Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230216
Zeyu Tian, Chen Guo, Yi Liu, Jiting Chen
When the indoor environment is unknown, how to make robots carry out effective autonomous exploration and construct related maps is one of the key issues in the field of mobile robots. In view of the fact that the real-world environment is usually partially observable and uncertain, an improved method of autonomous exploration and SLAM construction based on Rapid-exploration Random Tree (RRT) is proposed. In the local RRT exploration part, the autonomous exploration problem is regarded as a partially observable Markov decision process (POMDP) problem. Boundary points are extracted in the boundary area of known space and unknown space, and the robot is directed to the unexplored area. At the same time, during the exploration process, the global RRT tree with adaptive step values is established to explore the boundary points at the far end of the robot. The two methods are merged to speed up the search for boundary points. After the best advantage is obtained, the robot is continuously moved to the best advantage through closed-loop control. Based on the original construction of a 2D grid map, a “parallel construction” idea was proposed to construct a 3D octree map at the same time. The effectiveness of the proposed method is verified by simulation experiments and actual scenarios in a robot operating system (ROS).
在室内环境未知的情况下，如何使机器人进行有效的自主探索并构建相关地图是移动机器人领域的关键问题之一。针对现实环境通常具有部分可观测性和不确定性的特点，提出了一种改进的基于快速探索随机树(Rapid-exploration Random Tree, RRT)的自主探索和SLAM构建方法。在局部RRT勘探部分，自治勘探问题被视为部分可观察马尔可夫决策过程(POMDP)问题。在已知空间和未知空间的边界区域提取边界点，将机器人定向到未知区域。同时，在探索过程中，建立具有自适应步长值的全局RRT树，对机器人远端边界点进行探索。将两种方法合并，加快了边界点的搜索速度。在获得最佳优势后，通过闭环控制将机器人连续移动到最佳优势。在原有二维网格地图构建的基础上，提出了同时构建三维八叉树地图的“并行构建”思路。仿真实验和机器人操作系统(ROS)的实际场景验证了该方法的有效性。
{"title":"An Improved RRT Robot Autonomous Exploration and SLAM Construction Method","authors":"Zeyu Tian, Chen Guo, Yi Liu, Jiting Chen","doi":"10.1109/CACRE50138.2020.9230216","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230216","url":null,"abstract":"When the indoor environment is unknown, how to make robots carry out effective autonomous exploration and construct related maps is one of the key issues in the field of mobile robots. In view of the fact that the real-world environment is usually partially observable and uncertain, an improved method of autonomous exploration and SLAM construction based on Rapid-exploration Random Tree (RRT) is proposed. In the local RRT exploration part, the autonomous exploration problem is regarded as a partially observable Markov decision process (POMDP) problem. Boundary points are extracted in the boundary area of known space and unknown space, and the robot is directed to the unexplored area. At the same time, during the exploration process, the global RRT tree with adaptive step values is established to explore the boundary points at the far end of the robot. The two methods are merged to speed up the search for boundary points. After the best advantage is obtained, the robot is continuously moved to the best advantage through closed-loop control. Based on the original construction of a 2D grid map, a “parallel construction” idea was proposed to construct a 3D octree map at the same time. The effectiveness of the proposed method is verified by simulation experiments and actual scenarios in a robot operating system (ROS).","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"40 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131956937","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230286
Hui Cao, Yifan Liu, Yiru Wang, Ran Li
Based on system state classification and recognition, an intelligent state evaluation method was proposed for the intelligent maintenance and management in marine engine room. The method can be adopted to realize the condition-based maintenance and improve the efficiency and safety of ship operation. First, the radial basis function neural network was used to establish the state identification model of the marine engine room system to realize the state classification and identification of the system; Second, the recognized state was evaluated comprehensively by using the fuzzy analytical hierarchy process method; Finally, the validity of the results of the state identification and the fuzzy comprehensive evaluation was verified based on an actual ship system data. With the support of the system state data, the evaluation result shows a good match with the actual system state and has a high degree of credibility. On the premise of convenient data collection, the proposed method can further conduct a large-scale system state evaluation for multiple marine engine room systems. The process of the method proposed provides a new idea for the application of intelligent technology in the field of ships.
