2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings最新文献

Online learning of optimal robot behavior for object manipulation using mode switching 基于模式切换的最优机器人行为在线学习

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402625

T. Sekiguchi, Yuichi Kobayashi, A. Shimizu, T. Kaneko

引用次数: 2

Exploring the possibilities of supporting robot-assisted work places using a projection-based sensor system 探索使用基于投影的传感器系统支持机器人辅助工作场所的可能性

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402623

Christian Vogel, Christoph Walter, N. Elkmann

引用次数: 8

Utilizing dynamic hazard knowledge for risk sensitive action planning of autonomous robots 基于动态危险知识的自主机器人风险敏感行动规划

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402608

Philipp Ertle, H. Voos, D. Söffker

{"title":"Utilizing dynamic hazard knowledge for risk sensitive action planning of autonomous robots","authors":"Philipp Ertle, H. Voos, D. Söffker","doi":"10.1109/ROSE.2012.6402608","DOIUrl":"https://doi.org/10.1109/ROSE.2012.6402608","url":null,"abstract":"Autonomous robots are required to perform tasks in complex and dynamic environments. For this class of systems, traditional safety assuring methods are not satisfying due to the unknown effects of the interacting system with an open environment. Briefly speaking: What is not known during the development phase can not be adequately considered. In order to tackle this problem, it is proposed to extend the safety measures with the so-called dynamic risk assessment. Therefore, the anticipatory capability of a Cognitive Technical System, the so-called mental action space, is utilized. The mental action space, a learned internal representation for possible courses of action, is dynamically assessed. The proposed dynamic risk assessment module provides this functionality. The core are quantitative risk models, so-called `safety principles', which can be specified during the system's design stage without losing the possibility to be adjusted or extended during the system's operating time. Finally, an exemplary application of the approach shows a real robot, enabled to safely plan and perform its tasks concerning risks arising due to interaction of robot and environment.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129298521","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

Visual attitude stabilization of a unmanned helicopter in unknown environments with an embedded single-board computer 用嵌入式单板计算机实现无人直升机在未知环境中的视觉姿态稳定

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402628

C. B. Yigit, E. Altuğ

{"title":"Visual attitude stabilization of a unmanned helicopter in unknown environments with an embedded single-board computer","authors":"C. B. Yigit, E. Altuğ","doi":"10.1109/ROSE.2012.6402628","DOIUrl":"https://doi.org/10.1109/ROSE.2012.6402628","url":null,"abstract":"Enabling a flying robot to navigate autonomously in an unstructured and unknown indoor or outdoor environment is a big challenge. Attitude is one of the most important parameters for an autonomous UAV during such a flight. In this paper, we present the use of a vision system that can be used to estimate vehicle attitude using monocular pinhole camera only. Vision system are readily available on various UAV platforms and can be used for this purpose. Unlike previous work, this approach does not require (natural or artificial) parallel lines, ground markers or landmarks on the environment as clues, or use external sensors (e.g. VICON or GPS), additional on-board sensors (e.g. IMU), or additional special purpose cameras or multiple sensors. The proposed algorithm relies on on-board vision only, and the vision processing and control are performed on-board the vehicle using a single-board vision computer. After explanation of the algorithm, detailed presentation of the developed system and experimental set-up are provided. Finally, the results of the estimation and control experiments performed on a model quadrotor helicopter are presented.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130985502","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

Improving the efficiency of highly predictable wireless sensor platforms with hybrid scheduling 利用混合调度提高高可预测性无线传感器平台的效率

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402613

M. Micea, C. Stângaciu, V. Stangaciu, V. Cretu

引用次数: 2

Experimental characterization of two generations of Kinect's depth sensors 两代Kinect深度传感器的实验特性

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402634

R. Macknojia, A. Chávez-Aragón, P. Payeur, R. Laganière

引用次数: 25

Evolving sensor environments with visual attention: An experimental exploration 进化的传感器环境与视觉注意:一个实验探索

