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2020 6th International Conference on Control, Automation and Robotics (ICCAR)最新文献

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The Method of Military Logistics Integration Based on SAEI@I 基于SAEI@I的军事物流一体化方法
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108087
Defu He, Xue Huang, X. Su
{"title":"The Method of Military Logistics Integration Based on SAEI@I","authors":"Defu He, Xue Huang, X. Su","doi":"10.1109/ICCAR49639.2020.9108087","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108087","url":null,"abstract":"Academician Wang Shouyang, an expert in Chinese forecasting techniques, proposes a research method of integration and applies it to the analysis of realistic complex systems such as macroeconomic forecast. On the basis of this method, both strategic analysis theory and approaching transformation theory are introduced by the author to make significant improvements of this method according to the features of military logistics system, therefore it is named as SAEI@I methodology. This methodology has universal applicability to general complex giant systems. This paper focuses on the piecewise problem of nonlinear part in military logistics material demand calculation and simplifies and concretizes the methodology by taking the demand calculation of battlefield supplies as an example.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127823324","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
Robust Negative Obstacle Detection in Off-Road Environments Using Multiple LiDARs 多激光雷达在非道路环境下的鲁棒负障碍物检测
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108058
Zeyu Zhong, Zhiling Wang, Linglong Lin, Huawei Liang, Fengyu Xu
{"title":"Robust Negative Obstacle Detection in Off-Road Environments Using Multiple LiDARs","authors":"Zeyu Zhong, Zhiling Wang, Linglong Lin, Huawei Liang, Fengyu Xu","doi":"10.1109/ICCAR49639.2020.9108058","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108058","url":null,"abstract":"Autonomous vehicles must analyze and understand the surrounding terrain in real time when driving in off-road environments. Yet few UGVs can effectively detect pits and ditches in an off-road environment at high speeds autonomously. This paper presents an adaptive negative obstacle detection method for autonomous vehicles using multiple side-mounted LiDARs. The method begins by extracting range jump in radial direction from the raw sensor data to get potential negative obstacle feature point pairs, and then estimates the vector of the scanned ground surface around the potential negative obstacles each moment. Subsequently, the feature point pairs are filtered based on several geometrical features related to the range and the deviation between the feature point pairs and the ground vector. Then we fuse the feature point pairs from multiple LiDARs and multiple frames to improve robustness and the longest detection distance. A series of experiments have been conducted in several typical off-road scenarios. The experimental results show that the proposed method can accurately detect negative obstacles and could deal with complex terrain in off-road environments.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130414050","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: 6
Bee-Bots: A Blockchain Based Decentralised Swarm Robotic System Bee-Bots:基于区块链的去中心化群体机器人系统
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108053
S. Karthik, N. P. Chandhar, M. Akil, Shivani Chander, J. Amogh, R. Aditya
{"title":"Bee-Bots: A Blockchain Based Decentralised Swarm Robotic System","authors":"S. Karthik, N. P. Chandhar, M. Akil, Shivani Chander, J. Amogh, R. Aditya","doi":"10.1109/ICCAR49639.2020.9108053","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108053","url":null,"abstract":"Swarm robotics is a biologically inspired approach that has been popularly used for tasks that require miniaturisation and fault tolerance at low cost. Constituents in a swarm communicate by means of stigmergy, a mechanism where common information is stored in the environment by the individuals. We model the storage and retrieval of this communication in swarm robotic systems with decentralisation using Blockchain Technology. Blockchain lets a group of agents reach consensus as well as exchange data without the need for a central authority, just like in a swarm. Construction of structures is a common problem that can be solved by using swarm robotics. In this paper, we apply the blockchain approach to decentralisation of swarm systems to construct 2-D structures with blocks in a multi-bot environment as a Proof of Concept.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116977890","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
Reinforcement Learning for Altitude Hold and Path Planning in a Quadcopter 四轴飞行器高度保持和路径规划的强化学习
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108104
