2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)最新文献_第2页

Towards a modular and dexterous transhumeral prosthesis based on bio-signals and active vision 基于生物信号和主动视觉的模块化灵巧肱骨假体研究

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955664

P. Nguyen, C. Pham

引用次数: 0

A Novel Architecture for Condition Based Machinery Health Monitoring on Marine Vessels Using Deep Learning and Edge Computing 基于深度学习和边缘计算的船舶机械状态健康监测新架构

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955729

Vidyasagar Asalapuram, I. Khan, K. Rao

{"title":"A Novel Architecture for Condition Based Machinery Health Monitoring on Marine Vessels Using Deep Learning and Edge Computing","authors":"Vidyasagar Asalapuram, I. Khan, K. Rao","doi":"10.1109/ISMCR47492.2019.8955729","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955729","url":null,"abstract":"Condition based machinery health monitoring on marine vessels involves collecting operational sensor data on the vessel using a robust data acquisition system and determining asset health using anomaly detection analytics. Automation and digitalization of marine vessels involve smart digital technologies such as the Internet of Things (IoT) to collect ships' health data and send it over to a central processing location where this data is analyzed. However, it is difficult to apply this to the shipping industry due to offshore data transmission bandwidth challenges. Deep Learning, a technology that can be used to conduct Machinery Health Monitoring (MHM) holds the key to solve the bandwidth problems. In this paper, we investigate the use of Convolutional Neural Networks (CNN) as a practical solution for deploying Smart Health Monitoring on Marine Vessels using the example of electric induction motors. We show a mechanism to develop data-driven deep learning model that can classify if the motor is in a healthy or faulty condition, and propose an architecture to deploy this model on the Marine vessel in real time on an edge computing hardware. While in operation, sensor data from the motor will be fed into the DL Model, and the resulting predictions will be presented in the Vessel Alarm Monitoring System.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132472483","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

Human-Centered Deep Learning Neural Network Trained Myoelectric Controller for a Powered Wheelchair 以人为本的深度学习神经网络训练电动轮椅肌电控制器

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955734

Ashley Stroh, J. Desai

{"title":"Human-Centered Deep Learning Neural Network Trained Myoelectric Controller for a Powered Wheelchair","authors":"Ashley Stroh, J. Desai","doi":"10.1109/ISMCR47492.2019.8955734","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955734","url":null,"abstract":"The powered wheelchair is one of the most widely used devices that assists users in activities of daily living. Although powered wheelchairs have improved the quality of life for most people, some users with certain disabilities, such as Spinal Cord Injury, may have difficulties with common types of controllers like joysticks. Because of this, other types such as head, mouth, vision, and speech controls have been employed, but each control type has its own limitations in terms of safety and accuracy. This research presents a human-centered approach that detects hand gestures using non-invasive surface electromyography (sEMG) signals from the human forearm by an artificial intelligence in the form of a Deep Learning Neural Network (DLNN). An Institutional Review Board application was approved to recruit participants without muscular disability between 18 to 50 years of age to evaluate the proposed controller mechanism. Each participant's sEMG signals were acquired at 200 Hz sampling frequency followed by DLNN training and validation. Methods such as an ultrasonic sensor to avoid large obstacles and a proportional-integral (PI) controller to produce smooth wheelchair motor movements were integrated with DLNN-based hand gesture recognition in this research to ensure the user's safety. The trained Bayesian Regularization DLNN had an average accuracy of 98.4% across all subjects and hidden layers. All subjects were able to successfully navigate the path using the proposed controller in an average of 4.85 minutes and touching an average of 2.3 obstacles out of 13. Being that so many people require the use of a wheelchair but oftentimes have difficulties controlling it, there is a clear need for the development of a safer and easier method of control and this research strives to fulfil that need.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132036046","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

High-Level Parametric Gait Modeling for Assistive Robotics 辅助机器人高级参数化步态建模

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955700

Rodrigo Ramon, Ou Bai

引用次数: 0

Tracking of Targets in Mobile Robots Based on Camshift Algorithm 基于Camshift算法的移动机器人目标跟踪

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955660

Xin Zhang, Jiang Lu, Xingang Fu, Xiaokun Yang, Ishaq Unwala, Ting Zhang

引用次数: 3

Acoustic Flame Suppression in Various Gravitational Forces 不同重力下的声火焰抑制

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955715

Joshua Rodriguez, Riki Barron, Juan Giraldo, O. Salinas, Justin Tarwater

{"title":"Acoustic Flame Suppression in Various Gravitational Forces","authors":"Joshua Rodriguez, Riki Barron, Juan Giraldo, O. Salinas, Justin Tarwater","doi":"10.1109/ISMCR47492.2019.8955715","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955715","url":null,"abstract":"The ability to detect and suppress flames on Earth gravity, microgravity, and Mars gravity is crucial for preventing fire during space missions. Payload limitations for mission assets create the necessity for resourceful fire response technology. Furthermore, gravity affects the heat release rate, pollutant formation, and extinguishment of flames. Unlike pressure vessel fire extinguishers, low-frequency acoustic waves are not affected by gravity and can extinguish a flame without increasing a payload. An Acoustic Flame Suppression System (AFSS) composed of a subwoofer, focal lens, and a thermal camera can extinguish fire regardless of gravity. The system components may be attached to autonomous swarm rovers called Swarmies or mounted onto walls depending on the task. The purpose of this paper is to assess the development feasibility of an autonomous AFSS for flame suppression under various gravitational force conditions. The most appropriate way in developing an effective system is by studying previous acoustic flame suppression experiments and incorporating applicable elements.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114203453","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

