2022 4th International Conference on Control and Robotics (ICCR)最新文献

Detection of Material on a Tray in an Automatic Assembly Line Based on Convolution Attention and Multitask Loss 基于卷积注意力和多任务损失的自动装配线托盘物料检测

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053928

Dunli Hu, Yuting Zhang, Xiaoping Zhang, Xiangdong Zhang

{"title":"Detection of Material on a Tray in an Automatic Assembly Line Based on Convolution Attention and Multitask Loss","authors":"Dunli Hu, Yuting Zhang, Xiaoping Zhang, Xiangdong Zhang","doi":"10.1109/ICCR55715.2022.10053928","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053928","url":null,"abstract":"This paper proposes an end-to-end first-stage pallet detection algorithm with short training time and high detection accuracy based on the pre-detection staged material detection algorithm. Not only can it detect known materials, blank areas and fixed material areas on pallets, but also unknown and unwanted materials that are mixed and misplaced on pallets on automated assembly lines. It employs ResNet18 as the backbone network, incorporates the Convolutional Block Attention Module (CBAM) to improve model stability and accuracy, and optimizes the detection model using the multitask loss function based on Complete-IoU(CIoU) and cross entropy. The experimental results show that when compared to the original phased detection algorithm using YOLOv5s trained on four NVIDIA GeForce RTX 2080 Ti for 18 h, the phased detection algorithm used in this study's first stage material detection algorithm achieves 98% overall recognition accuracy, which is 7% higher than the original phased algorithm (91%). It also greatly reduces the model training time and allows rapid model deployment.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125122012","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

Homography-Based Visual Servoing for Eye-in-Hand Robots with Unknown Feature Positions 特征位置未知的眼手机器人视觉伺服

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053865

Beixian Lai, Zhiwen Li, Weibing Li, Yongping Pan

{"title":"Homography-Based Visual Servoing for Eye-in-Hand Robots with Unknown Feature Positions","authors":"Beixian Lai, Zhiwen Li, Weibing Li, Yongping Pan","doi":"10.1109/ICCR55715.2022.10053865","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053865","url":null,"abstract":"Visual servoing can effectively control robots using visual feedback information to improve the intelligence and reliability. In most existing dynamics-based image-based visual servoing methods, a restricted condition that the number of the feature points is no larger than 3 is needed to achieve pixel error convergence, which makes them difficlut to achieve three-dimensional (3-D) pose control since at least 4 feature points on a plane are needed to determine the unique end-effector pose. This paper puts forward to a dynamics-based adaptive homography-based visual servoing (HBVS) controller to regulate robot manipulators with eye-in-hand monocular cameras to the desired pose under unknown but constant feature positions. The uncertain depth is represented as a linear form of its position parameters in the Cartesian space, and a composite learning technique is applied to guarantee parameter convergence under a much weaker condition of interval excitation than persistent excitation, resulting in exact depth estimation and 3-D pose regulation. Experiments on a collaborative robot with 7 degrees of freedom named Franka Emika Panda have illustrated the effectiveness of the proposed method.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125509056","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

Optimal Control for Multi-agent Systems Using Off-Policy Reinforcement Learning 基于非策略强化学习的多智能体系统最优控制

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053883

Hao Wang, Zhiru Chen, Jun Wang, Lijun Lu, Mingzhe Li

引用次数: 0

Smooth Path Planning of 6-DOF Robot Based on Reinforcement Learning 基于强化学习的六自由度机器人平滑路径规划

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053875

Jiawei Tian, Dazi Li

引用次数: 0

Long-Tailed Object Mining Based on CLIP Model for Autonomous Driving 基于CLIP模型的自动驾驶长尾目标挖掘

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053861

Guorun Yang, Y. Qiao, Jianping Shit, Zhe Wang

引用次数: 0

A 3D-CLDNN Based Multiple Data Fusion Framework for Finger Gesture Recognition in Human-Robot Interaction 基于3D-CLDNN的人机交互手势识别多数据融合框架

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053856

Wen Qi, Haoyu Fan, Yancai Xu, Hang Su, A. Aliverti

引用次数: 1

Neural-network-based Algorithm for Cancelling Tremor in Surgical Robots 基于神经网络的手术机器人震颤消除算法

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053876

Jing Luo, Yu Li, Xiaoli Liu, Jianwen Hu, Bo Wang

{"title":"Neural-network-based Algorithm for Cancelling Tremor in Surgical Robots","authors":"Jing Luo, Yu Li, Xiaoli Liu, Jianwen Hu, Bo Wang","doi":"10.1109/ICCR55715.2022.10053876","DOIUrl":"https://doi.org/10.1109/ICCR55715.2022.10053876","url":null,"abstract":"As a representation of teleoperated robots, surgical robots based on teleoperation are widely applied in the medical field. Generally, it can greatly guarantee the performance of microsurgery in terms of control and postoperative recovery by using a surgical robot in comparison with traditional surgical operation. However, the performance of surgical robots is greatly disturbed by the physiological tremor of surgeon in the process of operation. In order to cancel the impacts of tremor signal, a neural-network-based (NN-based) algorithm is developed in this paper. For the proposed NN-based approach, we develop a hybrid wavelet basis function to deal with the variable tremor signal. Additionally, the proposed method can cancel the tremor signals based on the excellent ability of nonlinear mapping and generalization and does not rely on a priori structural parameters. In order to evaluate the performance of the proposed method, comparative experiments of five different kinds of NN-based tremor filter are performed by using tremor signals with different frequencies and amplitudes. Experimental results validated that the proposed algorithm can achieve the performance of suppressing the tremor signal of the processing error. It is can be noted that the surgical robots can ensure the control performance of the surgical robots by using the developed NN-based filter. The developed method can also be applied as a filter for suppressing vibrations of processing operations in the future, such as chatter in micro-milling.","PeriodicalId":441511,"journal":{"name":"2022 4th International Conference on Control and Robotics (ICCR)","volume":"5 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134226259","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

Evolutionary Neural Architecture Search with Semi-supervised Accuracy Predictor 基于半监督精度预测器的进化神经结构搜索

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053920

Songyi Xiao, Bo Zhao, Derong Liu

引用次数: 0

Sliding Mode Control Based on Disturbance Observer for Cyber-Physical Systems Security 基于扰动观测器的网络物理系统安全滑模控制

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053868

Xiao-Zhi Gao

引用次数: 1

Fast Convergence Detection Algorithm of Image Small Object Based on Distance Intersection over Union 基于距离交联的图像小目标快速收敛检测算法

2022 4th International Conference on Control and Robotics (ICCR) Pub Date : 2022-12-02 DOI: 10.1109/ICCR55715.2022.10053869

Ziyang Yu, Dongsheng Yang, Weirong Wu, Yingchun Wang, Yanhong Luo

引用次数: 1