2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)最新文献

Realization of Pattern Formation For Micro-satellite Swarms Without a Centralized Coordination 微卫星群无集中协调模式形成的实现

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977426

Khalfan Alremeithi, Jorge Miranda Dias, Giula de Masi

{"title":"Realization of Pattern Formation For Micro-satellite Swarms Without a Centralized Coordination","authors":"Khalfan Alremeithi, Jorge Miranda Dias, Giula de Masi","doi":"10.1109/ROSE56499.2022.9977426","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977426","url":null,"abstract":"The new era of commercializing space missions introduced a new mindset and mission design paradigms of multi-satellite missions. This is trending in different satellite industry applications such as Earth observation and satellite communication as it is simple, cheap and increases the system robustness. Multi-satellite missions introduced different lines of development like constellations, trail formation and swarm formations to fit different type of missions requirements. Inspired by the Space Ultra-Low Frequency Radio Observatory (SULFRO) project, based on the concept of a constellation of a micro-satellite mothership and 12 nano-satellite daughters, designed for sky observation and space discovery, in this paper, we propose a model of decentralized swarm formation without using a centralized coordination. The proposed method is based on the assumption that micro-satellite share relative position of the formation and communicate through high speed inter-satellite link. Assuming a 2D space for the micro-satellite formation and deployment, the proposed methodology succeeded to deploy the 12 micro-satellites in their targeted formation. The proposed methodology consists of three states that are: Formation Tracking, Movement Control and Collision Avoidance. These three states contributed in the success of the methodology by ensuring that the micro-satellite share the positions and track the new formation needed to ensure the stability and safety of the micro-satellite swarm. The paper also investigated the power consumption of the system and the system stability. The proposed methodology is simulated in three different validation scenarios and successfully achieved the required formation.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124557830","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

Highly Accurate Positioning Method for Car-Like Robots Utilizing a Monocular Camera and QR Code Tracking 基于单目摄像头和二维码跟踪的汽车机器人高精度定位方法

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977425

Christoph Rohmann, Jens Lenkowski, Harald Bachem, Bernd Lichte

{"title":"Highly Accurate Positioning Method for Car-Like Robots Utilizing a Monocular Camera and QR Code Tracking","authors":"Christoph Rohmann, Jens Lenkowski, Harald Bachem, Bernd Lichte","doi":"10.1109/ROSE56499.2022.9977425","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977425","url":null,"abstract":"Mobile robots often serve as a means for the transportation of goods. In most cases, this task requires high positioning accuracy in order to allow for a smooth transfer of goods from the transfer station to the robot and vice versa. This is especially difficult with car-like robots, as they lack a degree of freedom that e.g. omni-directional robots possess. In this paper, we propose a highly accurate positioning method for such car-like robots that consists of three consecutive modes. In the free navigation mode, the robot drives towards a predefined target position until it detects a transfer station. By using a single monocular camera and a trained convolutional neural network, our system detects the transfer station and approaches it automatically until it reaches a predefined distance, which marks the end of the vague positioning mode. The camera detects and tracks a QR code attached to the station, which we use to estimate the robots relative position to the code thus initiating the accurate positioning mode. In this mode, our system uses a third order polynomial path-planning approach that achieves an average positioning accuracy of 11mm longitudinally and 8mm laterally with an angular offset of 0.7° in front of the code. We show the applicability of this functionality through a set of experimental validation tests that mimic real-world use-cases.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130625517","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

Dynamic Modelling of Multi-Body Unmanned Airship with a Slung-Payload 悬挂载荷多体无人飞艇动力学建模

