Shi-min Shi, Lei Wang, M. Johnston, A. Rahman, Gurjeet Singh, Youmin Wang, P. Chiang
{"title":"Pathway to a compact, fast, and low-cost LiDAR","authors":"Shi-min Shi, Lei Wang, M. Johnston, A. Rahman, Gurjeet Singh, Youmin Wang, P. Chiang","doi":"10.1109/ICCAR.2018.8384676","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384676","url":null,"abstract":"Powered by our home-made fast processing electronics, three generations of MCU/FPGA-controlled mirror-rotating LiDAR systems are presented here, demonstrating the pathway toward a LiDAR system with small form-factor, fast refreshing rate, and low cost. Experimental measurements demonstrate that the final LiDAR system is capable of scanning at fixed horizontal and vertical 40° FOV, 4.7 FPS and 41 by 41 resolution.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"345 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127580265","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}
Lixin Yang, Q. Cao, Minjie Lin, Haoruo Zhang, Zhuoming Ma
{"title":"Robotic hand-eye calibration with depth camera: A sphere model approach","authors":"Lixin Yang, Q. Cao, Minjie Lin, Haoruo Zhang, Zhuoming Ma","doi":"10.1109/ICCAR.2018.8384652","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384652","url":null,"abstract":"This paper presents a new depth-based hand-eye calibration method to find the transformation between depth camera and robot wrist. Owing to the true hand-eye transformation is hard to obtained, indirect measurements depending on robot movements and calibration tools is adopted. In our method, A sphere, which has simple and elegant parameterized presentation, is used as calibration tool. The points cloud acquired from the depth camera viewing the calibration tool are aligned to a virtual sphere model by RANSAC to find the translation part of the homogeneous transformation between depth camera and calibration tool. The rotational part of the transformation is ambiguous thus eliminated by reformulating the hand-eye calibration problem. Then a non-linear optimization method is proposed to solve the hand-eye rotation and translation simultaneously. Due to the ground truth hand-eye transformation is not available, a quantitative error measurement is adopted to measure the accuracy.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125128064","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":"Modeling and simulation analysis of active magnetic bearing","authors":"L. Zeng, Min Dai, Zhida Zhu, J. Sun, Yuwei Zhang","doi":"10.1109/ICCAR.2018.8384687","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384687","url":null,"abstract":"The working principle of the active asynchronous induction magnetic bearing is investigated in this paper. First, the mathematical model of radial force and torque for the magnetic bearing is established. Then, the corresponding control model of the system is proposed. Finally, the experimental simulation was carried out in MATLAB / SIMULINK environment, and the experimental results showed that the system has good stability and high robustness.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116843197","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":"Effective sensor fusion of a mobile robot for SLAM implementation","authors":"Irem Toroslu, M. Doğan","doi":"10.1109/ICCAR.2018.8384648","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384648","url":null,"abstract":"The Simultaneous Localization and Mapping (SLAM) is the process of building a map of an environment with an unknown topography by a mobile robot. The purpose of this paper is to build a mapping of an unknown environment by the mobile robot which we designed through the help of sensor fusion algorithms we have established. The mobile robot performs its mapping process by using the combination of ultrasonic, optical encoder and IMU sensors. Determining the position of the obstacles and its own location, for the mobile robot, is the core of this study. Inertial and rotational sensors are utilized to calculate the distance and position of the mobile robot. Due to low cost, the ultrasonic sensor is used instead of a Lidar laser, and the real-like results were provided. In this study, the robot's direction and movement is performed by an algorithm developed on the Raspberry Pi processor. This algorithm controls the movement of the wheels with the information received from the optical encoder and protractor. The data received from the gyroscope and the accelerometer is very affected from many external factors such as vibrational motion and the noise, eventhough, we used moving average filter and complementary filter to reduce the effect of the noise and measurement error problems. However, they still produce faulty results when calculating distance values. Therefore, the distance computation is carried out by using optical encoder instead of the accelerometer. The algorithm of the distance computation is written in Python programming language. In this study, it is established that the comparative usage of several detectors provide more accurate results. At the same time, the system is quite efficiently developed by using open structure software (Raspberry Pi, Linux etc.) and writing authentic libraries. The robot's coordinate information are combined under simulation medium by using Pygame library and by computing the coordinates of its location and the coordinates of the objects' locations it detects during its navigation. The mobile robot executes its mapping process according to these data derived. Also, the effects of margin of error in the information obtained during the comparable usage of detectors are studied within the scope of this study.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124316876","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":"Genetic algorithms and unsupervised machine learning for predicting robotic manipulation failures for force-sensitive tasks","authors":"Luca Parisi, N. RaviChandran","doi":"10.1109/ICCAR.2018.8384638","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384638","url":null,"abstract":"Recent advances in the state-of-the-art force-torque sensors have improved the close-loop control of robotic manipulators. However, it is still challenging to perform a force-sensitive pick-and-place task, unless a considerable number of sensors monitor the process. The predictive capability of failures in conventional robotic object-sorting systems are limited. Using fifteen force-torque samples from the University of California-Irvine (UCI) database, we demonstrate the viability of failure prediction using an unsupervised Machine Learning (ML)-based method, whose learning parameters were optimised via Genetic Algorithms (GAs). This hybrid algorithm was deployed for discriminating between manipulation failure and successful object placement. GA was used to avoid overfitting or overtraining. The proposed model could detect robotic manipulation failures with 91.95% classification accuracy, thus improving on the performance of previous classification methods. This study validates the use of GAs and unsupervised ML to predict the extent of success for force-sensitive object placement using information on forces and torques alone.