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A Model-Based Fault-Tolerant Weld Line Detection for Automatic Inspection of Storage Tanks Using Visual Information and a-ß Filter 基于视觉信息和-ß滤波器的储罐自动检测模型容错焊缝检测
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.35
L. Molina, R. Freire, E. Carvalho, E. Freire
{"title":"A Model-Based Fault-Tolerant Weld Line Detection for Automatic Inspection of Storage Tanks Using Visual Information and a-ß Filter","authors":"L. Molina, R. Freire, E. Carvalho, E. Freire","doi":"10.1109/LARS.2010.35","DOIUrl":"https://doi.org/10.1109/LARS.2010.35","url":null,"abstract":"Quality control, cost reduction and above all, human and environmental safety are great reasons that stimulate the investments in technologies such as automatic inspection. The automatic inspection of weld lines in storage tanks is of special interest due to the fact that such tanks are currently used to store harmful products. For a reliable inspection it is necessary to accurately detect the weld line position. In this paper the development of a system to perform weld line detection in storage tanks is proposed. The system based on visual information is implemented and tested. Such system makes use of a fault-tolerant estimation process based on the α-β filter and a model-based fault detection method, proposed in this paper.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128379356","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
Vocabulary Learning and Sound Localization in Autonomous Robots 自主机器人的词汇学习和声音定位
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.10
E. Oliveira, João Queiroz, Angelo C. Loula
{"title":"Vocabulary Learning and Sound Localization in Autonomous Robots","authors":"E. Oliveira, João Queiroz, Angelo C. Loula","doi":"10.1109/LARS.2010.10","DOIUrl":"https://doi.org/10.1109/LARS.2010.10","url":null,"abstract":"The simulation of vocabulary acquisition in embodied artificial agents (robots) has been studied by various methods and protocols. Here we simulate the emergence of a common repertoire of signs applying unsupervised learning and phonotaxis to enable a hearer robot to locate a speaker robot and the object referred during communication. Results show that the proposed scenario and control mechanisms allow the robots to find the sound source and lead to robust learning and establishment of a shared repertoire of sign by robots, even in the presence of noise and sensor data identification errors.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121186620","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
Applications of Stochastic Approaches in Mobile Robotics: An Overview of Recent Brazilian Works 随机方法在移动机器人中的应用:最近巴西作品的概述
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.34
Marcos V. S. Alves, Leocarlos B.S. Lima, E. Freire, E. Carvalho, L. Molina
{"title":"Applications of Stochastic Approaches in Mobile Robotics: An Overview of Recent Brazilian Works","authors":"Marcos V. S. Alves, Leocarlos B.S. Lima, E. Freire, E. Carvalho, L. Molina","doi":"10.1109/LARS.2010.34","DOIUrl":"https://doi.org/10.1109/LARS.2010.34","url":null,"abstract":"Stochastic approaches have become increasingly common in robotics. Techniques that consider the uncertainties of sensors and models are being adopted in various applications. In this context, state estimation techniques play an important role, since they deal directly with these uncertainties, making systems more reliable. This paper aims to survey the state of the art of application of stochastic approaches in robotics in the context of the work developed in Brazil. At the end, the main applications that use stochastic approaches in robotics are summarized, and the main tools used in each case are suggested. Moreover, the main outstanding issues, which should be the focus of further research, are indicated. Thus, this paper is intended to be a useful tool for new researchers in this booming research area.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128122089","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
Exploring the Robotic Process for Teaching and Learning Mathematics 探索机器人教学数学的过程
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.28
Rosangela Mengai Accioli
{"title":"Exploring the Robotic Process for Teaching and Learning Mathematics","authors":"Rosangela Mengai Accioli","doi":"10.1109/LARS.2010.28","DOIUrl":"https://doi.org/10.1109/LARS.2010.28","url":null,"abstract":"The purpose of this study is to investigate the features and the capabilities of the ROBOLAB robotic environment to function as a micro world in order to enable the construction of new meanings for mathematical concepts.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129384521","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
Navigation System for an Underground Distribution Inspection Platform Using Simulation 基于仿真的地下配电检测平台导航系统
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.16
Emanuel Estrada, L. Silveira, V. Oliveira, S. Botelho
{"title":"Navigation System for an Underground Distribution Inspection Platform Using Simulation","authors":"Emanuel Estrada, L. Silveira, V. Oliveira, S. Botelho","doi":"10.1109/LARS.2010.16","DOIUrl":"https://doi.org/10.1109/LARS.2010.16","url":null,"abstract":"This work proposes an architecture of an inspection robot's navigation system, aiming at monitoring of power cables in underground distribution lines. This architecture is composed of two modules: i. feature extraction from environment, ii navigation approach. The feature extraction module is based on the use of the edge detector by Canny algorithm and Hough transform for identification of lines from images of environment to monitoring. The lines identified correspond to cable conformation inside the duct. This information will serve to help the navigation system. For the implementation of the navigation system two approaches were proposed: navigation based on artificial neural network and navigation based on PID control. The navigation architecture can be used in real or simulated scenarios, and it was tested in a simulated environment.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115895329","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
USPDroidsSS Robot Soccer Simulator for Very Small Size Category USPDroidsSS机器人足球模拟器非常小的尺寸类别
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.32
W. C. Silva, R. Montanari, D. T. Doi, M. O. Silva, Roseli A. F. Romero
{"title":"USPDroidsSS Robot Soccer Simulator for Very Small Size Category","authors":"W. C. Silva, R. Montanari, D. T. Doi, M. O. Silva, Roseli A. F. Romero","doi":"10.1109/LARS.2010.32","DOIUrl":"https://doi.org/10.1109/LARS.2010.32","url":null,"abstract":"There are few simulators to test and validate the controlling strategies for a robot soccer team belonging to Very Small Size Category. In this paper, it is proposed an open source simulator for this category, named by USPDroidsSS, which provides a simulation environment for robot soccer that enable the development of robotic control systems to be changed from the real system with the minimal of modifications. Here are described the details of the simulator and its use for the development process of robots control strategies. It will be also introduced the validation process and presented the comparisons between the virtual and real environment.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121930618","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
Kinodynamic Motion Planning of a Skid-Steering Mobile Robot Using RRTs 基于RRTs的滑移转向移动机器人运动学规划
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.27
Daniel Alves Barbosa de Oliveira Vaz, R. Inoue, Valdir Grassi Jr.
