2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献

Voice Control of a Robotic Arm for Hysterectomy and Its Optimal Pivot Selection 子宫切除机械臂的语音控制及其最佳支点选择

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043990

Mengjun Fang, Peng Li, Le Wei, Xuebin Hou, Xinguang Duan

引用次数: 1

UAV Path Planning Based on Biological Excitation Neural Network and Visual Odometer 基于生物激励神经网络和视觉里程计的无人机路径规划

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043987

Ye-jian Li, Yong Liu

{"title":"UAV Path Planning Based on Biological Excitation Neural Network and Visual Odometer","authors":"Ye-jian Li, Yong Liu","doi":"10.1109/RCAR47638.2019.9043987","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043987","url":null,"abstract":"Unmanned aerial vehicle(UAV) have been widely used in military and civil fields due to their compact structure, flexible mobility, low cost and other advantages. With the development of artificial intelligence in recent years, more intelligent and advanced algorithms have appeared, in which machine vision, as an important branch in the field of artificial intelligence, has also been greatly developed. The limitation of space, load, endurance and computing capacity hinders the application of intelligent algorithms on UAV. In the paper a semi-autonomous control platform of the quadrotor UAV was developed and the upper and lower dual control core architecture is implemented. Based on the hardware platform, the improved visual inertia odometer (VIO) and the biological excitation neural network are used to improve the flight performance and the ability of autonomy. To solve the problem of the synchronization for VIO, a cubic spline interpolation function was employed. A biological excitation neural network was extended to solve UAV on-line path planning. It provides an on-board path planning approach for UAV in the 3D world considering the dynamic obstacles. Finally, the feasibility and stability of the designed system were verified by flight experiments.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":"129745595","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 non-tachometer method for Order Tracking technique in NVH analysis based on Deep Learning and rpm estimation 基于深度学习和转速估计的NVH分析中订单跟踪技术的非转速计方法

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044105

Yue Zhang, Tianqi Shao, Liucun Zhu, Zhen Zhang, Wenbin Xie

{"title":"A non-tachometer method for Order Tracking technique in NVH analysis based on Deep Learning and rpm estimation","authors":"Yue Zhang, Tianqi Shao, Liucun Zhu, Zhen Zhang, Wenbin Xie","doi":"10.1109/RCAR47638.2019.9044105","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9044105","url":null,"abstract":"This paper presents a new analysis method of automobile noise-vibration-harshness(NVH) analysis based on a discrete recurrent neural network(RNN) and generative adversarial network(GAN), which, can not only replace Short Fast Fourier Transform(SFFT) but also the entire tachometer data assembly system for our network's ability to obtain rpm from vibration signal. This method inherits the leading spirit of digital resampling and Time-Variant Discrete Fourier Transform(TVDFT), adjusting sampling rate concerning rpm changes and interpolation to obtain an equal time interval sequence out of identical angle interval sequence, as the setting parameter of these methods determines the quality of order tracking. The neural-network-based approach involves three steps: 1. Simulation and sampling of the vibration signal of a DeLaval rotor. 2. Determination of rpm, and instantaneous sampling rate, window size as well as resampling time and values through a discrete RNN-GAN learning system with the input vibration signal and output parameters. 3. Illustration of a dB-rpm graph obtained by D-RNN-GAN and further evaluation of system performance 4. The application to big data and its review.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":"129030916","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

Research on omnidirectional mobile robot motion control based on integration of traction and steering wheel 基于牵引与方向盘一体化的全向移动机器人运动控制研究

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044114

C. Ai, G. Ren, Xuan Sun, Honghua Zhao, Liyong Tan, Quancheng Dong

{"title":"Research on omnidirectional mobile robot motion control based on integration of traction and steering wheel","authors":"C. Ai, G. Ren, Xuan Sun, Honghua Zhao, Liyong Tan, Quancheng Dong","doi":"10.1109/RCAR47638.2019.9044114","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9044114","url":null,"abstract":"In order to solve the automatic transportation of heavy materials under the limited working space of production workshops and warehouses, two sets of heavy-duty omnidirectional mobile robot motion control systems with steering wheel drive units were designed. The steering wheel combination drive unit of the “walking + steering” set is used to build the mobile robot chassis, and the mechatronics servo system and mathematical model of multi-motor coordinated motion are constructed. The communication between the controller and the steering wheel combination drive unit is established through the CAN bus. The specific implementation is to capture and analyze the control signal through the controller to obtain the desired motion mode, to obtain the motion of each set of steering wheel unit through the mathematical model, and to realize the desired motion through the synthesis of each set of steering wheel unit motion. It has been verified by experiments that the two sets of steering wheel unit-driven mobile robot control system realizes the zero turning radius, 360-degree omnidirectional movement of the robot and rotation during the movement. It can be used for flexible work in tight spaces.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"39 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":"124705132","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 Practical Framework for Automatic 3D Reconstruction of Clothing with RGB-D Cameras 基于RGB-D相机的服装自动三维重建实用框架

