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

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Backpropagation Neural Network Based Design of a Novel Sit-to-Stand Exoskeleton at Seat-Off Position for Paraplegic Children 基于反向传播神经网络的新型坐立式截瘫儿童脱座外骨骼设计
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108021
Jyotindra Narayan, Sanchit Jhunjhunwala, Mrinal Gupta, S. K. Dwivedy
{"title":"Backpropagation Neural Network Based Design of a Novel Sit-to-Stand Exoskeleton at Seat-Off Position for Paraplegic Children","authors":"Jyotindra Narayan, Sanchit Jhunjhunwala, Mrinal Gupta, S. K. Dwivedy","doi":"10.1109/ICCAR49639.2020.9108021","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108021","url":null,"abstract":"In this work, a novel sit-to-stand exoskeleton for paraplegic children is modeled in SolidWorks having a provision of different heights with constant body weight (40kg). A simplified mathematical formulations are, further, presented to find knee joint and foot torques at seat-off position during sit-to-stand motion. The centre of mass distances from knee joint and foot are calculated using SolidWorks model by changing children heights (95cm-180cm). Thereafter, two backpropagation neural network models (BPNN-I and BPNN-II) are designed to predict the centre of mass distances and joint torques in case of knee and foot. From the results, it is observed that both neural network models show potential conformity of predicted outputs as compared to simulated ones. The absolute percentage error for the predicted outputs is found to be minimal (<1%) and within acceptable limits.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"15 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":"124323102","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
Smart and Sustainable Home Aquaponics System with Feature-Rich Internet of Things Mobile Application 智能可持续的家庭鱼菜共生系统，功能丰富的物联网移动应用
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108041
R. Mahkeswaran, Andrew Keong Ng
{"title":"Smart and Sustainable Home Aquaponics System with Feature-Rich Internet of Things Mobile Application","authors":"R. Mahkeswaran, Andrew Keong Ng","doi":"10.1109/ICCAR49639.2020.9108041","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108041","url":null,"abstract":"Food security has been a recurring issue for many countries in the world including Singapore. This issue is exacerbated by growing world population and climate change, which inevitably leads to an increased demand for food. In recent years, large scale aquaponics has shown efficient production of edible fish and plants. This paper further exploits the design and development of an aquaponics system for home environment, with the notion that if every household within a country can generate its own fish and plants, the overall food demand of the country will be reduced. The proposed smart and sustainable home aquaponics system consists of various sensors, actuators, and microcontroller with internet connectivity to continuously monitor, control, and record fish tank water and ambient air quality. Healthy growth of fish and plants are ensured by sending an early warning to the user in the event of any abnormal system condition via a push notification in a feature-rich internet of things (IoT) mobile application. Furthermore, appropriate actuators are automatically operated to rectify abnormalities in a timely manner. Plant grow lights and fish feeder are also automatically controlled to optimize fish and plant growth. All sensor readings and actuator statuses are intuitively displayed to the user in real time through the IoT mobile application and securely sent to an online spreadsheet for storage and further analysis. Measurement results successfully demonstrate the efficacy of the proposed home aquaponics system to grow healthy fish and plants, with minimal operational costs and human intervention.","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":"124412372","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
An Approximation Algorithm for Maximizing Product Modularity 最大化产品模块化的一种近似算法
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108033
Fang Liu, Shaofeng Du, Zhenjun Hong, Yanzhao Wu, Feng Wang, Yong Yin, Dongni Li
{"title":"An Approximation Algorithm for Maximizing Product Modularity","authors":"Fang Liu, Shaofeng Du, Zhenjun Hong, Yanzhao Wu, Feng Wang, Yong Yin, Dongni Li","doi":"10.1109/ICCAR49639.2020.9108033","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108033","url":null,"abstract":"A complex product can be described in terms of its product architecture. There are two product architectures: integral and modular. Advantages of modular products have been noted in the literature. Maximizing modularity is a critical issue in modular product design. In this study, a polynomial approximation algorithm with a 0.422 approximation ratio is proposed to find hidden modules. It is observed that better modularity can be achieved when the product is partitioned into 3 to 8 modules. Numerical experiments with applications in the products of bicycle, starter, and fruit chute system are conducted to illustrate the developed algorithm. Performance of the algorithm is demonstrated by comparisons with other well-known algorithms.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"21 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":"131338487","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
Development of 3-Channel Temperature Profiling System Using Arduino Mega2560 with Linear Regression Analysis 基于Arduino Mega2560的三通道温度分析系统的线性回归分析
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108035
Irvin O. Yuan, P. Abu, C. Oppus, R. Reyes
