2018 3rd International Conference on Advanced Robotics and Mechatronics (ICARM)

18-20 July 2018

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  • [Front cover]

    Publication Year: 2018, Page(s): c1
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  • [Title page]

    Publication Year: 2018, Page(s): i
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  • [Copyright notice]

    Publication Year: 2018, Page(s): i
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  • Table of contents

    Publication Year: 2018, Page(s):i - xiii
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  • Author Index

    Publication Year: 2018, Page(s):i - viii
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  • Autonomous Stairs Ascending and Descending Algorithm for Tri-Star Wheeled Robot

    Publication Year: 2018, Page(s):328 - 333
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    In this paper, autonomous switching algorithm was developed for stairs detection and switching of three states: rolling, ascending and descending. Only the sensor information is enough for the robot to autonomously switch the different states. The most significance effect of the research is that the use of the proposed switching algorithm can avoid unnecessary computations and detection of the com... View full abstract»

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  • Real-time Monocular Dense Mapping of Small Scenes with ORB Features

    Publication Year: 2018, Page(s):612 - 617
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    In this paper, we present a new solution for realtime dense mapping with single moving camera. Our monocular dense mapping system remove needs of extra power supply and limitation in indoor scenarios almost all active sensors require. Our system present robust camera pose estimation and can recover from tracking failure. By leveraging ORB-SLAM [1], high accuracy 6DoF camera pose and sparse feature... View full abstract»

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  • PVO:Panoramic Visual Odometry

    Publication Year: 2018, Page(s):491 - 496
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    Accurate visual odometry is essential for many fields such as robot navigation and autonomous driving .In this paper, we propose a novel panoramic visual odometry algorithm that is real-time, precise and robust .The main contributions of our work are a series of innovations that address the challenge of effective initialization and robust feature tracking based on panoramic camera. Wide field of v... View full abstract»

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  • Race Classification from Face using Deep Convolutional Neural Networks

    Publication Year: 2018, Page(s):1 - 6
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    As a basic and key attribute of human beings, race plays an indispensable role in face analysis. Traditional machine learning methods all tackle the problem of race classification in combination with two separate steps: extracting artificially designed features and training a proper classifier with these features. Some convolutional neural networks have also been proposed to deal with this problem... View full abstract»

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  • Wheel Center Detection From Point Cloud Based on Recurrent Neural Networks

    Publication Year: 2018, Page(s):594 - 599
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    In the intelligent parking lot, the robot has to get the accurate position of the wheels in the process of automatic parking. The traditional image processing algorithm is not proper to be employed in this application because of sensitivity to the noises. Originating from natural language processing, RNN has now been used in the computer vision for its robustness and excellent performance. This pa... View full abstract»

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  • Design and Optimization of Movable Cable-Driven Lower-Limb Rehabilitation Robot

    Publication Year: 2018, Page(s):714 - 719
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (1309 KB) | HTML iconHTML

    In order to help patients with lower-limb dysfunction, a movable cable-driven lower-limb rehabilitation robot was designed to restore their motor function and improve their quality of life. Through controlling the position / posture and force of the lower limb, the robot can achieve comprehensive trainings of the lower limbs. The robot can assist patients in different rehabilitation stages to carr... View full abstract»

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  • Event-driven MPC for leader-follower nonlinear multi-agent systems

    Publication Year: 2018, Page(s):526 - 531
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (152 KB) | HTML iconHTML

    In this paper, we propose a model predictive control (MPC) method, which is on the basis of event-driven, for a tracking scheme of a leader-follower nonlinear multi-agent system (MAS) limited to input constraints and disturbances. An event-driven condition is designed for each follower such that each follower updates its states at trigger instants. By the designed event-driven scheme, a MPC method... View full abstract»

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  • Screw Dynamic Modeling and Dynamic Sliding Mode Control for a Hybrid Mechanism

    Publication Year: 2018, Page(s):140 - 145
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    For a hybrid mechanism for automobile electro-coating conveying which is self-developed, a dynamic model is established based on screw theory and the principle of virtual work to simplify the process of modeling. Then, to solve the chattering problem and the slow rate of convergence problem of the existing sliding mode control methods for the hybrid mechanism, a super-twisting algorithm based seco... View full abstract»

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  • Fault-Tolerant Control against Performance Degradation of Actuators for a Robotic System with Guaranteed Prescribed Performance

    Publication Year: 2018, Page(s):101 - 106
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    In this paper, the fault-tolerant control problem of an uncertain multi-input and multi-output (MIMO) robotic system is investigated. Neural networks based on Gaussian radial basis functions are used to compensate for the dynamic uncertainties. In the control design, prescribed performance issue is transformed into the time-varying constraints problem via an appropriate way, and then barrier Lyapu... View full abstract»

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  • Control Design of a Vibrating Flexible Timoshenko Robot Arm with Restricted Input

    Publication Year: 2018, Page(s):213 - 218
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    In this study, we deal with the vibration control and angle positioning issue of a flexible Timoshenko robot system influenced by nonlinearly saturated input and external disturbances. The auxiliary systems are exploited to devise boundary controllers for regulating the vibration and shear deformation, achieving the angle tracking and compensating the input saturation effects. Under the suggested ... View full abstract»