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402636

A. Crétu

{"title":"Evolving sensor environments with visual attention: An experimental exploration","authors":"A. Crétu","doi":"10.1109/ROSE.2012.6402636","DOIUrl":"https://doi.org/10.1109/ROSE.2012.6402636","url":null,"abstract":"The research community is experiencing nowadays a significant growth in the amount of sensor data made available to several practical applications, particularly those dealing with visual information. The availability of large datasets poses critical challenges for the selection of only relevant features to allow their timely use and interpretation. The recent years marked an increasing interest in algorithms inspired from biological human vision as an alternative source of ideas for the development of computational resources to deal with large datasets. In particular, computational models of visual attention have been shown to significantly improve the speed of scene understanding and object recognition by attending only the regions of interest and distributing the resources where they are required. This paper explores the use and gauges the performance of visual attention mechanisms for identifying an optimal feature set that ensures the identification and classification of objects in images, in two different scenarios. The first scenario addresses the issue of the identification of different categories of vehicles from multiple viewpoints in a controlled environment, with a relatively known background. The other scenario explores the capabilities of an improved visual attention model for the identification of buildings in satellite imaging, characterized by large variations in content and characteristics and by a cluttered background.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115134883","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

Rigorous movement of convex polygons on a path using multiple robots 使用多个机器人在路径上进行凸多边形的严格运动

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402624

Pierre Chamoun, M. Lanthier

{"title":"Rigorous movement of convex polygons on a path using multiple robots","authors":"Pierre Chamoun, M. Lanthier","doi":"10.1109/ROSE.2012.6402624","DOIUrl":"https://doi.org/10.1109/ROSE.2012.6402624","url":null,"abstract":"This paper describes an approach for pushing a convex polygonal object with rigor using multiple robots, along a desired rectilinear path in a two-dimensional polygonal environment. The goal is to rigorously push the object along the path while preserving its orientation and alignment, as well as precisely rotating it about its center when necessary. A path planning algorithm is presented which computes a shortest-path approximation between two points in the environment. In general, the path requires both translations and rotations of the object along the way. Robots are arranged into three groups, where each group is assigned a task of either pushing the object towards its goal or adjusting it as it veers off from the desired path. Each robot is computationally simple in that it merely moves towards a target point somewhere on the boundary of the object. As the robots move towards these target points, they cooperatively push the object with no interaction between one another. The robots rely on only three parameters to push the object: the orientation of the object, the current target point and the task they are required to perform. The target points are provided by a global control & monitoring system that monitors the progress and stability of the robots as they push the object along the path, providing direction to the robots in terms of tasks such as pushing, rotating, re-alignment, re-orientation or repositioning commands. We verified our algorithm with a number of simulations that address the usefulness of the solution as well as the effects that an increase in the number of robots will have on the runtime and the data communication load.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121781941","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

MMBIP: Biofeedback system design on Cloud-Oriented Architecture 面向云架构的生物反馈系统设计

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402610

Mohammed F. Alhamid, M. Eid, Abdulrhman M Alshareef, Abdulmotaleb El Saddik

引用次数: 2

A capacitive ice layer detection system suitable for autonomous inspection of runways using an ROV 一种适用于使用ROV进行跑道自主检测的电容式冰层探测系统

2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings Pub Date : 2012-11-01 DOI: 10.1109/ROSE.2012.6402627

K. CyrilBaby, B. George

{"title":"A capacitive ice layer detection system suitable for autonomous inspection of runways using an ROV","authors":"K. CyrilBaby, B. George","doi":"10.1109/ROSE.2012.6402627","DOIUrl":"https://doi.org/10.1109/ROSE.2012.6402627","url":null,"abstract":"This paper presents a simple and efficient non-contact ice layer detection system. The proposed scheme is based on a capacitive sensing principle. Many accidents have been reported in the winter due slippery roads and runways. Presence of ice layers on the surface of runways and roads is one of the important reasons for slippery conditions. Continuous inspection of the runway will be required in such conditions to avoid accidents. Frequent human inspections may be inefficient and may fail to see thin transparent layers of ice. A capacitive sensor that can be integrated into an ROV for automated inspection of ice layers in important locations like runways is proposed in this paper. The sensor is mounted to the bottom part of the body of an ROV. Relative permittivity of ice is a function of excitation frequency. A multi-frequency excitation is employed to exploit this property and detect presence of ice layers reliably. A prototype of capacitive ice detector has been developed and integrated into an ROV. Prototype has been tested on various types of floors with ice layer, in a climatic chamber. Tests were also performed on roadways. From the test results, it has been observed that the developed system successfully detected ice layers as thin as 1 mm.","PeriodicalId":306272,"journal":{"name":"2012 IEEE International Symposium on Robotic and Sensors Environments Proceedings","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125575762","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: 16