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2019 International Conference on Robotics and Automation in Industry (ICRAI)最新文献

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Hierarchical Refined Local Associations for Robust Person Re-Identification 基于层次精细化局部关联的鲁棒人物再识别
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967389
N. Perwaiz, M. Fraz, M. Shahzad
{"title":"Hierarchical Refined Local Associations for Robust Person Re-Identification","authors":"N. Perwaiz, M. Fraz, M. Shahzad","doi":"10.1109/ICRAI47710.2019.8967389","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967389","url":null,"abstract":"Person re-identification is the process to identify a person from images/ videos captured from different nonoverlapping cameras in an autonomous way. The biological vision scheme emphasis on local discriminative cues in addition to the global appearance of a person for re-identification. The local cues are helpful to identify a person even if viewed at different scales and with different backgrounds. To emphasize on local cues, in this paper we present a refined association scheme for local parts of the images. The proposed scheme eliminates the effects of scale differences and background noise for automated person re-identification. Our approach divides the image of a person in horizontal strips and vertical sub-patches. A hierarchical refined associations based network (HRAN) is introduced to establish the refined associations among local segments of given images. In the first phase, the associations are established among horizontal strips of two images. In the next phase, the vertical sub-patches of associated horizontal strips are aligned/ linked with each other. Background noise and scale differences between images are addressed effectively using the proposed two-step mechanism. The triplet loss is used to optimize the refined local associations among images. A different weighting scheme is used for local and global losses for optimization of proposed model. The evaluation results of proposed methodology on two publicly available large scale datasets Market-1501 and DukeMTMC-ReID verified the effectiveness of proposed refined alignment method.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121380801","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
Discrete Fourier Transform based Virtual Constraint Control of Powered Ankle-Foot Prosthesis 基于离散傅里叶变换的动力踝足假体虚拟约束控制
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967401
A. Naeem, M. Rizwan, H. F. Maqbool, Muhammad Ahsan, A. Raza, S. Naqvi
{"title":"Discrete Fourier Transform based Virtual Constraint Control of Powered Ankle-Foot Prosthesis","authors":"A. Naeem, M. Rizwan, H. F. Maqbool, Muhammad Ahsan, A. Raza, S. Naqvi","doi":"10.1109/ICRAI47710.2019.8967401","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967401","url":null,"abstract":"Active prosthetic devices have been controlled using several methods such as Echo Control, EMG signal based Position Control and Finite State Machine (FSM) based Impedance/Compliance Control. This manuscript proposes Virtual Constraint Control of active prosthesis which obviates any need for the classification of EMG signals, identification of the gait phase for state switching and potentially avoids an exhaustive procedure for the tuning of impedance parameters. In this paper, a Discrete Fourier Transform (DFT) based Virtual Constraint control is presented to characterize the ankle-foot joint trajectory as a function of the human-inspired phase variable in a unified manner. An optimization-based algorithm is employed for the robust generation of continuously monotonic and linear phase variable for DFT based Virtual Constraint Control. The results are generalized across various walking speeds for a specific user during the level ground walking.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128025593","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
Microprocessor-Based Hydraulic Damping-Controlled Prosthetic Knee for Developing Countries 发展中国家基于微处理器的液压阻尼控制假膝
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967393
Ahmed Mobrez, Muhammad El-Brollossy, Muhammad Yehia, M. Awad, S. Maged, Dilruba Siddiqi, H. F. Maqbool
{"title":"Microprocessor-Based Hydraulic Damping-Controlled Prosthetic Knee for Developing Countries","authors":"Ahmed Mobrez, Muhammad El-Brollossy, Muhammad Yehia, M. Awad, S. Maged, Dilruba Siddiqi, H. F. Maqbool","doi":"10.1109/ICRAI47710.2019.8967393","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967393","url":null,"abstract":"Walking is considered one of the most common lower limb activities of able-bodied humans during their everyday life activities. The loss in mobility due to amputation results in a degradation of the quality of life for amputees. This could affect many aspects of the amputees’ personal and professional lives. Over the last few decades, there has been a rapid development in the prosthetics and rehabilitation industry due to state-of-the-art developments in technologies such as material, mechanical, electronics, sensors, mechatronics and actuation systems. However, they require complex and costly manufacturing processes which cannot be afforded and implemented in low-income countries. This paper introduces a design guideline of a low-cost microprocessor prosthetic knee which can be built and implemented in developing countries. This covers the mechanical design, hydraulic circuit design and simplified control algorithm.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130313711","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
