2022 8th International Conference on Control, Automation and Robotics (ICCAR)最新文献_第2页

Real-time Magnetic Actuated Control and Virtual Interaction for Remote Interventional Surgery 远程介入手术的实时磁驱动控制与虚拟交互

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782612

Chudong Shan, J. Zhao, Wenyuan Zhao, Tingbao Zhang, Bo Du, Zhiyong Yuan

引用次数: 0

Time Efficient Solution for Formula Student Driverless Competition: A Unmanned Aerial Vehicle Scouting Approach 学生方程式无人驾驶竞赛的时间效率解决方案:一种无人机侦察方法

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782637

Yuanjing Zheng, Mingjie Feng, Guojun He, Qi Zhang, Wenbin Li

{"title":"Time Efficient Solution for Formula Student Driverless Competition: A Unmanned Aerial Vehicle Scouting Approach","authors":"Yuanjing Zheng, Mingjie Feng, Guojun He, Qi Zhang, Wenbin Li","doi":"10.1109/ICCAR55106.2022.9782637","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782637","url":null,"abstract":"Formula Student Driverless (FSD) is a famous self-driving race car competition in which the participating autonomous cars race on an unknown track. Many race cars, including the 2018 and 2019 champions, operate with a two-stage approach. The first stage is the training stage, which is used by the cars to observe the track information; the second stage is the execution stage, in which the cars move at full speed based on the information obtained in the first stage. However, a major limitation of this approach is that the cars have to move slowly during the training stage, since they need to gradually learn the track information and reserve enough time (e.g., 2 seconds) ahead of the operation to avoid collision. In addition to the above issue, previous cars are based on algorithms that are cannot be timely executed, which causes large operational delay and increases the risk of collision. To overcome these limitations, this paper presents a novel framework to enhance the performance of race cars. Specifically, the car is guided by a scouting unmanned aerial vehicle (UAV) that obtains the global track information with a monocular camera at the training stage. To implement the proposed framework, a set of algorithms are proposed to support various functionalities, including perception, simultaneous localization and mapping (SLAM), and path planning. Moreover, the proposed algorithms are highly time efficient, which can adapt to the environment at a faster rate than existing methods, thus supporting timely operation of cars and reducing the risk of collision. Our test results indicate that, with the proposed approach, the race car can obtain global trace information 50 seconds before the car reaches the finish line, which enables the race car to safely achieve a better racing performance.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125402224","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 Novel Corner Detection Algorithm Applied to Vision-Based Alignment Systems 一种新的角点检测算法应用于基于视觉的对齐系统

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782644

Jiasheng Song, Haotian Li, Yazhou Chen, Yanting Chen, Y. Wei

{"title":"A Novel Corner Detection Algorithm Applied to Vision-Based Alignment Systems","authors":"Jiasheng Song, Haotian Li, Yazhou Chen, Yanting Chen, Y. Wei","doi":"10.1109/ICCAR55106.2022.9782644","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782644","url":null,"abstract":"In vision-based alignment systems, it is very important to detect the corner positions in images. It is based on these positions that the systems can calculate the offset between the workpieces and achieve their assembly alignment using robots. A simple and fast corner detection method is proposed, which can effectively overcome the data redundancy problem in traditional corner detection algorithms. First, the reduced image is figured out by scale transformation and down-sampling, and the corresponding edge binary image is obtained by gradient analysis. Then, all the edge coordinates are detected by the designed edge extraction operator, and an initial corner point is obtained by fitting analysis of these edge points. Due to the error arising from the above transformation and fitting, the point is not the target one. Finally, the Hough transform is used to detect the local linear features near the point, and the target point is determined by the linear intersection analysis. The experimental results show that the algorithm can effectively extract the target corner, which is basically consistent with the manually calibrated target point.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129450067","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 Arduino Based Autonomous Navigation Platform for Water Monitoring Boat Prototype 基于Arduino的水监测船原型自主导航平台的开发

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782657

A. J. Bautista, Amiel Duke T. Cruz, Justin Amos S. Adams, E. Giron

引用次数: 0

ArmX: An Upper Extremity Exoskeleton Robot for Lift Assistance ArmX:用于提升辅助的上肢外骨骼机器人

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782672

Dilini D. Pasqual, P.R. Withanachchi, G.C. Vimantha, R. Ranaweera, R. Gopura

{"title":"ArmX: An Upper Extremity Exoskeleton Robot for Lift Assistance","authors":"Dilini D. Pasqual, P.R. Withanachchi, G.C. Vimantha, R. Ranaweera, R. Gopura","doi":"10.1109/ICCAR55106.2022.9782672","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782672","url":null,"abstract":"Work-related musculoskeletal disorders are most common among industrial workers due to repetitive handling of load by manual means. This paper proposes a seven degrees of freedom (DOF) robotic upper extremity exoskeleton named ArmX to provide lift assistance to reduce the risk of musculoskeletal injuries during manual handling. The device consists of shoulder and elbow units with three active DOF. The novel shoulder joint mechanism incorporated in the device allows the wearer to perform natural motions while delivering power assistance to shoulder flexion/extension and abduction/adduction with a single actuation system. ArmX also facilitates shoulder internal/external rotation, protraction/retraction and elevation/depression by passive means. Similarly, the mechanisms at the elbow and forearm provide power assistance for elbow flexion/extension and passively facilitate elbow supination/pronation. The proposed design has a greater level of manipulability for a compact and lightweight system. The power assistance ratios for the shoulder and elbow are 43% and 42% respectively. The functionality and performance of ArmX were evaluated both qualitatively and quantitatively using a fabricated prototype. The results of experiments verified the capability of the proposed exoskeleton to provide power assistance during lifting operations without restricting human-like motions.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"14 1-2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120996868","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