{"title":"Intelligent state evaluation method of marine engine room system","authors":"Hui Cao, Yifan Liu, Yiru Wang, Ran Li","doi":"10.1109/CACRE50138.2020.9230286","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230286","url":null,"abstract":"Based on system state classification and recognition, an intelligent state evaluation method was proposed for the intelligent maintenance and management in marine engine room. The method can be adopted to realize the condition-based maintenance and improve the efficiency and safety of ship operation. First, the radial basis function neural network was used to establish the state identification model of the marine engine room system to realize the state classification and identification of the system; Second, the recognized state was evaluated comprehensively by using the fuzzy analytical hierarchy process method; Finally, the validity of the results of the state identification and the fuzzy comprehensive evaluation was verified based on an actual ship system data. With the support of the system state data, the evaluation result shows a good match with the actual system state and has a high degree of credibility. On the premise of convenient data collection, the proposed method can further conduct a large-scale system state evaluation for multiple marine engine room systems. The process of the method proposed provides a new idea for the application of intelligent technology in the field of ships.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126803681","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230177
Jiakang Zou, Mengke Yang, Guoqing Jin
Soft robots can adapt their shape to move through narrow gaps in ways a rigid robot cannot because of their compliance, but most of pneumatic and hydraulic soft robots are still relay on conventional hard valve and it hinder soft robots to completely achieve this. Here we describe a newly quake-typel five-way soft valve. This valve is only 47g and each way of the valve can be controlled individually. When vacuum is applied to the control chamber of the valve, the membranes will be pulled into control chamber and flow can be free to flow. To shape the complicated internal channels of the soft valve, a newly molding technique, which use soluble structure (PVA) as molding cores, was proposed. Compared with the previous soft valves, the soft valve can achieve more complicated function. A starfish-like soft robot was designed and manufactured to illustrate how the soft valve control its bending and stretching.
{"title":"A five-way directional soft valve with a case study: a starfish like soft robot","authors":"Jiakang Zou, Mengke Yang, Guoqing Jin","doi":"10.1109/CACRE50138.2020.9230177","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230177","url":null,"abstract":"Soft robots can adapt their shape to move through narrow gaps in ways a rigid robot cannot because of their compliance, but most of pneumatic and hydraulic soft robots are still relay on conventional hard valve and it hinder soft robots to completely achieve this. Here we describe a newly quake-typel five-way soft valve. This valve is only 47g and each way of the valve can be controlled individually. When vacuum is applied to the control chamber of the valve, the membranes will be pulled into control chamber and flow can be free to flow. To shape the complicated internal channels of the soft valve, a newly molding technique, which use soluble structure (PVA) as molding cores, was proposed. Compared with the previous soft valves, the soft valve can achieve more complicated function. A starfish-like soft robot was designed and manufactured to illustrate how the soft valve control its bending and stretching.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125301947","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230059
Sachin Guruswamy, Wencen Wu
Level curve tracking in a spatial-temporal varying field is an important problem in many applications such as tracking and monitoring the propagation of a wildfire. In this paper, we investigate the level curve tracking problem using a collaborating group of sensing agents in an advection-diffusion field with obstacles. We implement a cooperative Kalman filter that takes into consideration the spatial-temporal varying property of the field to estimate the field value and gradient at two consecutive time steps, which are used in the motion control law that applies to the center of the agent formation so that the center of the formation is able to detect and track a desired level curve value in the advection-diffusion field. Obstacle avoidance is considered in the motion control law design. Simulations show satisfactory results of the proposed strategy.
