2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献_第3页

Real-Time Gait Events Detection during Walking of Biped Model and Humanoid Robot through Adaptive Thresholds 基于自适应阈值的双足模型和仿人机器人行走过程实时步态事件检测

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.58

Joana Figueiredo, C. Ferreira, C. Santos, J. Moreno, Luis Paulo Reis

{"title":"Real-Time Gait Events Detection during Walking of Biped Model and Humanoid Robot through Adaptive Thresholds","authors":"Joana Figueiredo, C. Ferreira, C. Santos, J. Moreno, Luis Paulo Reis","doi":"10.1109/ICARSC.2016.58","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.58","url":null,"abstract":"Temporal abnormalities in events and gait phases of human walking can be potentially applied in the gait performance analysis. In this study is presented a novel real-time gait events detector that continuously considers the previous gait motions in order to improve this gait analysis. The detection of heel-strike and toe-off events is performed by a finite state machine (FSM), through decision rules and adaptive thresholds. The proposed algorithm stands out of the state-of-the-art by using adaptive thresholds in the FSM's decision rules, making the proposed gait event detector robust to sporadic perturbations, and adaptive to locomotion mode changes. For such, three stages were considered: thresholds' calibration, real-time detection of gait events and thresholds' update. Anatomical differences between lower limbs demanded independent FSMs for each limb. The algorithm was validated in a simulated biped model, and on a real DARwIn-OP robot, what shows up the generality of the proposed approach. Results highlight that the proposed algorithm correctly detects the gait events (accuracy of 100% and 84.348% in simulated and real conditions, respectively), with average time delays from 15.5 to 34ms. Thus, the proposed detector is an adaptive, accurate and versatile tool for real-time analysis of the feet movements along gait cycle.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127081938","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: 10

From Video Games Multiple Cameras to Multi-robot Teleoperation in Disaster Scenarios 从视频游戏、多摄像头到灾难场景中的多机器人远程操作

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.41

Jorge de León, M. Garzón, David Garzón-Ramos, Eduardo Narvaez, J. Cerro, A. Barrientos

引用次数: 7

A Flexible Robotic Framework for Autonomous Manufacturing Processes: Report from the European Robotics Challenge Stage 1 自主制造过程的柔性机器人框架:欧洲机器人挑战赛第一阶段报告

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.15

Arne-Christoph Hildebrandt, C. Schuetz, Daniel Wahrmann, Robert Wittmann, D. Rixen

{"title":"A Flexible Robotic Framework for Autonomous Manufacturing Processes: Report from the European Robotics Challenge Stage 1","authors":"Arne-Christoph Hildebrandt, C. Schuetz, Daniel Wahrmann, Robert Wittmann, D. Rixen","doi":"10.1109/ICARSC.2016.15","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.15","url":null,"abstract":"Common industrial automation approaches consist on heavy and fixed robotic manipulators working in separated and closed production lines. Recent advances in sensing and control yield flexible and versatile robotic manipulator platforms, which could work in barrier-free production areas and might be the next advance in industrial production. In our contribution, we present a sophisticated and completely autonomous software framework for handling complex pickand-place tasks using state-of-the-art tools and algorithms. It covers applicable solutions for 3D image processing, motion planning, grasping as well as error handling and task scheduling strategies. Its competitiveness in terms of robustness and performance has been proven by earning the first place among 39 teams from all over Europe in the simulation stage of the EuRoC. At the challenge 2 of this EU-funded project, a mobile robotic platform is used for intelligent, flexible and highly automated production systems. We discuss our results as well as the applicability of our framework to real industrial applications.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"19 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132287104","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: 8

Concurrent 3D Object Category Learning and Recognition Based on Topic Modelling and Human Feedback 基于主题建模和人类反馈的并行三维对象类别学习与识别

