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2020 Fourth IEEE International Conference on Robotic Computing (IRC)最新文献

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Person Re-Identification in Human Following Scenarios: An Experience with RGB-D Cameras 人类以下场景中的人再识别:使用RGB-D相机的经验
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00076
Simon Janzon, C. Sánchez, Matteo Zella, P. Marrón
{"title":"Person Re-Identification in Human Following Scenarios: An Experience with RGB-D Cameras","authors":"Simon Janzon, C. Sánchez, Matteo Zella, P. Marrón","doi":"10.1109/IRC.2020.00076","DOIUrl":"https://doi.org/10.1109/IRC.2020.00076","url":null,"abstract":"In order to acquire socially acceptable behaviors and seamlessly interact with humans, robots must employ robust solutions to identify, track and follow the interacting person in common environments. Robots nowadays typically are equipped with a camera which can be used to perform body as well as face recognition. However, as the person moves in the environment, the robot might lose track of the individual, e.g., behind corners or obstacles. We report our experience in the design and implementation of a solution that is able to track and follow a target person and that can re-identify the target if the line of sight is obstructed temporarily during following. Our initial experimentation highlights the impact of the employed sensor and the environment in which the person moves on the accuracy with which a persons can be re-identified in practice.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133476642","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: 1
Packing Planning and Execution Considering Arrangement Rules 考虑安排规则的包装计划与执行
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00023
A. Yasuda, G. A. G. Ricardez, J. Takamatsu, T. Ogasawara
{"title":"Packing Planning and Execution Considering Arrangement Rules","authors":"A. Yasuda, G. A. G. Ricardez, J. Takamatsu, T. Ogasawara","doi":"10.1109/IRC.2020.00023","DOIUrl":"https://doi.org/10.1109/IRC.2020.00023","url":null,"abstract":"To send a consumer the ordered products in e-commerce, it is necessary to pack the products into a container. When packing, we need to consider the arrangement of the products to avoid damaging them during transportation by using the know-how of packing. In this paper, we propose a packing robot that plans the arrangement and then executes it. To develop this robot, we employ two ideas: one idea is to split the whole process into the arrangement of the objects and robot motion generation. The arrangement is regarded as the 3D bin-packing problem. The other idea is to use the heuristics of the packing so that objects are stacked from the bottom. Since the space above the target position is free from collisions, the strategy to approach from the top reduces the possibility of the collision. In the experiments, we succeeded in arranging eleven objects satisfying the assigned rules and packing ten of the eleven objects using the robot.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123722484","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
Verifying autonomous decision making against environment assumptions: An experience report 根据环境假设验证自主决策:一份经验报告
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00059
Hoang Tung Dinh, T. Holvoet
{"title":"Verifying autonomous decision making against environment assumptions: An experience report","authors":"Hoang Tung Dinh, T. Holvoet","doi":"10.1109/IRC.2020.00059","DOIUrl":"https://doi.org/10.1109/IRC.2020.00059","url":null,"abstract":"Discrete decision making is a crucial software component of autonomous systems. Since many autonomous systems are safety-critical, it is important to have their decision making formally verified. Model checking is a well-known technique in computer science that can automatically verify the correctness of a system. In this paper we report our experience on applying different model checkers, including ProB, SPIN, TLC, Alloy and NuSMV, on verifying the discrete decision making of an autonomous UAV in an industrial application: pylon inspection. We study how the decision making logic of the UAV and the assumptions on its operating environment can be represented in each model checker and conduct a performance evaluation. The results demonstrate that only model checkers based on bounded model checking and symbolic model checking, that is, Alloy and NuSMV, are able to verify the decision making of the UAV in our case study.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116477387","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: 0
Real-Time Joint Torque Estimation on Embedded system using EMG and Artificial Neural Network for Exoskeleton Robot 基于肌电图和人工神经网络的外骨骼机器人嵌入式系统关节扭矩实时估计
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00091
