2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献_第9页

Fractional Order Flight Control of Quadrotor UAS: an OS4 Benchmark Environment and a Case Study 四旋翼无人机的分数阶飞行控制:OS4基准环境与案例研究

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581196

Bo Shang, Yunzhou Zhang, Chengdong Wu, Y. Chen

{"title":"Fractional Order Flight Control of Quadrotor UAS: an OS4 Benchmark Environment and a Case Study","authors":"Bo Shang, Yunzhou Zhang, Chengdong Wu, Y. Chen","doi":"10.1109/ICARCV.2018.8581196","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581196","url":null,"abstract":"The OS4 quadrotor is a classic quadrotor simulation platform. So far, many different kinds of controllers have been designed based on its plant model. Most of the research only provided a numerical simulation to verify their designed controllers. Only a few researches have put the proposed controllers back to OS4 quadrotor to verify, but they didn't share the project folder to let others continue their work. More open-source and well-documented codes are needed to accelerate the application of fractional order controllers in industry. This paper updated the OS4 folder for the latest MATLAB version. A case of study demonstrated the workflow to design a fractional order proportional derivative controller for the simulated drone. Comparisons showed that fractional order controllers perform better in a nonlinear system like OS4 than integer order PID controllers. An impulse disturbance scenario is also used as a testbed. Project folder can be accessed from: https://ww2.mathworks.cn/matlabcentral/fileexchange/67882-os4-foc. Related videos can be found from this link: https://youtu.be/heuz4tFqf64.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126647659","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

Image-based Parking Place Identification for Regulating Shared Bicycle Parking 基于图像的共享单车停放场所识别

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581276

Shudong Xie, Yiqun Li, Qianli Xu, Fen Fang, Liyuan Li

{"title":"Image-based Parking Place Identification for Regulating Shared Bicycle Parking","authors":"Shudong Xie, Yiqun Li, Qianli Xu, Fen Fang, Liyuan Li","doi":"10.1109/ICARCV.2018.8581276","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581276","url":null,"abstract":"We propose a novel method and system to prevent indiscriminate parking of dockless shared bicycles using location-based geo-fencing and image-based parking place identification. The geo-fencing is used to define the approximate regions for different types of bicycle parking regulations. The parking place identification uses a method based on deep Convolutional Neural Network (DCNN) to automatically identify designated bicycle parking places from photos captured by the cyclist using a mobile phone. Combining these two modalities, the parking of shared bicycles can be restricted in designated zones in various environments. Experiments are conducted using photos taken from the designated parking places with different parking indications at various locations. We evaluate the performance of the image-based parking place identification and use heatmaps to analyze potential features that are exploit by the DCNN models. The method achieves high performance on the testing dataset; and the features used for parking place identification are largely consistent with human perceptions.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127240036","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

Parameter Identification of Blimp Dynamics through Swinging Motion 飞艇摆动动力学参数辨识

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581376

Qiuyang Tao, Jaeseok Cha, Mengxue Hou, Fumin Zhang

引用次数: 13

Manipulation of Lotus-root Fiber Based Soft Helical Microswimmers Using Rotating Gradient Field 利用旋转梯度场操纵莲藕纤维软螺旋微游泳体

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581209

Meng Su, Tiantian Xu, Jia Liu, Laliphat Manamanchaiyaporn, Yanming Guan, Zhiming Hao, Xinyu Wu

{"title":"Manipulation of Lotus-root Fiber Based Soft Helical Microswimmers Using Rotating Gradient Field","authors":"Meng Su, Tiantian Xu, Jia Liu, Laliphat Manamanchaiyaporn, Yanming Guan, Zhiming Hao, Xinyu Wu","doi":"10.1109/ICARCV.2018.8581209","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581209","url":null,"abstract":"Untethered and wirelessly-controlled microrobots have many applications in the field of biomedicine. Therefore, many laboratories and scientists have invested more scientific research into magnetic microrobots which can make more contributions to medical care. Many magnetic field devices and microrobots are manufactured. In the development of micro-robots, helical microrobots have been well developed. Rigid-body robots account for the majority of these, but they may cause damage to human organs during treatment. However, soft and deformable robots can relieve more medical restrictions. In general, helical microrobots are driven by uniform fields which have their own limitations while the gradient magnetic field can relieve more restrictions and have more functions. This paper presents a flexible deformable helical swimmer controlled in a rotating gradient magnetic field. Helical swimmers are covered with magnetic nano-particles and the helical structure is derived from the inner fiber structure of the lotus root. The soft helical swimmers are controlled to swim several special trajectories in the rotating gradient magnetic field and we analyze the frequency and other factors for velocity or other effects.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"131 s214","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132905584","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