PB Karthik, K. Kumar, Vikrant Fernandes, K. Arya
{"title":"Reinforcement Learning for Altitude Hold and Path Planning in a Quadcopter","authors":"PB Karthik, K. Kumar, Vikrant Fernandes, K. Arya","doi":"10.1109/ICCAR49639.2020.9108104","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108104","url":null,"abstract":"The control and stability of drones is a challenging problem. There is need for a more dynamic and robust control that the drone can use to adjust itself to an unknown environment directly. This paper presents a framework for using reinforcement learning to control altitude of a drone. We use PID to stabilize $x$ and $y$ axis of the drone. The drone is trained using Q-learning of Reinforcement Learning in a simulated environment. The trained model is then tested in the real world. Furthermore, a comparative analysis of reinforcement learning and PID algorithm is presented. Finally, an application of way-point navigation from one given point to other in an environment filled with obstacles at different points formulated as a 3-dimensional grid is presented using Q-learning of Reinforcement Learning.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132827571","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
Design of Automatic Test System for Multiplex Digital Array Module 多路数字阵列模块自动测试系统设计
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108031
Yao Yao, Dong Fang
{"title":"Design of Automatic Test System for Multiplex Digital Array Module","authors":"Yao Yao, Dong Fang","doi":"10.1109/ICCAR49639.2020.9108031","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108031","url":null,"abstract":"Digital array module (DAM) is one of the key components of digital array radar (DAR). The test of DAM is a labor-intensive and time-consuming process since its multiple transceiving channels and various test items which makes the technique for automatic test of DAM is in urgent demand. To overcome the issue, this paper proposes a scheme that is able to test multiplex DAMs simultaneously as an extension of the existing DAM automatic test system (ATS). First, we analyze the comprehensive framework of the multiplex DAM automatic test system to meet the test requirements. Second, general hardware platform especially the test interface adapter and data acquisition module and the design structure of software are explained in detail. Last, applications on several DAM test projects demonstrate the effectiveness and efficiency of the proposed automatic test approach over existing ones. Test results show that the system can meet the demands of test tasks in mass production with high-automation, high-efficiency and high-accuracy.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134111141","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
PLC-Based Villa Loft Straight-Line Module Lifting System Design 基于plc的别墅阁楼直线模块升降系统设计
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108056
Chen Xuerui, Li Wei, Lin Xiaolei
{"title":"PLC-Based Villa Loft Straight-Line Module Lifting System Design","authors":"Chen Xuerui, Li Wei, Lin Xiaolei","doi":"10.1109/ICCAR49639.2020.9108056","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108056","url":null,"abstract":"Based on the position control requirements of the lifting system, a double DC servo motor-driven double-linked linear module has been developed, which is applied to the transformation of the villa attic unreasonable design. Design to effectively solve the household problem, with low-cost, small footprint, cost-effective, easy to achieve the characteristics.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122336961","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
Deep Learning of Augmented Reality based Human Interactions for Automating a Robot Team 基于增强现实的人机交互深度学习，实现机器人团队自动化
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108004
Adhitha Dias, Hasitha Wellaboda, Yasod Rasanka, M. Munasinghe, R. Rodrigo, P. Jayasekara
{"title":"Deep Learning of Augmented Reality based Human Interactions for Automating a Robot Team","authors":"Adhitha Dias, Hasitha Wellaboda, Yasod Rasanka, M. Munasinghe, R. Rodrigo, P. Jayasekara","doi":"10.1109/ICCAR49639.2020.9108004","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108004","url":null,"abstract":"Getting a team of robots to achieve a relatively complex task using manual manipulation through augmented reality (AR) is interesting. However, the true potential of such an approach manifests when the system can learn from humans. We propose a system comprising a team of robots that performs a previously unseen task—a variant, to be specific—by learning from the sequences of actions taken by multiple human beings doing this task in various ways using deep learning (DL). The training inputs can be through actual manipulation of the team of robots using an augmented-reality tablet or through a simulator. Results indicate that the system is able to fulfill the specified variant of the task more than 80% of the time, inaccuracies mainly owing to unrealistic specifications of tasks. This opens up an avenue of training a team of robots, instead of crafting a rule base.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114870850","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
