Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering最新文献_第3页

Visual Servoing Gain Tuning by Sarsa: an Application with a Manipulator Sarsa视觉伺服增益调谐:在机械臂上的应用

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598169

Jie Liu, Yang Zhou, Jian Gao, Weisheng Yan

引用次数: 0

Human-Like Motion Planning of Anthropomorphic Arms Based on Hierarchical Strategy 基于分层策略的拟人手臂类人运动规划

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598161

Yu-Quan Lin, Xu-Chong Zhang, Wen-Fan Li, Xiao-Hui Ma

引用次数: 0

Cross-media control and parameter tuning for water-air amphibious multi-rotor vehicle 水气两栖多旋翼飞行器的跨介质控制与参数整定

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598153

Zhong-Qi Li, Shuang Liang, Mingming Guo, Hua Zhang, Heng Wang

引用次数: 0

Pose driven motion image generation aided by depth information 姿态驱动的运动图像生成辅助的深度信息

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598177

Zeyuan Zhang, Guiyu Xia, Paike Yang, Wenkai Ye, Yubao Sun, Jia Liu

{"title":"Pose driven motion image generation aided by depth information","authors":"Zeyuan Zhang, Guiyu Xia, Paike Yang, Wenkai Ye, Yubao Sun, Jia Liu","doi":"10.1145/3598151.3598177","DOIUrl":"https://doi.org/10.1145/3598151.3598177","url":null,"abstract":"Motion transfer which can be used as drive technology of the interaction between users and virtual roles has been a research hotspot in recent years. It is essentially a deformation process of human appearances, consequently motion transfer is typically regarded as a pose-guided image generation task which can be solved by a GAN based framework. However, the real motions occur in 3D space and the image generation in 2D plane inevitably lacks the depth information guidance of the original motions, which will result in the confusion of depths for different body parts. Besides, the adversarial loss of GAN presents weak constraints on the silhouette details. In this paper, we propose a two-stage GAN based model to make up for the defect of lacking depth information and improve the accuracy of the generated silhouette details. In stage-I, we propose a silhouette attention GAN with a silhouette consistency loss to generate the depth maps of target people. This not only brings the depth information of the original motions in 3D space but also aligns the body regions with reliable silhouettes for the following person image generation. In stage-II, we propose a context-enhanced GAN with the target poses and depth maps generated in the first stage as input to generate the final motion images. The generated results have reliable depth information and accurate silhouettes, demonstrating the effectiveness of the proposed model.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124541517","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 the Application of Blockchain Technology in Big Data Auditing 区块链技术在大数据审计中的应用研究

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598160

Yuan Sun, Xing Zhang, Meng-Hong Han

引用次数: 1

Object Detection Algorithm of Stairs Based on Multi-information Fusion 基于多信息融合的楼梯目标检测算法

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598187

Weifeng Kong, Zhiying Tan, Xu Tao, Wenbo Fan, Yanjun Ji, Meiling Wang, Xiaobin Xu

{"title":"Object Detection Algorithm of Stairs Based on Multi-information Fusion","authors":"Weifeng Kong, Zhiying Tan, Xu Tao, Wenbo Fan, Yanjun Ji, Meiling Wang, Xiaobin Xu","doi":"10.1145/3598151.3598187","DOIUrl":"https://doi.org/10.1145/3598151.3598187","url":null,"abstract":"In view of the mobile robot's perception of the environment in the process of moving, the method of deep learning is used to detect the target terrain in order to send follow-up instructions to the robot. In this paper, a lightweight stairs detection algorithm based on improved YOLOv5-Lite is proposed, which uses RepVGG as the backbone network to extract features to build YOLOv5-Lite lightweight neural network model, and removes the Focus layer in the backbone network and replaces it with a 6x6 convolution layer to reduce the number of network parameters to improve the speed of model detection. Through the introduction of BasicRFB_s pooling layer, increase the receptive field of the network, and add C3SE attention mechanism in the pooling layer to reduce pooling loss. To decrease the mistakes, we also segment the point cloud of stairs into vertical and horizontal planes by the difference of normal and consider their probability distribution for the further detection. The experimental results show that the accuracy of the improved lightweight algorithm can reach 97.1%, and the frame rate can reach 51 fps. After segmenting the point cloud, the accuracy of detection method can reach 99.9% and the frame rate can reach 46 fps. The results show that the proposed method has the characteristics of real-time, lightweight and high accuracy.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132901845","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

