2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)最新文献

Improving visual SLAM accuracy through deliberate camera oscillations 通过有意的相机振荡提高视觉SLAM精度

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-21 DOI: 10.1109/ROSE.2013.6698435

M. Heshmat, M. Abdellatif, Hossam S. Abbas

{"title":"Improving visual SLAM accuracy through deliberate camera oscillations","authors":"M. Heshmat, M. Abdellatif, Hossam S. Abbas","doi":"10.1109/ROSE.2013.6698435","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698435","url":null,"abstract":"Visual Simultaneous Localization And Mapping, (VSLAM) algorithms exploit the observation of scene naturally-existing distinct features to infer the camera motion and build a map of a static environment. There is an increasing interest towards building efficient VSLAM algorithms mainly from computational perspectives; however, there may be insufficient clues to solve for SLAM parameters efficiently. In this paper, deliberate camera oscillations are superimposed on the camera main motion (robot motion), mostly in a lateral direction to give sufficient physical clues for the solution. Filtering methods exploit correlation to infer the motion parameters, and since oscillation introduces more local changes, it can enhance the estimation by correlation. Simulation results are presented showing the effects of oscillation parameters on visual SLAM performance in different motion scenarios. The results showed significant improvement of accuracy for oscillating camera over the steady camera case, and in several cases errors are reduced to less than half its value. These simulation results can be the basis to design a real experimental system.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114434675","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}

引用次数: 4

A novel approach for automated car body panel fitting 一种汽车车身面板自动装配的新方法

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698441

M. Herrmann, M. Otesteanu, M. Otto

引用次数: 1

A literature review of sensor ontologies for manufacturing applications 制造应用传感器本体的文献综述

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698425

C. Schlenoff, T. Hong, Connie Liu, R. Eastman, S. Foufou

{"title":"A literature review of sensor ontologies for manufacturing applications","authors":"C. Schlenoff, T. Hong, Connie Liu, R. Eastman, S. Foufou","doi":"10.1109/ROSE.2013.6698425","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698425","url":null,"abstract":"The purpose of this paper is to review existing sensor and sensor network ontologies to understand whether they can be reused as a basis for a manufacturing perception sensor ontology, or if the existing ontologies hold lessons for the development of a new ontology. We develop an initial set of requirements that should apply to a manufacturing perception sensor ontology. These initial requirements are used in reviewing selected existing sensor ontologies. Additionally, we present our developed sensor ontology thus far that incorporates a refined list of requirements. This paper describes 1) extending and refining the requirements; 2) proposing hierarchical structures for verifying the purposes of the ontology; 3) choosing appropriate tools and languages (e.g., OWL (Web Ontology Language) [1] and SensorML (Sensor Markup Language) [2]) to support such an ontology; and 4) extending the Semantic Sensor Network (SSN) ontology with a set of refined requirements (i.e., our developed ontology). This work will be proposed as a standard within the IEEE (Institute of Electrical and Electronics Engineers) Robotics and Automation Society (RAS) Ontologies for Robotics Automation (ORA) Working Group [3].","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128689819","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}

引用次数: 26

Considerations on deploying a model-based safety system into human-robot co-operation 在人机合作中部署基于模型的安全系统的考虑

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698409

Yi Shen, G. Reinhart

引用次数: 0

Instrumentation system for ship air wake measurement 船舶空气尾流测量仪器系统

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698427

Anil Kumar, P. Ben-Tzvi, M. R. Snyder, Wael Saab

引用次数: 11

A practical approach to coverage control for multiple mobile robots with a circular sensing range 具有圆形感应距离的多移动机器人覆盖控制的实用方法

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698428

Vatana An, Z. Qu

{"title":"A practical approach to coverage control for multiple mobile robots with a circular sensing range","authors":"Vatana An, Z. Qu","doi":"10.1109/ROSE.2013.6698428","DOIUrl":"https://doi.org/10.1109/ROSE.2013.6698428","url":null,"abstract":"This paper presents a practical approach to coverage planning with multiple circular mobile sensors. Our approach provides a scalable solution with respect to distance, sensor's range, time, and nonholonomic constraints. In addition to achieving complete and near optimal coverage, our approach also autonomously controls each mobile robot to avoid all moving and stationary obstacles. Our solution relies on the Art Gallery Problem's (AGP) concept and Traveling Salesman Problem's (TSP) concept which are NP-hard. Our approach follows six steps. First, given an arbitrary number of statically circular objects, apply the Delaunay Triangulation Method on the objects. Second, apply the Circular Waypoint Coverage Placement algorithm, based on the sensing range, to find the Cartesian coordinate of waypoint required for each face. Third, apply the traveling salesman algorithm to find the desirable tour. Fourth, apply the Novel Previous-Next Waypoints Coverage Constraint (PNWCC) algorithm to reduce the distance and angle among all waypoints in the tour, while maintaining complete coverage. Each and every waypoint may move to a different position or delete as a result of this step. Fifth, apply a cubic Spline algorithm to smooth the tour. Sixth, apply the Trajectory Planning Technique to steer the mobile robots from the given desired initial position and orientation to the desired final position and orientation collision-free and on time.","PeriodicalId":187001,"journal":{"name":"2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131025287","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}

引用次数: 3

A new trajectory-based path planning approach for differential drive vehicles 基于轨迹的差动驱动车辆路径规划新方法

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698433

Cheng-Lung Lee, M. Krishnan, M. Paulik, Utayba Mohammad

引用次数: 0

Tendon transmission efficiency of a two-finger haptic glove 一种双指触觉手套的肌腱传递效率

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698411

Zhou Ma, P. Ben-Tzvi

引用次数: 8

Adaptive sliding mode position control of electro-hydraulic servo system with single-rod actuators 单杆电液伺服系统的自适应滑模位置控制

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698446

Xinliang Lu, J. Shan, Zhou Jing, Xingsong Wang

引用次数: 6

Adaptive control for lift-off effect of EMAT based on IF-THEN rules and ultrasound RMS value 基于IF-THEN规则和超声均方根值的EMAT升空效应自适应控制

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2013-10-01 DOI: 10.1109/ROSE.2013.6698423

Saul Orzua, A. Baltazar, C. Treesatayapun

引用次数: 3