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2021 IEEE/SICE International Symposium on System Integration (SII)最新文献

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Evaluation of Tomato Fruit Harvestability for Robotic Harvesting 番茄机械采收性能的评价
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382603
T. Fujinaga, S. Yasukawa, K. Ishii
{"title":"Evaluation of Tomato Fruit Harvestability for Robotic Harvesting","authors":"T. Fujinaga, S. Yasukawa, K. Ishii","doi":"10.1109/IEEECONF49454.2021.9382603","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382603","url":null,"abstract":"Harvestability is a quantitative index of how easy tomato fruits are to harvest using a robot. Previous studies on tomato harvesting robots have focused on tomato fruit detection methods, harvesting mechanisms, harvesting success rates, and harvesting times. However, tomato fruit harvestability using robots has not been quantitatively assessed. In this paper, we propose a method for evaluating the tomato fruit harvestability using a tomato harvesting robot. We first evaluated the harvestability qualitatively, based on the results of harvesting experiments conducted in a tomato greenhouse. Harvestability was then quantitatively evaluated using a camera (hereinafter referred to as a hand camera) attached to an end-effector of the tomato harvesting robot developed. The hand camera consists of an RGB camera and a depth camera. The occlusion ratio of obstacles (stems, peduncles, and other fruits) to a target fruit is calculated using the RGB image and depth image acquired by the hand camera. The larger the occlusion ratio was, i.e., the more obstacles there were in front of the target fruit, the more difficult the target fruit was to harvest. Conversely, if the occlusion ratio is low, the harvestability is high. This study shows that the occlusion ratio is effective as a quantitative indicator of the tomato fruit harvestability.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115147045","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
3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot 库卡LBR iiwa机器人的三维视觉引导拾取和放置
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382674
Hanlin Niu, Ze Ji, Zihang Zhu, Hujun Yin, J. Carrasco
{"title":"3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot","authors":"Hanlin Niu, Ze Ji, Zihang Zhu, Hujun Yin, J. Carrasco","doi":"10.1109/IEEECONF49454.2021.9382674","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382674","url":null,"abstract":"This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera. The main steps include camera intrinsic and extrinsic calibration, hand-eye calibration, initial object pose registration, objects pose alignment algorithm, and pick-and-place execution. The proposed system allows the robot be able to pick and place object with limited times of registering a new object and the developed software can be applied for new object scenario quickly. The integrated system was tested using the hardware combination of kuka iiwa, Robotiq grippers (two finger gripper and three finger gripper) and 3D cameras (Intel real sense D415 camera, Intel real sense D435 camera, Microsoft Kinect V2). The whole system can also be modified for the combination of other robotic arm, gripper and 3D camera.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116629421","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
SVM based Pedestrian Detection System for Sidewalk Snow Removing Machines 基于SVM的人行道除雪机行人检测系统
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382618
Yuta Sasaki, T. Emaru, Ankit A. Ravankar
{"title":"SVM based Pedestrian Detection System for Sidewalk Snow Removing Machines","authors":"Yuta Sasaki, T. Emaru, Ankit A. Ravankar","doi":"10.1109/IEEECONF49454.2021.9382618","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382618","url":null,"abstract":"In this paper, we present a novel pedestrian detection system for sidewalk snow removing vehicles particularly for night driving scenarios. The information in front of the snowplow is obtained by clustering and classifying objects using LiDAR point clouds. A robust pedestrian detection and classification algorithm using the support vector machine(SVM) is proposed. We tested the system on an actual machine and the accuracy our method is verified by experiments.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116664353","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: 4
Development of Rack Loading System for Plating Process 电镀工艺机架加载系统的研制
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382669
K. Asaishi, Syuhei Miura, H. Chiba, T. Miyoshi
{"title":"Development of Rack Loading System for Plating Process","authors":"K. Asaishi, Syuhei Miura, H. Chiba, T. Miyoshi","doi":"10.1109/IEEECONF49454.2021.9382669","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382669","url":null,"abstract":"As a plating method for precision parts, the rack loading method in which the workpiece is placed on the rack is often used. In many plating factories that use the rack loading method, workers perform the loading task manually. Existing model-based rack-loading labor-saving systems that utilize simulation results need to be recalculated every time the shape or position of a workpiece or rack changes. For this reason, it takes a lot of time and effort to change the setups. Achieving the rack-loading task that requires less setup changes, we assumed the rack loading task as a non-contact inverse peg-in-hole problem. In this study, we constructed a rack loading system which recognizes the pin position on the rack side and the hole position on the workpiece side without any contacts.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127529276","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
