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2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献

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Investigation of Effective Intensity of Static Stretching Exercise Based on Spring-Pot Viscoelastic Model: Intensity Based on Maximum Tolerance Joint Torque Affects Viscoelastic Ratio of Muscle During Static Stretching 基于弹簧-锅粘弹性模型的静态拉伸运动有效强度研究:基于关节扭矩最大容差的强度影响静态拉伸时肌肉的粘弹性比
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621832
Naomi Okamura, R. Kasai, Yo Kobayashi, S. Sugano, M. Fujie
{"title":"Investigation of Effective Intensity of Static Stretching Exercise Based on Spring-Pot Viscoelastic Model: Intensity Based on Maximum Tolerance Joint Torque Affects Viscoelastic Ratio of Muscle During Static Stretching","authors":"Naomi Okamura, R. Kasai, Yo Kobayashi, S. Sugano, M. Fujie","doi":"10.1109/RCAR.2018.8621832","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621832","url":null,"abstract":"Static stretching is typically performed as an easy method for reducing muscle tone in several fields of sports and rehabilitation. Stretching intensity is important for realizing effective static stretching. However, its instruction is ambiguous; therefore, people sometimes get injured owing to excessive intensity. To perform static stretching with appropriate intensity that results in positive effects, the intensity and effect of static stretching should be quantified. In this study, we investigated the relation between the stretching intensity based on the maximum tolerance joint torque and the change in the muscle viscoelasticity of forearm muscles based on the spring-pot viscoelastic model for evaluating the change in muscle condition during static stretching. We set the stretching intensity using a wrist joint torque adjusting device and measured the forearm muscle hardness using a palpation robot. The results showed that the muscle viscoelasticity decreased significantly during 1-min constant-angle stretching, and the amount of decrease was the largest for 60% of the maximum tolerance joint torque at the maximum joint angle. This suggests that the optimized stretching intensity can be derived from the joint torque measurement at the maximum joint angle.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115130884","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
Event-Triggered Robust Practical Output Regulation for Output Feedback Nonlinear Systems 输出反馈非线性系统的事件触发鲁棒实用输出调节
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621845
W. Liu, Jie Huang
{"title":"Event-Triggered Robust Practical Output Regulation for Output Feedback Nonlinear Systems","authors":"W. Liu, Jie Huang","doi":"10.1109/RCAR.2018.8621845","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621845","url":null,"abstract":"This paper studies the event-triggered global robust practical output regulation problem (ETGRPORP) for output feedback nonlinear systems with any relative degree. We first convert the problem, based on the internal model principle and the high-gain observer method, into the event-triggered global robust practical stabilization problem (ETGRPSP) of a well defined extended augmented system. Then, we design an output-based event-triggered control law (OBETCL) and an output-based event-triggered mechanism (OBETM) to stabilize this extended augmented system and show that the Zeno phenomenon does not happen, which leads to the solvability of the ETGRPORP.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117057380","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
Fast Detection of P, Q, S and T Waves from Normal ECG Signals Using Local Context Windows 利用局部上下文窗口快速检测正常心电信号中的P、Q、S和T波
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621824
Dipjyoti Bisharad, Debakshi Dey, B. Bhowmick
{"title":"Fast Detection of P, Q, S and T Waves from Normal ECG Signals Using Local Context Windows","authors":"Dipjyoti Bisharad, Debakshi Dey, B. Bhowmick","doi":"10.1109/RCAR.2018.8621824","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621824","url":null,"abstract":"Electrocardiography (ECG or EKG) is a widely employed non invasive technique to determine the condition of human heart and detect any abnormal cardiac behavior. Computer systems for ECG analysis can aid physicians in prompt detection of dangerous events such as ventricular fibrillation in patients with high cardiac risks. The first and crucial part of automatic analysis of ECG signals is to accurately identify and measure characteristic features of ECG signal, which is to locate exact position of the onset and offset points of P, QRS and T-waves. In this paper, a fast and robust technique is proposed that can accurately identify these key reference points using local windows around R peaks. The proposed method has been tested on standard QT database and a mean accuracy of about 99% is achieved on identifying different segments in ECG signal.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130629999","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
