2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)最新文献_第4页

Linear Push Policies to Increase Grasp Access for Robot Bin Picking 线性推策略增加机器人抓取抓取的机会

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560406

Michael Danielczuk, Jeffrey Mahler, Christopher Correa, Ken Goldberg

{"title":"Linear Push Policies to Increase Grasp Access for Robot Bin Picking","authors":"Michael Danielczuk, Jeffrey Mahler, Christopher Correa, Ken Goldberg","doi":"10.1109/COASE.2018.8560406","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560406","url":null,"abstract":"To facilitate automated bin picking when parts cannot be grasped, pushing actions have the potential to separate objects and move them away from bin walls and corners. In the context of the Dexterity Network (Dex-Net) robot grasping framework, we present two novel push policies based on targeting free space and diffusing clusters, and compare them to three earlier policies using four metrics. We evaluate these in simulation using Bullet Physics on a dataset of over 1,000 synthetic pushing scenarios. Pushing outcomes are evaluated by comparing the quality of the best available grasp action before and after each push using analytic grasp metrics. Experiments conducted on scenarios in which Dex-Net could not successfully grasp objects suggest that pushing can increase the probability of executing a successful grasp by more than 15%. Furthermore, in cases where grasp quality can be improved, the new policies outperform a quasi-random baseline by nearly 2 times. In physical experiments on an ABB YuMi, the highest performing push policy increases grasp quality by 24%.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"135 1","pages":"1249-1256"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79581273","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: 52

Depth-based Object Detection using Hierarchical Fragment Matching Method 基于深度的分层碎片匹配目标检测方法

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560427

Reza Haghighi, M. Rasouli, Syeda Mariam Ahmed, K. P. Tan, A. Mamun, C. Chew

{"title":"Depth-based Object Detection using Hierarchical Fragment Matching Method","authors":"Reza Haghighi, M. Rasouli, Syeda Mariam Ahmed, K. P. Tan, A. Mamun, C. Chew","doi":"10.1109/COASE.2018.8560427","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560427","url":null,"abstract":"Identifying a workpiece in industrial processes using depth sensors has received increasing attention over the past few years. However, this is a challenging task particularly when the object is large or cluttered. In these scenarios, captured point clouds do not provide sufficient information to detect the object. To address this issue, we present a hierarchical fragment matching method for 3D object detection and pose estimation. We build a library of object fragments by scanning the object from different viewpoints. A descriptor, named Clustered Centerpoint Feature Histogram (CCFH), is proposed to compute the features for each fragment. The proposed method aims to enhance the robustness of the existing Clustered Viewpoint Feature Histogram (CVFH) descriptor. Subsequently, an Extreme Learning Machine (ELM) classifier is applied to identify the matched segments between the scene and the library of fragments. Finally, the pose of the object in the scene is estimated using the matched segments. Unlike existing approaches that require the CAD model of the object or pre-registration process, the proposed method directly use the scanned point clouds of the object. The experimental results are presented to illustrate the performance of the proposed method.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"57 1","pages":"780-785"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79807142","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

User Force-Dependent Variable Impedance Control in Human-Robot Interaction 人机交互中用户力相关变量阻抗控制

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560340

Florian Müller, Jan Janetzky, Uwe Behrnd, J. Jäkel, Ulrike Thomas

{"title":"User Force-Dependent Variable Impedance Control in Human-Robot Interaction","authors":"Florian Müller, Jan Janetzky, Uwe Behrnd, J. Jäkel, Ulrike Thomas","doi":"10.1109/COASE.2018.8560340","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560340","url":null,"abstract":"In this paper a novel type of variable impedance control (VIC) is presented. The controller adjusts the impedance depending on the force input of the user. In this way it is easy to accelerate and decelerate. Additionally, for high velocity the damping decreases and vice versa. This approach could be interpreted as a combination of acceleration-dependent VIC and velocity-dependent VIC. To guarantee stability, a stability observer is introduced. The observer is based on a model which describes a combined passive and active behavior of the user. In addition, we present a user study with 45 participants where the differences between VIC, VIC with stability observer and a pure admittance controller were investigated. The results show an improvement of the VIC with stability observer in relation to the pure admittance controller among different categories. With both the variable impedance controller and the variable impedance controller with stability observer, the participants significantly improved their times in comparison to the pure admittance controller, while they maintained the same level of precision. Also the workload was considerably smaller and the user comfort increased with both controllers compared to the usage of the pure admittance controller.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"21 1","pages":"1328-1335"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84666577","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: 8

