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2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)最新文献

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Generating Datasets from 3D CAD Models for Object Detection 从三维CAD模型生成数据集用于目标检测
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576247
W. Lee, Shih-Hsuan Huang
{"title":"Generating Datasets from 3D CAD Models for Object Detection","authors":"W. Lee, Shih-Hsuan Huang","doi":"10.1109/ISIE45552.2021.9576247","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576247","url":null,"abstract":"It is time-consuming to prepare training and testing data for object detection by using deep learning. In this paper, we proposed a method to generate the training data using CAD models instead of using real objects. To achieve this, we needed to convert the CAD models into point clouds. Then, the objects to be detected also needed to be converted into the point-cloud format. The key to obtaining the point clouds of the objects was to find their masks using depth images captured by a depth camera. After the mask of all the objects were available, we separated the mask into each object's mask. The separated mask was then used on the depth image to obtain the object's point cloud for object detection. Using the proposed method, it was possible to use 3D CAD data to quickly train a deep learning model to detect objects. Our preliminary results showed that the accuracy of object detection reached about 89%.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124320340","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
Household Nutrition Analysis and Food Recommendation U sing Purchase History 家庭营养分析和食物推荐使用购买历史
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/isie45552.2021.9576410
Moena Honda, H. Nishi
{"title":"Household Nutrition Analysis and Food Recommendation U sing Purchase History","authors":"Moena Honda, H. Nishi","doi":"10.1109/isie45552.2021.9576410","DOIUrl":"https://doi.org/10.1109/isie45552.2021.9576410","url":null,"abstract":"To prevent non-communicable diseases, it is important to review consumers' dietary habits. Most existing applications for improving eating habits require users to upload photos of their meals and record them manually, but such procedures are time-consuming and laborious. Because the targets of the proposed method are those who are not highly conscious of their health, it is necessary to make the application easy to use. This study applies the history of supermarket purchases to calculate nutrient intake and recommend foods that improve nutritional balance with the least amount of user input. Consequently, the nutrient intake can be estimated with an acceptable error, and foods that are easy for the user to purchase can be recommended. Because the proposed method does not use artificial intelligence technologies to generate recommendations, the reasons for food recommendations are clear and the computational cost is reduced.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"43 s200","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113954206","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 Design of Tendon-Driven Mechanism for Flipping Motion on Robotic Finger 机器人手指翻转运动的肌腱驱动机构设计
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576368
K. Egawa, S. Katsura
{"title":"A Design of Tendon-Driven Mechanism for Flipping Motion on Robotic Finger","authors":"K. Egawa, S. Katsura","doi":"10.1109/ISIE45552.2021.9576368","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576368","url":null,"abstract":"Anthropomorphic robot hands are required not only to have dexterity related to gripping and in-hand manipulation, but also to have dexterity to perform movements required in daily activities such as pressing the pad of a finger and flipping a finger. Many of the conventional robot hands that focus on these movements are limited to the realization of the movement of pressing the pad of the finger, and few focus on the movement of flipping the finger. Therefore, in this paper, we propose a hand design method that can perform both the action of pressing the pad of the finger and the action of flipping the finger. The design method proposed in this paper is to increase the stiffness of the tendon for extension rather than that of the tendon for flexion. In order to verify the effectiveness of proposed method, we compared the flight distance of coins when flipping coins with a conventional hand that can press the pad of a finger and the robot hand designed by proposed method.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"87 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113975249","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
Explicit Model Predictive Control of PMSM Drives 永磁同步电机驱动的显式模型预测控制
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576296
K. Belda, P. Píša
