发布求助
文献互助 智能选刊 最新文献

2023 8th International Conference on Control and Robotics Engineering (ICCRE)最新文献

筛选
英文 中文
Dance Gestures Recognition for Wheelchair Control 轮椅控制的舞蹈手势识别
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155605
Juan-Carlos Martinez Rocha, Jhedmar Callupe Luna, É. Monacelli, Gladys Foggea, Maflohé Passedouet, S. Delaplace, Y. Hirata
{"title":"Dance Gestures Recognition for Wheelchair Control","authors":"Juan-Carlos Martinez Rocha, Jhedmar Callupe Luna, É. Monacelli, Gladys Foggea, Maflohé Passedouet, S. Delaplace, Y. Hirata","doi":"10.1109/ICCRE57112.2023.10155605","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155605","url":null,"abstract":"Wheelchair dance is an inclusive activity that gives more and more people with disabilities the opportunity to express themselves, exercise and improve their quality of life. In this article we present the development of a wearable sensor system capable of detecting dance gestures to command Voting, an electric wheelchair developed by the authors for dance purposes. Thus, with the support of the professional wheelchair dance teacher Gladys Foggea and the choreographer Maflohé Passedouet, thirteen dance gestures were defined, consisting of 7 simple gestures and 6 complex gestures. These gestures were used to train the algorithm of the proposed system. In order to find the appropriate algorithm and parameters for the present application, three classifiers were evaluated for their accuracy: SVM, KNN and Random Forest. Then, the most suitable parameterisation was determined by iterating each parameter for each classifier. As a result of this evaluation, it was found that the most suitable classifier was Random Forest, which achieved an accuracy of 97.7%• In addition, no difference in accuracy was observed between the detection of simple and complex gestures. Finally, the authors consider the result to be suitable to control Volting dance wheelchair, the implementation of which will be carried out in the next stage of the research.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130341782","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 and Analysis of Adaptive Compliant Gripper Mechanism Based on Antagonistic Actuator System 基于对抗作动器系统的自适应柔性夹持机构设计与分析
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155569
Shreyas Sharma, H. Harada
{"title":"Design and Analysis of Adaptive Compliant Gripper Mechanism Based on Antagonistic Actuator System","authors":"Shreyas Sharma, H. Harada","doi":"10.1109/ICCRE57112.2023.10155569","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155569","url":null,"abstract":"Adaptive gripping is a major functionality of robots used in logistics for food packaging and manufacturing industry. Due to the irregular and free-form shapes of the target objects, the problem statement is considered very challenging. In this research, we propose a novel Adaptive Compliant Gripper that combines the technologies of soft grippers and rigid grippers inspired by human fingers. This design focuses on an antagonistic actuator system based on cable actuation and curved-beam compliant springs that mimic the antagonistic muscle actuation in human fingers. To achieve higher power efficiency, the gripper can passively grasp irregular shape objects. FEA results on the design and mathematical models predict accurate functionality of the compliant mechanism. The grip force and deformation relations are validated by experimental results, showing a slight difference between calculated and observed values. Further, the gripper is tested with different shaped objects to verify adaptivity.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122985212","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
Intelligent Hermite Neural Control for Reaction Wheel Inverted Pendulums 反作用轮倒立摆的智能Hermite神经控制
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155578
Chun-Fei Hsu, Bo-Rui Chen
{"title":"Intelligent Hermite Neural Control for Reaction Wheel Inverted Pendulums","authors":"Chun-Fei Hsu, Bo-Rui Chen","doi":"10.1109/ICCRE57112.2023.10155578","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155578","url":null,"abstract":"In order to solve the problem that the reaction wheel inverted pendulum (RWIP) is highly nonlinear, unstable and underactuated nature, this study proposes an intelligent Hermite neural control (IHNC) system which has two main components: one is a speed controller and the other is a neural controller. The speed controller is designed to overcome the effect of reaction wheel rotation speed on the inverted pendulum. The neural controller, which employs a Hermite broad-learning neural network (HBNN), is designed to drive the pendulum at an upward unstable balance point and keep it controlled there. The HBNN extends the network structure in terms of width and internal feedback loop to achieve fast learning and dynamic mapping capabilities. Finally, the experimental results demonstrate the effectiveness of the proposed IHNC system.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117333605","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 Control of Liquid Containers with Slosh Constraints during High-Speed Three-Dimensional Transfer 具有晃动约束的液体容器在高速三维转移过程中的运动控制
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155568
Ryuji Nakagawa, Takahito Yamashita, R. Tasaki
