2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献_第3页

Fast and scalable multi-robot deployment planning under connectivity constraints 连接约束下的快速可扩展多机器人部署规划

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733637

Yaroslav Marchukov, L. Montano

引用次数: 3

PolySLAM: A 2D Polygon-based SLAM Algorithm 一种基于二维多边形的SLAM算法

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733647

Johann Dichtl, X. S. Le, G. Lozenguez, L. Fabresse, N. Bouraqadi

引用次数: 3

A Review on Commercially Available Anthropomorphic Myoelectric Prosthetic Hands, Pattern-Recognition-Based Microcontrollers and sEMG Sensors used for Prosthetic Control 市售拟人肌电假肢手、基于模式识别的微控制器和用于假肢控制的表面肌电信号传感器的综述

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733629

Alexandre Calado, F. Soares, Demétrio Matos

引用次数: 25

3D Simulator with Hardware-in-the-Loop capability for the Micromouse Competition 3D模拟器与硬件在环的能力，为微鼠比赛

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733640

Luis Piardi, Lucas Eckert, José Lima, P. Costa, A. Valente, A. Nakano

{"title":"3D Simulator with Hardware-in-the-Loop capability for the Micromouse Competition","authors":"Luis Piardi, Lucas Eckert, José Lima, P. Costa, A. Valente, A. Nakano","doi":"10.1109/ICARSC.2019.8733640","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733640","url":null,"abstract":"Robotics competitions are a way to challenge researchers, roboticists and enthusiastic to address robot applications. One of the well-known international competition is the Micromouse where the fastest mobile robot to solve a maze is the winner. There are several topics addressed in this competition such as robot prototyping, control, electronics, path planning, optimization, among others while keeping the size of the robot as small as possible. A simulation can be used to speed-up the development and testing algorithms but faces the gap between a simulation and reality, specially in the dynamics behaviour. There are some simulation environments that allow to simulate the Micromouse competition, but in this paper, an Hardware-in-the-loop simulator tool is presented where the simulated robot is controlled by the same microcontroller used by the robot. By this way, the developed algorithms are tested and validated with the limitations and constraints presented in the real hardware, such as memory and processing capabilities. The robot dynamics, the slippage of the wheels, the friction and the 3D visualization are present in the simulator. The presented results show that the same code and hardware controlling the simulated and the real robot identically.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114203708","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: 9

Environment-Aware Locomotion Mode Transition Prediction System 环境感知运动模式转换预测系统

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733658

Simão P. Carvalho, Joana Figueiredo, C. Santos

{"title":"Environment-Aware Locomotion Mode Transition Prediction System","authors":"Simão P. Carvalho, Joana Figueiredo, C. Santos","doi":"10.1109/ICARSC.2019.8733658","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733658","url":null,"abstract":"Current research suggests the emergent need to predict locomotion mode (LM) transitions to allow a natural and smooth response of lower limb active assistive devices such as prostheses and orthosis for daily life locomotion assistance. The purpose of this work is to develop an automatic, user-independent system using an environment-aware strategy to predict LM transitions. We applied an infrared laser system to measure the distance between the user and the terrain ahead. A three-layer decision tree with heuristic decision rules only dependent on infrared laser features was implemented to predict LM transitions. The prediction system was validated with 10 healthy subjects that performed 8 LM transitions in different terrains (level-terrain, stairs, and ramps). The results showed a prediction accuracy above 80% for all LM transitions, achieving 100% prediction success for transitions ramp/stair descend to level-terrain. All the LM transitions were predicted with high prediction time (> 0.73 seconds) which empowers its integration on assistive devices control strategies. The prediction system accurately and time-effectively predicts 8 different LM transitions only using the infrared laser sensor. It approached indoor and outdoor terrains, relevant for daily-life locomotion applications, and was more polyvalent and effective than previous environment-aware systems.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115117889","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: 12

