2022 8th International Conference on Automation, Robotics and Applications (ICARA)最新文献

{"title":"Fully Dynamic Line Maintenance by a Simple Robot","authors":"Nooshin Nokhanji, P. Flocchini, N. Santoro","doi":"10.1109/ICARA55094.2022.9738561","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738561","url":null,"abstract":"In this paper, we consider a hybrid system composed of a line of nano-sized passive elements incapable of movement (called tiles), which can be manipulated by an active mobile entity (called robot). The line maintenance problem requires the robot to operate so that, whenever a tile becomes faulty, it is removed from the line and all the non-faulty tiles are rearranged into a line, always maintaining connectivity in the overall structure. We propose a solution algorithm that works under the worst possible dynamic failure conditions: any tile can stop functioning at any time. Our algorithm requires the robot to have only minimal computational capabilities, that of a deterministic finite automaton.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126450419","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":"Tracking Multiple Zebrafish Larvae Using YOLOv5 and DeepSORT","authors":"Guoning Si, Fuhuan Zhou, Zhuo Zhang, Xuping Zhang","doi":"10.1109/ICARA55094.2022.9738556","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738556","url":null,"abstract":"Accurate tracking of zebrafish larva movements is essential to examine their dynamic behaviors in biomedical and pharmaceutical applications. However, the characteristic “burst” and sleep-like stationary movements of zebrafish will cause inconsistency in the detection and tracking, which hinders the observation of their identities and trajectories. To address these problems, this paper develops an accurate and reliable tracking system for multiple zebrafish larvae based on the current state-of-the-art detection technology YOLOv5 and multi-target tracking technology DeepSORT. The detection-based tracking system divided into two parts: detection and tracking. In the detection stage, the zebrafish larvae’s head position detected by using the trained YOLOv5 model. In the DeepSORT tracking phase, a Cascade matching algorithm utilized to match the identification of zebrafish larvae, which utilizes information on movement and appearance of larvae. On the one hand, the Mahalanobis distance used to evaluate the predicted value by the Kalman filter and the detected value by the YOLOv5 model. On the other hand, the appearance features model of the fish head trained and utilizes Cosine distance to evaluate between the stored values of the appearance features and the current frame appearance information. The proposed tracking system has been evaluated by using CLEAR MOT Metrics on five groups of zebrafish larvae videos under various complex imaging conditions. The results showed that the system had good performance in reducing the ID switch problem in complex environments, and the tracking accuracy could be up to 88.8%.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125597491","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":"LiDAR Ground Segmentation and Modeling for Mobile Robots in Unstructured Terrain","authors":"D. Skuddis, Juergen Koeberle, N. Haala","doi":"10.1109/ICARA55094.2022.9738519","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738519","url":null,"abstract":"Ground segmentation and modeling for point clouds generated by mobile laser scanners is an important processing step in the environment perception of mobile robots. Many methods that work well in urban areas do not work correctly in unstructured environments such as meadows or forests. We present a new method that works reliably in both structured urban areas and unstructured outdoor environments. Overall we design a three steps pipeline. First individual scattered ground base points are identified using purely geometric criteria. Based on the ground base points, the ground is then modeled as a triangle mesh in a second step. The triangle mesh is used to provide a relative height and a local slope. The effectiveness and robustness of the proposed method are confirmed and it shows promising results even under difficult conditions.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115210990","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":"Force-prediction Scheme for Precise Grip-lifting Movements","authors":"Maria Koskinopoulou, P. Falco, P. Trahanias","doi":"10.1109/ICARA55094.2022.9738532","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738532","url":null,"abstract":"In this work we present a novel Supervised Learning scheme for executing sensitive Force-based manipulation tasks. The proposed scheme, termed SLF, is formulated as a three-stage process: (a) supervised trial-execution in simulation to acquire sufficient training data; (b) training to facilitate grasp learning with suitable robot-arm pose and lifting force; (c) grasp execution in simulation. Consequently, following sim-to-real transfer, operation in real environments is achieved in addition to simulated ones, generalizing also for objects not included in the trial sessions. The proposed learning scheme is demonstrated in object lifting tasks where the applied force varies for different objects with similar contact friction coefficients, and likewise the grasping pose. Experimental results on the manipulator YuMi show that the robot is able to effectively reproduce demanding lifting and manipulation tasks after learning is accomplished.