Reducing State Overshoot of Switched Linear Systems 减少开关线性系统的状态超调
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621632
Zhendong Sun
{"title":"Reducing State Overshoot of Switched Linear Systems","authors":"Zhendong Sun","doi":"10.1109/RCAR.2018.8621632","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621632","url":null,"abstract":"Switching among multiple controllers is potentially powerful in improving the transient performance of dynamical systems. In this work, we extend our previous work on minimum overshooting of switched linear systems through proper design of switching laws. For stabilizable discrete time switched linear systems, we propose a semi-decidable design algorithm to achieve stability while reducing the state overshoot. Numerical examples are provided to illustrate the effectiveness of the proposed schemes.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124103512","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
Dance of the Dragonfly: A Vision-Based Agile Aerial Touch Solution for IARC Mission 7 蜻蜓之舞:IARC任务7的基于视觉的敏捷空中触摸解决方案
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621785
Ziliang Lai, Rui Yang, Hui Cheng, Wenjun Deng, Kan Wu, J. Xiao
{"title":"Dance of the Dragonfly: A Vision-Based Agile Aerial Touch Solution for IARC Mission 7","authors":"Ziliang Lai, Rui Yang, Hui Cheng, Wenjun Deng, Kan Wu, J. Xiao","doi":"10.1109/RCAR.2018.8621785","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621785","url":null,"abstract":"The International Aerial Robotics Competition (IARC) aims to move the state-of-the-art in aerial robotics forward through mission challenges. In the IARC Mission 7, the aerial robot will navigate without external navigation aids, interact with autonomous ground robots, and avoid dynamic obstacles in the herding problem. In 2017 competition, our team firstly accomplished to interactively herd one iRobot to one end of the arena through accurate and rapid aerial touch and won the first place in system control. This paper presents the self-localization, control and tracking strategies for a micro unmanned aerial vehicle (UAV) to accurately and agilely touch ground moving robots. A real-time self-localization framework is proposed to estimate the ego motion of the UAV. A computationally efficient visual tracking scheme is designed to detect the ground robot and estimate its direction. Inspired by the dance of the dragonfly, tracking and control schemes are presented for the UAV to achieve 3-D agile interaction with ground autonomous robots. Simulation and flight experimental results validate the effectiveness of the proposed methods.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126303263","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
Test System Based on Tmote-Sky in Real-Time Environment 实时环境下基于Tmote-Sky的测试系统
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621790
Zhou Lu
{"title":"Test System Based on Tmote-Sky in Real-Time Environment","authors":"Zhou Lu","doi":"10.1109/RCAR.2018.8621790","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621790","url":null,"abstract":"This paper presents a test system based on Tmotesky wireless sensor network node. It can test temperature and humidity quickly and easily. The system improves the accuracy of the experimental results by BP neural network. This paper introduces the overall frame of the system and the design of software system. Experiments verify the convenience, stability and correctness of the system.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128036195","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 Real-Time Abnormal Data Detecting Strategy for Length Sensors Measurement 长度传感器测量中的实时异常数据检测策略
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621697
X. Hu, E. Guan, W. Yan, Yanzheng Zhao
{"title":"A Real-Time Abnormal Data Detecting Strategy for Length Sensors Measurement","authors":"X. Hu, E. Guan, W. Yan, Yanzheng Zhao","doi":"10.1109/RCAR.2018.8621697","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621697","url":null,"abstract":"In this paper, a real-time detecting strategy for outliers and abnormal fluctuation during the data acquisition in length sensors measurement is investigated. The appearance of outliers and abnormal fluctuation could lower the accuracy of the measurement system using the accurate noncontact sensors. A mathematic model consists of the real value, the noise as well as the outliers is built to represent the final observation result of the length sensors used for measuring the machining quantity. Then, different kinds of the characteristics of numerical data are analysed for the real-time effectiveness for outliers detecting and abnormal fluctuation assessment. Based on the real-time characteristic of the acquired data, a detecting strategy is designed to eliminate the outlier and judge the fluctuating extent of the data. The simulation results illustrate the applicability and the effectiveness of the proposed approach.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128188263","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
