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Design and improved serpentine curve locomotion control of a planar modular snake robot 平面模块化蛇形机器人蛇形曲线运动控制的设计与改进
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7832038
Peipei Shi, Q. Shao, Dongtai Liang
{"title":"Design and improved serpentine curve locomotion control of a planar modular snake robot","authors":"Peipei Shi, Q. Shao, Dongtai Liang","doi":"10.1109/ICINFA.2016.7832038","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832038","url":null,"abstract":"This paper presents a design of planar snake robot which consists of bottom-wheeled modular parts chained with servo actuator joints. Serpentine curve locomotion is recognized as the most efficient gait for snake robots control in terms of motor torques and friction forces. However, the traditional serpentine control model is based on fixed parameters. There is a slipping problem when snake robots change the shape. Changing parameters to implement a given manoeuvring motion causes the chained modular parts to slip. The improved serpentine curve equations are proposed here attaching a new angular parameter to compensate the slipping. So the manoeuvring motion of snake robots remains optimal even when the parameters changed. Both simulation and experiments show that the new angular parameter can effectively compensate the deviation caused by slipping. The results also show the efficiency of applying this method to the designed snake robot.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117326896","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
Falling detection of lonely elderly people based on NAO humanoid robot 基于NAO仿人机器人的孤独老年人跌倒检测
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7831793
Tianxiao Zhang, Wanting Zhang, Lin Qi, Li Zhang
{"title":"Falling detection of lonely elderly people based on NAO humanoid robot","authors":"Tianxiao Zhang, Wanting Zhang, Lin Qi, Li Zhang","doi":"10.1109/ICINFA.2016.7831793","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831793","url":null,"abstract":"In recent years, elderly people are suffering an increasingly severe problem in their home due to the falls. Falling down is the most common cause of death among the elderly. This paper proposed a falling detection algorithm based on a humanoid robot to monitor and detect the motion of the elderly who live alone. A stream of the videos obtained from the robot cameras are transmitted to the personal computer via Wi-Fi, and then the image data will be analyzed by the MATLAB procedure algorithm, including extracting foreground, eliminating noise from foreground, evaluating Motion History and determining ellipse statistical properties to determine whether a falling has happened. If a fall occurs, the robot will raise an alarm to call for help through microphone. This algorithm will help the elderly receive timely medical treatment in order to minimize the falling risk and the company of NAO will enhance the elderly's sense of security.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116131539","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
Evaluation method of module granularity partition for intelligent service robot based on D-S evidence theory 基于D-S证据理论的智能服务机器人模块粒度划分评价方法
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7831941
S. Jia, Guoliang Zhang, Boyang Li, Mingchao Ding
{"title":"Evaluation method of module granularity partition for intelligent service robot based on D-S evidence theory","authors":"S. Jia, Guoliang Zhang, Boyang Li, Mingchao Ding","doi":"10.1109/ICINFA.2016.7831941","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831941","url":null,"abstract":"The granularity partition for functional modules is a fundamental research topic in robot distributed control technology. How to evaluate the module partition scheme with different granularity, and then obtain the optimum scheme is the urgent problem. In this paper, we proposed a novel evaluation strategy for the granularity partition of functional modules in robotic system using RTM as control platform based on D-S evidence theory. The fuzzy clustering algorithm is primarily used to get the collection of granularity partition schemes for RT Components encapsulated by the platform of OpenRTM. As the two source of evidence, the indices of cohesion and coupling for the robotic system are achieved to measure the degree of module independence by analyzing the correlation matrix of RT Components. Then the Dempster's combination rule and the priority method for utility intervals are applied to obtain the optimal partition granularity. In the end, the effectiveness and progressiveness of the novel evaluation strategy are verified by applying it to the robotic 3D mapping system.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115263979","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
Exponential stability and L2 control for delayed switched systems with mode-dependent average dwell time 具有模式依赖平均停留时间的延迟切换系统的指数稳定性和L2控制
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7831802
Qian Yang, Huaicheng Yan, Hao Zhang, Mengling Wang
