Pub Date : 1900-01-01DOI: 10.1109/ICARM.2017.8273128
Bin Yu, Dongkun Wang, Wenfeng Li, Yaliang Liu, Kai-xian Ba, X. Kong
The bionic legged robot, driven by hydraulic, has a better ability to operate in different working environment. In order to prevent the robotic foot end from impact and collision during its contact with the ground, it is necessary to design the robotic joint with certain dynamic compliance. Generally speaking, the force based impedance control is a commonly adopted method for active dynamic compliance control in the legged robot's joints. The hydraulic drive unit(HDU), which actuates the joints' motion, is the research object in this paper. Thus, the dynamic compliance composition of force based impedance control is researched and analyzed. Then, aimed at the HDU, the theory of dynamic compliance serial-parallel connection is proposed through the mechanism modeling, equation derivation and theoretical analysis. Finally, the control effect of dynamic compliance control is verified experimentally on the HDU performance test platform. The experiment shows that the dynamic compliance control is capable of enhancing the system dynamic compliance for the HDU position control system and the theory of dynamic compliance serial-parallel connection is also proved. The experimental result contributes to improving the control performance of HDU force control inner loop.
{"title":"The dynamic compliance composition of force-based impedance control and its experimental research","authors":"Bin Yu, Dongkun Wang, Wenfeng Li, Yaliang Liu, Kai-xian Ba, X. Kong","doi":"10.1109/ICARM.2017.8273128","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273128","url":null,"abstract":"The bionic legged robot, driven by hydraulic, has a better ability to operate in different working environment. In order to prevent the robotic foot end from impact and collision during its contact with the ground, it is necessary to design the robotic joint with certain dynamic compliance. Generally speaking, the force based impedance control is a commonly adopted method for active dynamic compliance control in the legged robot's joints. The hydraulic drive unit(HDU), which actuates the joints' motion, is the research object in this paper. Thus, the dynamic compliance composition of force based impedance control is researched and analyzed. Then, aimed at the HDU, the theory of dynamic compliance serial-parallel connection is proposed through the mechanism modeling, equation derivation and theoretical analysis. Finally, the control effect of dynamic compliance control is verified experimentally on the HDU performance test platform. The experiment shows that the dynamic compliance control is capable of enhancing the system dynamic compliance for the HDU position control system and the theory of dynamic compliance serial-parallel connection is also proved. The experimental result contributes to improving the control performance of HDU force control inner loop.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"171 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115248477","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273180
Zhenghua Hu, Qiubo Zhong, Chunya Tong, Kuai Wang
As the traffic situation of the road network in urban areas is becoming increasingly congested, the classical algorithm of rapidly exploring random tree (RRT) is introduced into the scene of the road network with scheduled tracks in this paper. And a dynamic path planning method based on the RRT algorithm is designed. The algorithm takes the start road segment of the route as the root node in the random tree to perform random extensions until the leaf node of the random tree covers the target road segment. Finally, the algorithm is simulated on the road network with congested areas in Wuhan. The result shows that the proposed method can not only effectively avoid the congestion areas in the road network, but also better meet the real-time demand for dynamic path planning.
{"title":"Application of rapidly exploring random tree algorithm in the scene of road network with scheduled tracks","authors":"Zhenghua Hu, Qiubo Zhong, Chunya Tong, Kuai Wang","doi":"10.1109/ICARM.2017.8273180","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273180","url":null,"abstract":"As the traffic situation of the road network in urban areas is becoming increasingly congested, the classical algorithm of rapidly exploring random tree (RRT) is introduced into the scene of the road network with scheduled tracks in this paper. And a dynamic path planning method based on the RRT algorithm is designed. The algorithm takes the start road segment of the route as the root node in the random tree to perform random extensions until the leaf node of the random tree covers the target road segment. Finally, the algorithm is simulated on the road network with congested areas in Wuhan. The result shows that the proposed method can not only effectively avoid the congestion areas in the road network, but also better meet the real-time demand for dynamic path planning.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115561080","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273225
Mantian Li, Ming Liu, F. Zha, Wei Guo, Mingbi Lu, Xin Wang
In this paper, a growth algorithm of neural network based on self-growing of neuron is proposed. Firstly, the self-growth model of neuron is established based on Newton's gravitational force and Brownian motion. Then, the constraint function of neuron axon growth is established by gravitational coefficient and Brownian coefficient. Then, the algorithm of neural network is established by using the breadth-first search algorithm and the discrete-variable optimization algorithm. Finally, the numerical simulation results show that the algorithm can effectively simulate the growth and development of neural networks from single neuron growth to multiple neurons. It also verifies the feasibility of using the algorithm to realize the rhythm motion control of quadruped robot.
