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2018 International Conference on Control and Robots (ICCR)最新文献

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Workspace Allocation for Team of Robots with Different Actuation Capabilities 不同驱动能力机器人团队的工作空间分配
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534496
Mert Turanli, H. Temeltas
{"title":"Workspace Allocation for Team of Robots with Different Actuation Capabilities","authors":"Mert Turanli, H. Temeltas","doi":"10.1109/ICCR.2018.8534496","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534496","url":null,"abstract":"In this paper, the adaptation of multiple agents to actuation performance variations under localization uncertainty is investigated. The agents are modeled as nonholonomic wheeled mobile vehicles and Guaranteed Power Diagrams (GPD or GPVD) are used in order the robots to partition the workspace under the assumption that the locations of the agents are known within uncertainty circles. An online adaptive estimation algorithm is used for each agent to calculate the weight of its GPV-cell. So, the robots accomplish the coverage control to perform a collaborative task by giving larger portions of the workspace to the agents that have better actuation performances and smaller regions to the ones whose performances are worse than the other agents. Simulation results and ROS implementation show the effectiveness of the algorithm.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122417493","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
System Design and Experiment of the Hybrid Underwater Vehicle 混合动力水下航行器系统设计与实验
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534493
Xiaojie Ai, Song Kang, Wusheng Chou
{"title":"System Design and Experiment of the Hybrid Underwater Vehicle","authors":"Xiaojie Ai, Song Kang, Wusheng Chou","doi":"10.1109/ICCR.2018.8534493","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534493","url":null,"abstract":"Hybrid propulsion is a crucial technology for the propulsion of underwater vehicle. The disadvantages of the underwater vehicle driven by propellers are that the thrust is difficult to control and the vision is easy to blurry by the sediment on the seabed. First, a new propulsion system that combined the thrusters and the propelled by flapping fins was proposed in this paper. The underwater vehicle consisted of following systems: mechanical structure, hardware system, software system, signal transmission parts. Then, the depth control model of underwater vehicle based on the transfer function was established and the classical PID control algorithm was used to complete the simulation. According to the simulation results, this paper established the control system. Finally, experiments were conducted on the depth control to study the simulation results. The experimental results showed that the underwater vehicle was able to achieve the various functions and could provide technical guidance for areas such as marine fishing.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"50 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129910706","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
Solving Inverse Kinematics Model for 7-DoF Robot Arms Based on Space Vector 基于空间矢量的七自由度机械臂运动学逆模型求解
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534498
Shangpei Li, Zhijie Wang, Qi Zhang, Fang Han
{"title":"Solving Inverse Kinematics Model for 7-DoF Robot Arms Based on Space Vector","authors":"Shangpei Li, Zhijie Wang, Qi Zhang, Fang Han","doi":"10.1109/ICCR.2018.8534498","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534498","url":null,"abstract":"The 7-DoF Manipulator has a high degree of flexibility and can perform many complex tasks for humans, therefore widely used in many fields. This paper proposes a new method to solve the inverse kinematics model for 7-DoF manipulators. Specifically, it focuses on how to derive equations for the feasible space of the endpoint of each joint and correspondingly the feasible space of each arm-angle when the endpoint of the robot arm is given, which lays the foundation for the robotic arm to complete obstacle avoidance and optimal path planning tasks. First, the influence of the first three joints and the last three joints on the end position of the robotic arm is decoupled. Based on this decoupling, the relationship between the last three joint angles and the end position of the robotic arm is solved through the space vector. Furthermore, the relationship between the end position of the robotic arm and the first three joint angles is obtained through coordinate rotation. Finally, this paper validates the results by simulations.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124003702","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
ICCR 2018 Copyright Page ICCR 2018版权专页
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/iccr.2018.8534481
{"title":"ICCR 2018 Copyright Page","authors":"","doi":"10.1109/iccr.2018.8534481","DOIUrl":"https://doi.org/10.1109/iccr.2018.8534481","url":null,"abstract":"","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115833517","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
A KE, DSM and ISM Based Approach for Patrol Robot Development 基于KE、DSM和ISM的巡逻机器人开发方法
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534486
Shih-Wen Hsiao, Chien-Nan Wu
{"title":"A KE, DSM and ISM Based Approach for Patrol Robot Development","authors":"Shih-Wen Hsiao, Chien-Nan Wu","doi":"10.1109/ICCR.2018.8534486","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534486","url":null,"abstract":"Safety systems and regular environmental patrols are very important for plant safety management, In order to solve personnel patrols in dangerous and harsh environments, this study designs and develops patrol robot to assist in environmental patrols and collaboration. So that we adopted a product image analysis used in Kansei Engineering (KE) to analconsumers’ preferences regarding product design images for conceptual design, and then applies design structure matrix (DSM) and interpretive structural model (ISM) for product design and planning. An implementation of using KE, DSM and ISM to create patrol robot and assist in environmental patrols.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125828557","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 Design and Evaluation of Hand-held Mechatronic Laparoscopic Surgical Robot 手持式机电腹腔镜手术机器人的设计与评价
