2018 15th International Conference on Ubiquitous Robots (UR)最新文献_第7页

Towards Micro-Plate Delivery using a re-sized Lab Automation Drone in High Throughput Systems 在高通量系统中使用重新大小的实验室自动化无人机进行微板交付

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441837

Dongbin Kim, P. Oh

引用次数: 1

Performance Analysis of 7-DOF Robotic Arm for Drilling and Milling Applications 钻铣用七自由度机械臂性能分析

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441826

A. Imran, B. Yi

引用次数: 0

Out-of-Plane Motion Detection System Using Convolutional Neural Network for US-guided Radiofrequency Ablation Therapy 基于卷积神经网络的面外运动检测系统在超声引导下射频消融治疗中的应用

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441865

Ryosuke Kondo, N. Koizumi, Yu Nishiyama, Naoki Matsumoto, K. Numata

引用次数: 2

Robust Visual Loop Closure Detection with Repetitive Features 基于重复特征的鲁棒视觉闭环检测

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441872

Seongwon Lee, HyungGi Jo, H. Cho, Euntai Kim

引用次数: 2

Adaptive Lazy Collision Checking for Optimal Sampling-based Motion Planning 基于最优采样的运动规划的自适应延迟碰撞检查

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442203

Donghyuk Kim, Youngsun Kwon, Sung-eui Yoon

{"title":"Adaptive Lazy Collision Checking for Optimal Sampling-based Motion Planning","authors":"Donghyuk Kim, Youngsun Kwon, Sung-eui Yoon","doi":"10.1109/URAI.2018.8442203","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442203","url":null,"abstract":"Lazy collision checking has been proposed to reduce the computational burden of collision checking which is considered as a major computational bottleneck in sampling-based motion planning. Unfortunately, in complex environments with many obstacles, lazy collision checking can cause an excessive amount of optimistic thrashing problems and significantly degrade the performance of the planner. In this paper, we present an adaptive lazy collision checking method to alleviate the optimistic thrashing, thus broaden the applicability. Our method delays collision checking on the regions predicted to be in the configuration free space, while checking early on the other regions to reduce the optimistic thrashing. To identify such regions, we adopt a configuration free space approximation represented by a set of hyperspheres which can be constructed without significant proximity computation. To demonstrate benefits of our approach we have compared against prior methods including RRT*, PRM* and lazy PRM* across benchmarks with varying dimensions. Overall, our method shows meaningful performance improvement up to three times higher in terms of convergence speed over the tested methods. We also discuss properties and theoretical analysis of the proposed algorithm.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126065536","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

Transformer-DARwIn: A Hybrid Locomotion Humanoid Designed to Walk or Roll 变形金刚-达尔文:一种可以行走或翻滚的混合运动人形机器人

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441840

Jean Chagas Vaz, P. Oh

引用次数: 0

Novel Mobile Tool Cart with Application into Factory Environment 应用于工厂环境的新型移动工装车

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441892

Shengnan Gai, Qiang Luo, Shujun Chen

引用次数: 0

Method for Extracting Acoustic Shadows to Construct an Organ Composite Model in Ultrasound Images 超声图像中声阴影提取构建器官复合模型的方法

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441771

Akihide Otsuka, N. Koizumi, Izumu Hosoi, H. Tsukihara, Yu Nishiyama

引用次数: 1

Robust Plane Extraction using Supplementary Expansion for Low-Density Point Cloud Data 基于补充扩展的低密度点云数据鲁棒平面提取

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441776

Hyukmin Kwon, Mincheol Kim, Juseong Lee, Jinbaek Kim, N. Doh, Bum-Jae You

{"title":"Robust Plane Extraction using Supplementary Expansion for Low-Density Point Cloud Data","authors":"Hyukmin Kwon, Mincheol Kim, Juseong Lee, Jinbaek Kim, N. Doh, Bum-Jae You","doi":"10.1109/URAI.2018.8441776","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441776","url":null,"abstract":"Robust plane extraction from point cloud is important for 3D environment modeling in autonomous navigation and 3D object manipulation in robotics. Conventional plane extraction approaches using repetitive decomposing and merging process, however, suffered from low accuracy when the point cloud data density is low or varies significantly. In this paper, a fast and robust plane extraction algorithm is introduced by proposing an expansion stage after every decomposition stage unlike traditional decompose-and-merge approaches that continue to decompose until a terminal condition is reached. The proposed method uses the Mahalanobis distance from the center of the plane for plane expansion while previous works utilized the orthogonal distance in the process of plane extension. This enables the algorithm to omit points that are orthogonally close to the plane but do not actually belong on the plane. Various experimental results show that the proposed structure leads to more accurate and succinct results under the conditions where traditional decomposing and merging algorithms fall behind in performance. The number of divided planes is reduced by 73% and this shortened the elapsed time by 62%. In the end, the proposed method excelled in performance successfully where point cloud density falls low or where different planes meet to make an edge.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133188822","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

Design, Implementation, and Control of the Underwater Legged Robot AquaShoko for Low-Signature Underwater Exploration 水下机器人AquaShoko的设计、实现与控制

2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442209

Alberto Perez Nunez, M. Orsag, D. Lofaro

{"title":"Design, Implementation, and Control of the Underwater Legged Robot AquaShoko for Low-Signature Underwater Exploration","authors":"Alberto Perez Nunez, M. Orsag, D. Lofaro","doi":"10.1109/URAI.2018.8442209","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442209","url":null,"abstract":"When operating a submerged vehicle near the sea floor one of the primary sensors that are used are the cameras. These cameras become obstructed by silt and other debris when the ground is disturbed by the thrust from the submerged vehicles screws/thrusters. In many cases these visual sensors become useless in these conditions. This paper shows works towards creating a robot that can operate near the sea floor while keeping the area silt/debris free and viewable. Specifically, this paper shows the design of a multi-legged robot with long thin legs to reduces disturbances and vortexes caused by the robot's motion underwater. Within the design is the ability to land on its feet by being able to move its center of buoyancy during decent from the surface to the sea floor. Control methods for achieving this are also included. All design choices, FEA, load analysis, and other pertinent specification requirements are also included. The result of this work is the design, fabrication, and creation of the IP-68 at 3 meters rated quadruped that has a tip to tip leg span of more than two meters.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"7 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114104587","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: 6