With the development of digital measurement technology and flexible pose adjustment technology, measurement assisted assembly (MAA) is adopted in large component alignment process to ensure assembly quality. Aiming to optimize alignment process and improve assembly quality, this paper proposes a feature-based pose optimization method. Firstly, the assembly constraint model based on assembly feature is elaborated and illustrates the constraint relationship between assembly feature, assembly characteristic and relative pose between components. Secondly, an assembly pose optimization method is introduced, which calculates the adjustment of component pose based on the coordination of mating characteristics and performance characteristics. This method includes coarse alignment pose optimization and target pose optimization. Finally, experiments are conducted in simulation environment, proving the proposed method is effective.
{"title":"Feature-Based Pose Optimization Method for Large Component Alignment","authors":"Hao Yu, Tiance Ma, Meiqing Wang, Shi Li","doi":"10.1109/CRC.2019.00039","DOIUrl":"https://doi.org/10.1109/CRC.2019.00039","url":null,"abstract":"With the development of digital measurement technology and flexible pose adjustment technology, measurement assisted assembly (MAA) is adopted in large component alignment process to ensure assembly quality. Aiming to optimize alignment process and improve assembly quality, this paper proposes a feature-based pose optimization method. Firstly, the assembly constraint model based on assembly feature is elaborated and illustrates the constraint relationship between assembly feature, assembly characteristic and relative pose between components. Secondly, an assembly pose optimization method is introduced, which calculates the adjustment of component pose based on the coordination of mating characteristics and performance characteristics. This method includes coarse alignment pose optimization and target pose optimization. Finally, experiments are conducted in simulation environment, proving the proposed method is effective.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121559469","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}
External fixators are robotic structures commonly utilized in area of orthopedics. However, there are some limitations of the traditional fixators such as risk of encountering a singular position and bone fragments being blocked by the rods of the system in the x-ray images. In this work, a novel external fixator system addressing the issues related with the traditional fixators is introduced. The proposed system is named as λ-fixator because of the connecting elements resembling the Greek letter λ. Inverse kinematics and direct kinematics of the proposed system are explained. Besides, various connection possibilities allowing a flexible usage opportunity are presented. The validation of the system has been performed via four experiments each of which contains a manufactured physical model, computer simulation, and independent software models.
{"title":"Lambda Fixator: A Novel Robotic System in Orthopedics","authors":"I. Akcali, A. Aydın, E. Avşar, H. Mutlu","doi":"10.1109/CRC.2019.00022","DOIUrl":"https://doi.org/10.1109/CRC.2019.00022","url":null,"abstract":"External fixators are robotic structures commonly utilized in area of orthopedics. However, there are some limitations of the traditional fixators such as risk of encountering a singular position and bone fragments being blocked by the rods of the system in the x-ray images. In this work, a novel external fixator system addressing the issues related with the traditional fixators is introduced. The proposed system is named as λ-fixator because of the connecting elements resembling the Greek letter λ. Inverse kinematics and direct kinematics of the proposed system are explained. Besides, various connection possibilities allowing a flexible usage opportunity are presented. The validation of the system has been performed via four experiments each of which contains a manufactured physical model, computer simulation, and independent software models.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"68 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132760661","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}
The first part of this paper firstly theoretically presents first three industrial revolutions, main inventions and their impact on society and industry development. Then, Industry 4.0 is presented with focus on use of collaborative robots and their role is highlighted. Main part of the article focuses on the Laboratory of Industry 4.0 at University of West Bohemia, its key components, use in education and future plans.
