2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献_第10页

Game-Inspired Engineering Design: Processes and Case Studies 游戏启发工程设计:过程和案例研究

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044136

Ning Tan, Nishaan Brahmananthan, M. R. Elara, V. Prabakaran

{"title":"Game-Inspired Engineering Design: Processes and Case Studies","authors":"Ning Tan, Nishaan Brahmananthan, M. R. Elara, V. Prabakaran","doi":"10.1109/RCAR47638.2019.9044136","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9044136","url":null,"abstract":"Game and game elements have been taken as inspiration while their principles and patterns have been used in non-gaming contexts to enhance user engagement and collaboration which in return to improve productivity in the applied setting. Recently, the game-inspired design has been emerging in the engineering industry where engineering products are being developed based on game element concepts. However, there have not been any systematic and general step-by-step process for utilizing the game-inspired design to develop engineering artefacts. In this paper, we put forward a so-called Game-Inspired Engineering Design (GIED) process which is a systematic design methodology using analogies of games or game elements to figure out solutions for resolving existing engineering problems. The whole design process consists of five steps, which are 1) engineering problem definition, 2) engineering problem reformulation, 3) game solution search, 4) principle extraction from the game-based solution, and 5) principle application & implementation. The individual steps are discussed in details and a case study of a cleaning robot capable of reconfiguration has been presented which was developed through following the GIED process. The design and development of the robot exhibit its inspiration from one of the oldest tile-matching puzzle video game, Tetris, invented by the Russian game designer, Alexey Pajitnov in 1984.","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":"116297744","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

CRQA: Credibility Retrieval for Medical Question Answer Service 医学问答服务的可信度检索

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043953

Mengting Xu, Yanrong Cao, Guozi Sun, Huakang Li

{"title":"CRQA: Credibility Retrieval for Medical Question Answer Service","authors":"Mengting Xu, Yanrong Cao, Guozi Sun, Huakang Li","doi":"10.1109/RCAR47638.2019.9043953","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043953","url":null,"abstract":"With the rapid development of artificial intelligence and its wide application on the ground, more and more devices is embedded in intelligent question answering technology. The development of mobile Internet technology and the popularization of community platform provide us with huge and jumbled data. Credibility has become an urgent problem to be solved in question answering system. As far as the medical platform is concerned, there is a huge noise problem in the current general medical information retrieval. Based on this, we propose a trusted evaluation mechanism based on the information of the medical community platform. In order to search and select more accurate and credible answers, we propose an optimization method of search ranking based on credible evaluation mechanism. By analyzing the professional competence of information providers, this method trustfully ranks multiple answers in the question-and-answer set of medical communities, which largely solves the interference of “one-question multi-answer” phenomenon in the question-and-answer system on retrieval. At the same time, it uses department classification, subdivides medical directions, and further matches the areas of concern of information providers, so as to improve the accuracy and hit rate of the retrieval system.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"65 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":"133503277","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

Large Deflection of a Compliant Beam with Non-uniform Stiffness Distribution using a PRB-3R Model 基于PRB-3R模型的非均匀刚度柔性梁大挠度分析

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043927

Hu Jin, Tao Fang, Haoyao Chen, T. Yildirim, Weihua Li, Shiwu Zhang

{"title":"Large Deflection of a Compliant Beam with Non-uniform Stiffness Distribution using a PRB-3R Model","authors":"Hu Jin, Tao Fang, Haoyao Chen, T. Yildirim, Weihua Li, Shiwu Zhang","doi":"10.1109/RCAR47638.2019.9043927","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043927","url":null,"abstract":"Soft arms of service robots for safe manipulation, or soft legs of mobile robots for efficient locomotion have been intensively developed. The deflection of complaint beams for the soft arms or soft legs is a key criterion for design and control of robotic motions. Pseud-rigid-body (PRB) model are commonly used to predict deflection of the compliant beams with a uniform stiffness. However, soft robotic arms and legs often possess a non-uniform stiffness distribution for improving manipulation effectiveness and locomotion efficiency. In this work, a PRB-3R model is used to predict large deflections of a compliant beam with a non-uniform distribution of stiffness. By using the Euler-Bernoulli beam theory, the large deflection of a cantilever beam with a non-uniform stiffness distribution under an applied load was also derived. Results show that the PRB-3R model can precisely predict mechanical behavior of compliant beams that are not too sharp. It is not proper to apply this model to beams with very large slope. This work provides an effective design method for the soft appendages of a biomimetic robot.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"19 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":"133747555","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

An Optimized Coordination Approach for Multi-robot Systems Considering Connectivity Maintenance 考虑连通性维护的多机器人系统优化协调方法

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044083

Wanrong Huang, Manhui Sun, Da Huang, Wenjing Yang, Xiaodong Yi

引用次数: 0

Kinematic/Dynamic analysis and optimization of a 2-PRU-PPRC 2T1R redundant parallel manipulator with specified workspace 给定工作空间的2-PRU-PPRC 2T1R冗余并联机器人运动学/动力学分析与优化

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044115

H. Shao, Hua Zhang, W. Yan

引用次数: 0

Structural Design and Simulation Analysis of 4-DOF Heavy-Duty Robot 四自由度重型机器人结构设计与仿真分析

