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Network Forensic Investigation of Collaborative Robots: A Case Study 协作机器人的网络取证调查:一个案例研究
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097787
Yash Patel, Parag Rughani, Dhruvi Desai
{"title":"Network Forensic Investigation of Collaborative Robots: A Case Study","authors":"Yash Patel, Parag Rughani, Dhruvi Desai","doi":"10.1109/ICMERR56497.2022.10097787","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097787","url":null,"abstract":"Collaborative robots are currently facing significant security challenges and issues in the real world. It is well-established that representations of security issues may lead to human loss or property damage. This study aims to identify current robotics network forensic techniques to address the need for dedicated investigative capabilities. Specifically, it analyzes the ROS2-based communication network packets of collaborative robots. Network forensic investigation of collaborative robots helps in identifying and analyzing the important artifacts/evidence. The network forensic techniques discussed in this article can be used to acquire and analyze the artifacts related to tampered collaborative robots. Moreover, the information related to the environmental architecture of collaborative robots can be recovered using metadata of the network packets.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"227 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128891784","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
Human Position Detection Using Point Cloud Data for Human-Robot Safety Systems 基于点云数据的人机安全系统人体位置检测
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097801
Nehal Amer, J. Humphries, Nitin Nandeshwar
{"title":"Human Position Detection Using Point Cloud Data for Human-Robot Safety Systems","authors":"Nehal Amer, J. Humphries, Nitin Nandeshwar","doi":"10.1109/ICMERR56497.2022.10097801","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097801","url":null,"abstract":"Artificial Intelligence algorithms have become extremely fast at identifying humans in real time. However, as Industry moves more towards collaborative working with robots and machines, the identification of humans is not sufficient. Knowledge of the exact location, and trajectory of the human movement is needed so that safe collaborative environments are built. This study presents an architecture that can be used to identify humans and extract their position in the space. The proposed system uses the Mask R-CNN instance segmentation model for identification of humans. The pixels which belong to each human in the image captured are identified. Then, the extracted pixels are mapped to the depth and point cloud images obtained from Azure Kinect camera to extract the positional data for each human in space. The impact of this research paper is that we propose a solution that captures XYZ co-ordinates of humans in a space.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132836243","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
Life Cycle Assessment (LCA) of Flax-Based Green Composite Product Fabricated by Injection Moulding Process 亚麻基绿色复合材料注塑成型产品的生命周期评价
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097823
K. Debnath, Surya Rao Gorrepotu, Nageswara Rao Posinasetti
{"title":"Life Cycle Assessment (LCA) of Flax-Based Green Composite Product Fabricated by Injection Moulding Process","authors":"K. Debnath, Surya Rao Gorrepotu, Nageswara Rao Posinasetti","doi":"10.1109/ICMERR56497.2022.10097823","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097823","url":null,"abstract":"The life cycle assessment (LCA) is an important tool to determine the effect of a product's life cycle on the environment during the life span of the product. The application of synthetic fibre or synthetic polymer-based composites has several problems related to disposal and recycling. The issues related to the materials for developing products and processes can be assessed by life cycle assessment quite accurately. In this study, the life cycle assessment of a flax/PLA green composite-based product fabricated by the injection moulding process was evaluated. LCA of the green composite of flax/PLA was compared with flax/PP-based partially biodegradable composite. Both flax/PLA and flax/PP composite-based products were developed by considering fibre loading of 10%., 20%, and 30% (wt. %) and 4 mm fibre length. The injection parameters considered to develop the products were injection pressure of 90 bars, injection speed of 60 mm/sec, and injection temperature of 165°C. The eco-properties of the chosen materials (PLA, PP, and flax fibre) like embodied energy Hm(MJ/kg) and CO2 footprint were selected from the material profile of the life cycle assessment. The different phases of the life cycle of the developed product were estimated by evaluating the energy (MJ) and CO2 emission.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"235 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124291917","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
Selected Topics of Artificial Intelligence in Robotics 机器人学中的人工智能专题选择
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097788
J. Kwiecień