Sangheum Lee, Harin Kim, Hyeonjun Park, Taeyang Gwon, D. Kim
{"title":"Real-Time Joint Torque Estimation on Embedded system using EMG and Artificial Neural Network for Exoskeleton Robot","authors":"Sangheum Lee, Harin Kim, Hyeonjun Park, Taeyang Gwon, D. Kim","doi":"10.1109/IRC.2020.00091","DOIUrl":"https://doi.org/10.1109/IRC.2020.00091","url":null,"abstract":"Recently, robots are being used in various fields, such as home, military, industrial robots, and in particular, the demand for exoskeleton robots that can be used in various industrial sites is gradually increasing by identifying human intentions and supporting insufficient muscle strength. Existing exoskeleton robots are controlled based on data such as estimated joint angles, torque, etc. using physical sensors such as force / torque sensors. This method of estimating torque is accurate but has a disadvantage of being slow. On the other hand, an EMG(Electromyography) signal is a biometric signal that is transmitted by electrical signals from the brain. Therefore, it is characterized by relatively inaccurate but faster measurement than actual muscle movement. In this paper, we propose a method to provide parameters in real time in a portable embedded system so that we can utilize EMG's features and utilize them directly in exoskeleton robots. This method use ANN(Artificial Neural Network) to enable estimation of faster speed as well as determination through precise mapping of EMG signals and target torque values. Finally, we propose a real-time torque estimation method that can be used complementary with existing physical sensors.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124737194","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: 0
Towards application level testing of ROS networks 面向ROS网络的应用层测试
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00081
Guido Breitenhuber
{"title":"Towards application level testing of ROS networks","authors":"Guido Breitenhuber","doi":"10.1109/IRC.2020.00081","DOIUrl":"https://doi.org/10.1109/IRC.2020.00081","url":null,"abstract":"Robotics is a highly interdisciplinary field where applications of complex architectures are built to solve challenging problems. Integration of multiple components in this environment continues to be a time-consuming, tedious and error-prone activity. Typical approaches in parallel component development or composition from re-usable components focus on structural and static aspects like ROS message and topic definitions. However, the behavioural part of robot software components is hardly ever specified in sufficient detail. In this work, we tackle this issue by proposing an application-level testing framework for robot software applications that uses a fluent API to describe the expected behaviour of an application or its components. This is a first step towards test-first based development of robot software in order to increase robot software quality.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114376893","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: 0
[Title Page] (标题页)
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/irc.2020.00001
{"title":"[Title Page]","authors":"","doi":"10.1109/irc.2020.00001","DOIUrl":"https://doi.org/10.1109/irc.2020.00001","url":null,"abstract":"","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114589249","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: 0
Automated Voluntary Finger Lifting Rehabilitation Support Device for Hemiplegic Patients to Use at Home 供偏瘫患者在家使用的自动主动手指提升康复支持装置
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00050
Nanami Onuki, Yuta Furudate, S. Mikami, Kaori Chiba, Yuji Ishida
{"title":"Automated Voluntary Finger Lifting Rehabilitation Support Device for Hemiplegic Patients to Use at Home","authors":"Nanami Onuki, Yuta Furudate, S. Mikami, Kaori Chiba, Yuji Ishida","doi":"10.1109/IRC.2020.00050","DOIUrl":"https://doi.org/10.1109/IRC.2020.00050","url":null,"abstract":"We have been proposing a robotic finger rehabilitation support device for hemiplegic patients that can be used at home. This device instructs a patient to lift a finger voluntarily and provides assistance when the patient is impossible to lift. In previous studies, we have shown an automated evaluation method which monitors the level of involuntary finger movement. However, the detailed procedure of finger rehabilitation has not been clarified. In this paper, we show a practical procedure of finger rehabilitation as well as a hardware design of the device. We also discuss safety issues during finger lift assistance. Our design limits the speed of finger lift so that it avoids unwanted contraction of finger muscles by stretch reflex. Also, the angle of finger lift is limited in our design so that it will not exceed the maximum excursion of an MP joint.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117118464","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: 0
