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

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A Machine Vision Framework for Autonomous Inspection of Drilled Holes in CFRP Panels CFRP板钻孔自动检测的机器视觉框架
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108000
Alejandro Hernández, A. Maghami, Matt Khoshdarregi
{"title":"A Machine Vision Framework for Autonomous Inspection of Drilled Holes in CFRP Panels","authors":"Alejandro Hernández, A. Maghami, Matt Khoshdarregi","doi":"10.1109/ICCAR49639.2020.9108000","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108000","url":null,"abstract":"This paper presents a fully autonomous framework for the inspection of drilled holes in planar carbon fiber composite panels used in the aerospace and automotive industries. The proposed framework can automatically recognize a part and extract the geometrical information from an existing library of DXF files. It then determines the location and orientation of the part with respect to the motion platform without a need for explicit programming of the part coordinate system. Visual servoing and optimal motion planning techniques are used to autonomously move the end-effector's camera to each hole to capture high resolution images. Image processing techniques are used to determine the geometrical errors and delamination factors for each hole. All of the proposed computer vision modules have been implemented in Python and OpenCV, which are open source and thus readily available to the industry. Experimental results prove that the proposed framework can efficiently and autonomously inspect drilled holes in composite panels with minimal programming required of the end-user.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"54 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114003315","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: 4
A Real-Time Monocular Vision-Based Obstacle Detection 基于实时单目视觉的障碍物检测
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108018
Szu-Hong Wang, Xiang-Xuan Li
{"title":"A Real-Time Monocular Vision-Based Obstacle Detection","authors":"Szu-Hong Wang, Xiang-Xuan Li","doi":"10.1109/ICCAR49639.2020.9108018","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108018","url":null,"abstract":"In recent years, many robotic obstacle avoidance methods use high-priced laser detection technology, or a duallens camera as a sensor for robot control. In order to reduce costs, this paper presents a real-time obstacle detection system by using a single wide-angle camera. In the robot application, the system can detect various static or dynamic objects in front of the robot body. The proposed system uses a local object based background subtraction method to get the outline of the static/moving object. The adaptive integral image based obstacle detection method without manual adjustment of setting parameters. The obstacle detection system had been implemented by ARM system, the obstacle can be detected on the real-time camera. The frame rate is close to 32 fps with Raspberry pi 3 platform.","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":"123965985","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
Application of Human Body Posture Recognition Technology in Robot Platform for Nursing Empty-Nesters 人体姿态识别技术在空巢老人护理机器人平台中的应用
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108070
Man Liang, Yingrui Hu
{"title":"Application of Human Body Posture Recognition Technology in Robot Platform for Nursing Empty-Nesters","authors":"Man Liang, Yingrui Hu","doi":"10.1109/ICCAR49639.2020.9108070","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108070","url":null,"abstract":"In order to solve the problem of missing the optimal treatment time for empty-nesters after falling, a mobile robot is designed that can follow the elderly autonomously and send GSM SMS to their children or community hospital when discovering their fall. The robot takes industrial PC as the main control module and STM32F1 as the bottom drive module. Kinect V1 depth camera was used to obtain the point cloud image and RGB image of the elderly, and the ROS system analyzed the image data to achieve target following. A simplified DeeperCut human posture estimation model and MPII data set was used to train deep neural network ResNet to detect the body posture coordinates through the changes of its data. Several tests have shown that the robot can follow the elderly in real time, accurately identify their falling posture and send alarm messages timely.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"59 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":"124717645","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
Improving the Prediction Accuracy of Predictive Displays for Teleoperated Autonomous Vehicles 提高遥控自动驾驶汽车预测显示器的预测精度
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108011
Gaetano Graf, Hao Xu, D. Schitz, Xiao Xu
