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Proceedings of the 2019 4th International Conference on Robotics, Control and Automation最新文献

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Model Reference Adaptive Control for Microbial Fuel Cell (MFC) 微生物燃料电池模型参考自适应控制
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351197
Qing-zhu Luo, Aimin An, Minmin Wang
{"title":"Model Reference Adaptive Control for Microbial Fuel Cell (MFC)","authors":"Qing-zhu Luo, Aimin An, Minmin Wang","doi":"10.1145/3351180.3351197","DOIUrl":"https://doi.org/10.1145/3351180.3351197","url":null,"abstract":"Microbial Fuel Cell (MFC) is efficient and clean power supply equipment, but serious nonlinearities exist when the MFC runs, so, how to guarantee its output voltage to reach the setting curve quickly and smoothly is a significant topic. To manipulate the feeding flow is an effective way to achieve this goal; especially the satisfactory results can be received through manipulating anode feeding flow. The working point in the MFC running process is linearized in the localized region to obtain the equivalent state space description using the model reference adaptive control algorithm in this study, so the output voltage of MFC can be effectively controlled. Simulation results indicate that the model reference adaptive control algorithm can quickly and smoothly control the voltage output of MFC's voltage tracking reference model. MFC has better performance in rapidity and accuracy after using the algorithm. This is of great significance for MFC to provide stable energy supply for the external load.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131493870","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: 3
Design of Fall Detection System using Computer Vision Technique 基于计算机视觉技术的跌倒检测系统设计
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351191
T. Tsai, Ruizhi Wang, Chin-Wei Hsu
{"title":"Design of Fall Detection System using Computer Vision Technique","authors":"T. Tsai, Ruizhi Wang, Chin-Wei Hsu","doi":"10.1145/3351180.3351191","DOIUrl":"https://doi.org/10.1145/3351180.3351191","url":null,"abstract":"Fall detection becomes an important topic in the homecare system. Compared to the wearable sensor, video-based fall detection system is more convenient and relaxed. In this paper, we propose a real-time and high accuracy fall detection system based on the video sensing stream. Firstly, we propose a fast and high-performance foreground segmentation method, which only uses the hue image to get the human information, and is it performed with simple adaptive background model. We also solve the problem of light and shadow change and achieve better results on PETS2001, PETS2006, and CDW 2014 dataset, compared with other algorithms. Based on this high performance segmentation technique, we can develop a fall detection system. The decision of fall detection is mainly based on the shape of human and the center of gravity. In our self-made falling sequences, the experiment results show that the accuracy of our proposed method can achieve 96% on average. Furthermore we can achieve real-time performance on embedded system with any GPU acceleration supported.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131537627","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
Feature Extraction of Video Data for Automatic Visual Tool Tracking in Robot Assisted Surgery 机器人辅助手术中自动视觉工具跟踪的视频数据特征提取
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351185
J. Huang, X. Li, T. Kesavadas, Liangjing Yang
{"title":"Feature Extraction of Video Data for Automatic Visual Tool Tracking in Robot Assisted Surgery","authors":"J. Huang, X. Li, T. Kesavadas, Liangjing Yang","doi":"10.1145/3351180.3351185","DOIUrl":"https://doi.org/10.1145/3351180.3351185","url":null,"abstract":"The strong interest in data-driven surgical procedures has motivated the need for automatically analyzing instrument trajectories during surgical procedures to improve the efficacy of modern robot-assisted surgeries. We proposed a single view camera-based approach for automatic video analysis of surgical instruments during robot-assisted minimally invasive procedures. This video data-driven approach uses feature extraction for visual tracking of the surgical instrument, coupled with the kinematics of the pivoted motion in minimally invasive surgery for tool trajectory analysis. The self-contained nature of the approach enables the acquisition of trajectory information without any prior placement of markers or post storage of robot joint trajectories information. Based on visual inspection of the 2D localization results in the image frames, the proposed method demonstrated reasonable recovery of the 3D positional information of the surgical tools. Driven by the increasingly sophisticated interventional procedures of modern surgeries, this proposed trajectory tracking method provides a means for leveraging the wealth of surgical video data for data analytics in Surgical Data Science. The long-term goal of the study is to contribute towards the advancement of Surgical Data Science through the establishment of a video-based data acquisition technique.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131599125","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 Approach for Inverse Kinematics of Arm Robot 臂式机器人逆运动学的强化学习方法
