2016 IEEE International Conference on Robotics and Automation (ICRA)最新文献_第2页

Magnetic microrobots with addressable shape control 具有可寻址形状控制的磁性微型机器人

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487315

Hen-Wei Huang, M. Sakar, K. Riederer, Naveen Shamsudhin, A. Petruska, S. Pané, B. Nelson

引用次数: 13

Saccade Mirror 3: High-speed gaze controller with ultra wide gaze control range using triple rotational mirrors 扫视镜3:高速凝视控制器，超宽凝视控制范围，使用三重旋转镜

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487186

K. Iida, H. Oku

引用次数: 11

Towards autonomous phytopathology: Outcomes and challenges of citrus greening disease detection through close-range remote sensing 走向自主植物病理学:柑橘绿化病害近距离遥感检测的成果与挑战

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487719

Suproteem K. Sarkar, J. Das, R. Ehsani, Vijay R. Kumar

{"title":"Towards autonomous phytopathology: Outcomes and challenges of citrus greening disease detection through close-range remote sensing","authors":"Suproteem K. Sarkar, J. Das, R. Ehsani, Vijay R. Kumar","doi":"10.1109/ICRA.2016.7487719","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487719","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have the potential to significantly impact early detection and monitoring of plant diseases. In this paper, we present preliminary work in developing a UAV-mounted sensor suite for detection of citrus greening disease, a major threat to Florida citrus production. We propose a depth-invariant sensing methodology for measuring reflectance of polarized amber light, a metric which has been found to measure starch accumulation in greening-infected leaves. We describe the implications of adding depth information to this method, including the use of machine learning models to discriminate between healthy and infected leaves with validation accuracies up to 93%. Additionally, we discuss stipulations and challenges of use of the system with UAV platforms. This sensing system has the potential to allow for rapid scanning of groves to determine the spread of the disease, especially in areas where infection is still in early stages, including citrus farms in California. Although presented in the context of citrus greening disease, the methods can be applied to a variety of plant pathology studies, enabling timely monitoring of plant health-impacting scientists, growers, and policymakers.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"200 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116149680","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: 21

Port-based modeling of human-robot collaboration towards safety-enhancing energy shaping control 基于端口的增强安全能量整形控制人机协作建模

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487473

Milad Geravand, Erfan Shahriari, Alessandro De Luca, A. Peer

引用次数: 11

Unsupervised feature learning for classifying dynamic tactile events using sparse coding 基于稀疏编码的无监督特征学习动态触觉事件分类

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487428

Jean-Philippe Roberge, Samuel Rispal, T. Wong, Vincent Duchaine

{"title":"Unsupervised feature learning for classifying dynamic tactile events using sparse coding","authors":"Jean-Philippe Roberge, Samuel Rispal, T. Wong, Vincent Duchaine","doi":"10.1109/ICRA.2016.7487428","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487428","url":null,"abstract":"Robotic operations that involve the displacement of objects generate different kinds of dynamic events. These may simply correspond to normal robot-related motion, or contact(s) with the object(s) during grasping, but they may also be potentially-problematic events like slippage. In this paper, we use sparse data from tactile sensors to detect slippage and discriminate object-gripper slip from object-world slip. The method we propose can also identify vibrations that correspond to other dynamic events automatically, even when those events are not related to slippage. The tactile data can then be classified, allowing the robot to react accordingly. To achieve this goal, we compute the power spectral density (PSD) of the tactile dynamic signal, and we apply transformations to the PSD that were inspired by the automatic speech recognition (ASR) field. The originality of this work comes from using a sparse representation of the transformed data to obtain sparse vectors containing a small set of high-level features. Those sparse vectors are then used as inputs to a simple linear support vector machine (SVM), that acts as a classifier and quickly estimates the event to which they correspond. Our method was tested on data obtained from 244 experiments that were conducted on 32 different everyday-objects. Results show that we can successfully discriminate most of the dynamic events we studied in this work. Moreover, by using this technique, we are able to detect slippage with an accuracy of 92.60% and to differentiate object-gripper slip from object-world slip with a success rate of 89.42%.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122992969","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: 29

Optical-inertial tracking of an input device for real-time robot control 一种用于机器人实时控制的光学惯性跟踪输入装置

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487202

Florian Steidle, Andreas Tobergte, A. Albu-Schäffer

引用次数: 4

Denoising auto-encoders for learning of objects and tools affordances in continuous space 用于连续空间中对象和工具可视性学习的去噪自编码器

