2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)最新文献

2D laser based road obstacle classification for road safety improvement 基于二维激光的道路障碍物分类改进道路安全

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-07-01 DOI: 10.1109/ARSO.2015.7428199

Pierre Merdrignac, Evangeline Pollard, F. Nashashibi

{"title":"2D laser based road obstacle classification for road safety improvement","authors":"Pierre Merdrignac, Evangeline Pollard, F. Nashashibi","doi":"10.1109/ARSO.2015.7428199","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428199","url":null,"abstract":"Vehicle and pedestrian collisions often result in fatality to the vulnerable road users (VRU), indicating a strong need of technologies to protect such persons. Laser sensors have been extensively used for moving obstacles detection and tracking. Laser impacts are produced by reflection on these obstacles which suggests that more information is available for their classification. This paper proposes a new system to address this issue. We introduce the design of our system that is divided in three parts : definition of geometric features describing road obstacles, multiclass object classification from an Adaboost trained classifier and track class assignment by integrating consecutive classification decision values. During this study, we show how specific features adapted to urban obstacles enhance the state of the art method for person detection in 2D laser data. Hence, in this paper, we evaluate usefulness of each feature and list the best ones. Moreover, we investigate the influence of laser height for each class showing that classification performance depends on the sensor position. Finally, we tested our system on some laser sequences and showed that it can estimate the class of some road obstacles around the vehicle with an accuracy of 87.4%.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"82 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128156573","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: 17

Robots delivering services to moving people: Individual vs. group patrolling strategies 为移动人群提供服务的机器人:个人与群体巡逻策略

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-07-01 DOI: 10.1109/ARSO.2015.7428216

Jacques Saraydaryan, F. Jumel, Olivier Simonin

引用次数: 4

HandiViz project: Clinical validation of a driving assistance for electrical wheelchair handviz项目:电动轮椅驾驶辅助装置的临床验证

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-07-01 DOI: 10.1109/ARSO.2015.7428213

Marie Babel, François Pasteau, S. Guégan, P. Gallien, B. Nicolas, B. Fraudet, S. Achille-Fauveau, D. Guillard

{"title":"HandiViz project: Clinical validation of a driving assistance for electrical wheelchair","authors":"Marie Babel, François Pasteau, S. Guégan, P. Gallien, B. Nicolas, B. Fraudet, S. Achille-Fauveau, D. Guillard","doi":"10.1109/ARSO.2015.7428213","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428213","url":null,"abstract":"Autonomy and independence in daily life, whatever the impairment of mobility, constitute fundamental needs that participate to the self-esteem and the well-being of disabled people. In this context, assistive technologies are a relevant answer. To address the driving assistance issue, we propose in this paper a unified shared control framework able to smoothly correct the trajectory of the electrical wheelchair. The system integrates the manual control with sensor-based constraints by means of a dedicated optimization strategy. The resulting low-complex and low-cost embedded system is easily plugged onto on-the-shelf wheelchairs. The robotic solution has been then validated through clinical trials that have been conducted within the Rehabilitation Center of Pôle Saint Hélier (France) with 25 volunteering patients presenting different disabling neuro-pathologies. This assistive tool is shown to be intuitive and robust as it respects the user intention, it does not alter perception while reducing the number of collisions in case of hazardous maneuvers or in crowded environment.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128777768","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: 17

Development of dynamically artificial flowers driven by shape memory alloy and pulse width modulation 形状记忆合金和脉宽调制驱动动态人工花卉的研制

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428198

C. Pan, Y. B. Wang, H. Pan

{"title":"Development of dynamically artificial flowers driven by shape memory alloy and pulse width modulation","authors":"C. Pan, Y. B. Wang, H. Pan","doi":"10.1109/ARSO.2015.7428198","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428198","url":null,"abstract":"Artificial flowers are mainly static objects. If we can make them movable with actuating mechanisms, sensors and controllers, this will make them more lively and entertaining. The aim of this paper is to develop artificial flower ornaments with dynamic, modular, programmable and green-energy characteristics. The dynamically artificial flower ornaments show the performances: bending of stems, blooming of petals, spreading of fragrance and flapping of butterflies. Besides, solar power to simulate photosynthesis (it is just an analogy to actual photosynthesis) will be used to energize the dynamically artificial flower ornaments. Instead of using conventional mechanisms and electromagnetic motor to actuate the flower ornaments, we use shape memory alloy (SMA) as actuators and pulse width modulation (PWM) as drive circuit to avoid complication, lager volume and noise generation of the components. Four types of the SMA actuators are made of SMA wire (Ti50%-Ni45%-Cu5%) with one way shape memory effect and 0.6mm in diameter. The performance of each SMA actuator is evaluated. By using PWM, the SMA actuators have high response time and low energy consumption in acting cycle.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116865578","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

Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains 基于稳定性的不平路面移动机械臂规划与轨迹跟踪

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428212

Jae-Yun Jun, V. Padois, F. Benamar

引用次数: 4

Robotic co-manipulation with 6 DoF admittance control: Application to patient positioning in proton-therapy 具有6自由度导纳控制的机器人协同操作:在质子治疗患者定位中的应用

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428220

Julien Baumeyer, P. Vieyres, S. Miossec, C. Novales, G. Poisson, Samuel Pinault

引用次数: 11

Vision based target tracking using an unmanned aerial vehicle 基于视觉的无人机目标跟踪

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428194

E. Harik, F. Guérin, F. Guinand, J. Brethé, Hervé Pelvillain, Adel Zentout

引用次数: 14

On the design of a low-cost, light-weight, and highly versatile agricultural robot 设计一种低成本、轻量化、高通用性的农业机器人

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428210

Lars Grimstad, Cong Dung Pham, Huynh Nhat Trinh Phan, P. From

引用次数: 27

Real-time power-efficient integration of multi-sensor occupancy grid on many-core 多传感器占用网格多核实时节能集成

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428211

T. Rakotovao, Julien Mottin, D. Puschini, C. Laugier

引用次数: 11

Enhancement of interface robot using RT middleware and RSNP network protocol 利用RT中间件和RSNP网络协议增强接口机器人

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI: 10.1109/ARSO.2015.7428205

Daiki Nomiyama, N. Matsuhira, M. Sano, Toru Yamaguchi

引用次数: 5