发布求助
文献互助 智能选刊 最新文献

2021 6th International Conference on Robotics and Automation Engineering (ICRAE)最新文献

筛选
英文 中文
Safe Adaptive Dynamic Programming Method for Nonlinear Safety-Critical Systems with Disturbance 非线性扰动安全临界系统的安全自适应动态规划方法
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657769
Jinguang Wang, Dehua Zhang, Jishi Zhang, Heyang Zhu, Shaolin Hu, C. Qin
{"title":"Safe Adaptive Dynamic Programming Method for Nonlinear Safety-Critical Systems with Disturbance","authors":"Jinguang Wang, Dehua Zhang, Jishi Zhang, Heyang Zhu, Shaolin Hu, C. Qin","doi":"10.1109/ICRAE53653.2021.9657769","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657769","url":null,"abstract":"In this paper, a safe adaptive dynamic programming (SADP) method based on the barrier function (BF) is proposed for the optimal control problem of nonlinear safety-critical systems with the safety constraints and external disturbance. Firstly, the barrier function is used to transform the nonlinear system with the security constraints into a transformed system without the security constraints. Secondly, based on the transformed system, a new barrier-disturbance-related term is proposed to approximate the effect of the external disturbance. On the premise of satisfying the security constraints and stability, the neural network (NN) approximation method is used to approximate the optimal cost function and optimal control strategy of the system online. Finally, the simulation results show that the proposed method can make the system state convergence well and does not violate the security constraints.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122006528","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 Gesture Recognition Method Based on YCbCr and SURF for Service Robot Interaction 基于YCbCr和SURF的服务机器人交互手势识别方法
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657803
Jia Zhang, Tao Geng, Huan Shi, Danyang Wang, Jiangtao Lu
{"title":"A Gesture Recognition Method Based on YCbCr and SURF for Service Robot Interaction","authors":"Jia Zhang, Tao Geng, Huan Shi, Danyang Wang, Jiangtao Lu","doi":"10.1109/ICRAE53653.2021.9657803","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657803","url":null,"abstract":"With the increasing requirements of human-computer interaction experience, gesture recognition is used in many applications as a novel interaction method. However, the effects of complex backgrounds, occlusions and illumination pose difficulties for the successful recognition of gestures. For this problem, we propose a gesture recognition method based on the combination of SURF and YcbCr. First, RGB-D was calibrated, and then the collected hand images were processed for noise reduction. Secondly, the coarse recognition of gestures is completed by SURF feature point matching algorithm, and then the fine recognition of gestures is achieved by YCbCr skin tone segmentation algorithm. Finally, the gesture images are further processed by a combined morphological algorithm to improve the integrity of gesture recognition and reduce the influence of interfering factors. The experimental results show that the method can recognize gestures quickly and effectively with certain accuracy and robustness.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129926917","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
Raw sEMG-based Real-time Gesture Recognition with Recurrent Neural Networks 基于原始表面肌电信号的递归神经网络实时手势识别
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657777
Yan Wang, Jianing Xue, F. Duan
{"title":"Raw sEMG-based Real-time Gesture Recognition with Recurrent Neural Networks","authors":"Yan Wang, Jianing Xue, F. Duan","doi":"10.1109/ICRAE53653.2021.9657777","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657777","url":null,"abstract":"Surface Electromyography (sEMG) is widely applied in controlling assistant devices such as prostheses and wheelchairs due to it is convenient to access and use. However, real-time sEMG gesture recognition must deal with low recognition accuracy and time delay, limited by selected features and recognition algorithm. In this study we utilize the recurrent neural networks (RNNs) to recognize raw sEMG signals real-time without the feature extraction methods to improve the performance of gestures recognition. The proposed methodology was evaluated on three subjects with a set of six gestures. The performance of Long Short-Term Memory network (LSTM) and Gated Recurrent Unit (GRU) are compared and discussed. The results show that by using GRU, the average accuracy is 97.32% with the time delay of 80 ms, and the results for LSTM are 96.17% and 160 ms. This indicate that that GRU achieves higher accuracy than LSTM in our dataset and has shorter response time. In the future, we will apply the proposed methodology to actual assistant devices.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"424 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132297980","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
[Copyright notice] (版权)