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977433

Osama Obeid, E. Lanteigne

{"title":"Dynamic Modelling of Multi-Body Unmanned Airship with a Slung-Payload","authors":"Osama Obeid, E. Lanteigne","doi":"10.1109/ROSE56499.2022.9977433","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977433","url":null,"abstract":"Unmanned aerial vehicles (UAV) provide a conve-nient way to conduct experiments and simulations at a low cost. After a long period of being relinquished, interest in airships has resurged owing to stringent CO2 emissions regulations and the increasing market demand on air cargo. This paper discusses the application of Udwadia-Kalaba technique to model the dynamics of a reconfigurable unmanned airship. The investigated multi-body consists of an airship, a gondola, and a payload. The investigated airship is designed to have a movable gondola. This novel design overcomes a major issue that conventional airships encountered which is a mechanism to improve the manoeuvrability of the airship. Modelling of multi-body system can be difficult when non-holonomic constraints are present. Three constraints were identified for the investigated system. Position and orientation constraints between the airship and gondola were first derived. In addition, a length constraint between the gondola and slung-payload was enforced. Udwadia-Kalaba method was used to model the multi-body system. The equations of motion are solved numerically for a test case where a step side force is applied for 1 second. The resulting trajectory over a period of 7 seconds was presented and analysed. Physical modes such as pendulum-like behaviour of slung-payload and coupling between the multi-body components were captured in the simulations and discussed.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"2000 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131333917","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

A metrological and application-related comparison of six consumer grade stereo depth cameras for the use in robotics 六种用于机器人的消费级立体深度相机的计量和应用相关比较

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977421

Michel Heinemann, Jonas Herzfeld, M. J. Sliwinski, Johannes Hinckeldeyn, J. Kreutzfeldt

引用次数: 1

Superordinate Safety System for Human Robot Interaction in Complex Industrial Environment 复杂工业环境下人机交互的超级安全系统

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977410

M. Bdiwi, Sebastian Krusche, Jayanto Halim, Steffen Ihlenfeldt

{"title":"Superordinate Safety System for Human Robot Interaction in Complex Industrial Environment","authors":"M. Bdiwi, Sebastian Krusche, Jayanto Halim, Steffen Ihlenfeldt","doi":"10.1109/ROSE56499.2022.9977410","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977410","url":null,"abstract":"Various papers have focused on developing new sensors and technologies for precisely detecting the human presence in the collaborative workspace. However, an important aspect has often been overlooked. It is the context of the appearance/ disappearance of the human concerning the robot activities and workspace circumstances. In other words, which circumstances could prevent the vision system from detecting humans; have they left the cooperation workspace correctly or has a fault event happened? E.g. they are covered by another object and not visible to the camera system anymore. This investigation proposes a superordinate safety system for HRI applications. The proposed system consists of several modules. Two of them will be presented in detail in this paper. 1. “Human-robot states” module: it contains; a. The possible status of the detected and the lost objects based on their position and safety procedures (danger, safe etc.); b. the possible events which could happen for every object based on their activities and their relationship with other objects. 2. “Events classifiers” module: it analyzes the status of every new and lost object, whether it has entered or left the workspace correctly or an unexpected event has happened. The proposed approach has been tested in a dynamic experimental field with heavy-duty robot.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122877085","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

Accurate Embedded Force Sensor for Soft Robots with Rate-dependent Deep Neural Calibration 基于速率相关深度神经校准的软机器人精确嵌入式力传感器

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977416

Tannaz Torkaman, M. Roshanfar, J. Dargahi, Amir Hooshiar

{"title":"Accurate Embedded Force Sensor for Soft Robots with Rate-dependent Deep Neural Calibration","authors":"Tannaz Torkaman, M. Roshanfar, J. Dargahi, Amir Hooshiar","doi":"10.1109/ROSE56499.2022.9977416","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977416","url":null,"abstract":"Embedding force sensors on soft robots have been a major challenge impeding accurate feedback control of soft robots. A major challenge in embedding force sensors onto soft robots is in their rigidity, size, and shape. In this study, a soft smart polymer-based soft sensor for soft robotic application is proposed, prototyped, calibrated, and tested for force prediction accuracy. The sensing element of the proposed sensor was made of gelatin-graphite composite that we previously showed its piezoresistivity. Three sensing elements were molded into a soft body (soft robot) and variation of the voltage across them was measured in real-time in response to external loads. A rate-dependent deep neural calibration network was trained with the three voltages and their temporal rates when the soft body was subjected to tri-axial external forces in the range of $pm 0.3$ N. Afterwards the calibrated sensor was used in a series of validation tests to assess its accuracy. The proposed calibration showed the goodness of fit of $R^{2}=0.98$ with the mean-absolute error of 0.005 N. Also, the sensor exhibited mean-absolute errors of $0.007 pm0.005$ N, $0.008 pm 0.006$ N, and $0.011 pm 0.008 mathbf{N}$ for estimating the external forces along x, y, and z directions. Moreover, the proposed calibration did not exhibit observable hysteresis thanks to its rate-dependent calibration schema.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132489764","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