Sliding Mode based Speed Observer Design for Speed control of five Phase Induction Motor 基于滑模的五相异步电动机速度观测器设计
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967391
U. Khan, I. Sami, K. Salman, B. Khan, C. A. Mehmood, S. M. Ali
{"title":"Sliding Mode based Speed Observer Design for Speed control of five Phase Induction Motor","authors":"U. Khan, I. Sami, K. Salman, B. Khan, C. A. Mehmood, S. M. Ali","doi":"10.1109/ICRAI47710.2019.8967391","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967391","url":null,"abstract":"This paper present technique for speed estimation for five phase induction motor. This work incorporates a sliding mode observer design for sensorless speed control of five-phase induction motor. A Vector control employing space vector pulse width modulation-based Sliding Mode Observer (SMO) is designed and evaluated, considering its high accuracy in estimating speed. The proposed current control model based on SMO provides better speed estimation under parameter variations, fault perturbations and load variations. Simulations with different operational conditions including load and resistance variation are conducted to test the sensorless control performance. The stability analysis of the proposed observer is presented through Lyapunov method.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121689754","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
A Review of Application of Deep Learning for Weeds and Crops Classification in Agriculture 深度学习在农业杂草和作物分类中的应用综述
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967350
S. I. Moazzam, U. S. Khan, M. Tiwana, Javed Iqbal, W. S. Qureshi, Syed Irfan Shah
{"title":"A Review of Application of Deep Learning for Weeds and Crops Classification in Agriculture","authors":"S. I. Moazzam, U. S. Khan, M. Tiwana, Javed Iqbal, W. S. Qureshi, Syed Irfan Shah","doi":"10.1109/ICRAI47710.2019.8967350","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967350","url":null,"abstract":"Weeds are major cause due to which farmers get poor harvest of crops. Many algorithms are developed to classify weeds from crops to autonomously destroy weeds. Color-based, threshold-based and learning-based techniques are deployed in the past. From all techniques, deep-learning-based techniques stand out by showing the best performances. In this paper, deeplearning-based techniques are reviewed in the case where these are applied for weed detection in agricultural crops. Sunflower, carrot, soybean, sugar beet and maize are reviewed with respect to the weeds present in them. Deep learning structures and parameters are presented, and research Gaps are identified for further research.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125943358","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: 11
Reconfigurable manufacturing systems; an approach to increase the productivity of manufacturing systems 可重构制造系统;一种提高制造系统生产率的方法
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967368
M. Z. ul Haque, Afaq Ahmed, Izhar ul Haq
{"title":"Reconfigurable manufacturing systems; an approach to increase the productivity of manufacturing systems","authors":"M. Z. ul Haque, Afaq Ahmed, Izhar ul Haq","doi":"10.1109/ICRAI47710.2019.8967368","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967368","url":null,"abstract":"Excessive production ability and economic globalization force the manufacturing environment to become unstable and uncertain. One of the most prevalent uncertainties in manufacturing systems is breakdowns and bottlenecks. Conventional Manufacturing Systems are unable to address such issues; thereby, creating space for a Manufacturing System with suitable reconfigurability. This paper explains the characteristics and principles of reconfigurable manufacturing systems (RMS); its implementation; and the role of Virtual Engineering in Manufacturing Systems (MSs) design.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116165108","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
A Unified Framework on Reading Variable Size Traffic Sign Boards using Deep Neural Network 基于深度神经网络的变大小交通标志识别统一框架
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967377
S. Roubil, Muhammad A. Hassan, Muhammad Usman Ghanni Khan
{"title":"A Unified Framework on Reading Variable Size Traffic Sign Boards using Deep Neural Network","authors":"S. Roubil, Muhammad A. Hassan, Muhammad Usman Ghanni Khan","doi":"10.1109/ICRAI47710.2019.8967377","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967377","url":null,"abstract":"With the explosive increase of vehicles in modern era and continuous interest in autonomous vehicles across the globe, need for automatic signs reading software has attained global attention. Recent research has focused on reading small sized sign boards whereas previous work was more related to understanding large sized sign boards. This work serves twofold- identifying small or large sized sign boards within a single platform. This model makes use of recent advancements in deep learning paradigm entitle Inception V3, where this model is modified to cater needs of reading variable sizes of sign boards installed at traffic roads. This modified inception model is fed into Faster RCNN for better features extraction. RPN is applied for region of interest extraction. Later on, sign board is identified into three major classes, i.e. prohibited, warning or mandatory using fully connected layers of Neural Network. The proposed model achieves an accuracy of around 92.99% on a standard dataset.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127760600","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