{"title":"Cooperative Level Curve Tracking in Advection-Diffusion Fields","authors":"Sachin Guruswamy, Wencen Wu","doi":"10.1109/CACRE50138.2020.9230059","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230059","url":null,"abstract":"Level curve tracking in a spatial-temporal varying field is an important problem in many applications such as tracking and monitoring the propagation of a wildfire. In this paper, we investigate the level curve tracking problem using a collaborating group of sensing agents in an advection-diffusion field with obstacles. We implement a cooperative Kalman filter that takes into consideration the spatial-temporal varying property of the field to estimate the field value and gradient at two consecutive time steps, which are used in the motion control law that applies to the center of the agent formation so that the center of the formation is able to detect and track a desired level curve value in the advection-diffusion field. Obstacle avoidance is considered in the motion control law design. Simulations show satisfactory results of the proposed strategy.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114191649","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230089
Yanteng Ge, Yangyang Chen, Faxiang Zhang
In this paper, a novel method named spatial pooling is proposed for visual lane line segmentation. Occlusion is one of the most common and difficult scenes among various and complex road environments. In most existing references, the structure of lane line is still not considered for the occlusion problem. To better solve this case and enhance the long-distance information fusion for lane lines, a spatial pooling module is proposed firstly by using a combination of horizontal and vertical pooling to achieve pooling in the direction across the lane line. This method can enhance the information fusion ability in oblique directions and improve the lane line detection performance. Then, for further study, we propose an end-to-end network for lane line segmentation based on the spatial pooling module. Finally, the experimental results on tuSimple lane line dataset verify the effectiveness of our method.
{"title":"Spatial Pooling Network For Lane Line Segmentation","authors":"Yanteng Ge, Yangyang Chen, Faxiang Zhang","doi":"10.1109/CACRE50138.2020.9230089","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230089","url":null,"abstract":"In this paper, a novel method named spatial pooling is proposed for visual lane line segmentation. Occlusion is one of the most common and difficult scenes among various and complex road environments. In most existing references, the structure of lane line is still not considered for the occlusion problem. To better solve this case and enhance the long-distance information fusion for lane lines, a spatial pooling module is proposed firstly by using a combination of horizontal and vertical pooling to achieve pooling in the direction across the lane line. This method can enhance the information fusion ability in oblique directions and improve the lane line detection performance. Then, for further study, we propose an end-to-end network for lane line segmentation based on the spatial pooling module. Finally, the experimental results on tuSimple lane line dataset verify the effectiveness of our method.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"241 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114196631","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230250
Boxuan Li, Jiezhang Wu, X. Tan, Benfei Wang
Camera pose estimation is a significant warranty during Unmanned Aerial Vehicle (UAV) autonomous landing process. Fiducial marker system is a popular method to offer relatively precise pose information. However, square-based markers are unreliable under occlusion condition, especially when their corners are covered by unexpected disturbances. This study proposes a novel method to detect fiducial markers using neural network. The method is developed based on Convolutional Neural Network (CNN) and achieves outstanding results under various occlusion conditions, including different cover shapes and ratios. YOLOv3, along with its improved version YOLOv3-spp and its lightweight version YOLOv3-tiny, are applied as the marker detector. Compared to the traditional ArUco fiducial marker system, CNN architectures are more robust and stable in extreme environment. Performance of three different CNN models is quantified as marker detection rate. This work validates the feasibility of square-based fiducial marker localization employing CNN architecture, and reveals the potential of deep learning method in the field of fiducial marker detection and recognition.
