International Journal of Robotics and Control最新文献

Real-Time Classification of Hand Motions Using Electromyography Collected from Minimal Electrodes for Robotic Control 基于最小电极肌电图的机器人控制手部运动实时分类

International Journal of Robotics and Control Pub Date : 2021-08-02 DOI: 10.5430/ijrc.v3n1p13

R. Byfield, Richard Weng, Morgan Miller, Yunchao Xie, Jheng-Wun Su, Jian Lin

{"title":"Real-Time Classification of Hand Motions Using Electromyography Collected from Minimal Electrodes for Robotic Control","authors":"R. Byfield, Richard Weng, Morgan Miller, Yunchao Xie, Jheng-Wun Su, Jian Lin","doi":"10.5430/ijrc.v3n1p13","DOIUrl":"https://doi.org/10.5430/ijrc.v3n1p13","url":null,"abstract":"In recent years, advances in human robot interaction (HRI) has shown massive potential for universal control of robots. Among them, electromyography (EMG) signals generated by motions of muscles have been identified as an important and useful source. Powered by recently emerged machine learning algorithms, real-time classification has been proved applicable to control robots. However, collecting EMG signals with minimum number of electrodes for real-time classification and robotic control is still a challenge. In this paper, we demonstrate that twenty five robotic commands in a robotic arm can be controlled in real time by using the EMG signals collected from only two pairs of active surface electrodes on each forearm of human subjects. To achieve this task, a variety of tested ML models for this classification were tested. Among them, the Gaussian Naïve Bayes (GNB) achieved an accuracy of >96%. This unprecedented level of classification accuracy of the EMG signals collected from the least number of active electrodes suggest that by combination of optimized electrode configuration and a suitable ML model, the capability of robotic control can be maximized.","PeriodicalId":448095,"journal":{"name":"International Journal of Robotics and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129800828","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

A Real-Time Upper-Body Robot Imitation System 一种实时上肢机器人仿真系统

International Journal of Robotics and Control Pub Date : 2019-01-29 DOI: 10.5430/IJRC.V2N1P49

Zhijun Zhang, Yaru Niu, Lingdong Kong, Shuyang Lin, Wang Hao

引用次数: 5

Blockchain Technology with Applications to Distributed Control and Cooperative Robotics: A Survey 区块链技术及其在分布式控制和协作机器人中的应用:综述

International Journal of Robotics and Control Pub Date : 2019-01-29 DOI: 10.5430/IJRC.V2N1P36

A. Khan, Xinwei Cao, Shuai Li, Z. Milosevic

引用次数: 5

Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines 可伸缩管道检测机器人的设计与开发

International Journal of Robotics and Control Pub Date : 2019-01-10 DOI: 10.5430/IJRC.V2N1P25

A. Moshayedi, Saeed Safara Fard, Liefa Liao, S. A. Eftekhari

{"title":"Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines","authors":"A. Moshayedi, Saeed Safara Fard, Liefa Liao, S. A. Eftekhari","doi":"10.5430/IJRC.V2N1P25","DOIUrl":"https://doi.org/10.5430/IJRC.V2N1P25","url":null,"abstract":"Daily tasks mixed with the various applications in the robotic field. Since past, pipes have been used as the safe fluid transmitter. But gradually, these pipes affected by fatigue, cracking, leakage, sediment and breaking down. Also, sometimes humid environment and chemical products existing in the soil, causes rust and fatigue the pipes. All these problems lead to redundancy and impose high expenses for installation and maintenance. One of the recent inspection ways, is using the robot controller which leads to help and reduces the inspection time and preventive repairs activity. Besides, sometimes there are some unpleasant situation such as unfit pipes. It is obvious that in these conditions, doing inspection in toxic arena, narrow and meandering ways is impossible by human. So, designing a pipe inspection robot can be helpful in such circumstances. In this design, first, the former study, the way of operation, movement, mechanisms and advantages of each robot have studied. Then, by considering important parameters in designing, and sketching, making robot with the help of CATIA took place. This structure enjoys a regular mechanism design. It also has a proportional pipe diameter with the possibility of crossing through the slope routes. On the other hand, recording and processing of visual report, needs a camera and GUI toolbox written in Matlab. So image processing can help to exact investigation. One of the main difference of this research work over the various test on the platform, is hiring the mentioned toolbox which helps the operator to have the double investigation inside of the pipes. Moreover, the adjustable mechanism to pipe diameter, polyhedral movement and ascension power, relatively high efficiency in order to use frictional power and reducing repair and pause time are the advantages of this design. Also, observing the inner side of the pipe on the monitor, leads to reducing images. Moreover, its investigation by the introduced toolbox, causes more effective observation, more quickly diagnosis and analysis.","PeriodicalId":448095,"journal":{"name":"International Journal of Robotics and Control","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122484658","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

Research on Fault Diagnosis of Air Conditioner Based on Deep Learning 基于深度学习的空调故障诊断研究

International Journal of Robotics and Control Pub Date : 2018-12-28 DOI: 10.5430/IJRC.V2N1P18