{"title":"Research on algorithms of neural network based on self-growing of neuron","authors":"Mantian Li, Ming Liu, F. Zha, Wei Guo, Mingbi Lu, Xin Wang","doi":"10.1109/ICARM.2017.8273225","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273225","url":null,"abstract":"In this paper, a growth algorithm of neural network based on self-growing of neuron is proposed. Firstly, the self-growth model of neuron is established based on Newton's gravitational force and Brownian motion. Then, the constraint function of neuron axon growth is established by gravitational coefficient and Brownian coefficient. Then, the algorithm of neural network is established by using the breadth-first search algorithm and the discrete-variable optimization algorithm. Finally, the numerical simulation results show that the algorithm can effectively simulate the growth and development of neural networks from single neuron growth to multiple neurons. It also verifies the feasibility of using the algorithm to realize the rhythm motion control of quadruped robot.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121799391","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273175
Sheng Tang, Junchen Xin, Jiakun Cao
This study was designed to develop a immunofluorescence chromatography kit for detection of CA153 in human serum, and to evaluate the method performance. The fluorescent polystyrene particle conjugated with the monoclonal antibody MIC15 was used as a fluorescent label. The monoclonal antibody MIC16 and mouse anti-rabbit IgG were immobilized on the nitrocellulose membrane as the test line and control line. The linear response rang of the method to detect the serum CA153 was 0.36–250U/ml. And the intra-and inter-assay coefficient were 5.81% and 9.88%. Total 1200 samples were tested by the immunofluorescence chromatography kit, and the overall coincidence rate was 96.35%. The positive coincidence rate was 95.62%, the negative coincidence rate was 97.23%, and the Kappa value surpassed 0.8, which indicated that there was no significant difference between the results of the immunofluorescence chromatography kit and of isolated culture. In conclusion, the immunofluorescence chromatography kit for assaying CA153 provided high sensitivity, rapid, simple operation, low cost, single-servings and can be extensively used for clinical operarions.
{"title":"The establishment of detecting carbohydrate antigen 153 (CA153) with immunofluorescence chromatography","authors":"Sheng Tang, Junchen Xin, Jiakun Cao","doi":"10.1109/ICARM.2017.8273175","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273175","url":null,"abstract":"This study was designed to develop a immunofluorescence chromatography kit for detection of CA153 in human serum, and to evaluate the method performance. The fluorescent polystyrene particle conjugated with the monoclonal antibody MIC15 was used as a fluorescent label. The monoclonal antibody MIC16 and mouse anti-rabbit IgG were immobilized on the nitrocellulose membrane as the test line and control line. The linear response rang of the method to detect the serum CA153 was 0.36–250U/ml. And the intra-and inter-assay coefficient were 5.81% and 9.88%. Total 1200 samples were tested by the immunofluorescence chromatography kit, and the overall coincidence rate was 96.35%. The positive coincidence rate was 95.62%, the negative coincidence rate was 97.23%, and the Kappa value surpassed 0.8, which indicated that there was no significant difference between the results of the immunofluorescence chromatography kit and of isolated culture. In conclusion, the immunofluorescence chromatography kit for assaying CA153 provided high sensitivity, rapid, simple operation, low cost, single-servings and can be extensively used for clinical operarions.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114778499","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273136
Lei Wang, Zhiqiang Ding
Fire spread model is beneficial to give suggestion for preventing from and fighting against forest fire. Factors affecting the quality of the model include accuracy, timeliness, and costing. In this paper, triangular fuzzy number is defined first, then build an AHP model based on triangular fuzzy number (F-AHP), and recognize the weight of the three metrics. In order to get a high performance fire detection model, we set different priorities for accuracy, timeliness and costing, and then build a large spatial scales CA model, by combining elementary CA model and the Monte Carlo algorithm. We also develop a simulation program, which can provide good visual dynamic images and is convenient to set and adjust important arithmetical parameters online according to crime scene investigation. Simulation results show our model is reliable and it can better simulate the reality of the spread of forest fires.
{"title":"Modeling and simulation of forest fire detection and fire spread","authors":"Lei Wang, Zhiqiang Ding","doi":"10.1109/ICARM.2017.8273136","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273136","url":null,"abstract":"Fire spread model is beneficial to give suggestion for preventing from and fighting against forest fire. Factors affecting the quality of the model include accuracy, timeliness, and costing. In this paper, triangular fuzzy number is defined first, then build an AHP model based on triangular fuzzy number (F-AHP), and recognize the weight of the three metrics. In order to get a high performance fire detection model, we set different priorities for accuracy, timeliness and costing, and then build a large spatial scales CA model, by combining elementary CA model and the Monte Carlo algorithm. We also develop a simulation program, which can provide good visual dynamic images and is convenient to set and adjust important arithmetical parameters online according to crime scene investigation. Simulation results show our model is reliable and it can better simulate the reality of the spread of forest fires.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126468633","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273142
Jianguo Liu, Weidong Liu, Li-e Gao, Le Li
Monocular vision tracking, binocular vision tracking and multi-purpose visual tracking are the main current computer vision positioning tracking patterns. Due to the small field of view, the complex system structure and the difficulty of calibration matching, the binocular vision tracking system is being replaced by the monocular vision tracking system in some applications. The monocular tracking system has simple structure, and less calibrations. This paper investigates the recognition and localization of underwater moving targets using monocular vision. The color threshold algorithm is used to detect and extract the target color information. After this, a combination of geometric model method and data fitting method is proposed to detect the moving target and to obtain it's relative distance to underwater camera. Finally, we established an underwater experiment system with a template target, an underwater camera, a lighting system, and a PC computer. The experimental verification in the laboratory demonstrates the good performance of our proposed detecting and locating method.