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.28

S. Kasaei, L. Lopes, A. Tomé

{"title":"Concurrent 3D Object Category Learning and Recognition Based on Topic Modelling and Human Feedback","authors":"S. Kasaei, L. Lopes, A. Tomé","doi":"10.1109/ICARSC.2016.28","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.28","url":null,"abstract":"In open-ended domains, autonomous robots must have the ability to continuously process visual information, and execute learning and recognition in a concurrent and interleaved fashion. Because the set of categories to be learned is not predefined, it is not feasible to assume that one can pre-program all object categories required by service robots. Topic modelling approaches usually construct the topics from a training set to recognize objects. However, in open-ended domains, the data available for training increases continuously. If limited training data is used, this might lead to non-discriminative topics and, as a consequence, to poor object recognition performance. This paper proposes an object recognition system capable of learning object categories as well as the topics used to encode objects concurrently and in an open-ended manner. This system provides a robot with the capabilities to, (i) use unsupervised object exploration to construct a dictionary of visual words for representing objects and (ii) conceptualize object experiences and learn new object categories using topic modelling and human feedback. To examine the performance of the system, an on-line evaluation protocol is used to assess the performance of the system in an open-ended setting. The experimental results show the fulfilling performance of this approach on different types of objects.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121559547","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

Configurable Mobile Robot Behaviors Implemented on FPGA Based Architectures 基于FPGA架构的可配置移动机器人行为实现

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.29

J. Savage, J. Cruz, Mauricio Matamoros, D. Rosenblueth, Stalin Muñoz, Marco Negrete

{"title":"Configurable Mobile Robot Behaviors Implemented on FPGA Based Architectures","authors":"J. Savage, J. Cruz, Mauricio Matamoros, D. Rosenblueth, Stalin Muñoz, Marco Negrete","doi":"10.1109/ICARSC.2016.29","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.29","url":null,"abstract":"For educational purposes there is a need to teach electrical and computer engineering students the basics of the design of state machines using programmable logic devices, and for students interested in mobile robots to teach them the basics of mobile robots' behaviors. At the same time one of the topics of interest in the mobile robot's community is how to generate their new behaviors, using state machines, automatically. This paper discusses how to create mobile robots' behaviors using genetic algorithms (GAs), implementing them in programmable logic devices (FPGAs) and how these behaviors can be programmed by students in a mobile robotics course. The behaviors are encoded as algorithm state machines and using feed-forward artificial neural networks (ANN). In the state-machine approach, each individual's chromosome represents, given a set of inputs coming from the sensors and the current state, both the next state and the outputs that control the robot's movements. In the ANN approach, whose weights are found also with GAs, a pipeline architecture was built to perform it, each pipeline executes a layer of the ANN, thus once the pipeline is full the execution speed of the ANN is one sensors' clock cycle. We evaluate the behaviors generated by the GA according to a fitness function that grades their performance for avoiding obstacles. The inputs to such a robot are infrared sensors to detect obstacles, the outputs are the velocities of its wheels. Our objectives are first, to prove that GAs are a good option as a method for finding behaviors for mobile robots' navigation, and second, that these behaviors can be implemented in an efficient way in FPGAs. We tested both behaviors in a small mobile robot, that is build in an electrical engineering course that teaches how to build mobile robots.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"394 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116670098","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

Chess Brain and Autonomous Chess Playing Robotic System 国际象棋大脑和自主下棋机器人系统

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.27

Hafiz Muhammad Luqman, Mubeen Zaffar

{"title":"Chess Brain and Autonomous Chess Playing Robotic System","authors":"Hafiz Muhammad Luqman, Mubeen Zaffar","doi":"10.1109/ICARSC.2016.27","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.27","url":null,"abstract":"In this paper, a 4 degree-of-freedom (DOF) chess playing robotic manipulator and computer vision based chess recognition system are presented. The robotic system is capable of playing chess game autonomously against human or another robotic system. The logical system consists of anti-glare camera mounted on the chessboard, which acts as an eye of robot, personal computer for run-time implementation of computer vision algorithm, an open-source chess engine used as chess brain of robotic manipulator, which plays chess algorithmic ally on behalf of robot, and of course robot itself. On development side, a simple image segmentation based computer vision algorithm was developed to find the legitimate chess move and human hand motion detection, a software system was developed that enables the robot to pick and drop chess pieces from prescribed chess boxes, lastly communication channel was exploited for interfacing computer vision algorithm with chess engine. The whole robotic system is formulated from recycled machine parts and open source tools. The convincing performance of computer vision algorithm and robotic manipulator testifies by its 1st position in IEEE Final Year Project Competition Lahore 2012.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"214 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115501864","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