{"title":"Development of 3-Channel Temperature Profiling System Using Arduino Mega2560 with Linear Regression Analysis","authors":"Irvin O. Yuan, P. Abu, C. Oppus, R. Reyes","doi":"10.1109/ICCAR49639.2020.9108035","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108035","url":null,"abstract":"Temperature Profiling is vital on all operations at a manufacturing company especially on processes using heat treatment such as ovens, furnaces, temperature cycling, and reflow ovens. In most cases there is an insufficient number of temperature profilers needed by all the manufacturing processes. The best alternative to acquiring the needed number of temperature profilers is sharing between the several processes. But this solution leads to manufacturing process downtime that eventually affects the production yield. This paper presents the development of a low-cost temperature profiling system. The system is designed using an Arduino Mega2560 micro controller with a Raspberry-Pi used as CPU. It features an alert system with digital notification in case there is a system malfunction. It is software designed to present in a graphical format the temperature profiles.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"4 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":"131812825","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-Path Planning for Autonomous Navigation of Multiple Robots in a Shared Workspace with Humans 人类共享工作空间中多机器人自主导航的多路径规划
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108082
Lan Anh Trinh, Mikael Ekström, Baran Çürüklü
{"title":"Multi-Path Planning for Autonomous Navigation of Multiple Robots in a Shared Workspace with Humans","authors":"Lan Anh Trinh, Mikael Ekström, Baran Çürüklü","doi":"10.1109/ICCAR49639.2020.9108082","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108082","url":null,"abstract":"Path finding for multiple robots is one of most important problems in robotics when to find a way to move robots from their starting positions to reach their respective goals without collisions. However, in the case of a complex environment with the presence of humans and other unpredictable moving objects, fixing a single path to the goal may lead to a situation where there are a lot of obstacles on the planned path and the robots may fail to realise the moving plan. To address this issue, a new approach of using multiple path planning where each robot has different options to choose its path to the goal is introduced in this paper. The information about planned moving paths are shared among the robots in the working domain, combined with obstacle avoidance constraints in local ranges, and formulated as an optimisation problem. Solution of the problem leads to the optimal moving plans of robots. The effectiveness of the proposed approach is demonstrated by experimental results.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"3 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":"130430159","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: 9
Design Modelling and the Performance Analysis of a Recycling Drum Dryer for a Salt Adsorbent 盐吸附剂回收滚筒干燥机的设计、建模及性能分析
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107992
Y. Yapa, Sri Lanka, J. Jayasekara
{"title":"Design Modelling and the Performance Analysis of a Recycling Drum Dryer for a Salt Adsorbent","authors":"Y. Yapa, Sri Lanka, J. Jayasekara","doi":"10.1109/ICCAR49639.2020.9107992","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107992","url":null,"abstract":"Solid desiccants play a major role as well as liquid desiccants today in the dehumidification appliances. Although salt adsorbents have a better moisture adsorbing capacity than organic adsorbents, deliquescence limits their performance. Therefore, the study was carried out to identify a suitable recycling mechanism for salt adsorbent. Damprid one of the commercially developed moisture absorber was used for the experiment. A drum dryer was designed to regenerate Damprid from its hydrate solution. For computational fluid dynamic analysis, ANSYS Fluent fluid flow systems in ANSYS Workbench was used. Simulation results were obtained to determine the temperature and velocity distribution for 3 different RPMs. Experiments were conducted by varying parameters: heat input, drum rotating RPM and liquid spray rate, to obtain the maximum recovery rate. The highest recovery rate, 433.3g/h was gained at 1.18 RPM and 22ml/min. It was identified that the recovery rate can be optimized by improving the heat utilization.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"26 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":"130003529","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
Target Force Tracking and Automatic Contour Surface Processing in Grinding of Industrial Robots 工业机器人磨削中目标力跟踪与自动轮廓面处理
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108006
Shifeng Huang, Zhihong Zhu, Jihong Chen, Xing Zhou, Jiaxun Yu, Peiyang Gao, Haoqing Wang