{"title":"Improving the Prediction Accuracy of Predictive Displays for Teleoperated Autonomous Vehicles","authors":"Gaetano Graf, Hao Xu, D. Schitz, Xiao Xu","doi":"10.1109/ICCAR49639.2020.9108011","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108011","url":null,"abstract":"Autonomous vehicle teleoperation is used to remote vehicle control, manage car-sharing fleets, or in case of autonomous driving failure. Yet, the communication delay is one of the major challenges that jeopardize system stability and transparency. Vehicle trajectory prediction as the Predictive Display (PD) is the state-of-the-art technique to mitigate this problem. However, its effectiveness is highly dependent on the remote vehicle inputs and actual communication latency. To solve this issue, we propose a new model that considers the operator inputs in the control loop. To validate the feasibility of the proposed approach, an evaluation was conducted. The novel predictive model was implemented in the BMW R&D virtual simulator. Experimental results show that the proposed model predicts the vehicle states with 7.3% less euclidean deviation.","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":"123419634","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
Analysis on Risk Features of International Engineering Projects Based on SVM Method 基于SVM方法的国际工程项目风险特征分析
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108008
Di Yao, W. Zhan
{"title":"Analysis on Risk Features of International Engineering Projects Based on SVM Method","authors":"Di Yao, W. Zhan","doi":"10.1109/ICCAR49639.2020.9108008","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108008","url":null,"abstract":"With the implementation of “The Belt and Road Initiative”, Chinese companies have accumulated a lot of experience and academic researches after years of development. Compared with domestic ones, overseas projects are confronted with severer risks and challenges due to the complexity of their external environment. With considerable researches start with projects and focus on single projects or portfolio, seldom attention has been paid to overall risk features of international engineering contracting market. In this work, 73 cases of 8 industries are collected from CNKI to analyze risk features of different industries, with categories chosen based on “Annual Report on China International Project Contracting (2017-2018)”. Firstly, a thorough identified risks list is established through literature review. Secondly, secondary risk factors of each project are counted as features stand for the industry it belongs. Then, SVM method is adopted here to train classifiers for distinguishing risk identities from each other. The existence of risk differences among industries is proved through accuracy. Finally, risk characteristics of transportation projects, electric power construction projects and others are analyzed to provide companies with advices on project risk management in their fields.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"32 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":"129696609","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
Development of AGV as Test Bed for Fault Detection AGV故障检测试验台的研制
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107977
M. Dares, Kai Woon Goh, Ye Sheng Koh, C. F. Yeong, E. Su, Ping Hua Tan
{"title":"Development of AGV as Test Bed for Fault Detection","authors":"M. Dares, Kai Woon Goh, Ye Sheng Koh, C. F. Yeong, E. Su, Ping Hua Tan","doi":"10.1109/ICCAR49639.2020.9107977","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107977","url":null,"abstract":"Modern machines are still susceptible to faults and breakdown. On the onset of Industry 4.0, machines are equipped with various sensors. This paper describes the development of an (Automated Guided Vehicle) AGV to be used as a test bed to simulate fault condition and generate sensor data which can be used to generate fault detecting models. The AGV is a two wheels differential drive mobile robot with motor on each wheel. The AGV is controlled by a microcontroller board connected to a Single Board Computer (SBC). Sensors are installed to monitor the performance of the AGV and the data generated by these sensors are logged to the SBC. The AGV and its sensors are tested. The AGV is functional, can simulate simple fault and fault detection.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"16 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":"125531631","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
Kinematic Analysis and Simulation of Walking Leg of Bionic Amphibious Crab-Like Robot 仿生两栖仿蟹机器人行走腿的运动学分析与仿真
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108093
Cen Cui, Yixing Luo, Junsheng Zeng, Xiaofeng Shang, Jianming Du
{"title":"Kinematic Analysis and Simulation of Walking Leg of Bionic Amphibious Crab-Like Robot","authors":"Cen Cui, Yixing Luo, Junsheng Zeng, Xiaofeng Shang, Jianming Du","doi":"10.1109/ICCAR49639.2020.9108093","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108093","url":null,"abstract":"Bionic crab-like robots are designed to be amphibious: capable of movement on land and in water. This robot features the advantages of high mobility, stability and adaptability to complex terrain, and is highly useful for the purposes of surveying and developing marine resources. This paper establishes and analyzes the movement process of the robot's walking leg of the swing phase and the support phase. The motion process of the joints angles of the support phase is different from that of the swing phase. Therefore, detailed inverse kinematics analysis of the walking leg of the support phase is carried out by geometric methods, and the complete kinematic expressions of the two phases of the walking foot are obtained. After correcting the derivation of the positive and inverse solutions of the walking leg in two phases and verifying them in MATLAB, the toe point trajectory equation can be planned for the walking leg's forward movement state, and the planned toe point trajectory curve is simulated in MATLAB. The kinematics analysis of the walking leg and the planning equation of the toe point trajectory curve were also applied to actually controlling the prototype bionic amphibious crab-like robot, and the robot was effectively controlled during the experiment.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"32 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":"130019798","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