Finger Motion Measurement System for Telexistence Hand Manipulation 远距离手部操作手指运动测量系统

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955714

Y. Inoue, F. Kato, S. Tachi

{"title":"Finger Motion Measurement System for Telexistence Hand Manipulation","authors":"Y. Inoue, F. Kato, S. Tachi","doi":"10.1109/ISMCR47492.2019.8955714","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955714","url":null,"abstract":"This research focuses on finger motion measurement system of telexistence robot to realize precise hand manipulation. Wearable sensor glove which measures operator's finger joint angles is used in most cases for reproducing his/her finger motion to robot hand. However, angle-based finger motion measurement is difficult to estimate correct position of fingertip because of hand shape difference between individuals. On the other hands, optical position measurement such as motion capture can obtain exact position, but has problem of measuring stability because of occlusion. To overcome this issue, we propose a finger motion measurement system which consists of sensor glove with motion capture. To calibrate individual differences, the kinematic parameters of operator's hand such as bone length are estimated at first, and then the hand model predicts fingertip position from sensor glove data. Once the parameters are obtained, both motion capture and hand model provide position of fingertip in parallel, and the measurement becomes more stably against occlusion. The performances of the proposed system regarding parameter estimation and precision accuracy were evaluated during finger movement in 3D space.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120988133","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

Innovative Applications of VR: Flash-flood control and monitoring VR的创新应用:山洪控制和监测

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955726

V. L. Padilha, F. de Oliveira, D. Proverbs, S. K. Füchter

{"title":"Innovative Applications of VR: Flash-flood control and monitoring","authors":"V. L. Padilha, F. de Oliveira, D. Proverbs, S. K. Füchter","doi":"10.1109/ISMCR47492.2019.8955726","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955726","url":null,"abstract":"The need for prognosis about water bodies representation and modelling of water level, especially in inland water bodies of Brazil has become an object of research mainly in the engineering field. Recording, documenting and, ultimately, encouraging the use of “non-destructive techniques and survey methods” as 3D digital surveying and mapping techniques and the use of Virtual Reality represent an invaluable set of effective tools for reconnaissance, documentation, monitoring, but also public diffusion and awareness of natural disasters management. Therefore, the basic concept and application of augmented reality consider the interaction between real world with virtual objects from VR. In this case, the augmented reality system must have characteristics combining the reality with virtual dimensions, in which for this study the real interactive in real time must represent 3D dimension, applied to the flooding issues in a municipality. This paper aims to review the currently methodologies used for water resources management in Brazil to study issues as the challenge of flash-flood control towards to approach the possibilities related with the available technologies. In addition, the purpose is to identify research directions of flood damage and resilience strategies assessment in different countries with the same recurrent issue.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"165 2-3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134096863","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

Fault Detection and Harmonics Mitigation in Diesel Electric Ships Using IIOT Edge Devices 使用工业物联网边缘设备的柴油电动船舶故障检测和谐波缓解

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955730

K. Rao, I. Khan, Vidyasagar Asalapuram

引用次数: 1

Collaborative UAV Surveillance 协同无人机监视

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955704

Winston Smith, H. Hexmoor

{"title":"Collaborative UAV Surveillance","authors":"Winston Smith, H. Hexmoor","doi":"10.1109/ISMCR47492.2019.8955704","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955704","url":null,"abstract":"Autonomous collaborative robotics is a topic of significant interest to groups such as the Air Force Research Lab (AFRL) and the National Aeronautics and Space Administration (NASA). These two groups have been developing systems for the operation of autonomous vehicles over the past several years, but each system has several critical drawbacks. AFRL's Unmanned Systems Autonomy Services (UxAS) supports pathfinding for multiple tasks performed by groups of vehicles, but has no formal verification, very little physical flight time, and no concept of collision avoidance. NASA's Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS) has collision avoidance, partial formal verification, and thousands of hours of physical flight time, but has no concept of collaboration. AFRL and NASA each wanted to incorporate the features of the other's software into their own, and so the CRoss-Application Translator for Operational Unmanned Systems (CRATOUS) was created. CRATOUS creates a communication bridge between UxAS and ICAROUS, allowing for full feature integration of the two systems. This combined software is the first system that allows for the safe and reliable cooperation of groups of unmanned vehicles.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115080527","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