A Mosaicking Approach for Visual Mapping of Large-Scale Environments 大尺度环境视觉映射的镶嵌方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.18

A. Pinto, Henrique Pinto, A. Matos

{"title":"A Mosaicking Approach for Visual Mapping of Large-Scale Environments","authors":"A. Pinto, Henrique Pinto, A. Matos","doi":"10.1109/ICARSC.2016.18","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.18","url":null,"abstract":"Nowadays, the technological and scientific research related to underwater perception is focused in developing more cost-effective tools to support activities related with the inspection, search and rescue of wreckages and site exploration: devices with higher autonomy, endurance and capabilities. Currently, specific tasks are already carried out by remotely-operated vehicles (ROV) and autonomous underwater vehicles (AUV) that can be equipped with multiple sensors, including optical cameras which are extremely valuable for perceiving marine environments, however, the current perceptual capability of these vehicles is still limited. In this context, the paper presents a novel mosaicking method that composes the sea-floor from a set of visual observations. This method is called RObust and Large-scale MOSaicking (ROLAMOS) and it enables an efficient frame-to-frame motion estimation with outliers removal and consistence checking, a robust registration of monocular images and, finally, a mosaic management methodology that makes it possible to map large visual areas with a high resolution. The experiments conducted with realistic images have proven that the ROLAMOS is suitable for mapping large-scale sea-floor scenarios because the visual information is registered by managing the computational resources that are available onboard, which makes it appropriate for applications that do not have specialized computers. Further, this is a major advantage for automatic mosaic creation based on robotic applications, that require the location of objects or even structures with high detail and precision.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126309688","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: 10

Improving Heuristics of Optimal Perception Planning Using Visibility Maps 利用可视性地图改进最优感知规划的启发式方法

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.44

T. Pereira, A. Moreira, M. Veloso

{"title":"Improving Heuristics of Optimal Perception Planning Using Visibility Maps","authors":"T. Pereira, A. Moreira, M. Veloso","doi":"10.1109/ICARSC.2016.44","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.44","url":null,"abstract":"In this paper we consider the problem of motion planning for perception of a target position. A robot has to move to a position from where it can sense the target, while minimizing both motion and perception costs. The problem of finding paths for robots executing perception tasks can be solved optimally using informed search. In perception path planning, the solution for the perception task considering a straight line without obstacles is used as heuristic. In this work, we propose a heuristic that can improve the search efficiency. In order to improve the node expansion using a more informed search, we use the robot Approximate Visibility Map (A-VM), which is used as a representation of the observability capability of a robot in a given environment. We show how the critical points used in A-VM provide information on the geometry of the environment, which can be used to improve the heuristic, increasing the search efficiency. The critical points allow a better estimation of the minimum motion and perception cost for targets in non-traversable regions that can only be sensed from further away. Finally, we show the contributed heuristic dominates the common heuristic (based on the euclidian distance), and present the results of the performance increase in terms of node expansion.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121362851","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

Knowledge-Based Framework for Human-Robots Collaborative Context Awareness in USAR Missions USAR任务中基于知识的人机协同上下文感知框架

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.50

Rohit Chandra, R. Rocha

引用次数: 5

Evolving Neural Networks for Multi-robot Odor Search 基于进化神经网络的多机器人气味搜索

2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.37

João Macedo, Lino Marques, E. Costa

引用次数: 1