An Intelligent Human Activity Recognition Method with Incremental Learning Capability for Bedridden Patients 一种具有增量学习能力的卧床病人智能人体活动识别方法

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581232

Shengwei Luo, Chunhui Zhao, Yongji Fu

{"title":"An Intelligent Human Activity Recognition Method with Incremental Learning Capability for Bedridden Patients","authors":"Shengwei Luo, Chunhui Zhao, Yongji Fu","doi":"10.1109/ICARCV.2018.8581232","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581232","url":null,"abstract":"Human activity recognition (HAR) is now valuable for bedridden patients to prevent falling, bedsore or other dangerous situation. This work proposes an intelligent broad learning system (BLS) recognition method based on the random vector functional-link neural network (RVFLNN) to identify the actions of bedridden patients. And the actions cover six types, including turning over to left, turning over to right, sitting up, lying down, stretching out for something and exiting from the bed. With the data collected from four pressure sensors that installed at four corners of an intelligent nursing bed, first, some pivotal preprocessing such as median filtering and down sampling are adopted to make a good performance. Then sparse auto encoder (SAE) is adopted for feature extraction. Finally, the RVFLNN is used for classification. Besides, for both new samples and new categories, the proposed method offers an incremental learning ability that can easily update the model with no need of model retaining. Compared with the convolutional neural network (CNN), the proposed method has superiority in training time while the accuracy is guaranteed.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"256 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114942370","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

Outlier Detection using Hierarchical Spatial Verification for Visual Place Recognition 基于层次空间验证的视觉位置识别离群点检测

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581070

M. Yuan, Zhengguo Li, K. Wan, W. Yau

引用次数: 1

Task Allocation Method for Multi-UAV Teams with Limited Communication Bandwidth 有限通信带宽下多无人机小组任务分配方法

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581161

Xiaowei Fu, Jing Pan, Xiao-guang Gao, Bin Li, Jun Chen, Kun Zhang

{"title":"Task Allocation Method for Multi-UAV Teams with Limited Communication Bandwidth","authors":"Xiaowei Fu, Jing Pan, Xiao-guang Gao, Bin Li, Jun Chen, Kun Zhang","doi":"10.1109/ICARCV.2018.8581161","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581161","url":null,"abstract":"Multiple unmanned aerial vehicle (UAV) team often needs to perform some certain tasks cooperatively. In the process of UAVs performing these tasks, the bandwidth of the communication network will affect the task assignment results, then the problem of task allocation for multi-UAV teams under the condition of limited communication bandwidth is considered. For a target, UAVs need to perform reconnaissance, attack and assessment tasks in coordination. The Consensus-Based Bundle Algorithm(CBBA) requires each task is assigned to no more than one UAV, so this paper extends CBBA by duplicating cooperative tasks to modify the task list and adding a judgment mechanism to ensure the uniqueness of the duplicate tasks' allocation in order to achieve the purpose of allocating multiple UAVs to the same task. At the same time, this paper utilizes a bid warping link to improve the algorithm performance and applies CBBA in asynchronous environment to reduce communication burden. Simulation results show that this improved algorithm is feasible and more efficient to improve the task allocation result for multi-UAVs teams with fewer messages transmission and a larger global reward.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130799611","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

Sampled-Data Control for Optimal Gain Margin of Cart Inverted Pendulum System: Comparison with Continuous-Time Control 推车倒立摆系统最优增益裕度的采样数据控制:与连续时间控制的比较

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581364

Sananda Chatterjee, Sarit K. Das

引用次数: 3

Semantic Grid Estimation with Occupancy Grids and Semantic Segmentation Networks 基于占用网格和语义分割网络的语义网格估计

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581180

Ö. Erkent, Christian Wolf, C. Laugier

引用次数: 9

An Intelligent Torque Vectoring performance evaluation comparison for electric vehicles 电动汽车智能扭矩矢量性能评价比较

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581190

A. Parra, A. Zubizarreta, Joshué Pérez

引用次数: 1