2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)最新文献

{"title":"Combining immersion and interaction in XR training with 360-degree video and 3D virtual objects","authors":"S. Zucchi, S. K. Füchter, George Salazar, Karen Alexander","doi":"10.1109/ISMCR51255.2020.9263732","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263732","url":null,"abstract":"Research shows that XR experiences activate portions of the brain that facilitate learning. Case studies in industry bear this out, showing enormous benefits of XR when used to train employees, including reduced time to learn and complete a task, increased ability to perform the task correctly the first time, and better knowledge retention than with traditional training methods. The emerging technologies that fall under the umbrella term XR—virtual reality, augmented reality, mixed reality, and 360-degree video—can facilitate or enhance learning through different affordances. The degree of immersion and the ability to exercise agency through interaction also enhances learning. 360-degree video is highly immersive. But it is not inherently interactive. It is theorized that by inserting interactive 3D objects into a 360-degree video environment, both immersion and interactivity can be achieved, with the result of enhanced learning. The solution presented here also has the advantage of being more easily produced and cheaper than virtual reality. The objectives of this preliminary study were to create a simple and relatively inexpensive prototype virtual environment very close to reality and test the technical effectiveness of learning and situational awareness using 360-degree videos together with 3D objects. An iterative human-centered design (HCD) process that integrates airplane pilots and training personnel as end users and participants in the cocreation of an aviation training system; actively involves users; provides a clear understanding of tasks; facilitates good interaction between user and technology; and includes well-designed interactions was used. A few scripts were created in the prototype to improve the user experience (UX) when interacting with the user interface (UI). The prototype app was presented to flight instructors and flight pilots using a Samsung S7 smartphone with a Samsung Gear VR by Oculus headset. The prototype also allows the experience to be viewed on a mobile device without a VR headset. The experience is based on a 360-degree video taken within a Cessna 150, with a view of the flight panel. 3D objects were inserted and were made interactive so the user can control them. A survey that asked for suggestions to improve the next version of this prototype was given to the test subjects. Preliminary findings suggest system user acceptance, improved pilot confidence before the actual flight, decreased errors, and better situational awareness. In conclusion, the combination of 360-degree video and 3D virtual objects can help train pilots better, more safely, in less time, and with more confidence in the use of the aircraft checklist. The technology provides an alternative to costly and time-consuming VR solutions for training those without access to aircraft, and permits learning with the use of their smartphone.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130462710","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}

{"title":"VR and Depth Camera based Human-Robot Collision Predictor System with 3-Finger Gripper Assisted Assembly Device","authors":"I. Paniti, J. Nacsa, Peter Kovacs, Dávid Szűr","doi":"10.1109/ISMCR51255.2020.9263758","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263758","url":null,"abstract":"It is known that Human-Robot Collaboration (HRC) performance is improved in some assembly tasks when a robot emulates the effective coordination behaviors observed in human teams, but a close interaction could cause collisions which should be avoided. There are several methods that can be used to communicate the intension of the robot. However, these are mainly acoustic or visual signals. In this paper a Virtual Reality and Depth Camera based System is presented where vibration signals are used to alert the user of a probable collision with a 2-Finger gripper equipped Robot. Experimental tests are investigated in an assembly task with - another 3-Finger - gripper which functions as a Flexible Assembly Device.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130712277","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}

{"title":"Nonlinear control of maneuvering fixed wing UAVs using quaternion logarithm","authors":"Zsófia Bodó, B. Lantos","doi":"10.1109/ISMCR51255.2020.9263760","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263760","url":null,"abstract":"The paper deals with the orientation and position control of maneuvering fixed wing UAVs. The nonlinear dynamic model of the aircraft can take into consideration slowly varying wind effects. A damping component in the nonlinear model supports the stability. An attitude control method was developed using quaternion logarithm in the body frame. A reference signal design method was elaborated for UAVs that can smoothly connect straight line, circle arc and twist sections for maneuvers. The path satisfies continuous acceleration to decrease saturation in the actuators. For orientation and position control the fusion of backstepping control (BSC) and dynamic inversion was applied. The simulation experiments for testing the algorithms show acceptable precision.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131149162","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}