{"title":"Role of Collaborative Robots in Industry 4.0 with Target on Education in Industrial Engineering","authors":"P. Poór, Tomáš Broum, J. Basl","doi":"10.1109/CRC.2019.00018","DOIUrl":"https://doi.org/10.1109/CRC.2019.00018","url":null,"abstract":"The first part of this paper firstly theoretically presents first three industrial revolutions, main inventions and their impact on society and industry development. Then, Industry 4.0 is presented with focus on use of collaborative robots and their role is highlighted. Main part of the article focuses on the Laboratory of Industry 4.0 at University of West Bohemia, its key components, use in education and future plans.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128459604","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}
Existing in-vehicle networks have various network systems such as LIN, CAN, FlexRay, and MOST. When new functions are added here, wires and ECUs are increased. Due to the requirements of these changing systems, the cost and complexity of communication efficiency of automotive networks is also increasing. Therefore, Ethernet is an alternative to integrate these complex in-vehicle network systems into one [1]. If the existing Ethernet is applied to the vehicle, various problems may occur. Therefore, the IEEE is standardizing the Ethernet optimized for vehicles. In this paper, we propose a new data transmission method of IEEE 802.3ch which is actively being standardized.
{"title":"Methods for Switching Multiple Speeds on a Single Link","authors":"Taehyoung Kim, Sungkwon Park","doi":"10.1109/CRC.2019.00037","DOIUrl":"https://doi.org/10.1109/CRC.2019.00037","url":null,"abstract":"Existing in-vehicle networks have various network systems such as LIN, CAN, FlexRay, and MOST. When new functions are added here, wires and ECUs are increased. Due to the requirements of these changing systems, the cost and complexity of communication efficiency of automotive networks is also increasing. Therefore, Ethernet is an alternative to integrate these complex in-vehicle network systems into one [1]. If the existing Ethernet is applied to the vehicle, various problems may occur. Therefore, the IEEE is standardizing the Ethernet optimized for vehicles. In this paper, we propose a new data transmission method of IEEE 802.3ch which is actively being standardized.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116237746","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}
Aiming at the problems of unimodal biometric recognition, such as easy interference and low recognition rate in practical application, a multimodal biometric recognition method is proposed in this paper. This method uses the second generation curvelet to extract face features and the 2D Gabor phase method to extract iris features. Then the two features are fused in the feature layer, and the fusion feature vectors are recognized by ELM classification. The experiments are carried out on the YaleB face dataset and CASIA-Iris-Lamp dataset. The experiment results show that the average accuracy of recognition of the algorithm can reach up to 99.74%, which is better than recognition methods of unimodal face and unimodal iris. The rate increases by 3.35%, which provides an effective model for multimodal biometric recognition.
{"title":"A Multimodal Biometric Recognition Algorithm Based on Second Generation Curvelet and 2D Gabor Filter","authors":"Xinman Zhang, Q. Xiong, Xuebin Xu","doi":"10.1109/CRC.2019.00031","DOIUrl":"https://doi.org/10.1109/CRC.2019.00031","url":null,"abstract":"Aiming at the problems of unimodal biometric recognition, such as easy interference and low recognition rate in practical application, a multimodal biometric recognition method is proposed in this paper. This method uses the second generation curvelet to extract face features and the 2D Gabor phase method to extract iris features. Then the two features are fused in the feature layer, and the fusion feature vectors are recognized by ELM classification. The experiments are carried out on the YaleB face dataset and CASIA-Iris-Lamp dataset. The experiment results show that the average accuracy of recognition of the algorithm can reach up to 99.74%, which is better than recognition methods of unimodal face and unimodal iris. The rate increases by 3.35%, which provides an effective model for multimodal biometric recognition.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116484588","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}
With the development of computer technology, sensor technology and information processing technology, image fusion, as a powerful tool of information fusion, has been widely used in automatic target recognition, military and medical image fields. This technology utilizes the complementarity of information advantages contained in each image to obtain a clear, comprehensive and accurate image description of the same scene through a certain algorithm. In this paper, we firstly summarized the research status of image fusion methods comprehensively. Secondly, the existing fusion methods of homogeneity and heterogeneity are summarized. Thirdly, several evaluation indexes are introduced. Finally, this paper points out the current problems of image fusion. In a word, the research of image fusion will still have a great development in the next few years.
