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2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)最新文献

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Recognition of Banknotes in Multiple Perspectives Using Selective Feature Matching and Shape Analysis 基于选择性特征匹配和形状分析的多角度纸币识别
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.59
Carlos M. Costa, G. Veiga, A. Sousa
{"title":"Recognition of Banknotes in Multiple Perspectives Using Selective Feature Matching and Shape Analysis","authors":"Carlos M. Costa, G. Veiga, A. Sousa","doi":"10.1109/ICARSC.2016.59","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.59","url":null,"abstract":"Reliable banknote recognition is critical for detecting counterfeit banknotes in ATMs and help visual impaired people. To solve this problem, it was implemented a computer vision system that can recognize multiple banknotes in different perspective views and scales, even when they are within cluttered environments in which the lighting conditions may vary considerably. The system is also able to recognize banknotes that are partially visible, folded, wrinkled or even worn by usage. To accomplish this task, the system relies on computer vision algorithms, such as image preprocessing, feature detection, description and matching. To improve the confidence of the banknote recognition the feature matching results are used to compute the contour of the banknotes using an homography that later on is validated using shape analysis algorithms. The system successfully recognized all Euro banknotes in 80 test images even when there were several overlapping banknotes in the same test image.","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":"122198702","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
Discussion of the State of the Art of the Cane's Market 甘蔗市场技术现状的讨论
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.36
T. Pereira, E. Seabra, C. Santos
{"title":"Discussion of the State of the Art of the Cane's Market","authors":"T. Pereira, E. Seabra, C. Santos","doi":"10.1109/ICARSC.2016.36","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.36","url":null,"abstract":"This paper approaches the cane's market and identifies some of its flaws. Walking sticks are a very common asset due its simplicity and ease of use, however at times it can be a dangerous, unreliable object and cause serious injuries. Due to canes' popularity between mobility aids there is a need of improvement in security and stability. This work reviews the cane's state-of-the-art considering the relevant features. Both commercial solutions as well as academic research have been considered. Search included patents related with walking stick. There is also an observation about health issues that come from canes daily use. The article summarizes these features and proposes a new cane, with proposed improvements to the common cane, in order to obtain a better use of the cane, avoiding risks and flaws from the use of the cane that are harmful to the health. This model is largely biomechanical inspired in the human gait.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"28 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":"133606238","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
Convex Shape Generation by Robotic Swarm 机器人群凸形状生成
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.33
I. Vatamaniuk, G. Panina, A. Saveliev, A. Ronzhin
{"title":"Convex Shape Generation by Robotic Swarm","authors":"I. Vatamaniuk, G. Panina, A. Saveliev, A. Ronzhin","doi":"10.1109/ICARSC.2016.33","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.33","url":null,"abstract":"Forming a predetermined spatial shape is one of the most important problems of modern swarm robotics. The work presented here focuses on the motion planning for the swarm of identical robots in the task of spatial reconfiguration. The main requirement is that the reconfiguration must be collision free, that is, at each moment the pairwise distances between robots should not be smaller than some fixed minimal admissible distance. A collision-free navigation algorithm that generates a prescribed convex surface is presented. It includes trajectory computation combined with delay assignment. The computer simulation results demonstrate that the proposed algorithm works efficiently even for big swarms.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"3 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":"127457012","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: 9
A Holonic Control System Design for a Human & Industrial Robot Cooperative Workcell 人-工业机器人协同工作单元全息控制系统设计
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.16
Ahmed R. Sadik, B. Urban
{"title":"A Holonic Control System Design for a Human & Industrial Robot Cooperative Workcell","authors":"Ahmed R. Sadik, B. Urban","doi":"10.1109/ICARSC.2016.16","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.16","url":null,"abstract":"As a result of the rapid development in industrial robot technology, a close safe cooperation with the human worker became quite possible. Accordingly an appropriate control system must exist to provide an intelligent tool for their information interaction. Therefore this paper is proposing a novel implementation model for a holonic control system solution. The ultimate goal of the proposed holonic control system is to adeptly manage the information exchange between an industrial robot in cooperation with a human worker in a production workcell. The novelty in the proposed holonic solution is that it merges the advantages of two well-known control architectures. The two architectures are IEC 61499 standard and autonomous reactive agent model. IEC 61499 has been used to implement the holon physical component, to handle the physical input/output (I/O) from/to an industrial robot or a human worker. Simultaneously autonomous reactive agent technology has been used to implement the holon communication component, to handle the information exchange between an industrial robot holon and a worker holon.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"47 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":"126103503","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
Improving Task Performance through High Level Shared Control of Multiple Robots with a Context Aware Human-Robot Interface 基于上下文感知人机界面的多机器人高层共享控制提高任务性能
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.45
Simon O'Keeffe, T. Ward, Rudi C. Villing