Enhanced branch and bound approach for receding horizon based planning 基于后退地平线规划的改进分支定界法

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560582

Michael Jäntsch, Naresh N. Nandola, Li Wang, M. Hakenberg, Ulrich Münz

引用次数: 2

A Combined Model for Short-term Load Forecasting Based on Bird Swarm Algorithm 基于群算法的短期负荷预测组合模型

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560515

Zhengcai Cao, Lu Liu, Meng Zhou

引用次数: 3

A Distributed Algorithm for Sensor Fault Detection 一种分布式传感器故障检测算法

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560494

Ziyou Zhang, Qianchuan Zhao, Wen Yang

引用次数: 5

Systematic Design Method of Controller using Discrete Fuzzy PI Control and Particle Swarm Optimization 基于离散模糊PI控制和粒子群优化的控制器系统设计方法

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560373

J. Cheon, Jinwook Kim, Hongju Kim, Soonman Kwon, Youngkiu Choi

{"title":"Systematic Design Method of Controller using Discrete Fuzzy PI Control and Particle Swarm Optimization","authors":"J. Cheon, Jinwook Kim, Hongju Kim, Soonman Kwon, Youngkiu Choi","doi":"10.1109/COASE.2018.8560373","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560373","url":null,"abstract":"This paper presents a systematic design method of a controller using the discrete fuzzy PI control and the particle swarm optimization (PSO). Unlike a conventional PI controller, the discrete fuzzy PI controller has variable gains according to its input variables. Generally, it is complicated to tune the parameters of a fuzzy controller because there are too many parameters which are strongly coupled. In the discrete-time domain, the discrete fuzzy PI controller is a superset of the conventional PI controller. And the initial parameters of the fuzzy PI controller are selected by using the inclusion relationship. And, for the sake of simplicity, only four rules are used to construct a nonlinear fuzzy control surface. The tuning parameters of the discrete fuzzy PI controller are optimized by using the PSO. To verify the effectiveness of the controller designed by using the discrete fuzzy PI control and the PSO, we applied it to a wind turbine pitch controller. As a result, the proposed controller has variable gains, unlike the PI controller, and make the pitch controller operate in boarder operating regions.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"136 1","pages":"1581-1586"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90739502","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 New Cluster-Based Approach for the Vehicle Routing Problem with Time Windows 一种新的基于聚类的时间窗车辆路径问题求解方法

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560419

Lorenzo Abbatecola, M. P. Fanti, G. Pedroncelli, W. Ukovich

引用次数: 2

Message-oriented Middleware for Industrial Production Systems 面向工业生产系统的消息中间件

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560493

P. Sommer, Florian Schellroth, M. Fischer, Jan Schlechtendahl

引用次数: 24

Transfer Learning with PipNet: For Automated Visual Analysis of Piping Design 用PipNet迁移学习:用于管道设计的自动可视化分析

2018 IEEE 14th International Conference on Automation Science and Engineering (CASE) Pub Date : 2018-08-01 DOI: 10.1109/COASE.2018.8560550

Wei-Chian Tan, I. Chen, D. Pantazis, Sinno Jialin Pan

{"title":"Transfer Learning with PipNet: For Automated Visual Analysis of Piping Design","authors":"Wei-Chian Tan, I. Chen, D. Pantazis, Sinno Jialin Pan","doi":"10.1109/COASE.2018.8560550","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560550","url":null,"abstract":"This paper presents an end-to-end learning approach based on latest CNN architectures and transfer learning to perform vision-based analysis of engineering designs. The specific application considered here is the design of pipe networks on-board ships or offshore platforms. Having a piping design in the form of an image, a framework known as Piping Net (PipNet) is introduced to understand the design and interpret if it complies with applicable engineering regulations. Designs and corresponding labels (compliant or non-compliant) are fed into an existing trained CNN in the form of images for transfer learning, with the subsequently obtained fine-tuned network called PipNet. Based on Regulation 12, Annex I Regulations for the Prevention of Pollution by Oil, International Convention for the Prevention of Pollution from Ships (MARPOL) and Rules for Classification of Ships of Lloyd's Register, two datasets containing 3,234 piping designs in the form of images were used for performance evaluation. The developed system demonstrates outstanding performance on these two challenging datasets.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"92 1","pages":"1296-1301"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82691414","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