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129886575","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":"A Deep Learning Methodology to Detect Trojaned AI-based DDoS Defend Model","authors":"Yen-Hung Chen, Y. Lai, Cho-Hsun Lu, Yu-Ching Huang, Shun-Chieh Chang, P. Jan","doi":"10.1109/ICARA55094.2022.9738571","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738571","url":null,"abstract":"DDoS attack arranges bots to send low-speed traffic to backbone links and paralyze all servers in the target area. DDoS is difficultly defended due to the two research problems (1) indistinguishability of the changing DDoS characteristics and (2) the time series attack pattern, leading that the raising attention of developing varying DDoS defending methodologies. The conventional methods to defend DDoS apply a rules-based methodology that relies on the experience of algorithm designers and cannot reflect the changing attack characteristics of DDoS in a timely manner. Numerous artificial intelligence (AI) methodologies, therefore, are introduced to defend DDoS through end-to-end functionality (Input: network status; Output: defending action) without any manual intervention. However, the AI-based DDoS Defending model often outsources training to a machine-learning-as-a-service (MLaaS) provider because of the scarce training dataset and high hardware requirement. This may cause the model been trained maliciously, which is called the Artificial Intelligence Trojan attack (AI Trojan). AI Trojan means an AI model encounters a malicious training process and then have a good performance on normal data but behaves maliciously with certain data. This study proposes GAN based AI Robustness test algorithm, Deep Learning Attack Generator (DLAG), to verify that the artificial intelligence model has been fully trained to ensure the robustness of the model. DLAG can be divided into five steps: (1) DLAG randomly generates a sample, (2) generates noise that participates in the generation of a confrontation network (DLAG), (3) input the synthetic sample to the testing AI, (4) the test results will be recorded in the test report and fed back to GAN, and (5) a new synthetic sample will be generated again for the next test cycle. The simulation shows that our proposed DLAG can detect that the AI based DDoS/LFA detector is trained by imbalance data. The simulation results also demonstrate the potential and suggested development trait of AI Trojan detection methodology.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116377516","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":"IoT Enhancements for an In-house Calm Computing Environment","authors":"Athanasios Tsoukalas, Prince Steven Annor, E. Kafeza, A. Tzes","doi":"10.1109/ICARA55094.2022.9738570","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738570","url":null,"abstract":"This article describes IOT enhancements in a smart house so as to provide a calm computing environment. Experimental studies using a portable wireless EEG-casket indicate that the habitants’ calmness can increase with simple, yet effective reinforcements in the existing in-house infrastructure. A ground robot assists by providing services and spherical video feedback to the humans while remaining out of visual contact to them. Wireless sensors measuring the sound level, luminosity, humidity, CO, temperature, and pressure assist in the calmness. At the same time, the persons’ heart rate and their interaction with their smartphones is monitored resulting in appropriate actions. A Google-hub enabled device provides actions to the robot, a loudspeaker, an air-cooling device and powers up smart power outlets.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128012448","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":"Towards the Quantification of Robot-inclusiveness of a Space and the Implications on Robot Complexity","authors":"Prabhu R. Naraharisetti, M. Saliba, S. Fabri","doi":"10.1109/ICARA55094.2022.9738585","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738585","url":null,"abstract":"Every year many advanced robots are being introduced into manufacturing environments by a large number of robot manufacturers and integrators. Yet there are not many domestic robot manufacturers, and not many domestic robots introduced into the home spaces. Despite high technological advancement in various aspects related to robot performance, such as in sensing, navigation, and artificial intelligence, still there has been no commercially available multitasking domestic robot that can cater for the needs of the elderly or impaired. The main problem to address may not be the lack of adequate advanced technology but may instead be the complexity and dynamic nature of the home spaces. This has led to a new concept called robot-inclusive space (RIS). This paper introduces a new framework to quantify robot inclusiveness in home spaces, and to relate this to required robot complexity. We compare two commercially available robots with the proposed MARIS-II robot that is being developed in the Robotic Systems Laboratory at the University of Malta.