{"title":"Integrating Human Hand Gestures with Vision Based Feedback Controller to Navigate a Virtual Robotic Arm","authors":"Mousa Moradi, Sandra Dang, Zayed Alsalem, J. Desai, Alejandro Palacios","doi":"10.1109/ISMCR51255.2020.9263771","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263771","url":null,"abstract":"This paper reports the design and development of a real-time IMU-Vision-based hybrid control algorithm to interact with a 6-DOF Kinova virtual robotic arm. Human Robot Interaction (HRI) control scheme proposed in this paper utilizes an embedded gyroscopic sensor from a Myo Gesture Control Armband’s inertial measurement unit and an 800*600-pixel resolution from a Microsoft HD camera. The algorithm exploits the mathematical features of a numerical discrete time integrator and a mean filter to process the raw angular velocity data from the gyroscope. The processed data further provides the angular displacements to the end-effector of the robotic arm during clockwise or counterclockwise actions along x, y, and z axes from the user. This also facilitates the end effector (gripper) motion which was also controlled simultaneously by the roll action through threshold comparison in the algorithm. A vision based feedback system was designed using a computer vision toolbox and blob analysis technique in order to make the system more reliable and to control the distance of the end-effector while reaching to desired objects. The results demonstrated a significant control of the 6-DOF virtual robotic limb using the gyroscopic information and user inputs. The virtual robotic arm stopped the movement after reaching 320 mm from the desired object as expected. For three different objects, the maximum error between the real and the measured distance was calculated as 15.3 cm for cylindrical object. Due to its smooth control and arm gesture controller, this technology has the potential to assist people with either physical impairments or neurological disorders to perform activities of daily living using assistive robotic arm in the near future.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128867940","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}

{"title":"Online RPG Environment for Reinforcement Learning","authors":"Gabor David Pasztor, Marton Szemenyei","doi":"10.1109/ISMCR51255.2020.9263405","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263405","url":null,"abstract":"Researchers have achieved significant success in controlling various board, arena and strategy games with Deep Neural Networks in recent years [13], [15]. Nevertheless, there have been relatively few attempts to control Role-Playing Games (RPGs), which are perhaps closest to real-life environments conceptually. In this paper, a lightweight, easy-to-use online RRG is introduced to test and train deep reinforcement learning algorithms in a structured environment. Several different models were trained on our environment, and analysis on their results and behaviour is provided. The project is open-source and available on: https://github.com/szemenyeim/AIRPGEnv.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127818748","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}

{"title":"Exoskeleton and lower limb prostheses: psychosocial aspects and acceptance of body image with the help of 3D printing","authors":"Eraldo Bittencourt Vieira Junior, Rayana Juvêncio Patrício, Simone Keller Fücher, J. Gullo","doi":"10.1109/ISMCR51255.2020.9263731","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263731","url":null,"abstract":"The new technologies that involve prostheses and exoskeletons have had a cutting-edge development in their mechanical, technological and functional nature, but studies on the subject involving the psychosocial impact of their users are not yet so advanced. This article studies ways to achieve greater acceptance and higher self-esteem on the part of the patient with a lower amputation, who uses a transfemoral or transtibial prosthesis. The proposal was to introduce the use of custom 3D printed skins for prostheses provided by the Brazilian Unified Health System (SUS by its acronym in Portuguese). It was used a CAD (Computer Aided Design) and 3D Printing Software Technologies to create a prototype piece of Cover for Prosthetic Coating, with a design that highlights the beauty of the piece, with design and creativity in additive printing. Men and women wearing inferior prostheses can be the goal regardless of age. These contacts were obtained through the registration of the waiting list to attend the discipline or compulsory supervised internship of the Degree in Physiotherapy in orthopedics and traumatology at the Clínica Escola de Saúde do Centro Universitário Estácio de Santa Catarina. As for the materials, plastic or polylactic acid (PLA) was used, which is an economic material and suitable for conceptual projects for prototypes, like this one, which do not have a mechanical function but only a coating. 3D technology combined with a differentiated design can provide a welcoming and social reintegration, minimizing depression and low esteem for people who carry robust equipment attached to them in the simplest daily tasks. These materials and all of these concepts can also be used with exoskeletons components.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114615981","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}

