2020 Fourth IEEE International Conference on Robotic Computing (IRC)最新文献_第9页

Exploiting Cognitive Architectures to Design Storytelling Activities for NarRob 利用认知架构设计《NarRob》的故事叙述活动

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00078

Adriana Bono, A. Augello, G. Pilato, S. Gaglio

引用次数: 0

Testudine, a Graphical User Interface for Physical Integration Testing 用于物理集成测试的图形用户界面Testudine

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-11-01 DOI: 10.1109/IRC.2020.00082

Floris Erich, N. Ando

引用次数: 0

Post Quantum Secure Command and Control of Mobile Agents Inserting quantum-resistant encryption schemes in the Secure Robot Operating System 在安全机器人操作系统中插入抗量子加密方案的移动代理后量子安全指挥与控制

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-09-16 DOI: 10.1109/IRC.2020.00012

R. Varma, Chris Melville, C. Pinello, T. Sahai

引用次数: 2

A Deep Learning-Based Autonomous Robot Manipulator for Sorting Application 基于深度学习的自主机械手分拣应用

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-09-08 DOI: 10.1109/IRC.2020.00055

Hoang-Dung Bui, Hai V. Nguyen, Hung M. La, Shuai Li

引用次数: 4

LoCUS: A Multi-Robot Loss-Tolerant Algorithm for Surveying Volcanic Plumes 轨迹:一种多机器人的火山羽流测量容错算法

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-09-01 DOI: 10.1109/IRC.2020.00025

J. Erickson, Abhinav Aggarwal, G. M. Fricke, M. Moses

引用次数: 3

Stealth UAV through Coandă Effect 通过科安德效应的隐形无人机

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-04-29 DOI: 10.1109/IRC.2020.00040

Dongyoon Shin, Hyeji Kim, Jihyuk Gong, Uijeong Jeong, Yeeun Jo, E. Matson

{"title":"Stealth UAV through Coandă Effect","authors":"Dongyoon Shin, Hyeji Kim, Jihyuk Gong, Uijeong Jeong, Yeeun Jo, E. Matson","doi":"10.1109/IRC.2020.00040","DOIUrl":"https://doi.org/10.1109/IRC.2020.00040","url":null,"abstract":"This paper uses CoandăEffect to reduce motors, the source of noise, and finds low noise materials with sufficient lift force so that it can achieve acoustical stealth UAVs.According to NASA research [1], the noise of UAVs is better heard to people. But there must be some moments when we need to operate the drones quietly, so how can we reduce the noise? In previous research, there have also been steady attempts to produce UAVs using CoandăEffect, but have never tried to achieve Acoustic Stealth through Coanda UAVs. But Coanda Effect uses only one motor and is structurally quiet. So we tried to find quiet methods (materials, structures) while at the same time having sufficient stimulus through the CoandăEffect. Verification went through experiments. The control group used the most common type of Quadrone, and determine if the hypothesis is correct by testing various structures and materials under the same conditions, and measuring noise. UAVs using CoandăEffect are not of any shape or structure that is not changeable, and internal space is also empty. That's why the CoandăEffect UAV we present can be improved through follow-up research. That's why the CoandăEffect UAV could open up a new frontier for the Stealth UAVs.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130418045","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

Testing a non-deterministic robot in simulation - How many repeated runs ? 在模拟中测试一个不确定的机器人-重复运行多少次?

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-03-09 DOI: 10.1109/IRC.2020.00048

Clément Robert, Jérémie Guiochet, H. Waeselynck

引用次数: 2

Skewed-redundant Hall-effect Magnetic Sensor Fusion for Perturbation-free Indoor Heading Estimation 倾斜冗余霍尔效应磁传感器融合无摄动室内航向估计

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-02-17 DOI: 10.1109/IRC.2020.00064

M. Karimi, Edwin Babaians, Martin Oelsch, Tamay Aykut, E. Steinbach

{"title":"Skewed-redundant Hall-effect Magnetic Sensor Fusion for Perturbation-free Indoor Heading Estimation","authors":"M. Karimi, Edwin Babaians, Martin Oelsch, Tamay Aykut, E. Steinbach","doi":"10.1109/IRC.2020.00064","DOIUrl":"https://doi.org/10.1109/IRC.2020.00064","url":null,"abstract":"Robust attitude and heading estimation with respect to a known reference is an essential component for indoor localization in robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using 9-axis solid-state MEMS-based sensors. The accuracy of heading estimation on such a system depends on the Earth's magnetic field measurement accuracy. The measurement of the Earth's magnetic field using MEMS-based magnetometer sensors in an indoor environment, however, is strongly affected by external magnetic perturbations. This paper presents a novel approach for robust indoor heading estimation based on skewed-redundant magnetometer fusion. A tetrahedron platform based on Hall-effect magnetic sensors is designed to determine the Earth's magnetic field with the ability to compensate for external magnetic field anomalies. Additionally, a correlation-based fusion technique is introduced for perturbation mitigation using the proposed skewed-redundant configuration. The proposed fusion technique uses a correlation coefficient analysis for determining the distorted axis and extracts the perturbation-free Earth's magnetic field vector from the redundant magnetic measurement. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the magnetic field measurement and estimates the Earth's true magnetic field. Using the proposed platform, we achieve a Root Mean Square Error of 12.74° for indoor heading estimation without using an additional gyroscope.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-02-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130320024","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

Sim2Real2Sim: Bridging the Gap Between Simulation and Real-World in Flexible Object Manipulation Sim2Real2Sim:在灵活的对象操作中弥合模拟和现实世界之间的差距

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-02-06 DOI: 10.1109/IRC.2020.00015

Peng Chang, T. Padır

引用次数: 23

A 3D Reactive Navigation Algorithm for Mobile Robots by Using Tentacle-Based Sampling 基于触手采样的移动机器人三维响应式导航算法

2020 Fourth IEEE International Conference on Robotic Computing (IRC) Pub Date : 2020-01-24 DOI: 10.1109/IRC.2020.00009

Neset Unver Akmandor, T. Padır

{"title":"A 3D Reactive Navigation Algorithm for Mobile Robots by Using Tentacle-Based Sampling","authors":"Neset Unver Akmandor, T. Padır","doi":"10.1109/IRC.2020.00009","DOIUrl":"https://doi.org/10.1109/IRC.2020.00009","url":null,"abstract":"This paper introduces a reactive navigation framework for mobile robots in 3-dimensional (3D) space. The proposed approach does not rely on the global map information and achieves fast navigation by employing a tentacle-based sampling and their heuristic evaluations on-the-fly. This reactive nature of the approach comes from the prior arrangement of navigation points on tentacles (parametric contours) to sample the navigation space. These tentacles are evaluated at each timestep, based on heuristic features such as closeness to the goal, previous tentacle preferences and nearby obstacles in a robot-centered 3D grid. Then, the navigable sampling point on the selected tentacle is passed to a controller for the motion execution. The proposed framework does not only extend its 2D tentacle-based counterparts into 3D, but also introduces offline and online parameters, whose tuning provides versatility and adaptability of the algorithm to work in unknown environments. To demonstrate the superior performance of the proposed algorithm over a state-of-art method, the statistical results from physics-based simulations on various maps are presented. The video of the work is available at https://youtu.be/rrF7wHCz-0M.","PeriodicalId":232817,"journal":{"name":"2020 Fourth IEEE International Conference on Robotic Computing (IRC)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131088030","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: 2