{"title":"Detection and localization of underwater targets based on monocular vision","authors":"Jianguo Liu, Weidong Liu, Li-e Gao, Le Li","doi":"10.1109/ICARM.2017.8273142","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273142","url":null,"abstract":"Monocular vision tracking, binocular vision tracking and multi-purpose visual tracking are the main current computer vision positioning tracking patterns. Due to the small field of view, the complex system structure and the difficulty of calibration matching, the binocular vision tracking system is being replaced by the monocular vision tracking system in some applications. The monocular tracking system has simple structure, and less calibrations. This paper investigates the recognition and localization of underwater moving targets using monocular vision. The color threshold algorithm is used to detect and extract the target color information. After this, a combination of geometric model method and data fitting method is proposed to detect the moving target and to obtain it's relative distance to underwater camera. Finally, we established an underwater experiment system with a template target, an underwater camera, a lighting system, and a PC computer. The experimental verification in the laboratory demonstrates the good performance of our proposed detecting and locating method.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121275063","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273172
Jiakun Cao, Lin Xia, Sheng Tang
This study was designed to develop a immunofluorescence chromatography kit for detection of CA199 in human serum, and to evaluate the method performance. The fluorescent polystyrene particle conjugated with the monoclonal antibody MIC03 was used as a fluorescent label. The monoclonal antibody MIC04 and mouse anti-rabbit IgG were immobilized on the nitrocellulose membrane as the test line and control line. The linear response rang of the method to detect the serum CA199 was 0.67–500U/ml. And the intra-and inter-assay coefficient were 6.08% and 8.59%. Total 1200 samples were tested by the immunofluorescence chromatography kit, and the overall coincidence rate was 92.56%. The positive coincidence rate was 91.08%, the negative coincidence rate was 94.09%, and the Kappa value surpassed 0.8, which indicated that there was no significant difference between the results of the immunofluorescence chromatography kit and Elisa kit. In conclusion, the immunofluorescence chromatography kit for assaying CA199 provided high sensitivity, rapid, simple operation, low cost, single-servings and can be extensively used for clinical operarions.
{"title":"The establishment of detecting carbohydrate antigen 199 (CA199) with immunofluorescence chromatography","authors":"Jiakun Cao, Lin Xia, Sheng Tang","doi":"10.1109/ICARM.2017.8273172","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273172","url":null,"abstract":"This study was designed to develop a immunofluorescence chromatography kit for detection of CA199 in human serum, and to evaluate the method performance. The fluorescent polystyrene particle conjugated with the monoclonal antibody MIC03 was used as a fluorescent label. The monoclonal antibody MIC04 and mouse anti-rabbit IgG were immobilized on the nitrocellulose membrane as the test line and control line. The linear response rang of the method to detect the serum CA199 was 0.67–500U/ml. And the intra-and inter-assay coefficient were 6.08% and 8.59%. Total 1200 samples were tested by the immunofluorescence chromatography kit, and the overall coincidence rate was 92.56%. The positive coincidence rate was 91.08%, the negative coincidence rate was 94.09%, and the Kappa value surpassed 0.8, which indicated that there was no significant difference between the results of the immunofluorescence chromatography kit and Elisa kit. In conclusion, the immunofluorescence chromatography kit for assaying CA199 provided high sensitivity, rapid, simple operation, low cost, single-servings and can be extensively used for clinical operarions.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132424721","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 : 1900-01-01DOI: 10.1109/ICARM.2017.8273178
Buhai Shi, S. Tian
A data transmission algorithm applicable to incremental and absolute encoders is presented and implemented on FPGA-based six axis robot experimental platform. When the industrial computer (IPC) requests synchronous position, the absolute position data is transmitted, while the incremental data is transmitted in the other case to reduce the bus load. In addition, the servo control units assign absolute value data and upload tasks to the various control cycles finely, thus avoiding interference with normal servo control beats. Experimental results shown that the servo control units can read the multi-axis absolute encoders data and achieve the precise positioning of the robot system, further improving the performance of the robot system and reducing the cost.
{"title":"A transmission algorithm applicable to incremental and absolute encoder and its implementation","authors":"Buhai Shi, S. Tian","doi":"10.1109/ICARM.2017.8273178","DOIUrl":"https://doi.org/10.1109/ICARM.2017.8273178","url":null,"abstract":"A data transmission algorithm applicable to incremental and absolute encoders is presented and implemented on FPGA-based six axis robot experimental platform. When the industrial computer (IPC) requests synchronous position, the absolute position data is transmitted, while the incremental data is transmitted in the other case to reduce the bus load. In addition, the servo control units assign absolute value data and upload tasks to the various control cycles finely, thus avoiding interference with normal servo control beats. Experimental results shown that the servo control units can read the multi-axis absolute encoders data and achieve the precise positioning of the robot system, further improving the performance of the robot system and reducing the cost.","PeriodicalId":416846,"journal":{"name":"International Conference on Advanced Robotics and Mechatronics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130060205","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}
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