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2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)最新文献

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Design of Double Closed Loop Control System for Beam Supply 波束电源双闭环控制系统设计
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00019
Hao Zhang, Tong Wu, Haiying Dong, Chang-Gi An, Hao Zhai
{"title":"Design of Double Closed Loop Control System for Beam Supply","authors":"Hao Zhang, Tong Wu, Haiying Dong, Chang-Gi An, Hao Zhai","doi":"10.1109/IRCE.2019.00019","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00019","url":null,"abstract":"Aiming at the beam supply of DC/DC converter, based on the phase-shifted full-bridge converter topology, a novel hybrid double-H bridge topology is adopted, which not only reduces the voltage and current stress of the switching tube, but also realizes a wide voltage range output. Combined with the AC small signal equivalent model of the Buck converter, a novel small-signal equivalent model of the beam supply is established. Compared with the conventional state space average method modeling, this method can effectively reduce the calculation amount. Considering the influence of load special operating conditions on the controller, a voltage and current double closed-loop control system is designed. Finally, the effectiveness of the double closed-loop control method designed in this paper is verified by MATLAB simulation. In addition to achieving better robustness, the system also has good dynamic response characteristics.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117222199","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
Surrogate-based Global Optimization Methods for Expensive Black-Box Problems: Recent Advances and Future Challenges 基于代理的昂贵黑箱问题全局优化方法:最新进展和未来挑战
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00026
Pengcheng Ye, Guang Pan
{"title":"Surrogate-based Global Optimization Methods for Expensive Black-Box Problems: Recent Advances and Future Challenges","authors":"Pengcheng Ye, Guang Pan","doi":"10.1109/IRCE.2019.00026","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00026","url":null,"abstract":"The great computational burden caused by complicated and unknown analysis restricts the use of simulation based optimization. In order to mitigate this challenge, surrogate-based global optimization methods have gained popularity for their capability in handling expensive black-box problems. This paper surveys the fundamental issues that arise in surrogate-based global optimization (SBGO) from a practitioner’s perspective, including highlighting concepts, methods, techniques as well as engineering applications. To provide a brief discussion on the issues involved, recent advances in design of experiments, surrogate modeling techniques, infill criteria and design space reduction are investigated. Future challenges and research is also analyzed and discussed.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120948682","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
Image Based Centre Object Calculation Using Coordinate Averaging Method For Object Following Mobile Robot 基于图像的目标跟踪移动机器人中心目标坐标平均计算
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00010
A. Kurniawan, Hendrawan, E. Mulyana, Kholilatul Wardani
{"title":"Image Based Centre Object Calculation Using Coordinate Averaging Method For Object Following Mobile Robot","authors":"A. Kurniawan, Hendrawan, E. Mulyana, Kholilatul Wardani","doi":"10.1109/IRCE.2019.00010","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00010","url":null,"abstract":"Research about robot vision is growing and more focusing on using image processing algorithm to enhance the sensing ability of a robot mobile to aware about its surroundings. This research using Kinect sensor which has 2 cameras, one RGB visible light and IR camera / depth camera both with 640×480 pixels at 30fps (frame per second). An object following method is applied on a 4WD differential mobile robot chassis equipped with Kinect sensor 1.0 running at 640×480 pixels, 30fps. The method using pixel coordinate averaging which summing all the pixel coordinate of the object of interest. Each calculation (vertical and horizontal) will result in a single integer value of coordinate in i or j showing the center of the object. Two tests object using symmetrical and non-symmetrical shows that the center object only moves slightly off about 1 pixel on j axis. The result of the calculation for symmetrical object on j axis is 9 (rounded down) and for the non-symmetrical object is 8 (rounded up). with the calculation on i axis is similar (on pixe114).","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128721214","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
Can We Trust Privacy Policy: Privacy Policy Classification Using Machine Learning 我们可以信任隐私政策吗:使用机器学习的隐私政策分类
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00034
Methus Narksenee, K. Sripanidkulchai
{"title":"Can We Trust Privacy Policy: Privacy Policy Classification Using Machine Learning","authors":"Methus Narksenee, K. Sripanidkulchai","doi":"10.1109/IRCE.2019.00034","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00034","url":null,"abstract":"Mobile applications frequently request privacy information from users to supposedly use to improve online service and applications. The collected data, such as personally identifiable information, raises users’ concerns since some applications actually have malicious intentions to leak personal data. Privacy policies are an important resource as they are the sole source of information users can easily gain access in order to determine how applications plan to collect and use their data prior to downloading and using the application. However, users tend to ignore or gloss over privacy policies as they are often written in the complicated hard-to-understand language. Thus, users often miss crucial privacy-related information after reading such documents. In this paper, we experimentally determine how much we can trust an application’s privacy policy by looking at the language used in more than 9,000 privacy policies and compare them to what the applications actually do. We attempt to classify whether or not applications transmit privacy-related information using machine learning with three classifiers, support vector machines (SVMs), k- nearest neighbors (KNN), logistic regression (LR). The best results show the average recall and precision of 0.81 and 0.31, respectively. High recall indicates that we are able to correctly identify most of the applications that transmit personally identifiable information. But, low precision indicates that we often over-identify applications as ones that transmit personally identifiable information when in reality they do not.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128377550","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
Upper–Level Task Ontology for Generic Ontology Verbalization 通用本体语言化的上层任务本体
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00037
Kaneeka. Vidanage, Noor Maizura Mohamad, R. Mohemad