{"title":"ISMCR2020 Program Chair Message","authors":"","doi":"10.1109/ismcr51255.2020.9263734","DOIUrl":"https://doi.org/10.1109/ismcr51255.2020.9263734","url":null,"abstract":"","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128511931","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}

{"title":"Parameter estimation process for the dynamic model of robotic manipulators","authors":"D. Szabó, E. Szádeczky-Kardoss","doi":"10.1109/ISMCR51255.2020.9263767","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263767","url":null,"abstract":"This paper presents a method of estimating the dynamic parameters of robotic manipulators.The benefits of using the method called the modified Newton-Euler formula to determine the dynamic model of robotic arms are explained. It is shown, that the nonlinear model can be transformed into a linear-in-parameters model and the determination of the independently identifiable variables is explained.The differences between the applicability and efficiency of three estimators are presented, namely between the least-squares, weighted least-squares, and the maximum likelihood estimators. Several criteria are introduced to optimize the excitation trajectories. In a deterministic framework, the Frobenius norm as the condition number of the regression matrix can be used as the cost function to be minimized with a conditional nonlinear optimization algorithm, taken into account the limited joint angles, velocities, and accelerations.If the noises of the joint angles are not negligible, then the maximum likelihood estimator can be used in a stochastic framework and an iterative optimization can be applied to minimize the Cramér-Rao lower bound of the estimation.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128625247","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}

{"title":"Comparison of estimation methods for identification of a robotic flight simulator","authors":"Aline da Conceição Matheus, E. Villani, W. R. de Oliveira","doi":"10.1109/ISMCR51255.2020.9263404","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263404","url":null,"abstract":"The aim of this work is to implement a representative dynamics model of the SIVOR flight simulator. Two experiments were conducted and used to estimate and validate the model; the first one excites one robot channel at once and the second excites more than one robot channel. Based on a previous study, we established the model structure. Three distinct approaches of black-box identification model were employed: transfer function models, space-state models and ARX models. The results obtained were similar and satisfactory for inputs until 1 Hz.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127332144","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}

{"title":"Sim-to-real reinforcement learning applied to end-to-end vehicle control","authors":"András Kalapos, Csaba Gór, Róbert Moni, I. Harmati","doi":"10.1109/ISMCR51255.2020.9263751","DOIUrl":"https://doi.org/10.1109/ISMCR51255.2020.9263751","url":null,"abstract":"In this work, we study vision-based end-to-end reinforcement learning on vehicle control problems, such as lane following and collision avoidance. Our controller policy is able to control a small-scale robot to follow the right-hand lane of a real two-lane road, while its training was solely carried out in a simulation. Our model, realized by a simple, convolutional network, only relies on images of a forward-facing monocular camera and generates continuous actions that directly control the vehicle. To train this policy we used Proximal Policy Optimization, and to achieve the generalization capability required for real performance we used domain randomization. We carried out thorough analysis of the trained policy, by measuring multiple performance metrics and comparing these to baselines that rely on other methods. To assess the quality of the simulation-to-reality transfer learning process and the performance of the controller in the real world, we measured simple metrics on a real track and compared these with results from a matching simulation. Further analysis was carried out by visualizing salient object maps.","PeriodicalId":102062,"journal":{"name":"2020 23rd International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130722038","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}