{"title":"Improving Task Performance through High Level Shared Control of Multiple Robots with a Context Aware Human-Robot Interface","authors":"Simon O'Keeffe, T. Ward, Rudi C. Villing","doi":"10.1109/ICARSC.2016.45","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.45","url":null,"abstract":"In multi-robot control, robots need the ability to perform well in the absence of valid human input. This paper describes a shared control scheme for multiple robots where control can be traded between human and autonomous agents on the fly, reducing the negative effect of robots requiring attention while the user's attention is devoted elsewhere. The control approach is a hybrid of traded control where the control is traded between the human and autonomous agents and coordinated control where high level human user commands are mapped to low level implementation under partial control of the autonomous system. An allocation authority decides whether the user or autonomous agent is controlling the robot at a given time based on a command context. This allocation authority control scheme is compared to a coordinated control scheme in a multi-robot soccer domain. The results demonstrate that an allocation authority approach produces improved task performance and may have generalizable applicability. Specifically in the context of robotic soccer, the proposed control scheme was shown to have 18.5% more possession and 8.2% more territory than traded control while also reducing mental demands on users.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"9 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":"131141209","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
Intelligent-Based Robot to Deal with Contradictions 处理矛盾的智能机器人
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.48
Diana Costa, M. Martins
{"title":"Intelligent-Based Robot to Deal with Contradictions","authors":"Diana Costa, M. Martins","doi":"10.1109/ICARSC.2016.48","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.48","url":null,"abstract":"Inconsistency is nowadays a growing subject of study which yields a lot of care as it is a pervasive, and unavoidable, topic in data and knowledge management. Contradictory information may arise in systems which are safety critical, such as health systems, aviation systems and many others. As a means of increasing the reliability of systems, formal methods, i.e. mathematical tools, have been advocated. In the field of logic, since we are allowing inconsistent data to coexist in a knowledgebase, some kind of paraconsistent logic is required. We aim to present some ideas for the development of a new method for dealing with contradictions that may appear in robotics, namely by considering a programming language and reasoning based on Quasi-Hybrid logic, [4].","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"9 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":"133832418","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
Metabot: A Low-Cost Legged Robotics Platform for Education Metabot:用于教育的低成本腿机器人平台
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.52
G. Passault, Q. Rouxel, F. Petit, O. Ly
{"title":"Metabot: A Low-Cost Legged Robotics Platform for Education","authors":"G. Passault, Q. Rouxel, F. Petit, O. Ly","doi":"10.1109/ICARSC.2016.52","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.52","url":null,"abstract":"This paper introduces an open-source 3D printed low-cost legged robot environment designed for educational purposes. The platform, called Metabot, is already operational and is currently experienced by teachers and pupils. The robot as a teaching aid, has several advantages: at first, it is stimulating for pupils, especially legged robots. Second, robotics is multidisciplinary and centralizes a broad spectrum of knowledge for the pupils, in particular, it allows to introduce programming in a concrete environment, which is now an important need in school. Finally, legged robots can illustrate concretely several matters of geometry.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"18 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":"129815842","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: 15
The Roasted Tomato Challenge for a Humanoid Robot 人形机器人的烤番茄挑战
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.63
C. Lagrand, Michiel van der Meer, A. Visser
{"title":"The Roasted Tomato Challenge for a Humanoid Robot","authors":"C. Lagrand, Michiel van der Meer, A. Visser","doi":"10.1109/ICARSC.2016.63","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.63","url":null,"abstract":"Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge, finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"38 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":"126715253","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: 23
Differential Histogram of Normal Vectors for Object Recognition with Depth Sensors 基于深度传感器的目标识别法向量差分直方图
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.35
Somar Boubou, T. Narikiyo, M. Kawanishi
{"title":"Differential Histogram of Normal Vectors for Object Recognition with Depth Sensors","authors":"Somar Boubou, T. Narikiyo, M. Kawanishi","doi":"10.1109/ICARSC.2016.35","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.35","url":null,"abstract":"In this work, we address the problem of 3D object recognition with depth sensors such as Kinect or Structure sensor. Compared with traditional approaches based on local descriptors, which depends on local information around the object keypoints, we propose a novel global features based descriptor. Proposed descriptor, which we name as Differential Histogram of Normal Vectors (DHONV), is designed particularly to capture the surface geometric characteristics of the 3D objects represented by depth images. We describe the 3D surface of an object in each depth image using a 1D histogram capturing the distribution of deferential angles of the surface normal vectors. The object recognition experiments on the benchmark RGB-D object dataset and a self-collected dataset show that our proposed descriptor outperforms two others descriptors based on spin-images and histogram of normal vectors with linear-SVM classifier.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"80 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":"128395064","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: 7
Considerations and Mechanical Modifications on a Smart Walker 对智能步行器的考虑和机械改造
2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC) Pub Date : 2016-05-01 DOI: 10.1109/ICARSC.2016.30
Joana Alves, E. Seabra, Inês Caetano, José Gonçalves, J. Serra, M. Martins, C. Santos
{"title":"Considerations and Mechanical Modifications on a Smart Walker","authors":"Joana Alves, E. Seabra, Inês Caetano, José Gonçalves, J. Serra, M. Martins, C. Santos","doi":"10.1109/ICARSC.2016.30","DOIUrl":"https://doi.org/10.1109/ICARSC.2016.30","url":null,"abstract":"It is known that human mobility has the tendency to decrease, gradually, with age as a consequence of neurological, muscular and/or osteoarticular deterioration. Thus, in an aging society, devices that provide mobility assistance and ambulatory daily exercises are essential for the health and life quality of such individuals. Besides a brief introduction about gait aid devices, this paper presents and proposes improvements on the third prototype of a Smart Walker. This versatile rehabilitation and functional tool developed by a researcher group was used for one year, in a clinical environment at a hospital, by six patients. Based on the acquired know-how, the physicians, physiotherapist and patients' feedback, a fourth prototype is being developed, mechanically and electronically improved. This paper will focus on the proposed mechanical, design and ergonomic considerations.","PeriodicalId":260641,"journal":{"name":"2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC)","volume":"12 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":"132992576","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: 11
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