2018 International Conference on Control and Robots (ICCR)

15-17 Sept. 2018

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Displaying Results 1 - 21 of 21
  • [Front cover]

    Publication Year: 2018, Page(s): c1
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  • [Front cover]

    Publication Year: 2018, Page(s): c1
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  • [Copyright notice]

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

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

    Publication Year: 2018, Page(s): iv
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  • Solving Inverse Kinematics Model for 7-DoF Robot Arms Based on Space Vector

    Publication Year: 2018, Page(s):1 - 5
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3603 KB) | HTML iconHTML

    The 7-DoF Manipulator has a high degree of flexibility and can perform many complex tasks for humans, therefore widely used in many fields. This paper proposes a new method to solve the inverse kinematics model for 7-DoF manipulators. Specifically, it focuses on how to derive equations for the feasible space of the endpoint of each joint and correspondingly the feasible space of each arm-angle whe... View full abstract»

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  • Design and Characterization of Soft Pneumatic Actuator for Universal Robot Gripper

    Publication Year: 2018, Page(s):6 - 10
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3509 KB) | HTML iconHTML

    In industrial application, the conventional hard grippers have been widely used for a long time. However, when hard grippers are used, the shape of the gripper surface has to be designed according to the shape of the grasping objects, so the gripper can only hold a few numbers of objects and in some cases unique object. Recently, soft actuators are drawing attention in robotics field due to their ... View full abstract»

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  • Workspace Allocation for Team of Robots with Different Actuation Capabilities

    Publication Year: 2018, Page(s):11 - 18
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2749 KB) | HTML iconHTML

    In this paper, the adaptation of multiple agents to actuation performance variations under localization uncertainty is investigated. The agents are modeled as nonholonomic wheeled mobile vehicles and Guaranteed Power Diagrams (GPD or GPVD) are used in order the robots to partition the workspace under the assumption that the locations of the agents are known within uncertainty circles. An online ad... View full abstract»

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  • A Design and Evaluation of Hand-held Mechatronic Laparoscopic Surgical Robot

    Publication Year: 2018, Page(s):19 - 24
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3692 KB) | HTML iconHTML

    This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitive and ergonomic as its accurate master-slave motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm ... View full abstract»

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  • RGB-D People Detection and Tracking from Small-Footprint Ground Robots

    Publication Year: 2018, Page(s):25 - 29
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3352 KB) | HTML iconHTML

    Reliably detecting and tracking people from a low-lying viewpoint is a challenging problem, due to the uncommon viewpoint, from which only few features are visible. This paper presents a lower part-based approach, which enables to detect and track people in indoor environment from a small-footprint ground robot using a RGB-D sensor. The approach is based on the fact that the lower part of the huma... View full abstract»

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  • A KE, DSM and ISM Based Approach for Patrol Robot Development

    Publication Year: 2018, Page(s):30 - 34
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3696 KB) | HTML iconHTML

    Safety systems and regular environmental patrols are very important for plant safety management, In order to solve personnel patrols in dangerous and harsh environments, this study designs and develops patrol robot to assist in environmental patrols and collaboration. So that we adopted a product image analysis used in Kansei Engineering (KE) to analconsumers' preferences regarding product design ... View full abstract»

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  • Contemplating Urban Operations Involving a UGV Swarm

    Publication Year: 2018, Page(s):35 - 45
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4342 KB) | HTML iconHTML

    Recent technological advancements enabled the development of different-size unmanned ground vehicles (UGV) to support a variety of disaster-relief and combat missions. While these systems are to be used in small numbers with no coordination or even awareness of each other in most cases, some applications could benefit from utilizing (smaller-size) UGVs in quantities, featuring a swarming behavior.... View full abstract»

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  • Improved RBF Neural Network Control System Design for Helicopter of Large Envelope

    Publication Year: 2018, Page(s):46 - 51
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (4759 KB) | HTML iconHTML

    The controller design of helicopter was very complicated because of the strong coupling between channels and the complex nonlinear connection. To solve this problem, chose several state points to linearize the system on the condition of little perturbation. Based on H infinity mixed sensitivity theory, designed attitude angle control system, and utilized the error input and control output for samp... View full abstract»