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043956

Haiyan Shao, Xinle Li, Ke-Ke Qin, Weiping Liu, Guoping Li, Tao Wu

{"title":"Structural Design and Simulation Analysis of 4-DOF Heavy-Duty Robot","authors":"Haiyan Shao, Xinle Li, Ke-Ke Qin, Weiping Liu, Guoping Li, Tao Wu","doi":"10.1109/RCAR47638.2019.9043956","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043956","url":null,"abstract":"In order to meet the requirements of heavy-duty robots in the transportation industry, a 4-DOF heavy-duty robot with a load capacity up to 750kg is designed. We focused on the structural optimization design of the robot mechanical body. Firstly, the robot rigid body simulation model was created in the ADAMS software, and the robot's working space was obtained. Five typical poses of the robot were determined. Secondly, ANSYS Workbench software was used to carry out the static analysis of the whole machine. The components that do not comply with the strength and stiffness requirements were optimized so that the maximum deformation of the optimized robot is no more than 5mm. At last, the dynamic characteristics of the optimized robot were analyzed. The robot system was applied on stimulating force and produced displacement response. The harmonic response curve of the heavy-duty robot was obtained and the weak links could be found. After the part was rigidified, the arm was determined as the optimization object by modal analysis. Taking the frequency of the arm as the target, the range of arm mass and wall thickness is the constraint condition, and a set of optimal solutions was calculated by multi-objective optimization method. Dynamic stiffness of the optimized machine robot was obtained through harmonic response analysis, which shows that the maximum resonance peak of the whole machine in the x and z directions was reduced by about 40%, and the corresponding resonance frequency was increased by about 8.5%. Static stiffness performance and dynamic performance was significantly improved.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"261 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":"122204639","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

Generating Spatial Semantic Representations for Indoor Global Mapping 生成室内全局映射的空间语义表示

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043998

Gang Chen, Wei Dong, X. Sheng, Xiangyang Zhu

{"title":"Generating Spatial Semantic Representations for Indoor Global Mapping","authors":"Gang Chen, Wei Dong, X. Sheng, Xiangyang Zhu","doi":"10.1109/RCAR47638.2019.9043998","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043998","url":null,"abstract":"Semantic topology map is a highly abstract global map for human-interactive tasks in large-scale indoor environments. A fundamental component in building this map is to generate feasible local spatial semantic representations. The popular approaches extract the skeleton of the corridors from a 2D map and perform excellently in the simulated environment. However, the real environment often contains glass windows and pedestrians, which brings lots of noise and frustrates the existing approaches. In this paper, a novel spatial semantic representation generating approach based on a 3D egocentric voxel map is presented to fit the noisy environment. Instead of processing the voxel map as point clouds, we project the map into a small-size gray-scale image statistically to describe the nearby area with probability. Several fast filters and the proposed sparse skeleton tangent (SST) are then utilized to generate the final representations. Experiments in indoor scenes with glass windows and pedestrians show the high adaptability and low storage consumption of our approach. Moreover, the final representation can be generated in real time at a speed of 5Hz.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"23 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":"115467671","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

NetDetector: an Anomaly Detection Platform for Networked Systems NetDetector:网络系统异常检测平台

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9043964

Peng Lin, Kejiang Ye, Chengzhong Xu

{"title":"NetDetector: an Anomaly Detection Platform for Networked Systems","authors":"Peng Lin, Kejiang Ye, Chengzhong Xu","doi":"10.1109/RCAR47638.2019.9043964","DOIUrl":"https://doi.org/10.1109/RCAR47638.2019.9043964","url":null,"abstract":"Network is an essential infrastructure for mobile edge clouds. The communication between mobile devices and the communication between mobile device and the cloud both rely on the network infrastructure. The reliability of network infrastructure is important to ensure the QoS (Quality of Services) of mobile edge clouds. However, the current network suffers from many attacks. Early detect network attacks is very important. Traditional anomaly network detection methods have some weaknesses, such as slow detection speed, fail to recognize new anomalies, and insufficient accuracy. In order to solve these problems, in this paper we design and implement a new anomaly detection platform - NetDetector for networked systems. We first present the architecture design and then show the implementation details. NetDetector consists of five important modules, and its detection algorithm is based on LSTM (Long Short Term Memory), a special kind of recurrent neural network. A case study is proposed to show the detection performance of NetDetector. Experimental results show NetDetector achieves about 8% performance improvement as compared with the systems that use traditional machine learning methods.","PeriodicalId":314270,"journal":{"name":"2019 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"19 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":"116272633","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: 4

The Impact of Multimedia Synchronization and Buffering on Quality of Experience (QoE) in Audiovisual Transmission 多媒体同步与缓冲对视听传输体验质量的影响

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044110

Wei Liu, Yiwen Xu, Shiqi Yi, Tiesong Zhao, Ying Fang

引用次数: 0

Depth-Wise Pooling: A Parameter-Less Solution for Channel Reduction of Feature-Map in Convolutional Neural Network 深度池化:卷积神经网络特征映射信道约简的无参数解决方案

2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2019-08-01 DOI: 10.1109/RCAR47638.2019.9044014

Abid Hussain, Hesheng Wang

引用次数: 1