{"title":"Kinodynamic Motion Planning of a Skid-Steering Mobile Robot Using RRTs","authors":"Daniel Alves Barbosa de Oliveira Vaz, R. Inoue, Valdir Grassi Jr.","doi":"10.1109/LARS.2010.27","DOIUrl":"https://doi.org/10.1109/LARS.2010.27","url":null,"abstract":"Motion planning is one of the fundamental problems in autonomous robotic navigation. However, usually the dynamic model of the robot is not considered on most of the basic motion planners, resulting in trajectories that may be difficult to be tracked by real robots. This paper describes the sampling-based Kino dynamic motion planning of a skid-steering mobile robot using the Rapidly-exploring Random Tree (RRT) method. Experimental results using a Pioneer 3-AT are presented. As a consequence of using the kinematic and dynamic model of the robot for planning, a simple proportional controller could be used to track the generated trajectory.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"144 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127300644","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: 12
Obstacle Detection and Tracking Using Laser 2D 基于激光2D的障碍物检测与跟踪
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.21
Danilo Habermann, Claudio Garcia
{"title":"Obstacle Detection and Tracking Using Laser 2D","authors":"Danilo Habermann, Claudio Garcia","doi":"10.1109/LARS.2010.21","DOIUrl":"https://doi.org/10.1109/LARS.2010.21","url":null,"abstract":"An obstacle detection and tracking system using a 2D laser sensor and the Kalman filter is presented. This filter is not very efficient in case of severe disturbances in the measured position of the obstacle, as for instance, when an object being tracked is behind a barrier, thus interrupting the laser beam, making it impossible to receive the sensor information about its position. This work suggests a method to minimize this problem by using an algorithm called Corrector of Discrepancies.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131760052","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: 12
Growing Cell Structures Applied to Sensor Fusion and SLAM 生长细胞结构在传感器融合和SLAM中的应用
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.17
S. Botelho, Celina Häffele Da Rocha, M. Figueiredo, Paulo L. J. Drews-Jr, G.L. Oliveira
{"title":"Growing Cell Structures Applied to Sensor Fusion and SLAM","authors":"S. Botelho, Celina Häffele Da Rocha, M. Figueiredo, Paulo L. J. Drews-Jr, G.L. Oliveira","doi":"10.1109/LARS.2010.17","DOIUrl":"https://doi.org/10.1109/LARS.2010.17","url":null,"abstract":"This paper proposes the use of topological maps in order to implement a SLAM approach, based on sensor fusion, to deal better with the problem of inaccuracy and uncertainty in sensor data. The contribution of this work is an algorithm that uses multiple sensory sources and multiple topological maps to improve the estimation of localization as generic as possible. We can obtain better results when this is made with sensors of clashing characteristics, because something not perceived by a sensor might be perceived by others, therefore we can also reduce the effects of measurement error, obtaining a method that works with uncertainties of the sensors. A system was developed to validate the proposed method, through a series of tests with a set of real data. The results show the robustness of the system in relation to sensorial imprecision and gain in predicting the robot's location, resulting in a more appropriate method to deal with errors associated to each sensor.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133978320","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
Identification of Quasi-linear Dynamic Model with Dead Zone for Mobile Robot with Differential Drive 差动驱动移动机器人带死区的准线性动力学模型辨识
2010 Latin American Robotics Symposium and Intelligent Robotics Meeting Pub Date : 2010-10-23 DOI: 10.1109/LARS.2010.36
E. Mendes, A. Medeiros
{"title":"Identification of Quasi-linear Dynamic Model with Dead Zone for Mobile Robot with Differential Drive","authors":"E. Mendes, A. Medeiros","doi":"10.1109/LARS.2010.36","DOIUrl":"https://doi.org/10.1109/LARS.2010.36","url":null,"abstract":"This note deals with the identification of a mobile robot with differential drive. The robot system is modeled by two MISO Hammer stein systems with input dead zones. The robot dynamic model is based on the traveled distance increment instead of the robot coordinates, making the model linear and allowing the application of classical methods of identification. Both parameters of linear and nonlinear blocks are estimated simultaneously through application of recursive least squares. Our main contribution is to use simple identification techniques to recursively estimate the linear and non-linear parameters of the robot system, that may vary over the time. The feasibility of the method is demonstrated by examples using both simulated and real robot.","PeriodicalId":268931,"journal":{"name":"2010 Latin American Robotics Symposium and Intelligent Robotics Meeting","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121811436","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
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