{"title":"Explicit Model Predictive Control of PMSM Drives","authors":"K. Belda, P. Píša","doi":"10.1109/ISIE45552.2021.9576296","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576296","url":null,"abstract":"This paper deals with the explicit model predictive control (MPC) algorithms for permanent magnet synchronous motors (PMSM). The algorithms generate continuous and smooth set of pre-computed control laws represented by parameterized gains. The selection and application of the gains in real motion control of PMSM is explained. The MPC design introduces cost functions and control laws that define explicit algorithms. For this purpose, a unified state-space model of PMSM is proposed. In the paper, practical aspects of considered explicit MPC algorithms are investigated for control systems with floating-point arithmetic and usual incremental position sensors with quantized values. The proposed solution is demonstrated by real experiments with 95 W PMSM controlled by Field-Programmable Gate Array (FPGA) unit.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122357737","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
Experimental study on the stress and magnetic behavior of non-ferromagnetic materials in weak magnetic field 弱磁场下非铁磁性材料的应力和磁性行为实验研究
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576419
Yiqi Yan, Shichao Liu, Chunsheng Yang, R. Yu, Qiangqiang Cheng
{"title":"Experimental study on the stress and magnetic behavior of non-ferromagnetic materials in weak magnetic field","authors":"Yiqi Yan, Shichao Liu, Chunsheng Yang, R. Yu, Qiangqiang Cheng","doi":"10.1109/ISIE45552.2021.9576419","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576419","url":null,"abstract":"Magnetic testing technology is one of the effective methods in the ferromagnetic materials detecting field. In order to perform the stress damage study on non-ferromagnetic materials, this paper adopts the weak magnetic detection technology which can be applied to the defect detection of ferromagnetic and non-ferromagnetic. Taking the non-ferromagnetic material, T2 copper as an example, the general process of studying nonferromagnetic materials stress and magnetic behavior by using weak magnetic detection technology has been investigated. The experimental results show that the variation laws of the surface magnetic induction intensity on the surface of non-ferromagnetic materials are consistent with the variation laws of stress, which provided the experimental basis for the application of weak magnetic monitoring technology in monitoring stress damage of non- ferromagnetic materials.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127835011","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 Sparse Pinning Control for Vehicle Platoon via Sequential $ell^{1}$ Optimization 基于序列$ well ^{1}$优化的车辆队列稀疏固定控制
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576232
Takuma Wakasa, K. Sawada
{"title":"A Sparse Pinning Control for Vehicle Platoon via Sequential $ell^{1}$ Optimization","authors":"Takuma Wakasa, K. Sawada","doi":"10.1109/ISIE45552.2021.9576232","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576232","url":null,"abstract":"This paper proposes a sparse pinning control method for vehicle platoon control. Our method controls a vehicle platoon by controlling some vehicles called pinning agents. The pinning agents and control inputs are optimized to reach a target velocity and a target inter-vehicular distance. We formulate this optimization problem as sequential $ell^{1}$ sparse optimization and the input mapping. The input mapping ranks the elements from the optimized input vector in order of the size of the $ell^{1}$ norm and sets all elements smaller than the specified ranking to 0. This ranking constraint expresses a constraint of the number of pinning agents. The calculation loads of our optimization method with the constraint of the number of pinning agents are smaller than other node selection problems and $ell^{0}$ sparse optimization. The main concern of the sequential $ell^{1}$ optimization is to reduce the computational load, and the sub concern is to attenuate the String-Instability.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128945259","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
Hand-guide Training Based on Integration of Force Information Obtained by Sensor and State Observer 基于传感器与状态观测器力信息集成的手导训练
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576292
Yuki Nagatsu, H. Hashimoto
{"title":"Hand-guide Training Based on Integration of Force Information Obtained by Sensor and State Observer","authors":"Yuki Nagatsu, H. Hashimoto","doi":"10.1109/ISIE45552.2021.9576292","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576292","url":null,"abstract":"It is important to develop technologies to replace human works with robotic technology to solve the decline in the working population and skilled workers due to the low birthrate and increasing aging population. To preserve and pass on human skillful motions, it is considered that training by hand using a robot is effective. However, it has been difficult to separate the contact force with a target object and a force applied by the trainee to the robot in the hand-guided training system with force sensor-less control. Therefore, it is necessary to divide the robot system for guidance into a master-slave system and separate the action and reaction forces. This study proposes a hand-guided motion training system that uses and integrates two types of force information obtained from a force sensor and a state observer. Since the proposed method can separate the reaction force from the target and the trainee's action force, it is possible to construct a hand-guided motion training system without using a master-slave system. Experiments confirm the effectiveness of the proposed method.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128846646","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