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351199
Zichang Guo, Jin Huang, W. Ren, Chundong Wang
{"title":"A Reinforcement Learning Approach for Inverse Kinematics of Arm Robot","authors":"Zichang Guo, Jin Huang, W. Ren, Chundong Wang","doi":"10.1145/3351180.3351199","DOIUrl":"https://doi.org/10.1145/3351180.3351199","url":null,"abstract":"The inverse kinematics is the foundation and emphases of the industrial robot control. Traditional solutions of inverse kinematics cause many difficulties to the exploitation of many kinds of industrial robots because of the complexity derivation, difficulty of calculation, multiple solutions, lack of instantaneity. This paper proposes a new way to obtain the inverse kinematics of 5-DOF arm robot with a grip by using the method of deep deterministic policy gradient in reinforcement learning, the method combines the neural network and robotics knowledge through the continuing attempts to get the accuracy solution. The propose of the simulation by Tensorflow and Matplotlib is designed to verify the accuracy of the new way, the results of simulations show that comparing with the traditional way, the end grip joint of robot can arrive at the location we set with some more error, but the angle of every joint can be calculated and the error is in an acceptable range, the accuracy of the angle and posture is satisfied. This is a new way to solve inverse kinematics of robot which is easier than traditional way, but has more meaning on solutions of multi-degree of freedom robots.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"SE-4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126574768","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: 9
Small Target Detection Based on Enhanced RFCN Driven By Smaller Data Set 基于小数据集驱动的增强RFCN小目标检测
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351181
Zhenwei Wang, Haiying Zhang, Tingxian Gao
{"title":"Small Target Detection Based on Enhanced RFCN Driven By Smaller Data Set","authors":"Zhenwei Wang, Haiying Zhang, Tingxian Gao","doi":"10.1145/3351180.3351181","DOIUrl":"https://doi.org/10.1145/3351180.3351181","url":null,"abstract":"Aiming at the hard problem of the small target detection in ATR, in this paper, we propose a robust method based on enhanced RFCN driven by smaller data set. First, the original image is decomposed into sparse metric and the low-rank one by TNNSR (Truncated Nuclear Norm and Sparse Regularizer) method. So that the large scale structured background is suppressed and then, the sparse one with candidate target is input into RFCN to complete the detection task by deep learning. Compared with the traditional RFCN driven by big data, the learning and convergence process are accelerated because of the matrix decomposition on the front end of the networks, which is much practical for our small sample problem. The experiments show that compared with the traditional algorithms the method has obvious advantages in generalization, further, in contrast with RFCN, it can get the same result on much smaller sample set, especially, and it outperforms the RFCN in some special scenarios with sunshine and reflective stripe over the sea.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133014502","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
Obstacle Avoidance System Design Based on Quad - Rotor UAV 基于四旋翼无人机的避障系统设计
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351212
Baoan Fan, Guigen Zeng
{"title":"Obstacle Avoidance System Design Based on Quad - Rotor UAV","authors":"Baoan Fan, Guigen Zeng","doi":"10.1145/3351180.3351212","DOIUrl":"https://doi.org/10.1145/3351180.3351212","url":null,"abstract":"In order to improve the safety and applicability of the quad-rotor UAV, this paper designs an obstacle avoidance system of UAV in six directions, front, back, right, left, top and bottom. The system is composed of Arduino controller with ATmega2560 as the main control chip and US-016 ultrasonic sensor. Firstly, the distance between the UAV and the sensor is measured by the ultrasonic sensor, and then the channel value of the remote control is calculated and reconstructed by the controller to realize the autonomous obstacle avoidance of the UAV. The results show that this obstacle avoidance system has the characteristics of low cost, high precision, safety and reliability, and has certain value in the application and research field of UAV.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128658631","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
Dynamic Analysis of Lower Extremity Exoskeleton of Rehabilitation Robot 康复机器人下肢外骨骼动力学分析
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351207
Min Zhang, Yifeng Guo, Min He