{"title":"Exponential stability and L2 control for delayed switched systems with mode-dependent average dwell time","authors":"Qian Yang, Huaicheng Yan, Hao Zhang, Mengling Wang","doi":"10.1109/ICINFA.2016.7831802","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831802","url":null,"abstract":"This paper investigates the problem of robustly globally uniformly exponential stability and L2 control for a class of switched systems with time-varying delay by using mode-dependent average dwell time (MDADT) approach. The MDADT approach is more applicable in practice than the average dwell time method in which each mode in the underlying system has its own average dwell time. Firstly, some sufficient conditions for robustly exponential stability is given by using the MDADT approach and piecewise Lyapunov function. Secondly, the L2-gain of the switched system with the external disturbance is analyzed. Then, the state feedback controller gain is obtained to ensure the exponential stability of the switched system. Finally, a numerical example is provided to illustrate the effectiveness of the theoretical results.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123072522","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
Human contour extraction from RGBD camera for action recognition 基于RGBD相机的人体轮廓提取及其动作识别
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7832114
Xiaohui Huang, Jun Cheng, Xiaopeng Ji
{"title":"Human contour extraction from RGBD camera for action recognition","authors":"Xiaohui Huang, Jun Cheng, Xiaopeng Ji","doi":"10.1109/ICINFA.2016.7832114","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832114","url":null,"abstract":"Spatio-temporal cuboid pyramid (STCP) for action recognition using depth motion sequences [1] is influenced by depth camera error which leads the depth motion sequence (DMS) existing many kinds of noise, especially on the surface. It means that the dimension of DMS is awfully high and the feature for action recognition becomes less apparent. In this paper, we present an effective method to reduce noise, which is to segment foreground. We firstly segment and extract human contour in the color image using convolutional network model. Then, human contour is re-segmented utilizing depth information. Thirdly we project each frame of the segmented depth sequence onto three views. We finally extract features from cuboids and recognize human actions. The proposed approach is evaluated on three public benchmark datasets, i.e., UTKinect-Action Dataset, MSRActionPairs Dataset and 3D Online Action Dataset. Experimental results show that our method achieves state-of-the-art performance.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123307943","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
Improving object visual tracking performance by scene occluder estimation for video surveillance 基于场景遮挡估计的视频监控目标视觉跟踪性能研究
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7832117
Lu Wang, Lisheng Xu, Liling Hao, Qingxu Deng, M. Meng
{"title":"Improving object visual tracking performance by scene occluder estimation for video surveillance","authors":"Lu Wang, Lisheng Xu, Liling Hao, Qingxu Deng, M. Meng","doi":"10.1109/ICINFA.2016.7832117","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832117","url":null,"abstract":"In this paper, we propose an approach for improving the object tracking accuracy in video surveillance scenarios by estimating and compensating the occlusion introduced by static scene objects. Specifically, the scene occluder map is first estimated by analyzing the gradient of a normalized cumulative motion map from the frames of the first several minutes of a surveillance video. Then, a scene occlusion compensation approach for Mean Shift tracking is proposed to improve the object tracking accuracy by using the estimated scene occluder map. Experimental results on two public data sets demonstrate the effectiveness of the proposed approach.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123486389","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
Guaranteed cost filtering for discrete-time multi-layer neural networks with time-varying delays and unideal measurements 具有时变时延和不理想测量值的离散多层神经网络的保代价滤波
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7831803
Hao Zhang, Huaicheng Yan, Congzhi Huang, Mengling Wang
{"title":"Guaranteed cost filtering for discrete-time multi-layer neural networks with time-varying delays and unideal measurements","authors":"Hao Zhang, Huaicheng Yan, Congzhi Huang, Mengling Wang","doi":"10.1109/ICINFA.2016.7831803","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831803","url":null,"abstract":"This paper is concerned with the guaranteed cost filtering problem for discrete-time multi-layer neural networks with unideal measurements and time-varying delays. First, the innovative state space model of multi-layer neural networks can be described by the weighted-nonlinear function, which means that there have connections among neural layers. Then, the unideal measurements are made up by combination of random sensor nonlinearity and partial missing measurements, where partial missing measurements is the product of two mutually independent stochastic variables and normal measurements. Moreover, by using proportionate-additive filter and constructing a unified Lyapunov function, a novel criterion is proposed so that the augmented filtering error system achieves robust stability and has a guaranteed cost index. Finally, simulation results are presented to demonstrate the effectiveness of the derived method.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124746242","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