{"title":"ArUco Marker Detection under Occlusion Using Convolutional Neural Network","authors":"Boxuan Li, Jiezhang Wu, X. Tan, Benfei Wang","doi":"10.1109/CACRE50138.2020.9230250","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230250","url":null,"abstract":"Camera pose estimation is a significant warranty during Unmanned Aerial Vehicle (UAV) autonomous landing process. Fiducial marker system is a popular method to offer relatively precise pose information. However, square-based markers are unreliable under occlusion condition, especially when their corners are covered by unexpected disturbances. This study proposes a novel method to detect fiducial markers using neural network. The method is developed based on Convolutional Neural Network (CNN) and achieves outstanding results under various occlusion conditions, including different cover shapes and ratios. YOLOv3, along with its improved version YOLOv3-spp and its lightweight version YOLOv3-tiny, are applied as the marker detector. Compared to the traditional ArUco fiducial marker system, CNN architectures are more robust and stable in extreme environment. Performance of three different CNN models is quantified as marker detection rate. This work validates the feasibility of square-based fiducial marker localization employing CNN architecture, and reveals the potential of deep learning method in the field of fiducial marker detection and recognition.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114632316","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230152
Yinglong Chen, Fu-Jun Song, Yongjun Gong
Pharyngeal swab sampling, as an essential link in the detection of COVID-19, is characterized by the large task volume and susceptibility to infection. Therefore, it is necessary to use medical robots for remote sampling instead of in-situ sampling. However, on one hand, due to the influence of network delay, it is difficult to guarantee the closed-loop performance manipulated remotely by medical practitioners. On the other hand, the sampling process controlled by the robot independently is not always successful due to the inaccuracy of the planned trajectory caused by the sensors or the moment of the patients. To solve the problems discussed above, this paper proposed a remote human-robot collaborative strategy based on impedance control method, which can integrate the experience of medical practitioners into the automatic sampling process. During the sampling process, when the inaccurate scanning trajectory is detected, the medical practitioners can correct the planned trajectory on line according to the sensor information and the reaction of the patients. Then, the cooperative robot tracks the adjusted planned-trajectory based on the impedance control method and ensure that the contact force of sampling is maintained within a reasonable range. The simulation results show that the proposed human-robot collaborative strategy is effective taking the advantages of both medical practitioners and robots which can deal with the trajectory tracking problem caused by the inaccurate sampling of patients.
{"title":"Remote Human-robot Collaborative Impedance Control Strategy of Pharyngeal Swab Sampling Robot","authors":"Yinglong Chen, Fu-Jun Song, Yongjun Gong","doi":"10.1109/CACRE50138.2020.9230152","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230152","url":null,"abstract":"Pharyngeal swab sampling, as an essential link in the detection of COVID-19, is characterized by the large task volume and susceptibility to infection. Therefore, it is necessary to use medical robots for remote sampling instead of in-situ sampling. However, on one hand, due to the influence of network delay, it is difficult to guarantee the closed-loop performance manipulated remotely by medical practitioners. On the other hand, the sampling process controlled by the robot independently is not always successful due to the inaccuracy of the planned trajectory caused by the sensors or the moment of the patients. To solve the problems discussed above, this paper proposed a remote human-robot collaborative strategy based on impedance control method, which can integrate the experience of medical practitioners into the automatic sampling process. During the sampling process, when the inaccurate scanning trajectory is detected, the medical practitioners can correct the planned trajectory on line according to the sensor information and the reaction of the patients. Then, the cooperative robot tracks the adjusted planned-trajectory based on the impedance control method and ensure that the contact force of sampling is maintained within a reasonable range. The simulation results show that the proposed human-robot collaborative strategy is effective taking the advantages of both medical practitioners and robots which can deal with the trajectory tracking problem caused by the inaccurate sampling of patients.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"346 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116658983","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230324
Conrad Fifelski-von Böhlen, Anna Brinkmann, C. Kowalski, Ole Meyer, S. Hellmers, A. Hein
Moving or transferring patients in care beds is a physically demanding task for caregivers. High biomechanical stress is one of the main reasons why nurses suffer from back pain and other musculoskeletal conditions. Intuitively usable, multipurpose care equipment is needed, that demonstrably reduces physical strain for caregivers in everyday care. In our novel approach, we mounted a multifunctional, sensitive, industrial robot arm on a care bed, to support a simulated, manual transfer act. In crucial transfer phases, the remotely controlled robot supports the caregiver. We show that the reduction of physical load can be quantified with ground reaction force measurement and surface electromyography, based on an exemplary participant of a case study. In particular phases of the transfer, 78.57 % less vertical force is applied on this participant’s soles and the average electrical signal of the Erector Spinae muscle contraction is reduced by 42.38 %, when robot support is used.