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132626697","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":"Torocó: A Subsumption Architecture Implementation","authors":"Ignacio Bettosini, Agustín Clavelli, Guillermo Trinidad Barnech, J. Visca, Facundo Benavides","doi":"10.1109/ICARA55094.2022.9738521","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738521","url":null,"abstract":"Writing control software for robots poses specific challenges. Robotic systems are inherently real-time, concurrent, and tightly coupled to the physical environment through sensing and actuation. To ease the development of control software multiple architectures and frameworks have been proposed. Of special historical and theoretical importance is R. Brooks’ Subsumption Architecture, a framework for developing Reactive Systems.Despite its influence, there have been very few actual practical implementations. In this work, we present Torocó, a highly compliant implementation. This framework is portable and lightweight and thus can be deployed on multiple low-cost robotic platforms. This makes it useful as a research and experimental platform to study Subsumption and Reactive robotics architectures in general. Also, the system is easy to use and is useful as an educational tool. All components and a step-by-step guide to install all necessary dependencies are publicly available in gitlab.fing.edu.uy/fbenavid/toroco. Finally, we show how this architecture can be used to solve typical robotic tasks, demonstrating Subsumption’s composability and incremental development.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"22 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114010874","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":"Contactless Vitals Measurement Robot","authors":"Waleed Bin Khalid, Amna Anwar, O. T. Waheed","doi":"10.1109/ICARA55094.2022.9738523","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738523","url":null,"abstract":"The treatment of contagious diseases puts medical staff at the risk of getting the disease too. Covid-19 has been once such diseases due to which a lot of our front-line health care workers have lost their lives. When it comes to such diseases, special precautions are taken to ensure the safety of the medical staff. From wearing, multiple layers of protection equipment to establishing social distancing protocols, hospital managements come up with various logistical and technical solution to contain the spread of the virus, like they did for the on-going pandemic. Contactless vitals measurement, can be one good measure to reduce the exposure time of the healthcare workers to the patients of contagious diseases. In this work, we propose a contactless vitals monitoring robotics platform that assists the paramedic staff and minimizes exposure. This reduces the risk of transferring virus from one individual to another. It consists of a processor, temperature sensor and, RGB camera to monitor heart-rate, oxygen saturation, and blood pressure.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131022597","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":"MIMC-VADOC Model for Autonomous Multi-robot Formation Control Applied to Differential Robots","authors":"Kevin Marlon Soza Mamani, Jhon Ordoñez","doi":"10.1109/ICARA55094.2022.9738567","DOIUrl":"https://doi.org/10.1109/ICARA55094.2022.9738567","url":null,"abstract":"The present work highlights the development of a decentralized formation control model focused on mobile differential type robots. It refers its study mainly to the control design, subsequent simulation and implementation of control systems. The control theory starts from two different robot motion models. The first is related to trajectory and position control, meanwhile the second includes multi-robot control systems, especially associated to robotic swarms and potential fields. Subsequently, a list of formation control requirements is proposed. Based on this, the potential field-based multi-robot formation control model is developed. After simulations, the global model feedback and communication systems are implemented on real differential mobile robots. Finally, the complete control system is tested and compared with other models within a controlled indoor environment.","PeriodicalId":157936,"journal":{"name":"2022 8th International Conference on Automation, Robotics and Applications (ICARA)","volume":"346 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133154367","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}