A Proposal of FPGA-Based Low Cost and Power Efficient Autonomous Fruit Harvester 一种基于fpga的低成本节能自主水果收割机的设计
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108079
Kumar Nilay, Swarnabha Mandal, Yash Agarwal, Rishabh Gupta, Manthan Patel, Sumeet Kumar, Poojan Shah, Sombit Dey, Annanya
{"title":"A Proposal of FPGA-Based Low Cost and Power Efficient Autonomous Fruit Harvester","authors":"Kumar Nilay, Swarnabha Mandal, Yash Agarwal, Rishabh Gupta, Manthan Patel, Sumeet Kumar, Poojan Shah, Sombit Dey, Annanya","doi":"10.1109/ICCAR49639.2020.9108079","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108079","url":null,"abstract":"In this paper, we present a power-efficient and low- cost prototype of a robotic harvester which employs multiple subsystems such as fruit detection, odometry, localization, profi- cient manipulation through computer vision, deep learning and a novel end-effector design. Fruit Plucking is performed using an end effector, and 3-degree of freedom (DOF) arm (made out of the integration of two linear actuators and a rotating platform) consolidated with a 4-wheeled differential drive mobile platform. Effective implementation of the visual processing is executed on the FPGA Fabric of the Xilinx PYNQ-Z2 Board, which accelerates Deep Neural Networks (DNNs) with improved Latency and Energy Efficiency as compared to a CPU or GPU based implementation.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127398940","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
Trajectory Optimization of Solar-Powered High-Altitude Long Endurance Aircraft 太阳能高空长航时飞机轨迹优化
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107998
Jack Marriott, Birce Tezel, Zhang Liu, N. Stier-Moses
{"title":"Trajectory Optimization of Solar-Powered High-Altitude Long Endurance Aircraft","authors":"Jack Marriott, Birce Tezel, Zhang Liu, N. Stier-Moses","doi":"10.1109/ICCAR49639.2020.9107998","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107998","url":null,"abstract":"Solar-powered aircraft can fly perpetually if they are able to fly a 24-hour mission in which they collect more energy than they expend. The energy collected is determined by the orientation and length of time that the aircraft's solar panels are exposed to the sun. The energy spent is determined by flight maneuvers such as changes in airspeed, altitude and heading. Therefore, a perpetual energy balance can be maintained when the aircraft flies along a trajectory that maximizes solar exposure and minimizes flight maneuvers. This paper presents a faster than real-time dynamic programming strategy that computes the optimal trajectory that contains a loitering aircraft inside a cylindrical volume placed about a reference waypoint.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127430135","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: 15
Security Job Management System Based on RFID and IOT Technology 基于RFID和物联网技术的安全作业管理系统
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108042
Mujie Liu, Wei Yu, Ming-chong Xu
{"title":"Security Job Management System Based on RFID and IOT Technology","authors":"Mujie Liu, Wei Yu, Ming-chong Xu","doi":"10.1109/ICCAR49639.2020.9108042","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108042","url":null,"abstract":"As it was difficult for the State Grid Corporation of China (SGCC) to manage a large amount of safety equipment efficiently, resulting in the frequent occurrence of safety accidents caused by the quality of equipment. Therefore, this paper presents a design of a self-powered wireless communication radio frequency identification tag system based on the Si24R1. The system uses blockchain technology to provide a full-length, chain-like path for RFID big data to achieve data security management. Using low-power Si24R1 chips to make tags can extend the use time of tags and achieve full life cycle management of equipment. In addition, a transmission scheme was designed to reduce the packet loss rate, in this paper. Finally, the result showed that the device terminal received and processed information from the six tags simultaneously. According to calculations, this electronic tag could be used for up to three years. This system can be widely used for safe operation management, which can effectively reduce the investment of manpower and material resources.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126587442","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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