{"title":"Target Force Tracking and Automatic Contour Surface Processing in Grinding of Industrial Robots","authors":"Shifeng Huang, Zhihong Zhu, Jihong Chen, Xing Zhou, Jiaxun Yu, Peiyang Gao, Haoqing Wang","doi":"10.1109/ICCAR49639.2020.9108006","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108006","url":null,"abstract":"Some studies have shown that constant grinding force has an appreciable impact on the quality of material removal, such as consistency. However, there are still two short-comings in practical applications. Firstly, it often produces a large instantaneous contact force when the grinding tool contacts the workpiece. Moreover, the grinding force fluctuates greatly in high feed speed. A series of practical solutions are proposed in our paper to these issues. A force planning strategy based on a compliance model can overcome the defect of excessive instantaneous contact force. Based on some functional modules of active disturbance rejection control (ADRC) framework, effective signals can be extracted, and some coarse disturbance feedback force can be eliminated. In addition, an impedance model combined with a PID regulator can realize fast suppression of grinding disturbance force and maintain target force. Besides, an algorithm prototype for automatic contour surface processing and target force tracking is proposed to simplify the programming of grinding. Physical experiments have proved the correctness and effectiveness of the above strategies.","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":"130917719","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
Kinematic & Dynamic Models of Human Lower Extremity during the Gait Cycle 人类下肢在步态周期中的运动学与动力学模型
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108090
Bing Han, Yan Jiao, Geng Liu, Li Zhang, Qingqi Zhu, Yuzhou Yan, Junhua Fei
{"title":"Kinematic & Dynamic Models of Human Lower Extremity during the Gait Cycle","authors":"Bing Han, Yan Jiao, Geng Liu, Li Zhang, Qingqi Zhu, Yuzhou Yan, Junhua Fei","doi":"10.1109/ICCAR49639.2020.9108090","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108090","url":null,"abstract":"Studying the principles of human gait is the center of many research studies. In order to analyze and predict the movement of the human walking, the lower extremity of human body is assumed to be a rigid connecting-rod model due to the physiological structure of human body, and the connecting rods are assumed to be connected by joints. Based on the assumptions, a rigid five-bar connecting-rod model of human body in the sagittal plane is developed, and the five rigid rods represent the torso, left thigh, right thigh, left calf, right calf, respectively. Then, mathematical equations of the kinematics and dynamics for human walk on level ground are derived. Since in this study the model is considered as a planar model, only the motion in the sagittal plane is studied. The results from the experiments are compared with the computer simulation results to verify the rigid five-bar linkage model, and the gait information can be predicted effectively by the kinematic and dynamic models.","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":"134298705","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
Surface Monitoring for Additive Manufacturing with in-situ Point Cloud Processing 基于原位点云处理的增材制造表面监测
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108092
Lequn Chen, X. Yao, Peng Xu, S. K. Moon, G. Bi
{"title":"Surface Monitoring for Additive Manufacturing with in-situ Point Cloud Processing","authors":"Lequn Chen, X. Yao, Peng Xu, S. K. Moon, G. Bi","doi":"10.1109/ICCAR49639.2020.9108092","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108092","url":null,"abstract":"Vision-based surface monitoring is critical for surface defects and geometric distortion detection during additive manufacturing (AM) processes. It is the pre-requisite of quality assurance and process control to maintain and improve the quality of AM produced parts. However, current surface monitoring solutions are not efficient enough to provide in-situ monitoring feedback during the relatively long AM fabrication process, which has become a significant barrier to AM automation. This paper presents a new surface monitoring method integrated in a robot-based laser-aided additive manufacturing cell, with in-situ point cloud processing capability. During surface scanning, a multiprocessing technique is used to run both sensor data capturing and point cloud processing programs. Point cloud data captured within predefined time intervals are filtered and segmented automatically to extract the parts surface to be monitored. Experimental results are presented to verify the effectiveness of the proposed surface monitoring method.","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":"128570242","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: 8
An Improved ICP Registration Algorithm by Combining PointNet++ and ICP Algorithm 结合pointnet++和ICP算法的改进ICP配准算法
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108032
Yuewang He, Chang-Hee Lee
{"title":"An Improved ICP Registration Algorithm by Combining PointNet++ and ICP Algorithm","authors":"Yuewang He, Chang-Hee Lee","doi":"10.1109/ICCAR49639.2020.9108032","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108032","url":null,"abstract":"A registration algorithm matches two point clouds into one same coordinate system, which is widely used in object reconstruction and positioning of autonomous cars. The traditional point cloud registration algorithm such as an ICP cannot meet the requirements of initial value independence and real-time, furthermore, most improved ICP algorithms are based on the extraction of a single feature. Since PointNet++ is a deep learning model that can directly consume a disordered point cloud, we combine PointNet++ with ICP for a new registration method. Multiple features can be extracted by PointNet++, and these features are used as the basis for the registration. Then, the rotation and translation can be calculated by ICP algorithm. Experiments show that our registration method can achieve fast and robust registration.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"18 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":"128088505","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: 9
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