Realization of Synchronized Movement between Caregiver and Electric Wheelchair 看护者与电动轮椅同步运动的实现
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576497
Kazuya Hirata, T. Murakami, Misako Sasayama
{"title":"Realization of Synchronized Movement between Caregiver and Electric Wheelchair","authors":"Kazuya Hirata, T. Murakami, Misako Sasayama","doi":"10.1109/ISIE45552.2021.9576497","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576497","url":null,"abstract":"A caregiver has an important role to not only help patients with high levels of disability to move around, but also be aware and manage the patient's state of health. Visual cues on the patient's expression is an especially important source of information on the patient's well-being, especially for those with high levels limitations on cue sending, such as Amyotrophic Lateral Sclerosis (ALS) patients. Thus, this paper proposes a system that enables the caregiver to control the movement of the wheelchair while waking alongside the wheelchair where they can also interact with the patient directly. The proposed approach has been validated through experiments.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128582533","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
Semantic Segmentation and 6DoF Pose Estimation using RGB-D Images and Deep Neural Networks 基于RGB-D图像和深度神经网络的语义分割和6DoF姿态估计
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/isie45552.2021.9576248
V. Tran, Huei-Yung Lin
{"title":"Semantic Segmentation and 6DoF Pose Estimation using RGB-D Images and Deep Neural Networks","authors":"V. Tran, Huei-Yung Lin","doi":"10.1109/isie45552.2021.9576248","DOIUrl":"https://doi.org/10.1109/isie45552.2021.9576248","url":null,"abstract":"Recently, 6DoF object pose estimation for manipulation robots is an essential task in robotic and industrial applications. While deep learning methods have gained significant object detection and semantic segmentation development, the 6DoF pose estimation task is still challenging. Specifically, it is used with visual sensors to provide a robotic manipulator's information to interact with the target objects. Thus, 6DoF pose estimation and object recognition from point clouds or RGB-D images are essential tasks for visual servoing. This paper proposes a learning-based method for estimating 6DoF object pose for manipulation robots in industrial settings. A deep convolutional neural network (CNN) for semantic segmentation on RGB images is proposed. The target object area is determined by the network, which is then combined with depth knowledge to perform 6DoF object pose estimation using the ICP algorithm. With mIOU, we built our own dataset for training and assessment. As compared to other approaches that use a limited amount of training data, our proposed approach will provide better performance. For the robotic gripping application, we used an HIWIN 6-axis robot with an Asus Xtion Live 3D camera to test and validate our solution. We show the robotic grasping application using this method, which accurately estimates 6DoF object poses and has a high success rate in robotic grasping.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116690356","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 Reinforcement Learning based Energy Management System for a PV and Battery Connected Microgrid System 基于强化学习的光伏与电池并网微电网能量管理系统
2021 IEEE 30th International Symposium on Industrial Electronics (ISIE) Pub Date : 2021-06-20 DOI: 10.1109/ISIE45552.2021.9576331
R. Kosuru, Shichao Liu, H. Chaoui
{"title":"A Reinforcement Learning based Energy Management System for a PV and Battery Connected Microgrid System","authors":"R. Kosuru, Shichao Liu, H. Chaoui","doi":"10.1109/ISIE45552.2021.9576331","DOIUrl":"https://doi.org/10.1109/ISIE45552.2021.9576331","url":null,"abstract":"Design of a standalone renewable system to meet the load demand is always complex, as renewable sources are intermittent in nature, which causes overloading on the distribution transformer. However, incorporating a battery system in the design would help in improving the efficiency and mitigate the problem of fluctuating voltages and line loadings. In this paper, a grid-connected PV and battery systems are designed with an objective to manage the energy distribution and meet the load demand. Without the need to know the priori system dynamics, a Q-learning algorithm is used for controlling the battery charge and discharge characteristics (state of charge) based on the load demand and power generated from the PV system. An allocation scheme is developed for the effective usage of the energy sources as well as to increase the life cycle of the battery. Thus, the proposed strategy not only maintains the state of charge of the storage unit but also allocates the usage of the PV source.","PeriodicalId":365956,"journal":{"name":"2021 IEEE 30th International Symposium on Industrial Electronics (ISIE)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116109312","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
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