{"title":"Dynamic Analysis of Lower Extremity Exoskeleton of Rehabilitation Robot","authors":"Min Zhang, Yifeng Guo, Min He","doi":"10.1145/3351180.3351207","DOIUrl":"https://doi.org/10.1145/3351180.3351207","url":null,"abstract":"In order to control the exoskeleton of lower limbs accurately, it is necessary to establish an accurate dynamic model. In this paper, the lower extremity exoskeleton is simplified to five-bar mechanism, and the walking mode of human body is divided into single-leg support mode and double-leg support mode. Then, the two models of walking patterns were dynamically modeled and analyzed by the Lagrange method to obtain joint torque. Finally, the multi-body dynamics simulation software ADAMS is used to carry out the dynamic simulation, which verifies the correctness of the theoretical analysis, and provides a theoretical basis for motor selection and control system design of rehabilitation robot.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127792677","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: 3
Research on Narrow-band Anti-jamming Algorithm for Satellite Signals 卫星信号窄带抗干扰算法研究
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351218
Zhang Qi, Li Chuanjun, Hu Fei
{"title":"Research on Narrow-band Anti-jamming Algorithm for Satellite Signals","authors":"Zhang Qi, Li Chuanjun, Hu Fei","doi":"10.1145/3351180.3351218","DOIUrl":"https://doi.org/10.1145/3351180.3351218","url":null,"abstract":"The narrow-band anti-jamming technology of satellite signals is mainly studied, and a piecewise adaptive threshold algorithm is proposed in this paper. The general steps of the adaptive threshold algorithm are given and analyzed. The traditional algorithm is improved, the spectral segmentation is proposed, and the second threshold is obtained. This algorithm is suitable for narrow-band anti-interference and can effectively suppress narrow-band interference signals. A comparative simulation was performed on MATLAB.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"22 7","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132275114","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 Resistance Measurement Based on Digital Image Processing 基于数字图像处理的电阻测量研究
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351225
Li Shengquan, Zhang Long, Chen Guanzhong, Wen Hongfu
{"title":"Research on Resistance Measurement Based on Digital Image Processing","authors":"Li Shengquan, Zhang Long, Chen Guanzhong, Wen Hongfu","doi":"10.1145/3351180.3351225","DOIUrl":"https://doi.org/10.1145/3351180.3351225","url":null,"abstract":"In the field of color ring resistance measurement, scholars would prefer to do research on detecting color ring resistance value exactly or finding a new method to detect. In a circuit, users would rather get the value of color ring resistance from its surface color rather than know the accurate resistance value. When using the artificial method to read the color ring resistance from its surface, it will increase workload or cause misreading. In existing products which measure actual resistance value are to use basically electronic equipment instead of reading electric resistance value automatically. In order to decrease workload and achieve reading value automatically, this paper introduces a method to measure the value of the color ring resistance from the resistance surface by using the system which consists of STM32 and camera of OV7725. This system mainly uses camera and digital image processing to explore color ring identification.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116318676","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
Identification of Clamps Looseness based on Multi-Scale Convolutional Neural Network for Hydraulic Pipelines 基于多尺度卷积神经网络的液压管路卡箍松动辨识
Proceedings of the 2019 4th International Conference on Robotics, Control and Automation Pub Date : 2019-07-26 DOI: 10.1145/3351180.3351211
Yufei Huang, Qin Wei, Xiaowei Li, Ting Shi, Jiaxin Zhang, Anda Zhu
{"title":"Identification of Clamps Looseness based on Multi-Scale Convolutional Neural Network for Hydraulic Pipelines","authors":"Yufei Huang, Qin Wei, Xiaowei Li, Ting Shi, Jiaxin Zhang, Anda Zhu","doi":"10.1145/3351180.3351211","DOIUrl":"https://doi.org/10.1145/3351180.3351211","url":null,"abstract":"With deep learning developing rapidly, intelligent clamps looseness identification methods based on CNN are becoming more popular. Considering the distribution characteristics of the FBG sensors on the hydraulic pipeline, a distributed data reconstruction method is proposed to obtain a suitable sample dataset. And the proposed MSCNN model can broaden the neural networks to reach a good identification performance owing to multi-scale convolution layer. Moreover, looseness identification experiments have been undertaken to indicate the feasibility and advantage of the method. Compared with 1DCNN and BP neural network, MSCNN can not only achieve higher accuracy in the testing set, but also take less time in the training process.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133547326","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
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