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  • Motion Optimization of Exoskeleton Robot Using SALSA

    Publication Year: 2018, Page(s):7 - 12
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    Aiming for improving dynamic performance and energy-efficiency of exoskeleton robot, we propose a motion planning optimization approach for exoskeleton robot with the objective based on energy-efficiency which is combined with dynamical model. Motion trajectories in this paper are planned in joint space directly instead of in task space. In the problem of optimization, instead of parameterizing th... View full abstract»

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  • An Indoor Navigation Control Strategy for a Brain-Actuated Mobile Robot

    Publication Year: 2018, Page(s):13 - 18
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    In this paper, a brain-machine interface (BMI) with the capability of navigating a mobile robot in indoor environment, is proposed. The BMI, which is based on steady state visually evoked potentials (SSVEP), utilizes canonical correlation analysis (CCA) algorithm to classify electroencephalogram (EEG) signals and then translates the recognition results into motion commands for the trajectory plann... View full abstract»

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  • A Robust Welding Seam Identification Method

    Publication Year: 2018, Page(s):787 - 792
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    As an automatic welding process may experience some disturbances caused by, e.g., splashes and/or welding fumes, misalignments/poor positioning, thermally induced deformations, strong arc lights, diversified welding joints/grooves, etc., precisely identifying the welding seam has an great influence on the welding quality achieved. In this paper, a robust method for identifying this seam is ... View full abstract»

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  • Force Control Method for Pantograph Leg of Large-scale Heavy-duty Legged Robot

    Publication Year: 2018, Page(s):24 - 29
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    In order to achieve excellent control of the legs of the Iegged robot and to avoid the high-impact problems in the kinematic control, this paper analyzes the pantograph leg of a large-scale heavy-duty Iegged robot and establishes its dynamic model using the Lagrange method. At the same time, through the improvement of the computed torque method, real-time compensation for frictions and calculation... View full abstract»

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  • Single-trial prediction of unilateral isometric force levels from EEG signals

    Publication Year: 2018, Page(s):532 - 536
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    The extent of physiological circuits involved in the increasing isometric force levels during unilateral contraction has been shown to be different. Here, we explore the possibility of force level prediction based on electroencephalogram (EEG) activity recorded during a single trial ofunilateral 5% or 40% of maximal isometric voluntary contraction (MVC) into right hand grip movement and grip imagi... View full abstract»

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  • Trajectory-Tracking for a Mobile Robot Using Robust Predictive Control and Adaptive Control

    Publication Year: 2018, Page(s):30 - 35
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    This paper proposes a control scheme of trajectory tracking for the mobile robots by combining robust predictive control in velocity level and adaptive control in acceleration level. In velocity level, a constrained quadratic programming (QP) problem can be obtained through the proposed model predictive control (MPC) approach. A primal-dual neural network (PDNN) is used to solve the QP problem ove... View full abstract»

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  • Improved SLAM and Motor Imagery Based Navigation Control of a Mobile Robot

    Publication Year: 2018, Page(s):36 - 41
    Request permission for reuse | Click to expandAbstract | PDF file iconPDF (374 KB) | HTML iconHTML

    A brain-robot interface (BRI) based control system combined with the simultaneous localization and mapping (SLAM) has been developed to achieve the navigation and control of a mobile robot in unknown environments. The BRI system is based on motor imagery(MI), which analyze the human electroencephalograph (EEG) signals through the CSP-based SVM classification algorithm. The SLAM system presented in... View full abstract»

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  • Study on Enhanced Thermal performance of Underwater Lithium Ion Battery Packs

    Publication Year: 2018, Page(s):42 - 47
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    This In order to ensure that the underwater vehicle has a strong “heat”, Lithium batteries with a higher specific energy and specific power are often used as a power source. However, the thermal runaway of lithium batteries during long time current discharge seriously restricts the wide application of lithium batteries in underwater vehicles. Therefore, this paper focuses on the heat dissipation c... View full abstract»

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  • Adaptive Control of Mobile Manipulators with Nonlinear Friction Cone and Switching Constraints

    Publication Year: 2018, Page(s):48 - 53
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    A non-minimal order model for mobile manipulation subject to many nonlinear constraints can handle a multi-objective control problem. In this paper, the task space controller is designed based on a reduced dynamic model. We present the the fundamental properties of non-minimal order dynamic model. According to this dynamics the adaptive control of mobile manipulation subject to these constraints i... View full abstract»

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  • Brain Teleoperation of a Mobile Robot Using Deep Learning Technique

    Publication Year: 2018, Page(s):54 - 59
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    This paper proposes a brain-teleoperation control strategy that combines the deep learning technique (DLT) to realize the control and navigation of a mobile robot in unknown environments. The support vector machine (SVM) algorithm is utilized to recognize the human electroencephalograph (EEG) signals in the brain-computer interface (BCI) system which is based on steady state visually evoked potent... View full abstract»

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