Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)最新文献

{"title":"Qualitative study between two mapping methods RTAB-MAP and HECTOR SLAM applied to probabilistc roadmap path planning","authors":"Ricardo S. Mello, N. S. F. Doria, A. Conceicao, P. Farias","doi":"10.29327/118637.1-3","DOIUrl":"https://doi.org/10.29327/118637.1-3","url":null,"abstract":"This work presents a qualitative map’s comparison generated by different approaches: visual sensing using a RGB-D camera and laser, by analysing the trajectories generated by a path planner in these maps. In order to achieve this, it was used the ROS framework and two of its packages for the occupation maps creation. For tracing the path, it was used the Probabilistic Roadmap route planning algorithm. The results have shown that despite higher immunity to noise, the 2D laser sensor fails to represent some obstacles on the map. In contrast, the RGB-D sensor produced a map with more noise, but with adequate representation of the obstacles present in the environment, generating a safer route for the robot.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127322677","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}

{"title":"Analysis of sound source localization and tracking for the @home service robot in multiple distances","authors":"T. S. B. Meyer, Plinio Thomaz Aquino-Junior","doi":"10.29327/118637.1-2","DOIUrl":"https://doi.org/10.29327/118637.1-2","url":null,"abstract":"Robots have been used in several areas, and in many of them it is common to see an interaction between a human and the robot. Human-Robot Interaction (HRI) became a crucial part on the process of understanding and creating machines, which will communicate using voice as the main factor. Speech is used as an input and an output of the communication between machines and humans, in the way that commands and answers are performed using this method. There are several Sound Source Localization and Tracking (SSLT) methods that may be used in an ambiance and many systems can be used to complete this task. To succeed in the usage of this knowledge source, establishing an appropriate system, which allows doing the calculus and implementation in a service robot, is necessary and, using the past work of the author, it was concluded. The main objective of this paper is to introduce some of the available methods for SSLT in the literature, and present results of the implementation and implantation of methods for a Domestic Service Robot, with the objective of having a more natural interaction with humans, allowing to interact the human facing front, instead of facing any direction.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116438916","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}

{"title":"Automatic code generation for new behaviors in a tool for set plays design","authors":"Raoni Sales, Ana Patrícia Fontes Magalhães, Marco A. C. Simões, J. Souza","doi":"10.29327/118637.1-8","DOIUrl":"https://doi.org/10.29327/118637.1-8","url":null,"abstract":"Coordinated plans in Multi-Agent Systems (MASs) are essential for the success of the system. In MultiRobot Systems (MRSs), collective sports consist of an important testbed for MASs. In special, robotic soccer is a well-known challenge for researchers in MRSs. Set-plays are collective plays that correspond to coordinated plans in the robotic soccer domain. Some tools for designing new set-plays were developed. This article proposes a solution to support the implementation of new behaviors for simulation and execution of cooperative MASs. The manual development of these behaviors requires prior knowledge of the source codes of these tools, and a high development effort. Our solution uses Model-Driven Development (MDD), which different from a low-level manual programming paradigm, enables the definition of a behavior in high abstraction level and subsequent (semi) automatic transformation of it in the source code for specific tools. The solution uses templates from the target platforms, and automatically accesses tools of simulation and execution of a cooperative MAS, updating its files, inserting the codes of new behavior. Experiments in a real soccer team of robots demonstrated their feasibility in generating source code for the FCPortugal SPlanner and Framework Tools for creating set-plays in robotic","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130621787","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}

{"title":"Bahiart: a big evolution through small fixes","authors":"Gabriel Sousa, M. A. C. Simões","doi":"10.29327/118637.1-9","DOIUrl":"https://doi.org/10.29327/118637.1-9","url":null,"abstract":"It is quite usual to have multiple people working on the same project, and at many times whether for lack of communication, turnover, or having too many projects at once, its hard to keep track of every little detail. Some of these details may seem irrelevant at first, but they might cause severe delays or even wholly cease the work on the project until they are fixed. With that in mind, we point out in this paper some examples of minor adjustments that caused a significant evolution on the Bahia Robotics Team (BahiaRT) robotic simulated soccer project. We describe an overview of the project and our working environment for each enhancement and its results.","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128096398","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}

