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2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)最新文献

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A semi-Markov decision process based dynamic power management for mobile devices 基于半马尔可夫决策过程的移动设备动态电源管理
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784034
Mengxi Zhang, Yanjie Li, Haoyao Chen
{"title":"A semi-Markov decision process based dynamic power management for mobile devices","authors":"Mengxi Zhang, Yanjie Li, Haoyao Chen","doi":"10.1109/RCAR.2016.7784034","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784034","url":null,"abstract":"Power management for mobile devices, such as smartphone and tablet, are more important than ever because the growth of battery density doesn't satisfy the increasing demand for user experience with various applications. However, existing approaches have more or less drawbacks: (1) focusing on certain sub-system and neglecting global optimization, (2) having a great burden on computation or data collection, (3) the risk of exposing user's privacy information. In this paper, we present a semi-Markov decision process (SMDP) based power management solution that balances user experience and power consumption. We choose GPS sampling rate and LCD brightness as control variables. This approach has less state number and needs less computation time. The simulation results show that the proposed solution can prolong usage time for about 53% and increase total experience by about 51% in comparison with the general fixed policy.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123459874","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
An intuitive human robot interface for tele-operation 直观的人机界面，便于远程操作
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784072
Lijun Zhao, Yihuan Liu, Ke Wang, P. Liang, Ruifeng Li
{"title":"An intuitive human robot interface for tele-operation","authors":"Lijun Zhao, Yihuan Liu, Ke Wang, P. Liang, Ruifeng Li","doi":"10.1109/RCAR.2016.7784072","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784072","url":null,"abstract":"This paper proposed an intuitive human robot interface for real-time tele-operation, where human operator can operate the Baxter robot to implement complicated tasks in unstructured and uncertain environment intuitively and efficiently. Firstly, In this paper a new method for building an human robot interaction interface is proposed. In addition, workspace mapping between master and slave manipulator is a key problem of human robot interaction (HRI) when there are huge difference in size and structure of human and robot's manipulators. So, the workspace mapping method between human arm and Baxter Robot manipulator and the inverse kinematics approach for solving 7-DOF redundant manipulator by using Kinect sensor were also discussed in detail. In the end, an experiment was employed to validate the performance of proposed interface.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116268942","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: 10
System development for micro-electrode assembly of cochlear implant 人工耳蜗微电极装配系统开发
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784095
Shaokui Weng, W. Rong, Zeyang Xia, Hao Deng, Yangzhou Gan, Jing Xiong
{"title":"System development for micro-electrode assembly of cochlear implant","authors":"Shaokui Weng, W. Rong, Zeyang Xia, Hao Deng, Yangzhou Gan, Jing Xiong","doi":"10.1109/RCAR.2016.7784095","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784095","url":null,"abstract":"Cochlear Implant is an implantable medical device for severe deafness patients to restore hearing function. The micro-electrode in cochlear implant is directly contacted with the human cochlea for signals transmission, thus its assembly is an important step of cochlear implant production. However, currently micro-electrode is assembled manually and the assembly precision and efficiency are unable to meet the industrial standard. In this paper, an automatic assembly system of micro-electrode for Cochlear Implant was designed. In this system, several mechanical mechanism specially for the micron level parts transmission and assembly were designed, including a wire feeder, a ring transmission mechanism, and a welding mechanism. And combined with the human-computer interaction interface, the effectiveness of the overall performance of the assembly system was verified by experiments.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130628122","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
Dynamic hand gesture recognition using HMM-BPNN model 基于HMM-BPNN模型的动态手势识别
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784066
Zhou Lu, Li-Shuang Zhang, Sun Lei, Xue-Bo Zhang
{"title":"Dynamic hand gesture recognition using HMM-BPNN model","authors":"Zhou Lu, Li-Shuang Zhang, Sun Lei, Xue-Bo Zhang","doi":"10.1109/RCAR.2016.7784066","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784066","url":null,"abstract":"This paper proposes a new method, combining Hidden Markov Model and BP Neutral Network (called HMM-BPNN Model), to solve the problem of dynamic hand gesture recognition. Specifically, first extract the information of hand gesture feature from 3D depth image using the finger tracking module of Intel perceptual equipment; second, the resulting information of hand gesture feature is modeled with the method of Hidden Markov Model (HMM); third, BP Neutral Network (BPNN), as the classifier, recognizes the inputting dynamic hand gesture. Finally, the results of simulation and experiment verify the feasibility of the proposed method in this paper.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122702792","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
Behavior of a water drop moving inside parallel plates 水滴在平行板内运动的行为
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784059
X. Bian, Haibo Huang, Liguo Chen
{"title":"Behavior of a water drop moving inside parallel plates","authors":"X. Bian, Haibo Huang, Liguo Chen","doi":"10.1109/RCAR.2016.7784059","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784059","url":null,"abstract":"When a digital microfluidic experiment was done the process of droplet moving from single-plate structure (open part) into parallel-plate structure (covered part) was always needed. But it should be noted that it is difficult for big water drops moving into parallel-plate structure with hydrophobic surfaces. But we have recently observed an interesting phenomenon: by repeatedly up and down the upper plate, a small scaled water drop was able to run into the gap of parallel plates with hydrophobic surfaces that were approximately vertically placed. We have analyzed the subtle physical mechanism responsible for droplet transport and demonstrated experimentally. This incident effect of dynamic wetting provides a new method to move droplet and this dynamics of controlling way may be widely used in future application.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132094463","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
Optimal input load disturbance rejection controller design for typical integrating processes based on IMC structure 基于IMC结构的典型积分过程最优输入负载抗扰控制器设计
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784107