Shop Floor Virtualization and Industry 4.0 车间虚拟化与工业4.0

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733657

A. Martins, Hugo Costelha, Carlos Neves

引用次数: 13

An Hierarchical Architecture for Docking Autonomous Surface Vehicles 一种自动对接地面车辆的层次结构

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733620

P. Leite, R. Silva, A. Matos, A. Pinto

引用次数: 16

Real- Time LiDAR-based Power Lines Detection for Unmanned Aerial Vehicles 基于激光雷达的无人机电力线实时检测

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733646

Fábio Azevedo, A. Dias, J. Almeida, Ana Oliveira, André Ferreira, T. Santos, A. Martins, E. Silva

{"title":"Real- Time LiDAR-based Power Lines Detection for Unmanned Aerial Vehicles","authors":"Fábio Azevedo, A. Dias, J. Almeida, Ana Oliveira, André Ferreira, T. Santos, A. Martins, E. Silva","doi":"10.1109/ICARSC.2019.8733646","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733646","url":null,"abstract":"The growing dependence of modern-day societies on electricity increases the importance of effective monitoring and maintenance of power lines. Endowing UAVs with the appropriate sensors for inspecting power lines, the costs and risks associated with the traditional foot patrol and helicopter-based inspections can be reduced. However, this implies the development of algorithms to make the inspection process reliable and autonomous. Visual methods are usually applied to locate the power lines and their components, but poor light conditions or a background rich in edges may compromise their results. To overcome those limitations, we propose to address the problem of power line detection and modeling based on LiDAR. A novel approach to the power line detection was developed, the PL2DM - Power Line LiDAR-based Detection and Modeling. It is based in a scan-by-scan adaptive neighbor minimalist comparison for all the points in a point cloud. The power line final model is obtained by matching and grouping several line segments, using their collinearity properties. Horizontally, the power lines are modeled as a straight line, and vertically as a catenary curve. The algorithm was validated with a real dataset, showing promising results both in terms of outputs and processing time, adding real-time object-based perception capabilities for other layers of processing.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"267 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124285075","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: 10

EMG-based Motion Intention Recognition for Controlling a Powered Knee Orthosis 基于肌电图的运动意图识别控制动力膝关节矫形器

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733628

P. Fernandes, Joana Figueiredo, Luís Moreira, Paulo Félix, Ana Correia, J. Moreno, C. Santos

{"title":"EMG-based Motion Intention Recognition for Controlling a Powered Knee Orthosis","authors":"P. Fernandes, Joana Figueiredo, Luís Moreira, Paulo Félix, Ana Correia, J. Moreno, C. Santos","doi":"10.1109/ICARSC.2019.8733628","DOIUrl":"https://doi.org/10.1109/ICARSC.2019.8733628","url":null,"abstract":"Powered assistive devices have been playing a major role in gait rehabilitation. This work aims to develop a user-oriented assistive strategy with an EMG-based control using a powered knee orthosis (PKO) to provide assistive commands according to the user's motion intention tracked by electromyography (EMG) signals. To achieve this goal, the work first comprised the development of a wired EMG acquisition system, the study and implementation of a knee joint torque estimation method, and the development of a real-time controller, which uses the estimated torque as the reference actuator's torque to provide user-oriented assistance in walking. We used a proportional gain method to estimate the knee torque, which required a calibration procedure, allowing to determine the relation between the EMG signal and the actuator's torque. The EMG-based control was validated with two subjects walking in a treadmill. The EMG-based control performed as expected since it proved to be functional and time-effective when assisting the user's movements in walking at different walking speeds. Findings show that the developed assistive strategy can effectively follow the user's motion intention and has the potential for gait rehabilitation of patients with residual muscular strength.","PeriodicalId":198320,"journal":{"name":"2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123380141","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: 7

Learning high-level robotic soccer strategies from scratch through reinforcement learning 通过强化学习从零开始学习高水平机器人足球策略

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2019-04-01 DOI: 10.1109/ICARSC.2019.8733606

Miguel Abreu, L. Reis, Henrique Lopes Cardoso

引用次数: 1