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

{"title":"Research on MEMS-based pedestrian Navigation Correction Algorithm","authors":"Zhi-jian Wei, Xisheng Li, Jia You","doi":"10.1145/3351180.3351222","DOIUrl":"https://doi.org/10.1145/3351180.3351222","url":null,"abstract":"Nowadays, with the popular use of pedestrian inertial navigation, the accuracy requirements for navigation in this field are getting higher and higher. This paper aims to improve the last pedestrian navigation accuracy by algorithmically correcting the measured inertial data in attitude, speed and position. In this paper, the sensor is placed on the instep of the pedestrian. Firstly, the gyroscope error and acceleration error are corrected by the rate test method and the twelve position method, and then by the zero velocity detection algorithm of pedestrian walking and the compensation cumulative error algorithm based on extended Kalman filter, realizing the Accumulated error correction and compensation during walking. Finally, the applicability and accuracy of the navigation algorithm are verified by experiments.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"58 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":"127018733","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}

{"title":"Intelligent Control based on Fuzzy logic embedded in FPGA applied in Ventricular Assist Devices (VADs)","authors":"Bruno Santos, T. Leao, E. Bock","doi":"10.1145/3351180.3351198","DOIUrl":"https://doi.org/10.1145/3351180.3351198","url":null,"abstract":"This paper presents the control based on Fuzzy logic implemented in FPGA for Ventricular Assist Devices (VADs). VADs are used for the treatment of patients with Heart Failure (HF), the continuous flow of the pump assists in the vital pumping of blood to the body, but because of fixed rotation occasionally causes over-sizing the flow, resulting in decreased device life, faster battery discharge, and patient discomfort. The Intelligent Control Technique (ICT) for VAD is a system that adjusts rotation harmoniously with physiological systems, without the use of sensors, and that considers the clinical state and level of activity of the patient, allowing comfort and efficiency. The ICT was first developed in PC and acquisition systems, but this structure does not allow to embed on electronic devices, rendering the practical application in VAD impossible, to rectify that the ICT is migrating to FPGA using the graphical language program Labview® FPGA (v15, National Instruments, Austin, USA) and Matlab® (R2010b, Mathworks, Natick, USA) for project development. The validation methodology consisted in comparing the results of the control based on Fuzzy logic of the original ICT in the simulation environment in the Matlab® Fuzzy Logic Designer and the results of the Fuzzy logic program compiled in the FPGA for the same inputs. The control based on Fuzzy logic implemented in FPGA presented similar results to simulation of the ICT running in PC, which is considered a satisfactory result, since it is an indication that when being integrated with the other layers of the ICT in FPGA will present similar results to that obtained in the \"in vitro\" studies of the original ICT, in addition to aggregating the parallel processing of data, which makes the practical application of ICT more viable as a harmonious controller of VADs and enables it to incorporate in Health 4.0. In future works the other two layers migrated in FPGA will be integrated and validated \"in vitro\" studies with a VAD coupled in the Hybrid Cardiovascular Simulator System.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"16 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":"134046702","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}

{"title":"Research on Missile Six Degrees of Freedom Model in RF Guidance Simulation System","authors":"Shi Chuan, He Rongmao, W. Lihua","doi":"10.1145/3351180.3351216","DOIUrl":"https://doi.org/10.1145/3351180.3351216","url":null,"abstract":"In the RF guidance simulation system, the software simulation of the missile flight model is one of the key technologies to be solved. This paper introduces the theoretical basis of missile flight modeling, and deeply studies the missile six degree of freedom mathematical model and its simulation algorithm. The missile flight trajectory simulation was carried out with Visual C++.Then the simulation results were used to analyze the accuracy and real-time of the two simulation algorithms, which provided a reference for the next modeling and simulation work.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"26 2 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":"129190125","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}

{"title":"Design and Research of Gait Recognition Method of Upper Knee Prosthesis Based on KNN Algorithm","authors":"Yue Hu, Xisheng Li, Qing Liu","doi":"10.1145/3351180.3351219","DOIUrl":"https://doi.org/10.1145/3351180.3351219","url":null,"abstract":"Due to the influence of diseases, accidents and other factors, the number of thigh amputations is increasing year by year, and the demand for intelligent and diversified artificial limbs is also increasing. Aiming at the poor accuracy of gait recognition of prosthesis, this paper takes the upper part of the knee of healthy people as the main research object, collects acceleration signal and gyroscope signal, and performs wavelet packet denoising on them. KNN algorithm was used to construct the classification model for the collected examples to be classified. Three typical gait, stationary, flat walking and stair climbing were selected, and k nearest neighbor samples of unknown samples were studied to predict the category of unknown samples, namely the gait of healthy people. It provides an accurate gait recognition condition for the research of dynamic prosthesis.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"54 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":"127292763","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}

{"title":"Intelligent Flight Control of Combat Aircraft Based on Autoencoder","authors":"Bo Li, Peixin Gao, Shiyang Liang, Daqing Chen","doi":"10.1145/3351180.3351210","DOIUrl":"https://doi.org/10.1145/3351180.3351210","url":null,"abstract":"The intelligent flight control of the aircraft is the key process in the air combat maneuver process. The traditional flight control method has many steps, long time and low precision, which have great drawbacks in the air combat process. In this paper, based on the background of deep learning, a flight control model based on autoencoder is proposed. Using the characteristics of autoencoder dimension reduction and feature extraction, the low-dimensional attitude parameters of high-dimensional aircraft can be extracted from high-dimensional flight attitude parameters. The eigenvalues are then automatically obtained through the neural network to change the attitude control of the aircraft. In this paper, the basic framework and training methods of the model are designed, and the influence of various parameters of the autoencoder network on the performance of the model is deeply studied. The experimental results show that the proposed model has better prediction accuracy and convergence performance than the traditional BP neural network, and achieves the purpose of intelligently and quickly obtaining flight attitude control to intelligently control aircraft flight.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"28 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":"122301872","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}