Development of a 3 freedom ankle robot to assist the rehabilitation training 3自由度踝关节机器人辅助康复训练的研制
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7832075
Weiguang Li, T. Sun, Chunbao Wang, L. Duan, Quanquan Liu, Yajin Shen, Q. Shi, Meng Li, Yulong Wang, J. Long, Jianjun Wei, Zhengzhi Wu
{"title":"Development of a 3 freedom ankle robot to assist the rehabilitation training","authors":"Weiguang Li, T. Sun, Chunbao Wang, L. Duan, Quanquan Liu, Yajin Shen, Q. Shi, Meng Li, Yulong Wang, J. Long, Jianjun Wei, Zhengzhi Wu","doi":"10.1109/ICINFA.2016.7832075","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832075","url":null,"abstract":"With the developments of robotics, more and more rehabilitation robots are used to assist traditional training in rehabilitation field. In this paper, a novel ankle robot combined with 3 degrees of freedom, full fill passive-active training, subjective awareness and objective training requirements was proposed. The requirement of ankle robot was analyzed based on the ankle physical structure and real rehabilitation. Based on traditional rehabilitation therapy, a novel robot-assist rehabilitation therapy to combine subjective awareness with objective training was proposed. In this robot, a novel mechanism structure of cross-circle was proposed to robot movement around ankle center. The mechanical structure includes four parts, adduction/abduction parts, dorsiflexion/plantar flexion parts, inversion/eversion parts and sensing unit. Each part of ankle rehabilitation robot was introduced in detail. Finally, the core control strategy, position control and force control were proposed. With the robot, several primary experiments are performed. The feasibility of the robot was verified.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122725284","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 missile autopilot based on fuzzy control 基于模糊控制的导弹自动驾驶仪设计
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7832027
Shanzhong Liu, Xiumin Qu, Yongbin Liu
{"title":"Design of missile autopilot based on fuzzy control","authors":"Shanzhong Liu, Xiumin Qu, Yongbin Liu","doi":"10.1109/ICINFA.2016.7832027","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7832027","url":null,"abstract":"The aerodynamic parameters of missile control system will be changed with the variations of the missile flight speed and altitude, etc. In order to reduce the influence of the changing aerodynamic parameters on control performance of missile autopilot, use variable universe fuzzy control to deal with this problem and improve the dynamic and steady-state performance of the missile autopilot. Considering the random disturbance, white noise, wind disturbance, electromagnetic disturbance during the flight, simulation results show that when the variable universe fuzzy PID control and fuzzy PID control missile autopilot are compared, they can both achieve effectively to track the missile guidance command, the former design system has smaller overshoot, shorter response time, higher control precision, more strong anti-disturbance ability, so it is more suitable to design the missile autopilot.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122878030","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
Assistive standing of omni-direetional mobile rehabilitation training robot based on support vector regression algorithm 基于支持向量回归算法的全向移动康复训练机器人辅助站立
2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI: 10.1109/ICINFA.2016.7831974
Junyou Yang, Jie Li, Dianchun Bai, Baiqing Sun, Shuoyu Wang
{"title":"Assistive standing of omni-direetional mobile rehabilitation training robot based on support vector regression algorithm","authors":"Junyou Yang, Jie Li, Dianchun Bai, Baiqing Sun, Shuoyu Wang","doi":"10.1109/ICINFA.2016.7831974","DOIUrl":"https://doi.org/10.1109/ICINFA.2016.7831974","url":null,"abstract":"Robot assistive standing-up movement for the elders is one of important ways to solve nursing shortage problem caused by population aging. This paper focuses on standing-up movement using an omni-directional mobile rehabilitation training robot, aims to solve the issue of fast generating aid motion trajectories in different heights and different sitting postures. Control algorithm for predicting assistive standing-up trajectories based on support vector regression machine is presented. Firstly, this article established models of shoulder joints, hip joints, knee joints and ankle joints coordinates, angles and spacing parameters of experimenters in different heights under the process from sitting to standing, and made a parametric description of the models. Then, joint motion trajectories were predicted and compared with actual motion trajectories. In the last, the results show that the regression model predicts joints motion trajectories in the standing-up process accurately, which proves the effectiveness of the proposed algorithm.","PeriodicalId":389619,"journal":{"name":"2016 IEEE International Conference on Information and Automation (ICIA)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129545780","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
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