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487691

Atabak Dehban, L. Jamone, A. R. Kampff, J. Santos-Victor

{"title":"Denoising auto-encoders for learning of objects and tools affordances in continuous space","authors":"Atabak Dehban, L. Jamone, A. R. Kampff, J. Santos-Victor","doi":"10.1109/ICRA.2016.7487691","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487691","url":null,"abstract":"The concept of affordances facilitates the encoding of relations between actions and effects in an environment centered around the agent. Such an interpretation has important impacts on several cognitive capabilities and manifestations of intelligence, such as prediction and planning. In this paper, a new framework based on denoising Auto-encoders (dA) is proposed which allows an agent to explore its environment and actively learn the affordances of objects and tools by observing the consequences of acting on them. The dA serves as a unified framework to fuse multi-modal data and retrieve an entire missing modality or a feature within a modality given information about other modalities. This work has two major contributions. First, since training the dA is done in continuous space, there will be no need to discretize the dataset and higher accuracies in inference can be achieved with respect to approaches in which data discretization is required (e.g. Bayesian networks). Second, by fixing the structure of the dA, knowledge can be added incrementally making the architecture particularly useful in online learning scenarios. Evaluation scores of real and simulated robotic experiments show improvements over previous approaches while the new model can be applied in a wider range of domains.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114504026","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: 42

The Stochastic Traveling Salesman Problem and Orienteering for kinodynamic vehicles 动力学车辆的随机旅行推销员问题与定向

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487441

Aviv Adler, S. Karaman

{"title":"The Stochastic Traveling Salesman Problem and Orienteering for kinodynamic vehicles","authors":"Aviv Adler, S. Karaman","doi":"10.1109/ICRA.2016.7487441","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487441","url":null,"abstract":"In the classic Traveling Salesman Problem (TSP), the objective is to find the shortest path that visits a set of target locations. This problem is embedded and essential in many planning problems that arise in robotics, particularly in the domains of exploration, monitoring, surveillance, and reconnaissance. In this paper we consider the Stochastic TSP for Dynamical Systems, where a vehicle with complex dynamics is tasked with visiting n random target locations. By borrowing techniques from the applied probability literature, which were used to study the related stochastic Orienteering problem (where the vehicle has to visit as many of the n points as possible with a path of fixed length), we simplify and extend the existing results for both the TSP and the stochastic Orienteering problems to cases where the target points can be picked up only when the vehicle is in a certain configuration (i.e. it is not enough simply to be on the target point). Specifically, we show that there is a special parameter γ of the dynamics of the vehicle, which governs the length of the TSP tour. The length of the shortest path will then be Θ(n(γ-1)/γ) with very high probability. For stochastic Orienteering, if the path must have length at most λ, the vehicle can pick up Θ(λn1/γ) with very high probability. We also provide simple and efficient path planning algorithms which achieve these bounds, and are therefore within a constant factor of the length of the optimal path with very high probability.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121912692","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

Full-resolution reconfiguration planning for heterogeneous cube-shaped modular robots with only sliding motion primitive 仅滑动运动基元的异构立方体模块化机器人全分辨率重构规划

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487730

H. Kawano

引用次数: 11

Novel In situ nanomanipulation integrated with SEM-CT imaging system 结合SEM-CT成像系统的新型原位纳米操作

2016 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2016-05-16 DOI: 10.1109/ICRA.2016.7487341

M. Nakajima, Masaru Takeuchi, N. Hisamoto, T. Fukuda, Y. Hasegawa, Qiang Huang

{"title":"Novel In situ nanomanipulation integrated with SEM-CT imaging system","authors":"M. Nakajima, Masaru Takeuchi, N. Hisamoto, T. Fukuda, Y. Hasegawa, Qiang Huang","doi":"10.1109/ICRA.2016.7487341","DOIUrl":"https://doi.org/10.1109/ICRA.2016.7487341","url":null,"abstract":"This paper presents a novel In situ nanomanipulation integrated with scanning electron microscope- computed tomography (SEM-CT) imaging system for 3D nanomanipulation. In our previous works, a nanorobotic manipulation system was established inside an environmental-SEM (E-SEM) for water-contained samples, including biological organism, based on a real-time high resolution SEM observation. However, the SEM image is limited in two dimensional (2D) and surficial information from the signals of secondly electrons. For nanosurgery applications, such as nanoinjection, it is needed to evaluate the sample in 3D space with its internal information after manipulation. The SEM-CT imaging system is developed for In situ nanomanipulation based on SEM observation. The CT is an effective method to obtain the internal 3D information as a non-destructive manner. The imaging resolution of our SEM-CT system is in less than 400 nm. A Caenorhabditis elegans (C. elegans) was used as a target of biological sample. To improve the contrast of SEM-CT imaging of C. elegans, the X-ray was tested by generating using brass and copper materials. Finally, the nanoinjection was demonstrated with SEM-CT imaging system to C. elegans using the nanoinjector which was fabricated by focused ion beam (FIB) process.","PeriodicalId":200117,"journal":{"name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117098567","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