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/icrae53653.2021.9657764
{"title":"[Copyright notice]","authors":"","doi":"10.1109/icrae53653.2021.9657764","DOIUrl":"https://doi.org/10.1109/icrae53653.2021.9657764","url":null,"abstract":"","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134040492","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
Generalized Value Iteration for Nonaffine Adaptive Tracking Control with Application to a Wastewater Treatment System 非仿射自适应跟踪控制的广义值迭代及其在污水处理系统中的应用
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657807
Ning Gao, Ding Wang, Mingming Zhao, Lingzhi Hu
{"title":"Generalized Value Iteration for Nonaffine Adaptive Tracking Control with Application to a Wastewater Treatment System","authors":"Ning Gao, Ding Wang, Mingming Zhao, Lingzhi Hu","doi":"10.1109/ICRAE53653.2021.9657807","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657807","url":null,"abstract":"In this paper, the generalized value iteration algorithm is utilized to design the tracking controller for the nonaffine wastewater treatment plant. First, the algorithm is initialized by a positive define function to guarantee that the cost function sequence is monotonically nonincreasing. Then, the updating rules of the cost function and the tracking control policy are given under the generalized value iteration framework. Moreover, the model network is constructed to solve the steady control and approximate the system state. The critic and action networks are introduced to approximate the iterative cost function and the iterative tracking control, respectively. Finally, the experimental simulation is provided to validate the feasibility of the present strategy. It is highlighted that the evolving policies during the iterative process are adopted to regulate the concentrations of dissolved oxygen and nitrate nitrogen.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132616104","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
Adapting Service Robot Mechanism in Designing Movable Makerspace for Knowledge Society Building 服务机器人机制在知识社会可移动创客空间设计中的应用
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657792
K. Chellappan, Muhammad Nur Syiham Abdul Razak
{"title":"Adapting Service Robot Mechanism in Designing Movable Makerspace for Knowledge Society Building","authors":"K. Chellappan, Muhammad Nur Syiham Abdul Razak","doi":"10.1109/ICRAE53653.2021.9657792","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657792","url":null,"abstract":"Makerspace is a recent strategy in introducing disruptive technology innovation among students and adults. This study introduces a movable Makerspace for knowledge society building activities in rural areas with limited technology and facilities access. The objective of the study is to adapt service robot mechanism and biometric security system in designing Makerspace for society knowledge building activities that is approached through experiential learning supported by Kolb's Theory. The service robot mechanism, biometric security system and the movable mechanism of the Makerspace expected to contribute by increasing the commitment of users in gaining knowledge in a shorter time and effectively as individuals and as group members. The study contributes to the development of interest and engagement of the rural society towards society knowledge building activities through movable Makerspace. It offers operational and pedagogical ecosystem that can assist to create learning environments where society knowledge building is fostered.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133084512","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
Finite-time Fault Tolerant Control for Uncertain-Robot Mechanism Using Adaptive-Gain SMC 不确定机器人机构的自适应增益SMC有限时间容错控制
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657784
Gafary Mahmoud, Yong Chen, Longjie Zhang, Meng Li
{"title":"Finite-time Fault Tolerant Control for Uncertain-Robot Mechanism Using Adaptive-Gain SMC","authors":"Gafary Mahmoud, Yong Chen, Longjie Zhang, Meng Li","doi":"10.1109/ICRAE53653.2021.9657784","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657784","url":null,"abstract":"For the perturbed robot system with joint faults, this article proposes a novel finite-time fault-tolerant control (FTC) method. Firstly, an adaptive non-singular fast terminal sliding mode surface (ANFTSMS) is designed. Then, an adaptive-gain active fault-tolerant sliding mode (AGAFTSM) controller is suggested to recompense for actuator faults and system uncertainties, which is designed based on the suggested function and the estimated data from an improved super twisting third-order sliding mode (ISTWTOSM) observer. Furthermore, the proposed approach not only can accommodate the faults and uncertainties but also can reduce the chattering. Finally, the strength of the controller is recognized by using the Lyapunov stability scheme. The simulation results show the effectiveness of the proposed technique in terms of tracking accuracy compared to the corresponding methods in the literature.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133301854","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