Zhiting Liu, Yuhua Wang, Yuexia Zhou

{"title":"Research on Fault Diagnosis of Air Conditioner Based on Deep Learning","authors":"Zhiting Liu, Yuhua Wang, Yuexia Zhou","doi":"10.5430/IJRC.V2N1P18","DOIUrl":"https://doi.org/10.5430/IJRC.V2N1P18","url":null,"abstract":"The essence of intelligent fault diagnosis is to classify the feature of faults by machine learning. It is difficult and key to extract fault characteristics of signals efficiently. The general feature extraction methods include time frequency domain feature extraction, Empirical Mode Decomposition (EMD), Wavelet Transform and Variational Mode Decomposition (VMD). However, these methods require a certain prior experience and require reasonable analysis and processing of the signals. In this paper, in order to effectively extract the fault characteristics of the air conditioner's vibration signal, the stacked automatic encoder (SAE) is used to extract the feature of air conditioner’s vibration signal, and the Softmax function is used to identify the air conditioner's working condition. The SAE performs unsupervised learning on the signal, and Softmax function performs supervised learning on the signal. The number of hidden layers and the number of hidden layer's nodes are determined through experiments. The effects of learning rate, learning rate decay, regularization, dropout, and batch size on the correct rate of the model in supervised learning and unsupervised learning are analyzed. Thereby realizing the fault diagnosis of the air conditioner. The recognition correct rate of deep learning model reached 99.92%. The deep learning fault diagnosis method proposed in this paper is compared with EMD and SVM, VMD and SVM two kind of fault diagnosis methods.","PeriodicalId":448095,"journal":{"name":"International Journal of Robotics and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123985048","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

Two New Beetle Antennae Search (BAS) Algorithms and Their Comparative Investigation 两种新的甲虫天线搜索(BAS)算法及其比较研究

International Journal of Robotics and Control Pub Date : 2018-12-11 DOI: 10.5430/IJRC.V2N1P9

Zongyuan Lin, Sile Ma, Xiaojing Ma, Jiang Xiangyuan, Li Shuai

引用次数: 3

Switching frequency control method based on short prediction horizon control algorithm of Quasi-Z source inverter 基于准z源逆变器短预测水平控制算法的开关频率控制方法

International Journal of Robotics and Control Pub Date : 2018-12-07 DOI: 10.5430/IJRC.V2N1P1

Shengchao Li, Sile Ma, Xiaojing Ma, Xiangyuan Jiang, Shuai Li

引用次数: 0

Forecasting of Chinese Hydropower Generation Using WASD-Neuronet 基于wasd神经网络的中国水力发电预测

International Journal of Robotics and Control Pub Date : 2018-08-30 DOI: 10.5430/IJRC.V1N1P48

Yurong Cheng, Haiting Ye, Xiaoyu Guo, Chuan Ma, Bolin Liao, Long Jin

引用次数: 0

Clustering Control of Multi-Objective Problems with Application to E-commerce 多目标问题聚类控制及其在电子商务中的应用

International Journal of Robotics and Control Pub Date : 2018-08-17 DOI: 10.5430/IJRC.V1N1P41

Liang Chen, Xingwei Wang, Jinwen Shi

{"title":"Clustering Control of Multi-Objective Problems with Application to E-commerce","authors":"Liang Chen, Xingwei Wang, Jinwen Shi","doi":"10.5430/IJRC.V1N1P41","DOIUrl":"https://doi.org/10.5430/IJRC.V1N1P41","url":null,"abstract":"In the existing logistics distribution methods, the demand of customers is not considered. The goal of these methods is to maximize the vehicle capacity, which leads to the total distance of vehicles to be too long, the need for large numbers of vehicles and high transportation costs. To address these problems, a method of multi-objective clustering of logistics distribution route based on hybrid ant colony algorithm is proposed in this paper. Before choosing the distribution route, the customers are assigned to the unknown types according to a lot of customers attributes so as to reduce the scale of the solution. The discrete point location model is applied to logistics distribution area to reduce the cost of transportation. A mathematical model of multi-objective logistics distribution routing problem is built with consideration of constraints of the capacity, transportation distance, and time window, and a hybrid ant colony algorithm is used to solve the problem. Experimental results show that, the optimized route is more desirable, which can save the cost of transportation, reduce the time loss in the process of circulation, and effectively improve the quality of logistics distribution service.","PeriodicalId":448095,"journal":{"name":"International Journal of Robotics and Control","volume":"419 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117238246","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

Blind Median Filtering Detection Using Auto-Regressive Model and Markov Chain 基于自回归模型和马尔可夫链的盲中值滤波检测

International Journal of Robotics and Control Pub Date : 2018-08-10 DOI: 10.5430/IJRC.V1N1P32

Anjie Peng, Gao Yu, Hui Zeng

{"title":"Blind Median Filtering Detection Using Auto-Regressive Model and Markov Chain","authors":"Anjie Peng, Gao Yu, Hui Zeng","doi":"10.5430/IJRC.V1N1P32","DOIUrl":"https://doi.org/10.5430/IJRC.V1N1P32","url":null,"abstract":"Establishing the processing history of an image is important for robot vision. In this paper, an improved method for median filtering detection is proposed. That is, detect whether an image has been processed by median filtering. First, we analyze the statistical properties of median filtering residual and find that it is suitable for exposing fingerprints of median filtering. Then, the new feature set on median filtering residual is constructed by incorporating transition probability matrices of Markov chain with coefficients of auto-regressive model. A dimensionality reduction method is developed to lower the feature dimensionality. The final feature set is fed into support vector machines to construct a detector. Due to the distinction property of median filtering residual as well as compensated effect between transition probability and auto-regressive model, experimental results on large image database demonstrate that the proposed method is effectively in median filtering detection, even for images with heavy JPEG compression or at a low resolution. The performance of proposed detector outperforms prior arts. Additionally, the proposed method demonstrates good generalization ability.","PeriodicalId":448095,"journal":{"name":"International Journal of Robotics and Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131568781","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