Modeling and Simulation of 6 DOF Robotic Arm Based on Gazebo 基于Gazebo的六自由度机械臂建模与仿真
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9107989
Zexin Huang, F. Li, Lin Xu
{"title":"Modeling and Simulation of 6 DOF Robotic Arm Based on Gazebo","authors":"Zexin Huang, F. Li, Lin Xu","doi":"10.1109/ICCAR49639.2020.9107989","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9107989","url":null,"abstract":"This paper proposes a method for robotic arms in realistic physical environment based on Gazebo. Parallel-Axis Theorem is used to estimate the links' moment of inertia. Controllers of the joints and the path planning algorithm are the important parts of the system. ROS is chosen to organize task architecture considering its easier hardware abstraction. The simulation system is able to analysis and compare robotic arm's responses under different algorithms and different target pose. When several targets given at the same time, the system can analysis which is optimal concerning the path's length and velocity's change smoothness.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"30 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":"116750793","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
Agri-Cost-Maps - Integration of Environmental Constraints into Navigation Systems for Agricultural Robots 农业成本地图-农业机器人导航系统中环境约束的集成
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108030
Vignesh R. Ponnambalam, J. P. Fentanes, Gautham P. Das, Grzegorz Cielniak, J. G. Gjevestad, P. From
{"title":"Agri-Cost-Maps - Integration of Environmental Constraints into Navigation Systems for Agricultural Robots","authors":"Vignesh R. Ponnambalam, J. P. Fentanes, Gautham P. Das, Grzegorz Cielniak, J. G. Gjevestad, P. From","doi":"10.1109/ICCAR49639.2020.9108030","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108030","url":null,"abstract":"Robust navigation is a key ability for agricultural robots. Such robots must operate safely minimizing their impact on the soil and avoiding crop damage. This paper proposes a method for unified incorporation of the application-specific constraints into the navigation system of robots deployed in different agricultural environments. The constraints are incorporated as an additional cost-map layer into the ROS navigation stack. These so-called Agri-Cost-Maps facilitate the transition from the tailored navigation systems typical for the current generation of agricultural robots to a more flexible ROS-based navigation framework that can be easily deployed for different agricultural applications. We demonstrate the applicability of this framework in three different agricultural scenarios, evaluate its benefits in simulation and demonstrate its validity in a real-world setting.","PeriodicalId":412255,"journal":{"name":"2020 6th International Conference on Control, Automation and Robotics (ICCAR)","volume":"14 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":"126240426","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: 4
Designing of an Amphibian Hexapod with Computer Vision for Rescue Operations 基于计算机视觉的两栖六足救援机器人设计
2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI: 10.1109/ICCAR49639.2020.9108039
Parthsarthi Rawat, Tanay Misra, S. Mitra, Aakash Sinha
{"title":"Designing of an Amphibian Hexapod with Computer Vision for Rescue Operations","authors":"Parthsarthi Rawat, Tanay Misra, S. Mitra, Aakash Sinha","doi":"10.1109/ICCAR49639.2020.9108039","DOIUrl":"https://doi.org/10.1109/ICCAR49639.2020.9108039","url":null,"abstract":"Nowadays robots have been inching towards living beings in terms of performance, agility, accuracy and performance. But there is one domain which is yet to come to limelight i.e. autonomous rescue robots. This involves a parallel use of robot design and control systems to get it executed. Basically, in simpler terms, there is a risk of life is involved in such scenarios and it's always hoped that a robot deployed for such operations be working with high precision and recall. So, in this paper we have described the design and control of an autonomous amphibian all terrain six-legged robot with adaptive gait for rescue operations. To fulfill this, we have used LiDAR and camera in parallel to assist bot in locomotion and detect the victim. Achieving all of this needs a significant amount of on-board processing power, but at the same time has to be compact enough. Keeping this in mind, NVIDIA Jetson Nano seems to be promising choice to get all the processing done onboard.","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":"130368715","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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