Collision-Free Motion Generation in Dynamic Environments with Joint-Space Quadratic Optimization 基于关节空间二次优化的动态环境无碰撞运动生成
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657809
Shiqi Li, Ke Han, Xiao Li, Youjun Xiong, Zheng Xie
{"title":"Collision-Free Motion Generation in Dynamic Environments with Joint-Space Quadratic Optimization","authors":"Shiqi Li, Ke Han, Xiao Li, Youjun Xiong, Zheng Xie","doi":"10.1109/ICRAE53653.2021.9657809","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657809","url":null,"abstract":"Service robots acting as human assistants are required to have the ability of adjusting their movements to accommodate changes in the interaction. In this paper, a collision-free motion generation framework of manipulators is proposed for physical interaction tasks. First, virtual ellipsoids are introduced to remove the redundant path points generated by the rapidly-exploring random tree algorithm. The motion margin of the end-effector can be ensured at the same time. Second, a reactive replanning strategy is proposed that allows the manipulator to perceive potential contact. A safe path for avoidance is found before further collisions occur. Finally, a joint-space trajectory generator based on quadratic programming is formulated to produce continuous dynamic motions under multiple hardware limits. Experiments demonstrate that the proposed method enables the manipulator to effectively avoid dynamic obstacles online, and that the motion of all joints is within the allowed range.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127309476","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 ROS Based Open Source Simulation Environment for Robotics Beginners 基于ROS的机器人初学者开源仿真环境
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657761
Linyu Su, Guoping Qiu, Wengming Tang, Min Chen
{"title":"A ROS Based Open Source Simulation Environment for Robotics Beginners","authors":"Linyu Su, Guoping Qiu, Wengming Tang, Min Chen","doi":"10.1109/ICRAE53653.2021.9657761","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657761","url":null,"abstract":"This paper presents an open source robot simulation environment based on the robot operating system (ROS). To help novice to learn robotics, we have designed several important experiments that most robotics beginners will need to practice. Our simulation environment provides an efficient, safe, and transferable testing and operating environment for the rapid verification of robot algorithms. Through practicing the experiments in this paper, robotics beginners can learn robotics knowledge faster, better and at a lower cost, which should great facilitate them to operate robots in real-world applications. Source code, simulation video and detailed wiki for the simulation environment are available online at https://github.com/Suyixiu/robot_sim.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"280 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114418594","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: 5
Kinematic Position and Orientation Analysis of a 4 DoF Orthosis for Knee and Ankle Rehabilitation 膝关节和踝关节康复用4自由度矫形器的运动学位姿分析
2021 6th International Conference on Robotics and Automation Engineering (ICRAE) Pub Date : 2021-11-19 DOI: 10.1109/ICRAE53653.2021.9657817
J. Ortiz-Zacarias, Yadhira S. Valenzuela-Lino, Joel Asto-Evangelista, Deyby Huamanchahua
{"title":"Kinematic Position and Orientation Analysis of a 4 DoF Orthosis for Knee and Ankle Rehabilitation","authors":"J. Ortiz-Zacarias, Yadhira S. Valenzuela-Lino, Joel Asto-Evangelista, Deyby Huamanchahua","doi":"10.1109/ICRAE53653.2021.9657817","DOIUrl":"https://doi.org/10.1109/ICRAE53653.2021.9657817","url":null,"abstract":"Nowadays, lower-limb orthoses facilitate various locomotion tasks for rehabilitation therapies that are repetitive and constant. Therefore, this research presents the kinematic analysis of a 4 DoF orthosis for knee and ankle rehabilitation. To obtain the kinematics of the axes, an analysis was performed from the biomechanical point of view, consequently, the Denavit-Hartenberg (D-H) method was used, which consisted of finding a homogeneous transformation matrix, followed by the orientation, position, and Euler angles; furthermore, the open-source software Jupiter (Phyton) was used as a testing tool. The homogeneous transformation matrix was obtained as a result and the simplification of the direct kinematic matrices was achieved. Finally, the direct kinematic analysis for a 4 DoF orthosis was established using the method of position (D-H), orientation, and Euler angles, which were very useful for the research.","PeriodicalId":338398,"journal":{"name":"2021 6th International Conference on Robotics and Automation Engineering (ICRAE)","volume":"10 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121926785","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: 13
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信