{"title":"Motion Control of Liquid Containers with Slosh Constraints during High-Speed Three-Dimensional Transfer","authors":"Ryuji Nakagawa, Takahito Yamashita, R. Tasaki","doi":"10.1109/ICCRE57112.2023.10155568","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155568","url":null,"abstract":"In many plants, there exist a lot of liquid transfer systems. The acceleration during transfer causes sloshing (liquid vibration) in the container, which can lead to overflow and changes in properties, requiring transfer that suppresses sloshing. However, transfer without sloshing requires many sensors and complicated models for control design. Moreover, previous sloshing suppression has been used for horizontal transferring, but flexible transferring in a production line is needed to enable high-mix low-volume production. Therefore, this paper proposes a method to suppress sloshing when liquid containers are transferred along a three-dimensional path. To cope with changes in the natural angular frequency of the liquid surface due to vertical acceleration, a time-varying notch filter is designed and combined with a low-pass filter to suppress sloshing. In particular, we demonstrate the effectiveness of the proposed method by conducting sloshing suppression experiments in a petri dish, which easily overflows.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126610284","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 Interpretable Deep Bayesian Model for Facial Micro-Expression Recognition 面部微表情识别的可解释深度贝叶斯模型
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155596
Chenfeng Wang, Xiaoguang Gao, X. Li
{"title":"An Interpretable Deep Bayesian Model for Facial Micro-Expression Recognition","authors":"Chenfeng Wang, Xiaoguang Gao, X. Li","doi":"10.1109/ICCRE57112.2023.10155596","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155596","url":null,"abstract":"The Bayesian network is a powerful model for uncertain causal inference, but is limited to handle numerical data. In order to apply its excellent bidirectional inference ability to the image domain, this paper proposes an interpretable deep Bayesian model, which is based on deep learning technology to conduct semantic segmentation of facial micro-expressions and then extract features to construct the feature Bayesian network to analyze and infer causal relationships. Experiments show that the proposed model enables Bayesian networks to analyze image information, and enhances the interpretability of micro-expression recognition compared with deep learning models.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130351316","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
Statics and Dynamics Simulation Analysis of the Industrial Robot Arm Structure Based on the Generative Design 基于生成设计的工业机械臂结构静力学与动力学仿真分析
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155591
D. X. Bien, M. N. Anh, Nguyen Thi Ngoc Mai, Vu Thi Doan Trang, Le Thanh Binh, Dao Van Duong, Pham Dac Phong, Do Duy Nhat
{"title":"Statics and Dynamics Simulation Analysis of the Industrial Robot Arm Structure Based on the Generative Design","authors":"D. X. Bien, M. N. Anh, Nguyen Thi Ngoc Mai, Vu Thi Doan Trang, Le Thanh Binh, Dao Van Duong, Pham Dac Phong, Do Duy Nhat","doi":"10.1109/ICCRE57112.2023.10155591","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155591","url":null,"abstract":"This paper presents the results of analyzing the statics and dynamics models of the industrial welding robot with 6 degrees of freedom (DOF) before and after optimizing the geometric structure based on the Generative Design (GD) module on the INVENTOR software. The second link (2nd link) on the robot was selected for the optimized design of the structure with the criteria of mass, stress and displacement. The static model of the robot is established in the general case. The position of the maximum load at joints 2 and joint 3 is directly related to the optimal link considered. The force and moment values acting on these joints are calculated as the basis for determining the static stress and displacement. Similarly, the dynamics model of the robot is considered in the state of motion with the maximum velocity of joint 2. The post-optimized part reduces the mass by 39% compared to the original. The results of the post-optimized dynamics analysis showed that the maximum stress and displacement on link 2 decreased by 53.95% and 46.06%, respectively. The results of this study can be used as a basis to investigate the kinematics and dynamics of the robot during motion such as velocity, acceleration, driving torque and trajectory programming. Moreover, the problem of reducing energy consumption costs as well as reducing fabricating costs based on additive manufacturing technology can also be interested and developed in the near future.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116460643","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
Low Cost Object Tracking by Computer Vision Using 8 Bits Communication with a Viper Robot 基于8位通信的毒蛇机器人计算机视觉低成本目标跟踪
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155618
Leonel Alejandro Cruz Sandoval
{"title":"Low Cost Object Tracking by Computer Vision Using 8 Bits Communication with a Viper Robot","authors":"Leonel Alejandro Cruz Sandoval","doi":"10.1109/ICCRE57112.2023.10155618","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155618","url":null,"abstract":"Computer vision systems have been an area of study for multiple areas of engineering. Vision systems have been studied greatly in the area of robotics, as it is of great interest to better automate processes. Many perception systems have been created to improve object handling capabilities for robots. This article seeks to create a computer vision system capable of detecting objects and communicating with a robot in a cost-effective way. To achieve the development of the project the incremental methodology is used, having as first increment the object detection algorithm, the second increment the communication system and the third increment the implementation of an object classification library. In this project, object segmentation tools and neural networks are used to create an intelligent object classification system. The cost for this project are lower than others solution from the market. Although the costs show notorious differences, no motion detection tests were performed, which will be done as a second phase of the project.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121452631","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 Improved Particle Filtering Strategy for Terrain Aided Navigation Based on MBES Information 基于MBES信息的地形辅助导航改进粒子滤波策略