{"title":"Research Status of Image Fusion: A Review","authors":"Xinman Zhang, Jiayu Zhang, Jie Kou, Xuebin Xu","doi":"10.1109/CRC.2019.00044","DOIUrl":"https://doi.org/10.1109/CRC.2019.00044","url":null,"abstract":"With the development of computer technology, sensor technology and information processing technology, image fusion, as a powerful tool of information fusion, has been widely used in automatic target recognition, military and medical image fields. This technology utilizes the complementarity of information advantages contained in each image to obtain a clear, comprehensive and accurate image description of the same scene through a certain algorithm. In this paper, we firstly summarized the research status of image fusion methods comprehensively. Secondly, the existing fusion methods of homogeneity and heterogeneity are summarized. Thirdly, several evaluation indexes are introduced. Finally, this paper points out the current problems of image fusion. In a word, the research of image fusion will still have a great development in the next few years.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116366856","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}
In this paper, an approach to watermarking images by embedding quick response (QR) code in a digital image based on the discrete cosine transform (DCT) is proposed. A block structure for manipulation is formed by partitioning the host image into non-overlapping blocks of 8'8 pixels and applying DCT to each block separately. A single watermark is embedded in different location blocks by quantization index modulation (QIM) to ensure that the watermark can still survive, even if the watermarked image is cropped over a large area. By employing the error correction mechanism of QR code, the information contained within a watermarked image can potentially be decoded. Experiment results indicate that the proposed scheme can withstand a variety of image processing attacks. Compared with the other watermarking scheme, the proposed method exhibits superior robustness and imperceptibility with the same payload capacity.
{"title":"A Blind Robust QR Code Watermarking Approach Based on DCT","authors":"Ling-Yuan Hsu, Hwai-Tsu Hu, Hsien-Hsin Chou","doi":"10.1109/CRC.2019.00043","DOIUrl":"https://doi.org/10.1109/CRC.2019.00043","url":null,"abstract":"In this paper, an approach to watermarking images by embedding quick response (QR) code in a digital image based on the discrete cosine transform (DCT) is proposed. A block structure for manipulation is formed by partitioning the host image into non-overlapping blocks of 8'8 pixels and applying DCT to each block separately. A single watermark is embedded in different location blocks by quantization index modulation (QIM) to ensure that the watermark can still survive, even if the watermarked image is cropped over a large area. By employing the error correction mechanism of QR code, the information contained within a watermarked image can potentially be decoded. Experiment results indicate that the proposed scheme can withstand a variety of image processing attacks. Compared with the other watermarking scheme, the proposed method exhibits superior robustness and imperceptibility with the same payload capacity.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124082696","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}
Extreme Learning Machine (ELM), as a new learning framework of Single Hidden Layer Feedforward Neural Network (SLFN), has become one of the hottest research directions in the field of artificial intelligence in recent years. It has been widely used in multiclass classification, human action recognition and other fields. ELM provides an efficient and unified learning framework for regression, classification, feature learning, and clustering. At the same time, ELM theories and algorithms have been improved for specific applications. This paper aims to provide a comprehensive review of existing research related to ELM. We first give an overview of the standard ELM. Then we discuss and analyze the typical variants of ELM, which are improved from different aspects, including models, strengths and weaknesses. Then we compare ELM with traditional methods in classification field and list the performance comparison between ELM and other deep network algorithms. Furthermore, the latest applications of ELM and its variants are summarized. Last but not least, we conclude the research trends of ELM variants mentioned above.