Local Path Planning Method Based on Virtual Manipulators and Dynamic Window Approach for a Wheeled Mobile Robot 基于虚拟机械臂和动态窗口法的轮式移动机器人局部路径规划方法
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382692
Masato Kobayashi, N. Motoi
{"title":"Local Path Planning Method Based on Virtual Manipulators and Dynamic Window Approach for a Wheeled Mobile Robot","authors":"Masato Kobayashi, N. Motoi","doi":"10.1109/IEEECONF49454.2021.9382692","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382692","url":null,"abstract":"This paper proposes a local path planning method based on virtual manipulators and dynamic window approach (VMDWA) for a wheeled mobile robot. In the conventional researches such as the dynamic window approach (DWA), the mobile robot follows the desired path and avoids obstacles in the dynamic and static environment. However, DWA calculates the predicted path assuming the constant velocities. From these predicted paths, the best path is selected using the cost function. Since the DWA assumes the constant value of velocities, multiple candidates of paths cannot generate flexible movements. Therefore, it may not be possible to generate the path that does not collide with obstacles. To solve these problems, this paper proposes the local path planning method based on virtual manipulators and dynamic window approach (VMDWA). In the proposed method, virtual manipulators are taken into account at the calculation of the path planning based on DWA. Therefore, it is possible to use the variable velocities values for the predictive paths. VMDWA selects the optimal path from the several calculations of predictive paths. The simulation results confirmed the effectiveness of the VMDWA.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124968412","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
Visual Servoing Using Virtual Space for Both Learning and Task Execution 基于虚拟空间的学习与任务执行视觉伺服
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382691
Tomoki Kawagoshi, S. Arnold, Kimitoshi Yamazaki
{"title":"Visual Servoing Using Virtual Space for Both Learning and Task Execution","authors":"Tomoki Kawagoshi, S. Arnold, Kimitoshi Yamazaki","doi":"10.1109/IEEECONF49454.2021.9382691","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382691","url":null,"abstract":"In this paper, we describe a framework for per-forming an object picking task using visual servoing. As a robotic manipulator approaches the object to be grasped, a convolutional neural network (CNN) is used to generate motions to utilize visual servoing. However, to obtain an appropriate CNN, it is necessary to prepare a large amount of training data. Therefore, we propose a method that utilizes a virtual environment to reduce the load. Moreover, while performing the actual object picking task, sensor data acquisition and motion generation are performed using the virtual environment. This renders approaching the object possible even when the texture changes in the actual environment where the robot moves. An object grasping experiment was conducted on a rectangular box or a cylindrical object, and the performance of the proposed framework was verified.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123239661","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
Bidirectional Generation of Object Images and Positions using Deep Generative Models for Service Robotics Applications 服务机器人应用中使用深度生成模型的对象图像和位置的双向生成
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382768
Kaede Hayashi, Wenru Zheng, Lotfi El Hafi, Y. Hagiwara, T. Taniguchi
{"title":"Bidirectional Generation of Object Images and Positions using Deep Generative Models for Service Robotics Applications","authors":"Kaede Hayashi, Wenru Zheng, Lotfi El Hafi, Y. Hagiwara, T. Taniguchi","doi":"10.1109/IEEECONF49454.2021.9382768","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382768","url":null,"abstract":"The introduction of systems and robots for automated services is important for reducing running costs and improving operational efficiency in the retail industry. To this aim, we develop a system that enables robot agents to display products in stores. The main problem in automating product display using common supervised methods with robot agents is the huge amount of data required to recognize product categories and arrangements in a variety of different store layouts. To solve this problem, we propose a crossmodal inference system based on joint multimodal variational autoencoder (JMVAE) that learns the relationship between object image information and location information observed on site by robot agents. In our experiments, we created a simulation environment replicating a convenience store that allows a robot agent to observe an object image and its 3D coordinate information, and confirmed whether JMVAE can learn and generate a shared representation of an object image and 3D coordinates in a bidirectional manner.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123533336","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
