2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE)最新文献

Research on Air Route Conflict Detection for General Aviation based on ADS-B 基于ADS-B的通用航空航路冲突检测研究

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475862

Bo Li, Shuying Zhai, Ru Li

{"title":"Research on Air Route Conflict Detection for General Aviation based on ADS-B","authors":"Bo Li, Shuying Zhai, Ru Li","doi":"10.1145/3475851.3475862","DOIUrl":"https://doi.org/10.1145/3475851.3475862","url":null,"abstract":"Abstract: Based on the research of TCAS and other collision avoidance systems applied in transportation aviation, a three-level collision avoidance system based on ADS-B technology applied in general aviation is proposed. The system includes RA collision avoidance, TA collision avoidance and protected area (PA) collision avoidance. The PA area collision avoidance can realize collision avoidance in advance, which makes full use of the advantages of ADS-B's wide working range, It is also in line with the characteristics of free navigation and difficult collision avoidance of general aviation. Route conflict detection is the premise of PA collision avoidance. An effective route conflict detection algorithm is proposed. The algorithm first decomposes the route conflict problem into three-dimensional coordinate axis conflict problems and detects them separately. When each coordinate axis has conflict, it combines decision detection. During the detection, the conflict problem of three-dimensional coordinate axis is mapped into conflict time period to determine the intersection, It solves the problem of conflict judgment. Based on the algorithm, the simulation experiment of route conflict detection is carried out for 100 times with 1000 intruding aircraft within 100 km each time. The result shows that only about 5 ‰ of the intruding aircraft have conflict. The experimental results are in line with the actual situation, which also proves the effectiveness of the algorithm. The principle of the proposed algorithm is clear, the amount of calculation is small, simple and practical.","PeriodicalId":293925,"journal":{"name":"2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123570357","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

Analyze the impact of the epidemic on New York taxis by machine learning algorithms and recommendations for optimal prediction algorithms 通过机器学习算法分析疫情对纽约出租车的影响，并推荐最优预测算法

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475861

Zhenguo Liu, Xinjing Xia, Haipeng Zhang, Zihui Xie

引用次数: 0

PID Tuning for Vision Based Mobile Robots Formation Control 基于视觉的移动机器人编队控制PID整定

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475852

Ali Sayah, J. Brethé

{"title":"PID Tuning for Vision Based Mobile Robots Formation Control","authors":"Ali Sayah, J. Brethé","doi":"10.1145/3475851.3475852","DOIUrl":"https://doi.org/10.1145/3475851.3475852","url":null,"abstract":"Multiple autonomous robots are more and more used in fully automated warehouses where they can operate safely sharing the same space using a simple obstacle avoidance strategy and transport objects from one area to another. For transporting large or heavy objects, it is sometimes interesting to use several mobile robots cooperating physically and keeping the same geometric formation. In this case, the control of the robots’ formation is a crucial issue. In this context, our work proposes a strategy based on an ARTAG marker tracking for building and maintaining a Leader-Follower (LF) configuration using no other communication means than indirect communication via tracking. The tracking is using a PID (Proportional-Integral-Differential) controller for the following process and AR track Alvar vision system for the recognition and localization process. The proposed method only needs distance and angle errors information during the tracking. We defined the total error during the following phase as the performance measurement to be minimized. For PID tuning, the manual tuning method is used and compared with classical PID and conventional PID tuning methods including Ziegler-Nichols method, Tyreus-Luyben method and Cohen-Coon method. Experiments are validated and conducted on two real mobile robots, the master robot carrying the marker is manually controlled and the follower is keeping its position relative to the master using the AR tag tracking.","PeriodicalId":293925,"journal":{"name":"2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE)","volume":"13 3-4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114038192","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

Tension optimization of the 6-DOF cable-driven boat motion simulator 六自由度缆索驱动船舶运动模拟器张力优化

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475854

Jo-Won Jang, Thomas R. Bewley

引用次数: 3

Constrained Sliding Mode Control for Uncertain Manipulator Systems with Prescribed Performance 不确定机械臂系统的约束滑模控制

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475855

Zheng Zhang

引用次数: 0

Impact of robotic process automation in supply chain:: A model for task selection 机器人过程自动化对供应链的影响:任务选择模型

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475865

Abdelkader Rhouati, E. Ettifouri, Walid Dahhane, Georges Abou Haidar

引用次数: 2

Fast and Accurate Pose Estimation for Industrial Workpieces Robotic Picking 工业工件机器人拾取的快速准确姿态估计

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475860

Qichuan Tang, Xiaosong Gao, Shenghao Li, Qunfei Zhao

{"title":"Fast and Accurate Pose Estimation for Industrial Workpieces Robotic Picking","authors":"Qichuan Tang, Xiaosong Gao, Shenghao Li, Qunfei Zhao","doi":"10.1145/3475851.3475860","DOIUrl":"https://doi.org/10.1145/3475851.3475860","url":null,"abstract":"6DoF Pose estimation plays an important role in industrial robotic picking applications, and it is particularly challenging when dealing with complex-shaped workpieces, often with little texture. This paper proposes a complete approach to customize a fast and accurate workpiece picking system, based on dense reconstruction, object detection and point cloud registration schemes. For any target object, the required input is its CAD model. First, we use a depth camera and an eye-in-hand robot to capture the scene in RGB-D image form. Then, we align the CAD models to some reconstructed point clouds, and automatically generate datasets of annotated images with the help of projective rendering. The data is used to train a neural network object detector, in order to detect a region of interest in color images. Next, as the detected 2D region is projected into a 3D space, the depth information inside this space is extracted to conduct point cloud registration with the object's model for pose estimation, and its result guides the system to carry out an optical picking action. Moreover, our method is accelerated with the parallelized computation in GPU to raise the efficiency of the system.","PeriodicalId":293925,"journal":{"name":"2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124847110","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

Adaptive Control of Teleoperation Systems with Uncertainties: A Survey 具有不确定性的遥操作系统自适应控制研究进展

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475856

Chang Liu

引用次数: 0

Influence of Excavation Patterns on Stress-deformation of Landslide Crossed Orthogonally by Tunnel 开挖方式对隧道正交穿越滑坡应力变形的影响

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475863

B. Xiang, E. Liu

引用次数: 0

Graph neural network in traffic forecasting: a review 图神经网络在交通预测中的应用综述

2021 the 3rd International Conference on Robotics Systems and Automation Engineering (RSAE) Pub Date : 2021-05-28 DOI: 10.1145/3475851.3475864

Yuxuan Wang

引用次数: 3