{"title":"Upper–Level Task Ontology for Generic Ontology Verbalization","authors":"Kaneeka. Vidanage, Noor Maizura Mohamad, R. Mohemad","doi":"10.1109/IRCE.2019.00037","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00037","url":null,"abstract":"Semantic technologies have become very popular across contemporary computer scientists in resolving issues across a range of domains. When a semantic web-based knowledge model is represented to exemplify knowledge related to a particular domain, that is referred to as an ontology. Researchers have pinpointed, ontologies are domain rich conceptualizations. That‘s why there are thousands of ontologies already developed and available in online repositories relevant to multiple domains such as medicine, law, management and etc. Even though, the biggest bottlenecks linked with reusability and knowledge dissemination of ontologies are complexity in understanding it’s schema and necessity of writing complex SPARQL or SQWRL queries for knowledge retrieval, which is not feasible for everyone. Therefore, addressing that gap, this research focuses on designing an upper-level task ontology to govern the entire process of generic ontology verbalization in Natural language for both RDF and OWL formats.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130471274","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
Rugged - Terrain Traversability Analyzing For Quadruped Robots 四足机器人崎岖地形可穿越性分析
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00008
Shangcong Li, R. Song, Yukun Zheng, He Zhao, Yibin Li
{"title":"Rugged - Terrain Traversability Analyzing For Quadruped Robots","authors":"Shangcong Li, R. Song, Yukun Zheng, He Zhao, Yibin Li","doi":"10.1109/IRCE.2019.00008","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00008","url":null,"abstract":"This paper presents an algorithm of feasibility analysis of the terrain to improve the adaptability of quadruped bionic robot for arbitrary environments. We use the depth camera to sense the ground environment, and utilize the rasterized Digital Elevation Model (DEM) to process the dense point clouds obtained by the camera to describe the terrain. Through calculating the geometric features in the grid, including slope value, curvature value, roughness and fluctuation, the traversability of terrain could be derived and judged. In this paper, we propose an approach to calculate the roughness characteristics, which increasing the accuracy of calculation and meanwhile adding the calculation of the grid fluctuation. The traversability of the grid is then calculated according to the corresponding formula according to the geometric characteristics of each grid. Finally, a simulation is provided to illustrate the effectiveness of the proposed method.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134244319","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
Model Predictive Path Integral Control based on Model Sampling 基于模型采样的模型预测路径积分控制
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00017
Weijia Wu, Zhanjiang Chen, Hong Zhao
{"title":"Model Predictive Path Integral Control based on Model Sampling","authors":"Weijia Wu, Zhanjiang Chen, Hong Zhao","doi":"10.1109/IRCE.2019.00017","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00017","url":null,"abstract":"In this paper, we describe a general procedure to use Model Predictive Path Integral(MPPI) control algorithm with model-sampling to solve classic robot tasks. First, the Gaussian Mixture Model(GMM) and the Linear Gaussian Model are used to build up the model from the sampled trajectories. Then, the MPPI algorithm utilizes the predicted information from the estimated model to generate a new trajectory with a high expectation of reward. We also tested the performance of the iterative Linear Quadratic Regulator(iLQR) algorithm and the MPPI with the real model as the control groups.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116634840","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
Industrial 3D Recognition System Based on 2D Elements 基于二维元素的工业三维识别系统
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00028
Nicolae Ţarfulea, R. Vasil, F. Frigura-Iliasa, L. Dolga, H. Filipescu, F. Balcu
{"title":"Industrial 3D Recognition System Based on 2D Elements","authors":"Nicolae Ţarfulea, R. Vasil, F. Frigura-Iliasa, L. Dolga, H. Filipescu, F. Balcu","doi":"10.1109/IRCE.2019.00028","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00028","url":null,"abstract":"This paper tries to develop a complete monitoring system for a relatively small volume (less than one cubic meter) for which the volume should be scanned and stored in order to detect the presence of a foreign body (including parts of a human operator’s body). Applications are numerically controlled tools or power-operated industrial panels. It will take into account the definition of the monitored volume, a study on the possible use of 2D combined systems, the choice of the scanning system and data storage of the volume, the configuration of the equipment, the setting of the software for information storage and comparison, the writing of the related program sequences, examples of operating the system and the software, and, also, testing its operational efficiency.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133469958","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
IRCE 2019 Index IRCE 2019指数
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/irce.2019.00041
{"title":"IRCE 2019 Index","authors":"","doi":"10.1109/irce.2019.00041","DOIUrl":"https://doi.org/10.1109/irce.2019.00041","url":null,"abstract":"","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134241400","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 Scan Matching Method For Quadruped Robots In Outdoor Environment 户外环境下四足机器人的扫描匹配方法
2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE) Pub Date : 2019-08-01 DOI: 10.1109/IRCE.2019.00009
Yanli Li, Long Cui, R. Song, Chenglin Pang, Yibin Li
{"title":"A Scan Matching Method For Quadruped Robots In Outdoor Environment","authors":"Yanli Li, Long Cui, R. Song, Chenglin Pang, Yibin Li","doi":"10.1109/IRCE.2019.00009","DOIUrl":"https://doi.org/10.1109/IRCE.2019.00009","url":null,"abstract":"In the outdoor unstructured environment, the relative displacement and rotation angle of the continuous laser scans are large due to the dynamic motion of the quadruped robots. Without good initial value, widely-used scan matching method ICP is prone to converge to a local optimum. In this paper, an improved Super 4PCS method based on fast and robust point cloud segmentation is proposed. Through point cloud segmentation preprocessing, unstable obstacles such as vegetation and leaves are removed and only large object point clouds with obvious features are extracted. More efficient point clouds to be registered are provided to Super 4PCS registration algorithm. Experiments prove that the improved method can be applied to quadruped robots in outdoor unstructured environment, speed up the matching and improve the accuracy of point cloud registration.","PeriodicalId":298781,"journal":{"name":"2019 2nd International Conference of Intelligent Robotic and Control Engineering (IRCE)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114653364","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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