Development of motor-less power assist device for indirect hot-line work using mechanical self-weight compensation mechanism* 采用机械自重补偿机构的间接热线工作无电机助力装置的研制
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382752
Kotono Nishiyama, Michiru Tanaka, Yoshitora Moriyama, Yoshikiyo Nishikawa, Takayuki Nakayama, Teppei Kuroki, Yoshinori Takeshima, Takeji Mandai
{"title":"Development of motor-less power assist device for indirect hot-line work using mechanical self-weight compensation mechanism*","authors":"Kotono Nishiyama, Michiru Tanaka, Yoshitora Moriyama, Yoshikiyo Nishikawa, Takayuki Nakayama, Teppei Kuroki, Yoshinori Takeshima, Takeji Mandai","doi":"10.1109/IEEECONF49454.2021.9382752","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382752","url":null,"abstract":"In the power distribution work using the indirect hot-line work technique, it is necessary to frequently set a heavy tool with a weight of 15 [kg] on an electric wire. To reduce the burden put on the worker during the hot-line work, we developed a motor-less power assist device that can completely compensate for the weight of the tool in a wide range of 600 [mm] in the vertical and horizontal directions and 90 [deg] in the pitch direction. The proposed device is lightweight and compact, so that it can be mounted on the bucket of the aerial work vehicle. To show the effectiveness, we measured the myoelectric activity during the overhead wire work and the time required to carry out it. It was verified that the load on the muscles was reduced by 90% or more, and the work time was suppressed to the same level as without assist.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125690718","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
Quick Torsion Torque Control Based on Model Error Compensator and Disturbance Observer with Torsion Torque Sensor 基于模型误差补偿和扭矩传感器扰动观测器的扭矩快速控制
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382617
Yusuke Kawai, Sora Nagao, Y. Yokokura, K. Ohishi, T. Miyazaki
{"title":"Quick Torsion Torque Control Based on Model Error Compensator and Disturbance Observer with Torsion Torque Sensor","authors":"Yusuke Kawai, Sora Nagao, Y. Yokokura, K. Ohishi, T. Miyazaki","doi":"10.1109/IEEECONF49454.2021.9382617","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382617","url":null,"abstract":"Conventionally, I-P-I-P torsion torque control has been proposed for realizing the load-side acceleration control that is a robust motion control for the flexible joint manipulator. However, conventional torsion torque control is designed as a 4th-order delay system and it is difficult to improve the control bandwidth. For this, reducing control-system-order is required. This paper proposes a quick torsion torque control based on a force and position sensors integrated disturbance observer (FPIDO) and a model error compensator (MEC) for improving the performance of human interaction in the flexible joint manipulator. The proposed approach that combines the FPIDO and MEC is capable of control the design of the torsion torque control at the 2nd-order delay system. The proposed approach is verified through numerical simulation and experimental results.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122513334","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
A Genetic Algorithm Approach to PID Tuning of a Quadcopter UAV Model 基于遗传算法的四轴飞行器模型PID整定
2021 IEEE/SICE International Symposium on System Integration (SII) Pub Date : 2021-01-11 DOI: 10.1109/IEEECONF49454.2021.9382697
M. Say, E. Sybingco, A. Bandala, R. R. Vicerra, A. Chua
{"title":"A Genetic Algorithm Approach to PID Tuning of a Quadcopter UAV Model","authors":"M. Say, E. Sybingco, A. Bandala, R. R. Vicerra, A. Chua","doi":"10.1109/IEEECONF49454.2021.9382697","DOIUrl":"https://doi.org/10.1109/IEEECONF49454.2021.9382697","url":null,"abstract":"UAV applications are being developed for various applications and are being marketed to provide solutions for agricultural, industrial, and even entertainment applications. In order to create these applications, it is vital that the UAV has good stability, and most control system of these UAVs still makes use of PID. Tuning of PID can be done by trial and error or by using the Ziegler-Nichols method. Another approach is to use a Genetic Algorithm that will find the optimal PID values without having to go through each step of trial and error or the Ziegler-Nichols method. Using the Genetic Algorithm approach optimizes the PID coefficients to produce an acceptable response to the system.","PeriodicalId":395378,"journal":{"name":"2021 IEEE/SICE International Symposium on System Integration (SII)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-01-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129020223","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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