IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation最新文献_第9页

Enhancing Imbalanced Dataset by Utilizing (K-NN Based SMOTE_3D Algorithm) 利用（基于K-NN的SMOTE_3D算法）增强不平衡数据集

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-04-25 DOI: 10.17352/ARA.000002

Khaldoon Alshouiliy, Sujan Ray, A. Al-Ghamdi, D. Agrawal

{"title":"Enhancing Imbalanced Dataset by Utilizing (K-NN Based SMOTE_3D Algorithm)","authors":"Khaldoon Alshouiliy, Sujan Ray, A. Al-Ghamdi, D. Agrawal","doi":"10.17352/ARA.000002","DOIUrl":"https://doi.org/10.17352/ARA.000002","url":null,"abstract":"Big data is currently a huge industry that has grown significantly every year. Big data is being used by machine learning and deep learning algorithm to study, analyze and parse big data and then drive useful and beneficial results. However, most of the real datasets are collected through different organizations and social media and mainly fall under the category of Big Data applications. One of the biggest and most drawbacks of such datasets is an imbalance representation of samples from different categories. In such case, the classifiers and deep learning techniques are not capable of handling issues like these. A majority of existing works tend to overlook these issues. Typical data balancing methods in the literature resort to data resampling whether it is under sampling a majority class samples or oversampling the minority class of samples. In this work, we focus on the minority sample and ignore the majority ones. Many researchers have done many works as most of the work suffers from over sampling or form the generated noise in the dataset. Additionally, works are either suitable for either big data or small data. Moreover, some other work suffers from a long processing time as complicated algorithms are used with many steps to fix the imbalance problem. Therefore, we introduce a new algorithm that deals with all these issues. We have created a short example to explain briefly how the SMOTE works and why we need to enhance the SMOTE and we have done this by using a very well-known imbalance dataset that we downloaded from the Kaggle website. We collect the results by using Azure machine learning platform. Then, we compare the results to see that the model is functional just good with SMOTE and way better than without it.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"4 1","pages":"001-006"},"PeriodicalIF":0.0,"publicationDate":"2020-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42631685","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

Estimation of nonlinear systems parameters 非线性系统参数的估计

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp26-33

Mohamed Benyassi, A. Brouri

引用次数: 0

Discrete time reaching law based variable structure control for fast reaching with reduced chattering 基于离散时间趋近律的变结构快速趋近控制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp51-61

P. Padmalatha, Susy Thomas

引用次数: 3

Design and development of soft robotic hand for vertical farming in spacecraft 航天器垂直农业用柔性机械手的设计与研制

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp6-16

A. Suresh, G. Udupa, Dhruv Gaba

{"title":"Design and development of soft robotic hand for vertical farming in spacecraft","authors":"A. Suresh, G. Udupa, Dhruv Gaba","doi":"10.11591/ijra.v9i1.pp6-16","DOIUrl":"https://doi.org/10.11591/ijra.v9i1.pp6-16","url":null,"abstract":"For colonization in deep space we need to explore the feasibility of a bioregenerative system in microgravity or artificial gravity environments. The process has various complexities form ranging to biological obstacles to engineering limitations of the spacecraft. Concentration of microbes in the confinements of a spacecraft can be fatal for the crew. In this paper, a solution to the elevated microbial levels by farming using robots is discussed. The soft robotic arm is made up of Asymmetric Flexible Pneumatic Actuator (AFPA). The AFPA under internal pressure will curve in the direction of the side having greater thickness as the expansion of the thinner side (outside radius) will be more than thicker side (inside radius) due to differential expansion and moment induced due to eccentricity. Simulation results demonstrate that bending based on AFPA can meet the designed requirement of application. The AFPA is used for five fingers of the robotic hand. The safe, soft touch and gentle motion of the bellow (AFPA) gives the feel of real human hand. The internal pressure of the AFPA is controlled using a solenoid valve which is interfaced using an Arduino microcontroller for hand like moves. The bending of the fingers and degree of freedom (DOF) of the joints of the hand is controlled using an IMU and flex sensor. Wireless connection of the hand and the control system is implemented using XBee pro 60mW with a range of 1 miles.The pneumatic soft robotic hand is made up of solenoid valve, Mini Compressor, AFPA bellow, and Servos. This soft robotic hand has many advantages such as good adaptability, simple structure, small size, high flexibility and less energy loss. As an extension Manual control of the robot using a virtual reality environment and well as some possible aspects of an automated farming systems can be considered as future additions.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"1-12"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47771724","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

Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery 一种用于软组织手术的医疗机器人工具系列链的多目标优化和线性屈曲

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-03-01 DOI: 10.11591/ijra.v9i1.pp17-25

G. Ilewicz, A. Harlecki

{"title":"Multi-objective optimization and linear buckling of serial chain of a medical robot tool for soft tissue surgery","authors":"G. Ilewicz, A. Harlecki","doi":"10.11591/ijra.v9i1.pp17-25","DOIUrl":"https://doi.org/10.11591/ijra.v9i1.pp17-25","url":null,"abstract":"Received Oct 13, 2019 Revised Dec 27, 2019 Accepted Jan 12, 2020 The slender structures of a medical robot may have a tendency to buckling when a force equal to the critical Euler force and an additional disturbance will work on their structures. In this work, eigenvalue problem that describes the linear buckling is under consideration. The main goal of the article is to check when linear buckling phenomenon appears in construction of a medical robot with serial chain due to the fact that for safety reasons of a robot’s work, it is necessary to answer the question, whether the buckling may occur in the robot’s structure. For this purpose, a numerical calculation model was defined by using the finite element method. The values of load factor coefficients that are eigenvalue are determinated and also the eigenvectors that have shapes of deformation for the next eigenvalues are presented. The multi-criteria optimization model was determined to aim for the minimum mass of the effector and the buckling coefficient, from which the Euler force results, for the maximum. The solution was obtained on the basis of Pareto fronts and the MOGA genetic algorithm.","PeriodicalId":73286,"journal":{"name":"IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"17"},"PeriodicalIF":0.0,"publicationDate":"2020-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47041061","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

Optimized Convolutional Neural Network-Based Object Recognition for Humanoid Robot 基于优化卷积神经网络的人形机器人目标识别

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-02-27 DOI: 10.36959/673/363

Xiao Ming, Xiao Nanfeng, Zeng Mengjun, Yuan Qunyong

引用次数: 2

Intelligent robust control system of robotic unicycle based on the end-to-end soft computing technology 基于端到端软计算技术的机器人独轮车智能鲁棒控制系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-02-20 DOI: 10.15406/IRATJ.2020.06.00199

Ulyanov Sergey, Ulyanov Viktor

引用次数: 0

A Simulation Model To Optimize The Painting Robots 一种优化涂装机器人的仿真模型

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-02-07 DOI: 10.15226/2473-3032/4/1/00140

K. Nuntiya, C. Seksan, T. Dechathanat, W. Fasai, S. Pramot, A. Ismail

引用次数: 0

A Robotic Transportation System via Hybrid Jump-Gliding Locomotion 基于跳滑混合运动的机器人运输系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-30 DOI: 10.36959/673/362

Mazhari Arash Alex, Hunter Daniel, Teodorescu Mircea

引用次数: 0

World's First Drone-Assisted Safety Inspection and Monitoring System for Confined Spaces in Cement Plants 世界上第一个无人机辅助水泥厂密闭空间安全检查和监测系统

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation Pub Date : 2020-01-22 DOI: 10.13140/RG.2.2.12434.17608

A. Alsayed, M. Nabawy, A. Yunusa‐Kaltungo, Mark K. Quinn, F. Arvin

引用次数: 0