Temporal Difference Learning of Area Coverage Control with Multi-Agent Systems 多智能体系统区域覆盖控制的时间差分学习

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977412

Farzan Soleymani, Md. Suruz Miah, D. Spinello

{"title":"Temporal Difference Learning of Area Coverage Control with Multi-Agent Systems","authors":"Farzan Soleymani, Md. Suruz Miah, D. Spinello","doi":"10.1109/ROSE56499.2022.9977412","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977412","url":null,"abstract":"We formulate an area coverage control problem with multi-agent systems by using Bellman's principle of optimality. The performance index is composed of the additive contributions of a term quadratic in the control effort and of a positive definite term that depends on the coverage metric. In this way, the reward encodes optimality in the sense of the classical Lloyd's algorithm, where the term depending on the coverage metric weights the energy of the state, and the term depending on the control weights the effort energy. Quasi optimality is achieved by an adaptive control policy using an actor-critic neural networks based reinforcement learning strategy, with quadratic function approximations for the value function and the control policy. Optimal configurations for a team of agents correspond to centroidal Voronoi partitions of the workspace, with each agent converging to the centroid of the respective generalized Voronoi cell. The system's dynamics is written in discrete time form, and the temporal difference form of Bellman's equation is used in the policy iteration learning scheme to train critic and actor weights. Remarkably, the obtained class of solutions is consistent with the one obtained with Lloyd's algorithm, with the advantage that the reinforcement learning formulation allows for a model-free implementation based on data measured along a system's trajectory. By storing an appropriate time history of control actions, the gradient of the value function is numerically approximated, allowing one to run the policy approximation without knowledge of the input dynamics. Direct comparisons with Lloyd's algorithm show the expected slower convergence since Lloyd's trajectories are optimal for the continuous time system.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128334419","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

A Hybrid Deep Learning Approach for Vehicle Wheel Slip Prediction in Off-Road Environments 一种基于混合深度学习的非道路环境下车轮打滑预测方法

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977432

Mustofa Basri, A. Karapetyan, Bilal Hassan, Majid Khonji, J. Dias

{"title":"A Hybrid Deep Learning Approach for Vehicle Wheel Slip Prediction in Off-Road Environments","authors":"Mustofa Basri, A. Karapetyan, Bilal Hassan, Majid Khonji, J. Dias","doi":"10.1109/ROSE56499.2022.9977432","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977432","url":null,"abstract":"Wheel slip prediction is essential for safe navigation and optimal trajectory planning of ground vehicles, especially when traversing off-road on unpaved surfaces such as sand, gravel, or mud. However, calculating tire slippage precisely is cumbersome due to numerous sophisticated processes of measuring physical parameters related to the wheel-soil interaction. Most prior studies focused on developing slip prediction models suited for rovers or differential-drive robots, leaving car-like robots relatively overlooked. To this end, the present work develops a hybrid Deep Learning approach that addresses two key challenges: (i) identifying the terrain type on which the vehicle is driving, and (ii) estimating the wheel slip on uneven and unstructured surfaces. First, extensive data collection is carried out with an advanced simulator to construct a sufficiently descriptive dataset (504,000 samples) capturing various terrains, speed ranges, slopes, and maneuvers. Then, considering the close correlation between the terrain type and wheel slippage, we propose a lightweight convolutional neural network (CNN), referred to as TerrainNet, for accurate terrain classification. Lastly, leveraging the predictive power of TerrainNet, we train and compare the performance of several classical machine learning and deep learning regression techniques, namely multi-layer perceptron (MLP), random forest (RF), and extreme gradient boosting (XGB). The simulation results indicate that the proposed CNN can accurately discriminate the terrain (mean accuracy > 99%), enabling precise wheel slip estimations with the employed machine learning models (average root mean square error < 0.03).","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121672998","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