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123309342","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":"Safe human robot collaboration — Operation area segmentation for dynamic adjustable distance monitoring","authors":"Martin J. Rosenstrauch, J. Krüger","doi":"10.1109/ICCAR.2018.8384637","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384637","url":null,"abstract":"A core challenge of human robot collaboration is to ensure safety. By renouncing guards potential hazards raise. In this paper an approach is presented where the actual used operating area of an industrial robot gets segmented out of his whole workspace. Therefore an industrial robot gets monitored with a time of flight sensor. Subsequently the recorded 3D data gets processed and the operating area segmented by applying an octree algorithm. The information thus determined about the hazard zone can be used for an application specific adjustment of safety periphery systems. This is exemplary realized by ultrasound distance sensor modules which get individually parametrized depending on the pre-segmented operating area.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133191312","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}
M. J. Koopaee, Birgit Van Huijgevoort, C. Pretty, Xiao Qi Chen
{"title":"Parameters tuning of snake robots sidewinding gait using Bayesian optimization","authors":"M. J. Koopaee, Birgit Van Huijgevoort, C. Pretty, Xiao Qi Chen","doi":"10.1109/ICCAR.2018.8384642","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384642","url":null,"abstract":"In this paper, Bayesian optimization has been employed to maximize the forward velocity of a developed snake robot, when performing side-winding motion. Taking into account the snake body shape, the optimization has been performed in the high dimensional space of gait parameters by imposing appropriate bounds on the optimization parameters, which guarantees that each parameter to be evaluated will result a valid motion. Experimental results, which show 34 percent faster motion with necessary practical consideration are included to show the effectiveness of the proposed method.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125215088","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":"Persistent mobile aerial surveillance platform using intelligent battery health management and drone swapping","authors":"Alexander G Williams, O. Yakimenko","doi":"10.1109/ICCAR.2018.8384677","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384677","url":null,"abstract":"Unmanned systems continue to be at the forefront of development for many industries, including homeland security and military. Unmanned systems operate with increasingly more advanced autonomy. According to the Defense Science Board report of 2012, the key aspect of enhancing autonomy is providing persistency. However, onboard fuel, in general, and battery capacity, for the electrically-powered systems in particular, limit the operational time of many systems characterized as persistent. That is why these days researchers explore a variety of solutions that have their advantages and disadvantages depending on the mission. These include using tethered systems, ground pads with contact and wireless (inductive) battery charging, solar-powered ground stations, power-line recharging stations, hydrogen fuel cells, solar-powered drones, laser-beam inflight recharging, etc. This paper focuses on the development and evaluation of simpler and seemingly more cost-efficient approach for a multi-rotor aerial persistent system enabling longer-duration missions using vehicle swapping and intelligent battery management. The developed prototype consists of three commercially available quadcopters, a wireless network router, and a laptop to execute Python code. System operation assumes autonomous operation swapping vehicles to maintain an airborne platform in the loiter area based on battery health. Based on analysis and assessment of the field test results, this paper proves the feasibility of the developed concept. For example, utilizing just four vehicle swaps the aerial surveillance platform was continuously available in the loiter area (on target) for about an hour, which is more than five times the air time of a single vehicle. While the field testing was conducted with a limited number of batteries, having nine batteries and chargers (for the particular commercial-off-the shelf system) would allow the developed system to operate for much longer durations, pretty much indefinitely.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"35 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120838510","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":"Maximization of operational workspace of a mobile manipulator system","authors":"Vinay Varma Kalidindi, A. Vick, J. Krüger","doi":"10.1109/ICCAR.2018.8384714","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384714","url":null,"abstract":"This paper puts forward a proposition of designing manipulator setup on a mobile platform so as to enhance the Operational Workspace range of a given Mobile-Manipulator system, by introducing the concept of Installation angle. This concept is theoretically tested on a Mobile-manipulator system built from the chosen robots, for the given operational parameters. As a part of this testing, Manipulator workspace has been expressed and approximated in terms of its enclosure volume for quantitative comparability.","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114932731","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":"Development of a 3D-printed biped robot with distributed joint control","authors":"Williard Joshua D. Jose, M. Ramos","doi":"10.1109/ICCAR.2018.8384647","DOIUrl":"https://doi.org/10.1109/ICCAR.2018.8384647","url":null,"abstract":"Biped robot research is currently undertaken by the Robotics and Automation Laboratory. The project is broadly divided into three parts: the mechanical design, electronic design, and control design. The biped developed was a 10-DOF robot. The parts were modeled using Solidworks software. After being modeled, the parts were then 3D printed and lasercut. DC motors with built-in encoders were acquired for joint control. Each of the six joints (right and left ankle, knee, and hip) had its own joint controller board with a microcontroller and one/two motor drivers, connected using controller area network to a master controller. The joint controllers control the motor using PWM, and read the joint positions through the use of incremental hall-effect encoders. They also implement a proportional-integral-derivative (PID) controller. The step response of each joint was tested. It was found that the rise time and settling time of each joint was adequate for the task, less than 250 ms and 350 ms respectively. The biped robot was also tasked to follow two trajectories. The maximum position error for any joint was two degrees, with steady-state errors less than 0.5 degrees. In the future, the biped robot could be used for future research, with the addition of appropriate sensors (such as pressure sensors on the feet or an inertial measurement unit).","PeriodicalId":106624,"journal":{"name":"2018 4th International Conference on Control, Automation and Robotics (ICCAR)","volume":"1988 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130746503","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}