{"title":"Selected Topics of Artificial Intelligence in Robotics","authors":"J. Kwiecień","doi":"10.1109/ICMERR56497.2022.10097788","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097788","url":null,"abstract":"The paper is focused on the selected area of artificial intelligence (AI) applications, and presents only two examples relating to robotics and robotic systems. It is particularly interested in swarm intelligence method applied to path planning problems, and machine and deep learning approaches to anomaly detection. Based on existing methods of AI, we discuss important aspects for the application of AI technologies to view some research problems from robotics perspective.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122108658","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
Flow-Based Path Planning for Multiple Homogenous UAVs for Outdoor Formation-Flying 基于流的多同质无人机室外编队飞行路径规划
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097797
Mahmud Ibrahim, Shantanu Rahman, Muhammad Samin Hasan, Minhaj Uddin Ahmad, Abdullah Abrar
{"title":"Flow-Based Path Planning for Multiple Homogenous UAVs for Outdoor Formation-Flying","authors":"Mahmud Ibrahim, Shantanu Rahman, Muhammad Samin Hasan, Minhaj Uddin Ahmad, Abdullah Abrar","doi":"10.1109/ICMERR56497.2022.10097797","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097797","url":null,"abstract":"Collision-free path planning is the most crucial component in multi-UAV formation-flying (MFF). We use unlabeled homogenous quadcopters (UAVs) to demonstrate the use of a flow network to create complete (inter-UAV) collision-free paths. This procedure has three main parts: 1) Creating a flow network graph from physical GPS coordinates, 2) Finding a path of minimum cost (least distance) using any graph-based path-finding algorithm, and 3) Implementing the Ford-Fulkerson Method to find the paths with the maximum flow (no collision). Simulations of up to 64 UAVs were conducted for various formations, followed by a practical experiment with 3 quadcopters for testing physical plausibility and feasibility. The results of these tests show the efficacy of this method's ability to produce safe, collision-free paths.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129510243","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
MORRFx and Its Framework: Multi-objective Sampling Based Path Planning for Unpredictable Environments MORRFx及其框架:基于多目标采样的不可预测环境路径规划
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097799
Théo Combelles, Camille Marmonnier, Louis Proffit, L. Jouanneau
{"title":"MORRFx and Its Framework: Multi-objective Sampling Based Path Planning for Unpredictable Environments","authors":"Théo Combelles, Camille Marmonnier, Louis Proffit, L. Jouanneau","doi":"10.1109/ICMERR56497.2022.10097799","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097799","url":null,"abstract":"We present MORRFx, an asymptotically optimal sampling based motion planning algorithm for fast and multi-objective planning in unpredictable dynamic environments. Often in robotics applications, the representation of the environment can change. As a result, over time, the information used to compute the solutions can evolve. The algorithm we propose takes these modifications into account to produce an approximation of the Pareto optimal set of solutions, that are valid at any time, and from which the decision-maker can select a trajectory according to his/her preferences. MORRFx (Multi-Objective Rapidly exploring Random Forest x) is a combination of two algorithms: RRTx (Asymptotically Optimal Single-Query Sampling-Based Motion Planning with Quick Replanning) [1] and MORRF* (Sampling-Based Multi-Objective Motion Planning) [2]. In this paper, we present a minimal, multi-objective framework in an efficient implementation. We also use simulations to show the efficiency and capabilities of MORRFx.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124068357","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
Biometrics and Healthcare System Using EMG and ECG Signals 使用肌电图和心电信号的生物识别和医疗保健系统
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097819
Yeong-Hyeon Byeon, S. Pan, Keun-Chang Kwak
{"title":"Biometrics and Healthcare System Using EMG and ECG Signals","authors":"Yeong-Hyeon Byeon, S. Pan, Keun-Chang Kwak","doi":"10.1109/ICMERR56497.2022.10097819","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097819","url":null,"abstract":"In this paper, we study biometrics and healthcare system using electromyogram (EMG) and electrocardiogram (ECG) signals. Most people use smart devices for convenient life and they should be authenticated to access their devices. In this course, people should give their bio-signals to the devices inevitably. Here we use EMG signal for biometrics and ECG signal for heart disease detection. The EMG and ECG signals are a bio-signal that measures the potential difference generated by muscles and heart through the skin of the body surface, respectively. Using the EMG signal for biometrics improves the security of visual exposure. However, the EMG signals show various shapes by muscular strength and which muscles are used. For designing robust biometrics using EMG signal, a set of useful features is extracted and the features enter long short-term memory for training the network. For heart disease detection using ECG signals the signals are transformed into an image and the image is used to train a convolutional neural network. Publicly opened datasets of EMG and ECG signals are used for the experiment and the performance is compared by some parameter changes.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116850855","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