Spatio-temporal Saliency for Microscopic Medical Data 微观医学数据的时空显著性
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967384
Rakhshanda Javid, A. Ghafoor, M. Riaz, Naveed Iqbal
{"title":"Spatio-temporal Saliency for Microscopic Medical Data","authors":"Rakhshanda Javid, A. Ghafoor, M. Riaz, Naveed Iqbal","doi":"10.1109/ICRAI47710.2019.8967384","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967384","url":null,"abstract":"Manual tracking and analysis of medical images have become tedious and impractical because of the advancement in medical modalities and the amount of medical streams being produced daily. The analysis of the motion of the immune system can be used for diagnostic purposes. A spatio-temporal saliency map is proposed to detect and segment the moving immune system from microscopic video data. The temporal saliency is computed based on tracklets computed using extended Lucas Kanade technique and their clustering is performed based on coherence. The spatial saliency is computed by feature extraction. Experimental results demonstrate the significance of the proposed spatial and temporal saliency maps fusion. In addition, a database for moving the immune system (DMI) has also been developed.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132423104","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
Control of Ankle Angles During Gait Cycle for Lower Limb Prosthesis 下肢假肢步态周期中踝关节角度的控制
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967363
Muhammad Adnan Khalil, Muneeb Masood Raja, U. S. Khan, Abdul Hanan, M. Tiwana, Amir Hamza
{"title":"Control of Ankle Angles During Gait Cycle for Lower Limb Prosthesis","authors":"Muhammad Adnan Khalil, Muneeb Masood Raja, U. S. Khan, Abdul Hanan, M. Tiwana, Amir Hamza","doi":"10.1109/ICRAI47710.2019.8967363","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967363","url":null,"abstract":"Mimicking ankle angles continuously and accurately during gait cycle for lower limb prosthesis is of prime importance in prosthesis control. A robust control system is thus desired to mimic natural gait cycle of a healthy human for an amputee. This research focuses on simulating a control system which mimics natural ankle angles of human ankle biomechanics. The controller mimics a reference ankle angle input as output with maximum accuracy for lower limb prosthesis developed earlier. This control system can be further advanced to mimic human ankle torque and power profiles as well.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124036028","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
Electrical energy management of building using fuzzy control 采用模糊控制的建筑物电能管理
2019 International Conference on Robotics and Automation in Industry (ICRAI) Pub Date : 2019-10-01 DOI: 10.1109/ICRAI47710.2019.8967381
Muzzamil Ghaffar, Noman Naseer, S. Sheikh, Muhammad Naved, U. Aziz, Z. Koreshi
{"title":"Electrical energy management of building using fuzzy control","authors":"Muzzamil Ghaffar, Noman Naseer, S. Sheikh, Muhammad Naved, U. Aziz, Z. Koreshi","doi":"10.1109/ICRAI47710.2019.8967381","DOIUrl":"https://doi.org/10.1109/ICRAI47710.2019.8967381","url":null,"abstract":"Soft islanded system is the current trend of electrical energy distribution system. These micro-grid systems are not only sustainable, environment friendly, energy conserving but also minimally dependent on national grid, therefore reducing the overall load on the main grid. However, to manage multiple sources and loads and to deal with the constraints of each source is cumbersome for manual and traditional procedures as they require intelligence to achieve optimality in performance. Therefore, in this work an intelligent fuzzy logic based controller for building energy management system is proposed which manages solar photo-voltaic, battery, load demand and grid price as inputs in such a way that most clean and economical source is utilized at priority. In case of limited power and high cost, it also curtails the load and only allows critical load to operate, thus reducing energy consumption, peak energy requirements and saving revenue. Results show that proposed controller manages the sources and load in smart and optimal way and due to load curtailment mechanism 30 to 40% energy saving is achieved.","PeriodicalId":429384,"journal":{"name":"2019 International Conference on Robotics and Automation in Industry (ICRAI)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117219145","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
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