Nonlinear Hysteresis Modeling and Compensation of Tendon-Sheath System via Piecewise Linear Approximation 基于分段线性逼近的肌腱鞘系统非线性迟滞建模与补偿

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598433

Ye Lu, Huijun Li, Jian-yang Lai, Ai-Guon Song

引用次数: 0

A Collision-free Path Planning Algorithm for Industrial Robots with Adaptive Search Mechanism 基于自适应搜索机制的工业机器人无碰撞路径规划算法

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598174

Qixing Zheng, Bo Zhou, Zhenbo Ma, Fang Fang, Yahui Gan

{"title":"A Collision-free Path Planning Algorithm for Industrial Robots with Adaptive Search Mechanism","authors":"Qixing Zheng, Bo Zhou, Zhenbo Ma, Fang Fang, Yahui Gan","doi":"10.1145/3598151.3598174","DOIUrl":"https://doi.org/10.1145/3598151.3598174","url":null,"abstract":"In path planning for industrial robots, collision avoidance is a critical constraint. This paper studies the problem of collision-free motion planning for a spraying robot, i.e., obtaining a series of joint configurations along a given spraying waypoint that satisfies the collision constraints and satisfy the kinematics of the robot. Aiming at this problem, a collision-free motion optimization algorithm based on the adaptive search is proposed in this paper. First, a boundary volume hierarchy (BVH) of the robot and environment is quickly generated based on the GPU parallel architecture. Second, the redundancy of spray incidence angles is used to search for feasible spray incidence angle directions in the redundant space and update the robot's BVHs for collision detection. In addition, during the optimization iterations, the size of the search space is adaptively reduced according to the number of collision failures in the previous iterations to avoid falling into a local optimum. Finally, the effectiveness of the proposed algorithm is verified by simulation on a six-degrees-of-freedom robot performing a spraying task.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121854041","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

Analysis of Airframe Parameters of OAT-bicopter to Optimize Pitch Stability oat -直升机机身参数优化俯仰稳定性分析

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598434

Junsheng Xu, Cheng-Yen Yu, Heqing Li, Chenyang Zhao, Qijun Li, Xinde Li

{"title":"Analysis of Airframe Parameters of OAT-bicopter to Optimize Pitch Stability","authors":"Junsheng Xu, Cheng-Yen Yu, Heqing Li, Chenyang Zhao, Qijun Li, Xinde Li","doi":"10.1145/3598151.3598434","DOIUrl":"https://doi.org/10.1145/3598151.3598434","url":null,"abstract":"Unmanned aerial vehicle (UAV), a type of airborne mobile robot operated without human intervention, has become a research hotspot in recent years due to its numerous advantages. Among them, bicopter has attracted much attention for its superior maneuverability. However, the flight performance of the bicopter is easily affected by various airframe parameters, such as the position of the center of gravity, rotor inertia, and angle of the servo tilting axis. In this study, we conduct theoretical analysis of the Oblique Active Tilting(OAT) bicopter to identify optimal parameters for stable flight. First, we obtain the transfer function of the UAV’s pitch control system based on its pitch motion equation, and analyze its pitch stability using the characteristic equation. Then, we investigate the influence of parameters such as the position of the center of gravity, rotor inertia, and angle of the servo tilting axis on the UAV’s dynamic and steady-state performance, and propose a method to determine the optimal angle of the servo tilting axis. Finally, we validate the effectiveness of our proposed parameters through simulation experiments, demonstrating the theoretical and practical significance of our research for stable control and application of OAT-bicopters.","PeriodicalId":398644,"journal":{"name":"Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-05-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129155487","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

Adaptive Sliding Mode Force Tracking Approach for Unstructured Environment 非结构化环境下的自适应滑模力跟踪方法

Proceedings of the 2023 3rd International Conference on Robotics and Control Engineering Pub Date : 2023-05-12 DOI: 10.1145/3598151.3598175

Xingkun Wang, Zi-Cong Wei, Changhong Shi, Huaqing Huang, Haochen Zhang, Weirong Liu

引用次数: 0