The Solution of Motion Capture and Analysis System Based on Acceleration Sensor 基于加速度传感器的运动捕捉与分析系统解决方案
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621833
Wenxing Yang, Sheng Bi, Min Dong, Boyu Sun, Cheche Xie
{"title":"The Solution of Motion Capture and Analysis System Based on Acceleration Sensor","authors":"Wenxing Yang, Sheng Bi, Min Dong, Boyu Sun, Cheche Xie","doi":"10.1109/RCAR.2018.8621833","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621833","url":null,"abstract":"With the development of computer science and electronic industry, wearable devices become popular in daily life. It is possible to collect and analysis human's data for researching on action recognition. To solve the problem, we provide a solution to build a motion capture and analysis system. It uses smart bracelet to collect acceleration velocity and transferred by Bluetooth Low Energy with an extensible custom service protocol. Data will be gathered to a public server with REST server and protected with TLS. At last, we take an experiment on classification, which indicates its feasibility.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130266456","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
Indoor Environment Semantic Topological Mapping Based on Deep Learning 基于深度学习的室内环境语义拓扑映射
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621692
Lijun Zhao, Pan Luo, Zhiqiang Zhao, Liang Dong
{"title":"Indoor Environment Semantic Topological Mapping Based on Deep Learning","authors":"Lijun Zhao, Pan Luo, Zhiqiang Zhao, Liang Dong","doi":"10.1109/RCAR.2018.8621692","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621692","url":null,"abstract":"With the popularity of mobile service robots in the home environment, people have put forward higher requirements on the robot's environmental perception. In order to improve the semantic ability of service robot perception of indoor environment, this paper presents a real-time semantic mapping system based on scene learning. Deep convolutional neural network is used to identify indoor typical scenes without training in a specific environment. Then, combining with vision and laser range data to estimate the semantic region, a semantic map layer is building based on a metric map. Furthermore, in order to express the indoor environment concretely, each semantic area in the room is subdivided into several functional areas as semantic topological nodes into the semantic map, thus constructing a semantic topological map. Finally, the feasibility of the semantic topological mapping algorithm is verified through experiments in real indoor environments.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"146 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133920095","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
Aerial Grasping Based on VR Perception and Haptic Control 基于VR感知和触觉控制的空中抓取
2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2018-08-01 DOI: 10.1109/RCAR.2018.8621786
Yaqi Wu, Jin Song, Jiabi Sun, Fenfang Zhu, Haoyao Chen
{"title":"Aerial Grasping Based on VR Perception and Haptic Control","authors":"Yaqi Wu, Jin Song, Jiabi Sun, Fenfang Zhu, Haoyao Chen","doi":"10.1109/RCAR.2018.8621786","DOIUrl":"https://doi.org/10.1109/RCAR.2018.8621786","url":null,"abstract":"Aerial manipulation tasks have received the spotlight in recent years and related research problems such as coupling, automatic control, tarjectory planning have plagued many researchers. This paper implements a aerial grasping task by using a hexrotor with a 3-DoF light-weight manipulator. A VR operating platform consisting of a UAV ground station and an aerial vehicle is build, and kinematic modeling and mapping algorithms related to the manipulater's grabbing task is conducted. Several grasping experiments have being carried out to illustrate the satisfactory performance. Overall, the results show the proposed framework has a wider range of application potentials such as inspection, manipulation or transportation in remote areas.","PeriodicalId":332888,"journal":{"name":"2018 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133988447","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: 7
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