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  • Implementation of PSO Based Gain-Scheduled PID and LQR for DC Motor Control Using PLC and SCADA

    Publication Year: 2018, Page(s):52 - 56
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3589 KB) | HTML iconHTML

    In this work, we use PSO to adaptively adjust gains of PID and LQR controllers to regulate speed and position of a DC motor with load variation. The proposed framework is implemented on programmable logic controller (PLC) with encoder sensors and Ethernet port to monitor the feedback via SCADA application. Experimental results show that the proposed PSO based PID and LQR techniques provide relativ... View full abstract»

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  • HeuRL: A Heuristically Initialized Reinforcement Learning Method for Autonomous Driving Control Task

    Publication Year: 2018, Page(s):57 - 62
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3943 KB) | HTML iconHTML

    Although reinforcement learning (RL) shows great intelligence in many simulation tasks, it hasn't been widely applied in real-world vehicle control tasks due to the simulation-to-real-world (Sim2Real) transferring difficulties. Vehicle models and road conditions in real world can be very different from those in simulators. As a result, the RL models trained by simulators usually fail and need to b... View full abstract»

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  • Design of PLC for Water Level Control Employing Swarm Optimization-Based PID Gain Scheduling

    Publication Year: 2018, Page(s):63 - 67
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3231 KB) | HTML iconHTML

    A design of swarm optimization-based gain scheduling PID controller for water level control is presented in this paper. The framework is implemented on Mitsubishi PLC monitored by pressure sensors with Omron SCADA package. An Ethernet built-in module is used to communicate between the front-end and field. The proposed controller is applied to regulate the speed of a DC water pump. Experimental res... View full abstract»

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  • System Design and Experiment of the Hybrid Underwater Vehicle

    Publication Year: 2018, Page(s):68 - 72
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3419 KB) | HTML iconHTML

    Hybrid propulsion is a crucial technology for the propulsion of underwater vehicle. The disadvantages of the underwater vehicle driven by propellers are that the thrust is difficult to control and the vision is easy to blurry by the sediment on the seabed. First, a new propulsion system that combined the thrusters and the propelled by flapping fins was proposed in this paper. The underwater vehicl... View full abstract»

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  • Motion Planning Problems with Boxes: An Introduction for Undergraduate Courses in Discrete Mathematics

    Publication Year: 2018, Page(s):73 - 77
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3086 KB) | HTML iconHTML

    Solutions of simple motion planning problems involving collections of orthogonal rectangles in the plane, and orthogonal boxes in 3-dimensional space are described. Proofs of several theorems regarding collision-free translation properties of these objects are derived. A new elementary simple proof is given that for each quadrant in the plane, every collection of orthogonal rectangles admits preci... View full abstract»

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  • Classification Performance Analysis of Weight Update Method Applied to Various ConvNet Models

    Publication Year: 2018, Page(s):78 - 83
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3303 KB) | HTML iconHTML

    The following topics are dealt with: mobile robots; learning (artificial intelligence); object detection; three-term control; image classification; feedforward neural nets; convolution; image sensors; digital simulation; programmable controllers. View full abstract»

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  • Chinese License Plate Detection Based on Deep Neural Network

    Publication Year: 2018, Page(s):84 - 88
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3700 KB) | HTML iconHTML

    Vehicle license plate, also known as a number plate, represents a legal license to participate in the public traffic. It plays an important role in detecting stolen vehicles, controlling traffic volume, ticketing speeding vehicles, and so on. In this paper, we presented a deep learning method for the detection of car license plate. We train a region proposal network and use the output of the RPN t... View full abstract»

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  • Feasibility Assessment of sUAS-Based Automated FOD Detection System

    Publication Year: 2018, Page(s):89 - 97
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3842 KB) | HTML iconHTML

    Airport operations, including foreign object debris (FOD) detection, place a high demand on manpower. At the same time, human (visual) FOD detection is not necessarily reliable. Automation of FOD detection provides an opportunity to improve the detection rate and productivity of manpower. This paper proposes a concept of operations of the automated FOD detection system (AFDS) that employs multiple... View full abstract»

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