Combining Symbolic and Motion Planners for Rearranging Tasks in Daily-life Environments 结合符号和运动规划器重新安排日常生活环境中的任务
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00017
P. M. U. Eljuri, G. A. G. Ricardez, Nishanth Koganti, J. Takamatsu, T. Ogasawara
{"title":"Combining Symbolic and Motion Planners for Rearranging Tasks in Daily-life Environments","authors":"P. M. U. Eljuri, G. A. G. Ricardez, Nishanth Koganti, J. Takamatsu, T. Ogasawara","doi":"10.1109/IRC.2020.00017","DOIUrl":"https://doi.org/10.1109/IRC.2020.00017","url":null,"abstract":"Humans do rearranging tasks every day. These tasks are time-consuming and tedious. Rearranging tasks are challenging because there are many problems to solve, such as identifying the items, manipulating the items, and finding a strategy to rearrange that can be completed with the robot. In this work, we focus on how to execute rearranging tasks and avoid errors in the motion planner such as not finding a valid solution. We propose to combine the symbolic planner with the motion planner using a feasibility database to confirm if the instructions received by the symbolic planner are valid or not. The final poses of the robot end effector are previously validated with the motion planner, so we avoid sending the robot to invalid poses. The proposed method was tested in a simulation environment doing a sandwich rearranging task in a convenience store setup.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117156919","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: 1
Mechanical and Computational Energy Estimation of a Fixed-Wing Drone 固定翼无人机的力学与计算能量估算
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00028
Adam Seewald, Héctor García de Marina, H. Midtiby, U. Schultz
{"title":"Mechanical and Computational Energy Estimation of a Fixed-Wing Drone","authors":"Adam Seewald, Héctor García de Marina, H. Midtiby, U. Schultz","doi":"10.1109/IRC.2020.00028","DOIUrl":"https://doi.org/10.1109/IRC.2020.00028","url":null,"abstract":"In this paper, we present a case study on the energy estimation of drones and derive a general modeling approach that estimates computational and mechanical energy separately. The mechanical energy model can easily be extended to other drones and is built using a Fourier series from a number of training flights. The computational energy model is more advanced as it handles heterogeneous hardware and incorporates a specification that defines the quality-of-service ranges for software components of the robotic system. The computational model is suitable for any mobile robot and is implemented in a modeling tool. The tool automatically generates an energy model from the specification by performing a set of empirical trials for selected configurations while approximating others. Information about the battery State of Charge is also included in the tool, hence allowing the evaluation of how different software configurations impact the battery. This approach can be used for dynamic mission assessment regarding different planning decisions. We here have demonstrated its ability to model the energy of a specific mission performed at varying levels of quality-of-service using a specific drone.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129684341","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: 5
Modeling and Execution of Coordinated Missions in Reconfigurable Robot Ensembles 可重构机器人系统协调任务建模与执行
2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00053
Martin Schörner, Constantin Wanninger, A. Hoffmann, Oliver Kosak, Hella Ponsar, W. Reif
{"title":"Modeling and Execution of Coordinated Missions in Reconfigurable Robot Ensembles","authors":"Martin Schörner, Constantin Wanninger, A. Hoffmann, Oliver Kosak, Hella Ponsar, W. Reif","doi":"10.1109/IRC.2020.00053","DOIUrl":"https://doi.org/10.1109/IRC.2020.00053","url":null,"abstract":"Unmanned aerial vehicles (UAV) can support various scenarios, e.g., serve as measuring instruments for climate research, help rescue forces in disaster scenarios or autonomously inspect critical infrastructure. To accomplish their respective tasks, UAVs are often equipped with different sensors and in some scenarios used in ensembles to work together cooperatively. In this paper, we present the Block Definition Language (BDL) for modeling and executing UAV missions. The BDL supports both the use of exchangeable sensors and appropriate coordination mechanisms for robot ensembles. We demonstrate our plugin mechanism in a proof of concept using the BDL in conjunction with the robotic middleware ROS for hardware control and robot synchronization.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127394267","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: 0
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