Advanced Electromagnetic Wheel Robot 先进电磁轮式机器人
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097805
S. A. Shaqaq
{"title":"Advanced Electromagnetic Wheel Robot","authors":"S. A. Shaqaq","doi":"10.1109/ICMERR56497.2022.10097805","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097805","url":null,"abstract":"The Fourth Industrial Revolution (4IR) promotes innovation and robotic deployments in the oil and gas industry to improve quality and safety. This paper discusses a robot in the shape of a wheel, with an electromagnetic conductive outer surface and an inner compartment, able to move horizontally and vertically on ferrous assets in oil and gas plants, without the need of scaffolding and man-lifts, to inspect high elevated assets. This use resulted in reduced operational cost by significantly eliminating scaffolding, reducing manhours, and downtime while improving safety by minimizing man-lifts. This robot has a number of magnetic elements located around the inner chamber of the housing; these elements being coupled to a first end of a power drive included in the robotic device. In addition, the control system in the robot provides on-demand magnetism to overcome 90-degree bends with selective magnetism to move in either direction (forward or backward) from the bend. This robot combines multipurpose technology, such as a magnetic force sensor to detect the magnetic force on the wheel. Additionally, the element could be used as a Magnetic Flux Leakage (MFL) sensor, to detect anomalies and an ultrasonic testing (UT) sensor for thickness measurement. Both sensors controlled by an advanced microprocessor.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127592227","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
Lidar-Based Cooperative SLAM with Different Parameters 基于激光雷达的不同参数协同SLAM
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097789
Sooraj Sunil, Saeed Mozaffari, Singh Rajmeet, B. Shahrrava, S. Alirezaee
{"title":"Lidar-Based Cooperative SLAM with Different Parameters","authors":"Sooraj Sunil, Saeed Mozaffari, Singh Rajmeet, B. Shahrrava, S. Alirezaee","doi":"10.1109/ICMERR56497.2022.10097789","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097789","url":null,"abstract":"This paper presents a feature-based map merging approach through detecting, describing, and matching geometric features between the maps. The key contribution of this work is to identify the effective method for merging maps that are developed by varying the grid resolution and scan rate parameters. The map data sets are created by Lidar mounted on the QCar mobile robot platform. The comparison of feature detection methods to register map images at different scale is presented. Finally, the effectiveness of the proposed approach is validated based on the map fusion assumptions using real-world data. Also, SLAM (robot motion) is carried out on the merged global map (developed by proposed map fusion method).","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120946946","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
3D Thermal Detection of Humans in Smoky Indoor Environments 烟雾室内环境中人体的三维热检测
2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR) Pub Date : 2022-12-09 DOI: 10.1109/ICMERR56497.2022.10097814
S. Gelfert
{"title":"3D Thermal Detection of Humans in Smoky Indoor Environments","authors":"S. Gelfert","doi":"10.1109/ICMERR56497.2022.10097814","DOIUrl":"https://doi.org/10.1109/ICMERR56497.2022.10097814","url":null,"abstract":"Human victim detection during search and rescue missions is a challenging task for firefighters. Especially in smoky indoor environments, firefighters are limited in their vision and orientation. Mobile robots have gained a significant attention in recent years, as they support firefighters during their mission. These robots are equipped with several sensors and operate autonomously or remote controlled by an operator outside the hazardous environment. In this paper, a new approach to detect human bodies in a light smoky indoor environment is proposed. The approach consists of a monocular RGB camera and a low resolution thermal camera $(8times 8 text{px})$ mounted on a mobile robot. The mobile robot is controlled remotely by an operator outside the scene. A Large-Scale Direct Simultaneous Localization and Mapping method (LSD-SLAM) is used to generate a 3D thermal map of a human body in the smoky environment by superimposing thermal information onto a 3D surface reconstructed by a monocular RGB camera. Finally, the approach is approved by an experiment in a light smoky indoor environment.","PeriodicalId":302481,"journal":{"name":"2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR)","volume":"1108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116474804","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
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