{"title":"Evaluation of mobile robot localization system's accuracy based on sensor data fusion technique","authors":"H. A. Santos, Robson M. Silva, J. A. Campo","doi":"10.29327/118637.1-1","DOIUrl":"https://doi.org/10.29327/118637.1-1","url":null,"abstract":"fundamental e uma das tarefas mais importantes para os sistemas de navegação. Na navegação autônoma, o robô deve estar ciente de sua localização no ambiente para que possa determinar a trajetória que deve seguir para executar alguma tarefa. Uma das formas mais comuns na robótica móvel para obter a localização do robô é a utilização da odometria baseada no movimento das rodas. O problema deste mecanismo é que apresenta uma imprecisão crescente ao longo do tempo e uma sensibilidade elevada ao tipo de pavimento. Uma maneira de melhorar a precisão do posicionamento do robô é através da fusão de outros sensores capazes de medir o deslocamento e rotações do robô. Os sensores mais utilizados para melhorar o conhecimento da posição do robô é a odometria visual e os sensores inerciais. Este trabalho propõe analisar a precisão dos sistemas de posicionamento baseado na odometria obtida das rodas, de sensores inerciais e da odometria visual e o impacto da fusão destes mecanismos na precisão da localização do robô. Para análise da precisão do movimento do robô será comparada a trajetória real de um robô de duas rodas utilizando os sistemas de navegação individualmente e combinados através da técnica de fusão de sensores. Abstract — The accurate localization of a robot is a fundamental challenge and one of the most important tasks for navigation systems. In autonomous navigation systems, the robot must keep aware of its location in the environment in order to determine the path it must follow to perform some task. One of the most common ways in mobile robotics to obtain the localization of the robot is the use of odometry based on the movement of the robot's wheels. The problem of this mechanism is that it presents an increasing imprecision over time and a high sensitivity to the type of pavement. One way to improve the robot's positioning accuracy is by fusing data of other sensors capable of measuring the robot's displacement and speed. The most used sensors to improve the knowledge of the robot's position are visual odometry and inertial sensors. This paper proposes to analyze the accuracy of the positioning systems based on the odometry obtained from the wheels, inertial sensors and visual odometry and the impact of the fusion of these mechanisms on the accuracy of the robot's localization. To analyze the accuracy of the robot's movement, the real trajectory of a two-","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"7 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114434515","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}

{"title":"Analysis of trunk compensation in robot-assisted rehabilitation","authors":"Alice T. Garcia, S. A. V. E. Silva, Leonardo L. Guimarães, Vinícius Menezes de Oliveira","doi":"10.29327/118637.1-13","DOIUrl":"https://doi.org/10.29327/118637.1-13","url":null,"abstract":"Assistive Robotics has been showing an important tool in the patient rehabilitation process. The rehabilitation of patients using traditional therapeutic approaches has not achieved results, causing therapeutic approaches that use robotics to gain more and more strength. With this, a series of new ones can be used with the intention of auxiliary rehabilitation of patients with limited restrictions, especially those who have suffered post-stroke trauma. Stroke patients often use the trunk to compensate for impaired upper limb motor function during upper limb rehabilitation training, or that results in a reduced effect of rehabilitation training. Detecting trunk offsets can improve the effect of rehabilitation training. Therefore, this study aims to analyze the behavior of the movement of the trunk of five volunteers, who do not have any type of restriction, in the execution of four predefined movements. The objective is to verify if, even without any type of restriction, the process of executing movements of the trunk to execute movements. The Kinect v2 sensor was used to capture information. 1Graduate Student in Computer Engineering Graduate Program at the Federal University of Rio Grande (FURG), Rio Grande (RS), Brazil alicetissotgarcia@gmail.com, sibylaavs@gmail.com, llcguimaraes@hotmail.com 2Associate Professor at Federal University of Rio Grande (FURG), Rio Grande (RS), Brazil vinicius@ieee.org I. INTRODUÇÃO Uma série de novos programas de reabilitação estão sendo estudados e aperfeiçoados há algum tempo, como por exemplo: robótica de reabilitação, reabilitação baseada em jogos, dentre outros. Tais programas apresentam, muitas vezes, resultados muito mais satisfatórios que os obtidos com a fisioterapia convencional, além é claro de tornar o processo fisioterapêutico muito mais atraente, frequente e menos invasivo [13]. Segundo a Sociedade Brasileira de Doenças Cerebrovasculares (SBDCV), o Acidente Vascular Cerebral (AVC) é a doença que mais mata os brasileiros, além de ser a principal causa de incapacidade no mundo. Em torno de 70% das pessoas que sofrem AVC não retornam ao trabalho e em torno de 50% das pessoas ficam dependentes de outras pessoas para as tarefas básicas do dia a dia. Segundo a Organização Mundial de AVC estes números tendem a piorar, visto que eles preveem que uma a cada seis pessoas no mundo terão AVC ao longo de sua vida [11]. Apesar do grande progresso no tratamento de doenças vasculares, o AVC ainda é a principal causa de incapacidade a longo prazo no mundo. Muitos sobreviventes de AVC experimentam déficits neurológicos complexos que prejudicam a qualidade do movimento, resultantes não apenas de problemas motores, mas também de problemas cognitivos e comportamentais [3]. Considerando os números apresentados verifica-se a real importância de se conseguir abordagens terapêuticas que auxiliem na reabilitação de pessoas pós AVC. Quando o assunto remete a abordagens terapêuticas tradicionais, os números não são muito bons, vi","PeriodicalId":256382,"journal":{"name":"Proceedings of the III Brazilian Humanoid Robot Workshop (BRAHUR) and IV Brazilian Workshop on Service Robotics (BRASERO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129074771","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}