Wei Zhang, Lingyue Xia, Chaoli Wang
{"title":"Optimal input load disturbance rejection controller design for typical integrating processes based on IMC structure","authors":"Wei Zhang, Lingyue Xia, Chaoli Wang","doi":"10.1109/RCAR.2016.7784107","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784107","url":null,"abstract":"In this paper, an H2 optimal input load disturbance rejection (ILDR) controller for three typical integrating processes with dead time is proposed based on the Internal Model Control (IMC) structure. Different from other load disturbance rejection methods, the proposed design method is to minimizing the ILDR criterion for integrating processes with dead time. Compared with previous advanced control methods, the proposed design method has three main advantages. First, the proposed design method can optimally suppress the input load disturbance. Second, the design procedure is simple. No weight functions need to be chosen in the design method. The designed controller is given in an analytical form. Third, the robustness stability can be achieved by monotonously tuning the parameters given in the designed controller. Numerical simulations are given to illustrate the effectiveness of the proposed method.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133461934","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
Heavy-Payload Omnidirectional Robot 大载荷全向机器人
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784094
Long Han, Huihuan Qian, Kexin Xing, Yangsheng Xu
{"title":"Heavy-Payload Omnidirectional Robot","authors":"Long Han, Huihuan Qian, Kexin Xing, Yangsheng Xu","doi":"10.1109/RCAR.2016.7784094","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784094","url":null,"abstract":"This paper elaborates a Heavy-Payload Omnidirectional Robot (Hobot) that can efficiently carry heavy payloads on uneven indoor floors. It consists of four Steer-able Differential-Geared Dual-Wheels (SDD), composed a differential-geared dual-wheel, a passive tilt-adapting joint and a suspension washer. In order to combine heavy-payload and omnidirectionality, the mechanism is designed by means of evaluating its four qualitative criteria and two quantitative metrics. The criteria are ground contact, energy efficiency, type of omnidirectionality and internal stress distribution. The metrics are Support Force Isotropy (SFI) and Critically Loaded Mass (CLM). The feasibility of Hobot prototype was verified by omnidirectional motion experiments under heavy payloads. The results show that Hobot can efficiently carry a total mass of 2,130kg under speed of 0.3m/s using only an average power of 646W.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114600142","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
Effects of transcranial alternating current stimulation on performance of SSVEP-based brain-computer interface 经颅交流电刺激对基于ssvep的脑机接口性能的影响
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784087
R. Duan, Dingguo Zhang
{"title":"Effects of transcranial alternating current stimulation on performance of SSVEP-based brain-computer interface","authors":"R. Duan, Dingguo Zhang","doi":"10.1109/RCAR.2016.7784087","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784087","url":null,"abstract":"It is known that steady-state visual evoked potential (SSVEP)-based brain-computer interface (BCI) has a high information transfer rate compared with other BCI paradigms in general. However, some subjects may have low response to visual stimulation, and the performance of SSVEP-based BCI may be poor. Previous study has found that transcarnial alternating current stimulation (tACS) can modulate brain cortical excitability and ongoing oscillatory activity, so it may help to improve the neural response of visual cortex. We are inspired to investigate the influence of tACS on improving the performance of SSVEP-based BCI. We conduct the experiment on six healthy subjects in two groups, tACS group and sham (no tACS) group. The classification accuracy of BCI is improved significantly after treatment in tACS group, while there is no obvious change in sham group. It indicates that tACS is not a placebo, and it can improve the classification accuracy of SSVEP-based BCI. We also find the positive effect is not restricted to a particular visual stimulation frequency in SSVEP.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117154166","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
A congestion avoidance algorithm based on quorum sensing for nanorobot navigation in blood vessels 基于群体感应的纳米机器人血管导航拥塞避免算法
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784061
Qing-Ying Zhao, Min Li, Jun Luo
{"title":"A congestion avoidance algorithm based on quorum sensing for nanorobot navigation in blood vessels","authors":"Qing-Ying Zhao, Min Li, Jun Luo","doi":"10.1109/RCAR.2016.7784061","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784061","url":null,"abstract":"This paper presents a quorum sensing algorithm to coordinate nanorobots and avoid congestion in blood vessels. In the algorithm, nanorobots use a chemical signal like autoinducer of bacteria to estimate the number of nanorobots in target site. And a method to determine the maximum value of nanorobots number in different vessels depending on vessel diameter is proposed. Simulations have been conducted to evaluate the effectiveness of the algorithm in a local field of blood vessels.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129603345","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
Multi-objective motion planning of space flexible manipulator system 空间柔性机械臂系统多目标运动规划
2016 IEEE International Conference on Real-time Computing and Robotics (RCAR) Pub Date : 2016-06-01 DOI: 10.1109/RCAR.2016.7784076
Yihuan Liao, Cai-zhi Fan
{"title":"Multi-objective motion planning of space flexible manipulator system","authors":"Yihuan Liao, Cai-zhi Fan","doi":"10.1109/RCAR.2016.7784076","DOIUrl":"https://doi.org/10.1109/RCAR.2016.7784076","url":null,"abstract":"The multi-objective motion planning of a space flexible manipulator system is investigated. The motion planning model we put forward in this paper takes account of the elastic vibration, disturbance to the attitude of spacecraft which carries the manipulator, operation time and energy consumption. The physical programming method is used to convert the multi-objective optimization problem to a single-objective one. A hybrid optimization approach incorporating Gauss pseudospectral method with direct shooting method is then proposed to transform the single-objective problem into non-linear parameter optimization problem. Both Genetic Algorithm(GA) and Sequential Quadratic Programming(SQP) are employed to seek the solution for the parameter optimization problem, which is treated as an approximate optimal solution for the motion planning problem. Finally, numerical simulation results indicate that the method suggested is effective and stable.","PeriodicalId":402174,"journal":{"name":"2016 IEEE International Conference on Real-time Computing and Robotics (RCAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121909621","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
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