{"title":"Reducing Caregiver’s Physical Strain in Manual Patient Transfer with Robot Support","authors":"Conrad Fifelski-von Böhlen, Anna Brinkmann, C. Kowalski, Ole Meyer, S. Hellmers, A. Hein","doi":"10.1109/CACRE50138.2020.9230324","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230324","url":null,"abstract":"Moving or transferring patients in care beds is a physically demanding task for caregivers. High biomechanical stress is one of the main reasons why nurses suffer from back pain and other musculoskeletal conditions. Intuitively usable, multipurpose care equipment is needed, that demonstrably reduces physical strain for caregivers in everyday care. In our novel approach, we mounted a multifunctional, sensitive, industrial robot arm on a care bed, to support a simulated, manual transfer act. In crucial transfer phases, the remotely controlled robot supports the caregiver. We show that the reduction of physical load can be quantified with ground reaction force measurement and surface electromyography, based on an exemplary participant of a case study. In particular phases of the transfer, 78.57 % less vertical force is applied on this participant’s soles and the average electrical signal of the Erector Spinae muscle contraction is reduced by 42.38 %, when robot support is used.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116891816","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230129
Wei Chen, Zechen Li, Jing Zhang, BaiCheng Yi
In order to meet the accurate positioning of the target workpiece by the industrial robot and obtain the workpiece coordinate information. In this paper, taking a circular workpiece as an example, a targeting study based on the Blob analysis algorithm is presented. Image threshold segmentation, connectivity analysis and other methods are used to complete the positioning of the workpiece target. To further improve the target localization accuracy, edge detection operators and curve fitting methods are introduced to improve the original Blob analysis algorithm. The experimental results show that this method can obtain the coordinate information of the target workpiece more accurately, and the accuracy can meet the robotic grasping needs of the industrial field.
{"title":"A Study of Workpiece Targeting Based on Improved Blob Analysis","authors":"Wei Chen, Zechen Li, Jing Zhang, BaiCheng Yi","doi":"10.1109/CACRE50138.2020.9230129","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230129","url":null,"abstract":"In order to meet the accurate positioning of the target workpiece by the industrial robot and obtain the workpiece coordinate information. In this paper, taking a circular workpiece as an example, a targeting study based on the Blob analysis algorithm is presented. Image threshold segmentation, connectivity analysis and other methods are used to complete the positioning of the workpiece target. To further improve the target localization accuracy, edge detection operators and curve fitting methods are introduced to improve the original Blob analysis algorithm. The experimental results show that this method can obtain the coordinate information of the target workpiece more accurately, and the accuracy can meet the robotic grasping needs of the industrial field.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122544421","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}
Pub Date : 2020-09-01DOI: 10.1109/CACRE50138.2020.9230046
Hong‐Du Wang, Yan Liu, M. Karkoub, Lin Yuan
This paper studies the event-triggered, dissipative, quantized control problem of networked control systems (NCSs) with multiplicative noises which affect both state variables and control inputs. First, a logarithmic quantizer with arbitrary quantization region is adopted such that the quantization levels are linear in logarithmic scale. Subsequently, the event triggering scheme is adopted based on state sampling error. Using the Lyapunov technique, a dissipative quantized control via event-triggering scheme is prposed to ensure the closed-loop system be asymptotically mean-square stable in the absence of additive noises and strictly dissipative in the presence of both additive noises and multiplicative noises. Finally, a numerical example is given to validate the effectiveness of the proposed method.
{"title":"Quantized Control of Networked Control Systems with Multiplicative Noises via Event-Triggered Scheme","authors":"Hong‐Du Wang, Yan Liu, M. Karkoub, Lin Yuan","doi":"10.1109/CACRE50138.2020.9230046","DOIUrl":"https://doi.org/10.1109/CACRE50138.2020.9230046","url":null,"abstract":"This paper studies the event-triggered, dissipative, quantized control problem of networked control systems (NCSs) with multiplicative noises which affect both state variables and control inputs. First, a logarithmic quantizer with arbitrary quantization region is adopted such that the quantization levels are linear in logarithmic scale. Subsequently, the event triggering scheme is adopted based on state sampling error. Using the Lyapunov technique, a dissipative quantized control via event-triggering scheme is prposed to ensure the closed-loop system be asymptotically mean-square stable in the absence of additive noises and strictly dissipative in the presence of both additive noises and multiplicative noises. Finally, a numerical example is given to validate the effectiveness of the proposed method.","PeriodicalId":325195,"journal":{"name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129777308","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：