Situational zone-based robot control for heterogeneous safety sensors in agile HRI applications 敏捷HRI应用中基于情境区域的异构安全传感器机器人控制

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977419

M. Bdiwi, Sebastian Krusche, Jayanto Halim, Paul Eichler, Shuxiao Hou, Aquib Rashid, Ibrahim Al Naser, Steffen Ihlenfeldt

{"title":"Situational zone-based robot control for heterogeneous safety sensors in agile HRI applications","authors":"M. Bdiwi, Sebastian Krusche, Jayanto Halim, Paul Eichler, Shuxiao Hou, Aquib Rashid, Ibrahim Al Naser, Steffen Ihlenfeldt","doi":"10.1109/ROSE56499.2022.9977419","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977419","url":null,"abstract":"According to the standard ISO/TS 15066, a human-robot shared workspace could be divided into different zones with various collaborative modes. Usually, this division is based on the distance between human and robot, the level of human-robot interaction “HRI”, and the risk assessment. These factors define the robot velocity and the required sensors for ensuring human safety in every zone and every operation mode separately. This procedure could generally ensure human safety during interaction with industrial robots. However, productivity, efficiency and diversity of the shared tasks have been overtaken. This work proposes a system that simultaneously can use heterogeneous safety sensors in all collaborative operation modes. Furthermore, it presents situational zone-based robot control with the help of 3D advanced selection matrices. Every robot-subspace could be vision-, force-, or position-controlled in every zone, depending on the tasks and safety requirements. Using the proposed system, heavy-duty and collaborative robot “cobots” can perform various shared tasks with humans safely and efficiently. The proposed approach is tested in one use case in the automotive industry.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122457798","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

Effects of Blood Flow on the Tip Contact Force of Cardiac Ablation Catheters 血流对心脏消融导管尖端接触力的影响

2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE) Pub Date : 2022-11-14 DOI: 10.1109/ROSE56499.2022.9977429

Reza Khoshbakht, M. Kheiri, J. Dargahi, Amir Hooshiar

{"title":"Effects of Blood Flow on the Tip Contact Force of Cardiac Ablation Catheters","authors":"Reza Khoshbakht, M. Kheiri, J. Dargahi, Amir Hooshiar","doi":"10.1109/ROSE56499.2022.9977429","DOIUrl":"https://doi.org/10.1109/ROSE56499.2022.9977429","url":null,"abstract":"Robotic Catheter Ablation is a teleoperated robotic procedure. The robotic system for this procedure has a leader-follower configuration, thus lacking direct human touch on organs and instruments. However, the sense of touch is replaced by force sensor feedback that enables surgeons to monitor the contact force between the catheter and the patient's heart. Due to the high cost of sensorized cardiac catheters, sensor-free force estimation techniques have gained momentum in the state of the art. These techniques, for the most part, neglect the effects of blood flow in the left atrium, while recent clinical evidence suggests that blood flow disturbance can affect the stability and safety of catheter tip-tissue contact. This study was aimed at identifying the mechanisms by which blood flow may compromise tip-tissue contact force and quantifying such effects systematically. To this end, first utilizing a closed-loop flow channel, we examined the effects of blood (represented by water) flow on the magnitude of the tip contact force at physiological and pathological flow rates in 3D-printed pulmonary veins. Also, five configurations of an ablation catheter were considered to investigate the combined effects of catheter deflection and positioning of the catheter tip. Our results show that the tip contact force can greatly change because of the fluid flow, e.g., up to 37% when the catheter is close to the left inferior pulmonary vein. Also, even in the absence of blood flow, the maximum contact force was observed to reduce by increasing the catheter deflection. Diminishing tip contact force was exacerbated at higher flow rates. This study provides a quantitative mechanical explanation of why robotic ablation may result in suboptimal right inferior pulmonary vein isolation.","PeriodicalId":265529,"journal":{"name":"2022 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","volume":"07 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127287901","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