A New Approach of Initial Localization for Unmanned Vehicles Based on 3D Descriptor and Normal Distributions Transform 基于三维描述子和正态分布变换的无人车初始定位新方法

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782592

Haotian Feng, Jie Luo, Linqiu Gui, Hao Huang

{"title":"A New Approach of Initial Localization for Unmanned Vehicles Based on 3D Descriptor and Normal Distributions Transform","authors":"Haotian Feng, Jie Luo, Linqiu Gui, Hao Huang","doi":"10.1109/ICCAR55106.2022.9782592","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782592","url":null,"abstract":"With the development of technology, autonomous driving technique has attracted more and more attention. Localization is an important module in the navigation application of automatic driving system. At present, the automatic driving system is still based on high-precison map, so it is very important to identify the initial position of the vehicle on the map. In the outdoor environment, GNSS is the mature scheme. However, in the environment where high buildings exist, GNSS signals are usually interfered strongly by electromagnetic signals from these buildings, which is a great challenge to the automatic driving system. In this paper, a two-step localizaton algorithm is proposed based on the prior point cloud map. Firstly, the intensity scan context algorithm is used to roughly localize the initial pose of the vehicle. After that, the result of rough localization is used as the initial value of the normal distributions transform (NDT) algorithm. After NDT registration, the precise pose of the vehicle can be obtained. At the same time, an optimal scoring strategy are proposed to improve the robustness of the localization system. Finally, the algorithm is tested on the campus of Wuhan University of Technology.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125355562","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

Optimization of Machining Position for Wheel Hub Polishing Robot Based on the Kinematic Index 基于运动学指标的轮毂抛光机器人加工位置优化

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782642

Yi Xia, Lijun Zhao, Zhiheng Liu, Kui Zhu

{"title":"Optimization of Machining Position for Wheel Hub Polishing Robot Based on the Kinematic Index","authors":"Yi Xia, Lijun Zhao, Zhiheng Liu, Kui Zhu","doi":"10.1109/ICCAR55106.2022.9782642","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782642","url":null,"abstract":"With the development of intelligent manufacturing, industrial robots are more and more widely used in machining operations, and polishing workpiece with free-form surfaces is one of them. The curvature of the free-form surface is variable, which means that the robot needs to have good kinematics when polishing, at the same time, the singularity of the robot needs to be avoided during processing. Therefore, it is necessary to select the regions with better kinematic performance for robot machining. For this reason, based on the kinematic performance evaluation index of the robot, a method for optimizing the machining position of the wheel hub is proposed in this paper. First, a kinematic index based on the Jacobian of the robot is introduced in detail, and the kinematic performance map is drawn according to the forgoing index. Then, the initial position of the workpiece with respect to the robot is determined through the kinematic performance map. Finally, combining the index with the characteristics of wheel hub polishing, the machining position of the robot for polishing the wheel hub is settled.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"240 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121027036","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

Fault Identification Based on Stochastic Fuzzy Broad Learning System 基于随机模糊广义学习系统的故障识别

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782604

Chuanzhe Wang, F. Luan, Wenchang Huang, Xiu-hu Tang

{"title":"Fault Identification Based on Stochastic Fuzzy Broad Learning System","authors":"Chuanzhe Wang, F. Luan, Wenchang Huang, Xiu-hu Tang","doi":"10.1109/ICCAR55106.2022.9782604","DOIUrl":"https://doi.org/10.1109/ICCAR55106.2022.9782604","url":null,"abstract":"Compared with traditional models, Fuzzy Broad Learning System (FBLS) shows better performance in multi-classification applications. Stochastic Collocation Networks (SCNs) are suitable for problems of large-scale data because SCNs can automatically update model parameters and construct universal approximator under inequality constraint supervision mechanism. In order to overcome the shortcomings of FBLS and SCNs, fully develop their advantages and enhance the accuracy of the model, a method of algorithm fusion is proposed. We use fuzzy system to improve the stability of SCNs model and enhance its accuracy in multi-classification applications; At the same time, the stochastic algorithm can automatically adjust the model parameters to a certain extent, so that the FBLS can adapt to large-scale input. Aiming at the problem of wind turbine fault detection, the Stochastic Fuzzy Broad Learning System (SF-BLS) is used to classify and identify the working state of wind turbine planetary gearbox. Experiments show that the proposed SF-BLS model has certain advantages over FBLS and traditional SCNs model in both recognition accuracy and operation efficiency.","PeriodicalId":292132,"journal":{"name":"2022 8th International Conference on Control, Automation and Robotics (ICCAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133658606","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

Application of Simultaneous Localization and Mapping in the Development of an Autonomous Robot 同时定位与绘图在自主机器人开发中的应用

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/ICCAR55106.2022.9782658

Sherwin John Dignadice, John Raven Red, A. J. Bautista, Alma Perol, Arthur Ollanda, R. Santos

引用次数: 5

[Copyright notice] (版权)

2022 8th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2022-04-08 DOI: 10.1109/iccar55106.2022.9782618

引用次数: 0