C. D. Cortez, M. Ramos
{"title":"Electromagnetic Artificial Muscle Technologies Revisited: Basis for the Design of Magnetic Coupled Artificial Exoskeletal Muscle","authors":"C. D. Cortez, M. Ramos","doi":"10.1109/ICRAE48301.2019.9043809","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043809","url":null,"abstract":"Most artificial muscles are either pneumatically or thermally driven resulting to robots being bulky, heavy and inflexible due to additional external pump attachments. With these reasons, electromagnetic artificial muscles are considered in the design for mobility. However, current designs for electromagnetic artificial muscles only satisfy either great force to stroke ratio or great force to weight ratio or low power consumption but none has achieved all three. This study aims to design an electromagnetically driven magnetic coupled artificial exoskeletal muscle that can exhibit better force to stroke, force to weight and lesser power. As a result, the prototype was able to attain a force to stroke ratio of 0.333 N/mm, force to weight ratio of 18.18 N/kg and can consume a maximum of 53.1 Watts of power. Compared to elastic actuator, the prototype was able to satisfy all three advantages of an electromagnetic artificial muscle.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"1 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":"129173455","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
Development of UAV -based Automated Vehicle Recognition System for Parking Enforcement 基于无人机的停车执法车辆自动识别系统的研制
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043803
Chester Lok Kin Ye, H. S. Jo, Riady Siswoyo Jo
{"title":"Development of UAV -based Automated Vehicle Recognition System for Parking Enforcement","authors":"Chester Lok Kin Ye, H. S. Jo, Riady Siswoyo Jo","doi":"10.1109/ICRAE48301.2019.9043803","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043803","url":null,"abstract":"This paper presents the development of an Unmanned Aerial Vehicle (UAV) based system that is designed to perform vehicle recognition for parking enforcement purpose. The proposed system is intended to be used to monitor and enforce parking fee payment in a multi-entrance and multi-exit open parking lot. This system is useful when the condition is not suitable to implement single-entry and single-exit barrier gate at the parking lot. The system is developed based on an UAV equipped with a camera to be deployed from a ground station and patrols the parking lot through a fixed flight path with a pre-defined waypoints mission to capture all vehicles' license plate that were parked in the parking lot. The images were then downloaded from the UAV for license plate detection and recognition via Google Cloud Vision. Postprocessing was performed to increase the detection accuracy of license plates. The detected license plates and their respective timestamp were logged in the database for parking fee charging purpose. To automate the process, the UAV control logic and graphical user interface was designed and developed using Microsoft Visual C# and DJI Windows SDK.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"2009 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":"125597704","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
Robotic System with Power Line Communication for In-pipe Inspection of Underground Urban Gas Pipeline 基于电力线通信的城市地下燃气管道管道内检测机器人系统
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043827
Hengfei Wang, Zandong Han, Q. Ma
{"title":"Robotic System with Power Line Communication for In-pipe Inspection of Underground Urban Gas Pipeline","authors":"Hengfei Wang, Zandong Han, Q. Ma","doi":"10.1109/ICRAE48301.2019.9043827","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043827","url":null,"abstract":"As natural gas gains more and more popularity, the security of related infrastructure such as pipelines has been a hot topic in society. Even though NDE (Non-Destructive Evaluation) technology is developing rapidly, how to inspect pipelines buried underground effectively is still a problem remaining unsolved. The reason is that there is no developed equipment which can pass through pipelines carrying NDE sensors and provide the circumstances under which testing tasks can be done properly. This paper designs a practical robotic system called “Inspector” for in-pipe inspection of underground urban gas pipelines using PLC, which stands for power line communication. Inspector is able to pass through different obstacles (bends, elbows and tees) at a pipe network, climb in vertical pipes and recover from capsizing. Except for that, the robot can also conduct inspection tasks and show conditions of pipes clearly. Besides, this paper proposes a self-control strategy using laser range finders, which are used to detect road conditions ahead of Inspector. With the efforts of all the team members, a prototype of the robot system has been completed, qualified with the functions mentioned above.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"11 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":"133815369","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
The Autonomous Underwater Vehicle Adaptive Control Algorithm Based on Particle Filter 基于粒子滤波的自主水下机器人自适应控制算法
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043829
A. Zhukov, V. Diachenko
{"title":"The Autonomous Underwater Vehicle Adaptive Control Algorithm Based on Particle Filter","authors":"A. Zhukov, V. Diachenko","doi":"10.1109/ICRAE48301.2019.9043829","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043829","url":null,"abstract":"This paper presents adaptive tracking control algorithm based on particle filter for an autonomous underwater vehicle (AUV). The algorithm extends the model based control algorithm to reject disturbance forces. Particle filter is used to estimate disturbance forces, which are very common for the water environment and can be caused by hydrodynamics effect, an ocean current, and autonomous underwater vehicle parameters uncertainties. At the end of paper numeric simulation of movement AUV by spiral trajectory is presented to study effectiveness proposed estimation and control algorithms.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"78 1 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":"134503333","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 Human-Aided Learning Approach to Optimal Control of Human-Robot Systems 人-机器人系统最优控制的人工辅助学习方法
2019 4th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2019-11-01 DOI: 10.1109/ICRAE48301.2019.9043844
Rizheng Tan, Zhiheng Xu
{"title":"A Human-Aided Learning Approach to Optimal Control of Human-Robot Systems","authors":"Rizheng Tan, Zhiheng Xu","doi":"10.1109/ICRAE48301.2019.9043844","DOIUrl":"https://doi.org/10.1109/ICRAE48301.2019.9043844","url":null,"abstract":"Human-Robot Systems (HRS) play a significant role in many applications, including manufacturing, critical infrastructure, and civil applications. However, conventional HRSs require predetermined reference before the start of the mission, which restricts the flexibility of the HRSs. In this paper, we use a recursive least-square approach to design Human-Aided Learning (HAL) algorithm, which allows the robot to learn the reference via the human inputs and system outputs. With multiple learning iterations, the robot can determine the reference. After estimating the reference, the robot can execute the tasks independently. We also design a low-pass filter to remove the impact of a high-frequency noise introduced by the human inputs. Finally, we use simulation to evaluate the performance of the proposed HAL algorithm.","PeriodicalId":270665,"journal":{"name":"2019 4th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"73 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":"116026393","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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