{"title":"Valve status recognition method based on saliency map and improved CNN","authors":"Yanan Ren, Zhongchao Wang, Weiting Xu, Jian Chen","doi":"10.1145/3351180.3351184","DOIUrl":"https://doi.org/10.1145/3351180.3351184","url":null,"abstract":"Valves are widely used in industrial production, and real-time acquisition of valve status is of great significance for production control. Because the manual acquisition method is time-consuming and laborious, this paper proposes a valve status recognition method based on the saliency map and improved convolutional neural network using the valve image: Based on the improved homomorphic filtering method, the valve image is preprocessed to reduce the uneven illumination; The FT algorithm is used to generate the image saliency map and extract the valve body from background image; By stretching the image multi-directional and multi-scale, training set is extended. The improved CNN is constructed and trained to realize the valve status recognition. The experimental results show that the proposed method can effectively identify the status of different valves in the actual environment.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"15 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":"129744034","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}

{"title":"Evaluation of Manufacturing Capability for the Job Shop by Combining the Entropy Weight Method with Grey Relational Analysis","authors":"Xiaomei Zhang, Lanying Xu, P. Lou, Xuemei Jiang, Jiwei Hu, Junwei Yan","doi":"10.1145/3351180.3351201","DOIUrl":"https://doi.org/10.1145/3351180.3351201","url":null,"abstract":"As a key factor for making decisions for production scheduling, manufacturing capability has been attracted great attention by academia and industries. With the increasing customized and personalized needs, modern manufacturing enterprises need to fabricate products at low cost, at right time, and at high effectiveness. Therefore, it is necessary to optimize the manufacturing system in order to improve productivity and the competitiveness of enterprises. The analysis and evaluation of manufacturing capabilities play an extremely important role in the optimal scheduling of production. In this paper, the manufacturing capability of a job shop is investigated. The indicator system is built for evaluating the manufacturing capability of a job shop and an evaluation method is proposed based on the combination of the entropy weight method and the grey relational analysis. Finally, a case study is used to validate the method.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"83 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":"127628343","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}

{"title":"A Meter Pointer Detection Method Based on Window Function Scanning","authors":"Yanan Ren, Zhongchao Wang, Weiting Xu, Jian Chen","doi":"10.1145/3351180.3351215","DOIUrl":"https://doi.org/10.1145/3351180.3351215","url":null,"abstract":"The pointer meter is widely used in industrial production, and its data mainly relies on manual acquisition with low efficiency. The automatic recognition algorithm of pointer meter reading based on meter image is a hot research topic. In this paper, aiming at the complex environment of open-air pointer meter and the low stability of existing meter reading recognition algorithm, a method of pointer detection based on window function scanning is proposed. Firstly, the meter image is taken from the scene by template matching method. Separate and enhance the meter image based on the improved homomorphic filtering method; then construct a window function and scan the binary image of meter by the circumferential scanning method to find the position of the pointer. Experiments show that the pointer detection method proposed in this paper has better adaptability and stability under complex illumination environment.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"24 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120905709","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}

{"title":"Obstacle Detection for Assisting Navigation of Visually Impaired People Based on Segmentation Process","authors":"Fitri Utaminingrum, Y. A. Sari, I. K. Somawirata","doi":"10.1145/3351180.3351202","DOIUrl":"https://doi.org/10.1145/3351180.3351202","url":null,"abstract":"Blindness is a condition when a person's sense of sight experiences a disturbance. Hence generally, it requires a tool for help him. One of the assistive devices for people with blind disabilities in carrying out their mobility is a stick or known as \"The White Cane. In general, the blind stick has a permanent shape or cannot be folded. This stick works by tapping or sliding in all directions around the blind person standing, so it is very possible for the surrounding environment to feel disturbed. Based on these problems, we propose a device that can help the blind in walking or doing mobility based on computer vision analysis without having to disturb the surrounding environment. Connected Component Labeling is used to get a blob from an image. The blob that has been detected, then analyzed using segmentation based on the threshold process. The experimental results show that our proposed method using Min-max threshold is able to detect obstacles with an accuracy rate of 82.89 %.","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":"130894981","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}

{"title":"Road Detection for Supporting Autonomous Guided Electric Vehicle Robot","authors":"I. K. Somawirata, Kartiko Ardi Widodo, S. Achmadi","doi":"10.1145/3351180.3351205","DOIUrl":"https://doi.org/10.1145/3351180.3351205","url":null,"abstract":"Road detection is a vital part in autonomous guided vehicle or robot. In this paper, we describe a road detection method for urban area. The challenge of road detection in urban area is some part of the roads are covered by vehicles. To solve that problem, we propose a method that consists of 3 main steps. First is an image capturing to takes digital image. Second is pre-processing that consists of prediction and cutting road area in an image, and the last is line detection and road labeling. The method has good performance and its has evaluated by using precision, recall and accuracy. That result have been presented in this paper.","PeriodicalId":375806,"journal":{"name":"Proceedings of the 2019 4th International Conference on Robotics, Control and Automation","volume":"92 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":"122971512","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}