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043988

Hongguang Chang, Zhan Song, Juan Zhao

引用次数: 0

Design and implementation of a High-speed Lidar Data Reading System based on FPGA 基于FPGA的高速激光雷达数据读取系统的设计与实现

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044143

Tian Sun, Yong Liu, Yujie Wang

引用次数: 4

Visual SLAM Based on Geometric Cluster Matching 基于几何聚类匹配的视觉SLAM

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044135

Chaoran Tian, Y. Ou, Yangyang Qu

引用次数: 0

A Fully Automatic Framework to Localize Esophageal Tumor for Radiation Therapy 一种全自动定位食管肿瘤的放射治疗框架

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043973

Haipei Ren, Teng Li, Yuwei Pang

{"title":"A Fully Automatic Framework to Localize Esophageal Tumor for Radiation Therapy","authors":"Haipei Ren, Teng Li, Yuwei Pang","doi":"10.1109/RCAR47638.2019.9043973","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043973","url":null,"abstract":"Automatic localization of esophageal tumors is an important part of target volume planning in radiotherapy. Currently, the main localization method is manual localization. Traditional manual positioning is time-consuming and inaccurate for the following reasons. First of all, esophageal neoplasms are irregular in shape. The second, the tumor image was insufficiently contrasted with the surrounding tissue. Also, the tumor area is highly heterogeneous. To solve these problems, this paper proposes an automatic positioning framework combining single point multi-box detector (SSD) with the optimized VGG16 deep learning network. The optimized algorithm network has achieved good results in our esophageal tumor localization experiment. The experimental data consists of 96 esophageal VMAT plans and training set consists of 60 patients, the remaining 36 patient data sets were used as the test set. We trained with 5000 slices and tested with 1000. The experiment result showed the tumor areas of 820 CT slices were effectively located, and the accuracy rate of intersection greater than and (IoU)[6] value was 82%. These promising results suggest that the target area of esophageal tumor can be well located in our optimized framework, which can improve the efficiency and quality of plan making of esophageal tumor radiotherapy.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":"129121811","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 of a Cable Driven Floating Robotic Arm with Continuum Joints 具有连续关节的缆索驱动漂浮机械臂的设计

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044130

Zhonghao Wu, Marco Cederle, E. Giani, Kai Xu

{"title":"Design of a Cable Driven Floating Robotic Arm with Continuum Joints","authors":"Zhonghao Wu, Marco Cederle, E. Giani, Kai Xu","doi":"10.1109/RCAR47638.2019.9044130","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9044130","url":null,"abstract":"Long-reach manipulator shows potentials in inspection, search and rescue. However, the reach of such a manipulator is often limited, due to fact that the distal structures become payloads of the proximal joints. This research hence focuses on a proof-of-concept study of a slim long-reach robotic arm designed with continuum joints and floating links. A float link and a continuum joint constitute a module that is weightless due to buoyancy. The reach hence becomes unlimited in theory. The actuation of each joint is decoupled via a transmission arrangement, providing a simple kinematic model no matter how many robotic modules are used. Each floating link is composed of a from-the-shelf helium-filled Mylar balloon that is caged by acrylic rings. Each of the two-degree-of-freedom continuum joints is made from a super-elastic nitinol (nickel-titanium alloy) rod and actuated by three cables pulled by three stepper motors. Preliminary experimental results on this constructed 3-meter prototype show that the floating robotic arm can move with acceptable accuracy in still air, validating the proposed concept.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"102 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":"121196550","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

Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator 双连续接头翻译器的移动特性分析

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/rcar47638.2019.9044157

Lingyun Zeng, Xu Liu, Yang Zheng, Kai Xu

{"title":"Mobility Characteristics Analysis of a Dual-Continuum-Joint Translator","authors":"Lingyun Zeng, Xu Liu, Yang Zheng, Kai Xu","doi":"10.1109/rcar47638.2019.9044157","DOIUrl":"https://doi.org/10.1109/rcar47638.2019.9044157","url":null,"abstract":"A design library of continuum mechanisms, which consists of various mechanism modules with different motion characteristics, can greatly facilitate design tasks. A recent addition to this design library is a dual-continuum-joint translator. This translator is composed of two continuum joints and a multi-lumen tube. The two continuum joints are identical in size and coupled by connecting their corresponding backbones inside the multi-lumen tube. This translator was previously used in constructing a continuum delta robot with a parallel structure and three translation DoFs (Degrees of Freedom). Even though the validity of the dual-continuum-joint translator was experimentally demonstrated, a theoretical characterization is still missing. This paper hence presents a mobility characteristics analysis of the dual-continuum-joint translator. Cosserat rod theory and screw theory are used to analyze the mobility characteristics of this translator. First, the deflected shapes and the compliance matrices of the translator are calculated using Cosserat rod theory. Then, the mobility characteristics of the translator is investigated using screw theory by quantifying the primary mobility. Results of the calculated deflected shapes show that under external wrenches exerted on the translator, the two coupled continuum joints have the bending shapes close to circular curves with similar bending angles. The calculated compliance matrices indicate that translation is the translator's primary mobility.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"27 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":"114705709","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