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155589
Shaohua Pan, Xiaosu Xu, Yiqing Yao
{"title":"An Improved Particle Filtering Strategy for Terrain Aided Navigation Based on MBES Information","authors":"Shaohua Pan, Xiaosu Xu, Yiqing Yao","doi":"10.1109/ICCRE57112.2023.10155589","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155589","url":null,"abstract":"Terrain aided navigation is widely used in underwater positioning. The problem of positioning error accumulation is difficult to be completely solved by strapdown inertial navigation system (SINS) / doppler velocity log (DVL) integrated navigation system. Single beam sounder and DVL provide less depth information and have lower real-time navigation filtering accuracy. Therefore, a filtering strategy for terrain aided navigation based on multi-beam sounding information is proposed. A tightly integrated framework of SINS, DVL and multibeam echosounder (MBES) is designed, which fully considers the sensor installation error, reduces the number of subsystems, and improves the system stability. An improved particle filter algorithm is proposed, the index of particle dispersal range and particle diversity loss rate are proposed, and a secondary resampling method is designed to solve the problem of particle degradation and particle diversity loss. The simulation experiment based on the local topographic map of Qiandao Lake proves that the proposed algorithm has higher positioning accuracy, better convergence of positioning errors during a long time voyage, and better positioning effect in flat areas.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"30 42","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113934431","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
Inverse Kinematics of Six-Joint Special Manipulators 六关节特殊机械臂的逆运动学
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155593
S. M. Manongsong, J. Capco
{"title":"Inverse Kinematics of Six-Joint Special Manipulators","authors":"S. M. Manongsong, J. Capco","doi":"10.1109/ICCRE57112.2023.10155593","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155593","url":null,"abstract":"This work provides a solution to the inverse kinematics problem of special six-joint manipulators using the algebra of dual quaternions and techniques in algebraic geometry such as the Grobner basis and multi-dimension analysis of varieties in the seven-dimensional projective space. Unlike general six-joint manipulators, special manipulators have the property that the workspace of the left or the right 3-chain lies entirely in the Study quadric. It is found that desirable finite inverse kinematics solutions depend on the nature of the computed hyperplane pencils or fixed linear spaces that contain the workspaces of the 3-chains. Algorithms are provided to outline the procedure when the workspaces are contained in a pencil and a linear space in the quadric. To illustrate, we provide an example of a special manipulator and solve its inverse kinematics solutions.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132325235","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 Fast Anti-Rocking Self-Alignment Method for Strapdown Inertial Navigation Systems under Latitude Uncertainty 纬度不确定下捷联惯导系统快速抗摇自对准方法
2023 8th International Conference on Control and Robotics Engineering (ICCRE) Pub Date : 2023-04-21 DOI: 10.1109/ICCRE57112.2023.10155586
Wenqian Liu, Xianghong Cheng
{"title":"A Fast Anti-Rocking Self-Alignment Method for Strapdown Inertial Navigation Systems under Latitude Uncertainty","authors":"Wenqian Liu, Xianghong Cheng","doi":"10.1109/ICCRE57112.2023.10155586","DOIUrl":"https://doi.org/10.1109/ICCRE57112.2023.10155586","url":null,"abstract":"In order to realize the initial alignment of Strapdown Inertial Navigation Systems (SINS) in finite time under the condition of unknown latitude, a fast anti - rocking self alignment method is proposed based on the inertial frame initial alignment principle. In the coarse alignment stage, latitude self-estimation and coarse alignment are carried out simultaneously. Aiming at the problem that the measured values of accelerometer with random noise affect the latitude estimation, Kalman filter is used to identify the parameters and apparent acceleration of gravity is reconstructed, and the apparent acceleration of gravity is integrated with the determined optimal integral interval to effectively suppress the random noise and improve the alignment accuracy. The data stored during the coarse alignment process is used for forward fine alignment, which can significantly shorten the alignment time. The semi-physical simulation shows that the proposed method can realize latitude estimation and accurate initial alignment under the condition of unknown latitude.","PeriodicalId":285164,"journal":{"name":"2023 8th International Conference on Control and Robotics Engineering (ICCRE)","volume":"58 28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124945835","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信