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534497
Renfeng Xue, Z. Du, Zhiyuan Yan, Bingyin Ren
{"title":"A Design and Evaluation of Hand-held Mechatronic Laparoscopic Surgical Robot","authors":"Renfeng Xue, Z. Du, Zhiyuan Yan, Bingyin Ren","doi":"10.1109/ICCR.2018.8534497","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534497","url":null,"abstract":"This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitive and ergonomic as its accurate master-slave motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To verify the effectiveness and value for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The average time of five continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectively.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123547854","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
Classification Performance Analysis of Weight Update Method Applied to Various ConvNet Models 权值更新方法在各种ConvNet模型中的分类性能分析
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534487
Seunghyun Kim, Sungwook Park, Suchang Lim, Doyeon Kim
{"title":"Classification Performance Analysis of Weight Update Method Applied to Various ConvNet Models","authors":"Seunghyun Kim, Sungwook Park, Suchang Lim, Doyeon Kim","doi":"10.1109/ICCR.2018.8534487","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534487","url":null,"abstract":"Research on the artificial intelligence is increasing with the improvement of computing power and the development of algorithm theory. In particular, the deep neural network, which is a field of machine learning, is widely used in artificial intelligence because it can process data that cannot be solved by conventional shallow neural networks more effectively. Implementation of a deep neural network is generally based on popularized neural networks with excellent generalization performance, which saves time and effort. However, it is difficult to guess which deep neural networks and optimization methods can achieve the best performance in their dataset. In this paper, we have tested the four convolutional neural networks (ConvNet) and four weight update methods. Experiments were conducted using a 5-fold cross-validation based on insect image dataset. As a result, the ResNet-50 and AdaDelta combination showed the best performance (89.98 ± 1.40)% in the insect dataset.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130224162","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
Contemplating Urban Operations Involving a UGV Swarm 考虑涉及UGV群的城市运营
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534491
Boon Hong Aaron Teow, O. Yakimenko
{"title":"Contemplating Urban Operations Involving a UGV Swarm","authors":"Boon Hong Aaron Teow, O. Yakimenko","doi":"10.1109/ICCR.2018.8534491","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534491","url":null,"abstract":"Recent technological advancements enabled the development of different-size unmanned ground vehicles (UGV) to support a variety of disaster-relief and combat missions. While these systems are to be used in small numbers with no coordination or even awareness of each other in most cases, some applications could benefit from utilizing (smaller-size) UGVs in quantities, featuring a swarming behavior. Among these possible applications are operations in an urban area, which due to its complexity represents a challenging multidimensional environment for ground warfare. This paper presents guidance strategies for a search and destroy mission developed for some generic UGV swarms; and through a series of computer simulations evaluates their feasibility and effectiveness in executing such a mission in indoor as well as outdoor urban environments. The developed simulation allows varying many mission parameters, thus enabling a high degree of authenticity in terms of modeling a variety of real-world situations when different environments, platforms, sensors, and weapons are used. As such, this simulation environment maybe used as a tool, assisting in choosing key mission parameters to maximize the outcome of potential future engagements.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134341667","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
Design of PLC for Water Level Control Employing Swarm Optimization-Based PID Gain Scheduling 基于群优化PID增益调度的PLC水位控制设计
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/ICCR.2018.8534490
S. Howimanporn, S. Chookaew, Warin Sootkaneung
{"title":"Design of PLC for Water Level Control Employing Swarm Optimization-Based PID Gain Scheduling","authors":"S. Howimanporn, S. Chookaew, Warin Sootkaneung","doi":"10.1109/ICCR.2018.8534490","DOIUrl":"https://doi.org/10.1109/ICCR.2018.8534490","url":null,"abstract":"A design of swarm optimization-based gain scheduling PID controller for water level control is presented in this paper. The framework is implemented on Mitsubishi PLC monitored by pressure sensors with Omron SCADA package. An Ethernet built-in module is used to communicate between the front-end and field. The proposed controller is applied to regulate the speed of a DC water pump. Experimental results show fast transient response with low fluctuation on water level compared to that from non-adaptive method.","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122309631","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
ICCR 2018 TOC
2018 International Conference on Control and Robots (ICCR) Pub Date : 2018-09-01 DOI: 10.1109/iccr.2018.8534482
{"title":"ICCR 2018 TOC","authors":"","doi":"10.1109/iccr.2018.8534482","DOIUrl":"https://doi.org/10.1109/iccr.2018.8534482","url":null,"abstract":"","PeriodicalId":440618,"journal":{"name":"2018 International Conference on Control and Robots (ICCR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115205850","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
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