{"title":"An Overview of Extreme Learning Machine","authors":"Bohua Deng, Xinman Zhang, Weiyong Gong, Dongpeng Shang","doi":"10.1109/CRC.2019.00046","DOIUrl":"https://doi.org/10.1109/CRC.2019.00046","url":null,"abstract":"Extreme Learning Machine (ELM), as a new learning framework of Single Hidden Layer Feedforward Neural Network (SLFN), has become one of the hottest research directions in the field of artificial intelligence in recent years. It has been widely used in multiclass classification, human action recognition and other fields. ELM provides an efficient and unified learning framework for regression, classification, feature learning, and clustering. At the same time, ELM theories and algorithms have been improved for specific applications. This paper aims to provide a comprehensive review of existing research related to ELM. We first give an overview of the standard ELM. Then we discuss and analyze the typical variants of ELM, which are improved from different aspects, including models, strengths and weaknesses. Then we compare ELM with traditional methods in classification field and list the performance comparison between ELM and other deep network algorithms. Furthermore, the latest applications of ELM and its variants are summarized. Last but not least, we conclude the research trends of ELM variants mentioned above.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115509989","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}
With the development of the technology of energy storage system (ESS), the supercapacitors (SCs) are more widely used. The research focusing on the control technology of the state of health (SOH) and the state of charge (SOC) of SCs occupies a critical position. The definition of SOH and SOC and the functional relationship between SOH and SOC are described in this paper. Two commonly used control methods are listed. Then, the SOH control methods and the SOC control strategy of SCs in the last three years are cited and the characteristics of them are explained. At the end of the article, the future control methods of SOH and SOC for SCs are proposed.
{"title":"The Literature Review on Control Methods of SOH and SOC for Supercapacitors","authors":"Shuo Li, Kai Wang","doi":"10.1109/CRC.2019.00013","DOIUrl":"https://doi.org/10.1109/CRC.2019.00013","url":null,"abstract":"With the development of the technology of energy storage system (ESS), the supercapacitors (SCs) are more widely used. The research focusing on the control technology of the state of health (SOH) and the state of charge (SOC) of SCs occupies a critical position. The definition of SOH and SOC and the functional relationship between SOH and SOC are described in this paper. Two commonly used control methods are listed. Then, the SOH control methods and the SOC control strategy of SCs in the last three years are cited and the characteristics of them are explained. At the end of the article, the future control methods of SOH and SOC for SCs are proposed.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114410782","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}
Zhirong Wang, Chentao Mao, Zhang-wei Chen, Yuxiang Wang, Jun Zhou, Zhen Lu
Kinematic calibration plays a significant role in improving the robot positioning accuracy. Due to the mechanical factors such as joint deformation and heavy load, some errors are non-geometrical and nonlinear. In this case, a single kinematic calibration method is difficult to achieve good results especially for robots with heavy load. In this paper, a two-stage parameter identification method is proposed, which also deals with joint deformation and heavy load dependent errors to achieve a higher positioning accuracy. In the first stage, the method builds the kinematic model and identifies the geometric errors using the DH model and the distance model. In the second stage, the stiffness of the joint is analyzed and the positioning accuracy is improved on the robot dynamics. Finally, the experiments are carried out on the 6R robot with heavy load. The experimental results demonstrate the effectiveness and correctness of the method.
{"title":"A Two-Stage Parameter Identification Method and Compensation Verification for Heavy Load Robot","authors":"Zhirong Wang, Chentao Mao, Zhang-wei Chen, Yuxiang Wang, Jun Zhou, Zhen Lu","doi":"10.1109/CRC.2019.00017","DOIUrl":"https://doi.org/10.1109/CRC.2019.00017","url":null,"abstract":"Kinematic calibration plays a significant role in improving the robot positioning accuracy. Due to the mechanical factors such as joint deformation and heavy load, some errors are non-geometrical and nonlinear. In this case, a single kinematic calibration method is difficult to achieve good results especially for robots with heavy load. In this paper, a two-stage parameter identification method is proposed, which also deals with joint deformation and heavy load dependent errors to achieve a higher positioning accuracy. In the first stage, the method builds the kinematic model and identifies the geometric errors using the DH model and the distance model. In the second stage, the stiffness of the joint is analyzed and the positioning accuracy is improved on the robot dynamics. Finally, the experiments are carried out on the 6R robot with heavy load. The experimental results demonstrate the effectiveness and correctness of the method.","PeriodicalId":414946,"journal":{"name":"2019 4th International Conference on Control, Robotics and Cybernetics (CRC)","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121852047","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：