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2018 15th International Conference on Ubiquitous Robots (UR)最新文献

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An analytical solution of inverse kinematics for a 7-DOF redundant manipulator 七自由度冗余度机械臂运动学逆解的解析解
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441903
Bao-Chang Chen, G. Cao, Wen-Bo Li, Jun-Di Sun, Su-Dan Huang, Jiang Zeng
{"title":"An analytical solution of inverse kinematics for a 7-DOF redundant manipulator","authors":"Bao-Chang Chen, G. Cao, Wen-Bo Li, Jun-Di Sun, Su-Dan Huang, Jiang Zeng","doi":"10.1109/URAI.2018.8441903","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441903","url":null,"abstract":"A 7-degrees of freedom (7-DOF) redundant manipulator has ability of avoiding obstacle/singularity, and thus improving operational performance. However, its inverse kinematics is difficult to solve since it has one more DOF than that of necessary for reaching the whole work space. In this paper, a geometric method is proposed to solve the inverse kinematics. First, Denavit- Hartenberg model for the manipulator is established and its self-motion is analyzed. Second, an analytical solution for the manipulator is derived. Finally, MATLAB simulation results are given to verify this method precise and feasible.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"39 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":"116196727","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: 4
Static 3D Map Reconstruction based on Image Semantic Segmentation 基于图像语义分割的静态三维地图重建
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441765
Feiran Li, Ming Ding, J. Takamatsu, T. Ogasawara
{"title":"Static 3D Map Reconstruction based on Image Semantic Segmentation","authors":"Feiran Li, Ming Ding, J. Takamatsu, T. Ogasawara","doi":"10.1109/URAI.2018.8441765","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441765","url":null,"abstract":"In this paper we propose a novel approach to remove dynamic objects from the reconstructed 3D map. We use a pixel-wise, fully convolutional neural network (FCN) based image semantic segmentation method to detect the moving objects and coherently remove them. Both 2D and 3D filters are employed to deal with the stubborn unwanted pixels to preserve as much information as possible. Experiment shows our approach can effectively build static maps.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"6 3 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":"123687789","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
Moving Humans Removal for Dynamic Environment Reconstruction from Slow-Scanning LIDAR Data 基于慢扫描激光雷达数据的动态环境重建中的移动人体去除
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441778
Tianwei Zhang, Yoshihiko Nakamura
{"title":"Moving Humans Removal for Dynamic Environment Reconstruction from Slow-Scanning LIDAR Data","authors":"Tianwei Zhang, Yoshihiko Nakamura","doi":"10.1109/URAI.2018.8441778","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441778","url":null,"abstract":"Point clouds data registration is a crucial task for robotic environment reconstruction and understanding. The dynamic environment is a challenging problem for point clouds registration since moving objects occlude the static background and result in the feature corresponding failure. In this paper, we propose a moving object detection and removing method for slow-scanning LIDAR data. We define a Mean Axis Descriptor for moving objects description. Moreover, we recover the big motion distortions using this descriptor and sensor parameters. These recovered objects can be used for motion tracking and high frame-rate point clouds generation. A big scale dynamic environment reconstruction experiment result indicates that the proposed method is promising in moving object removal and motion distortion recovery.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"31 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":"121087653","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
Reference-free Crack Detection and Localization by Nonlinear Laser Ultrasonic 非线性激光超声无参考裂纹检测与定位
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441842
Yong-qiang Liu, Shixi Yang, Xuekun Liu
{"title":"Reference-free Crack Detection and Localization by Nonlinear Laser Ultrasonic","authors":"Yong-qiang Liu, Shixi Yang, Xuekun Liu","doi":"10.1109/URAI.2018.8441842","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441842","url":null,"abstract":"This paper presents a study on non-destructive crack detection and localization by nonlinear laser ultrasonic and state-space-based method, without using any reference data from the undamaged structure. After irradiated by laser pulse, ultrasonic waves will be generated and propagate in a structure. The corresponding waves are recorded by a transducer placed at a fixed point on the structure. State space based attractors are reconstructed based on the recorded data, and a nonlinear crack-sensitive metric called average local attractor variance ratio (ALAVR) is extracted to detect the differences between adj acent attractors, hence the crack. Furthermore, laser scanning technique is proposed to locate the crack on the structure. The proposed technique has been successfully used for detecting and locating artificial crack in an aluminum plate and an actual sand inclusion crack in a compressor body.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"12 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":"122046855","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
Simulation study on the obstacle-surmounting of the 4 swing arms - 6 tracked robot 四摆臂六履带式机器人越障仿真研究
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441792
Moubiao Xie, Chuanwei Wang
{"title":"Simulation study on the obstacle-surmounting of the 4 swing arms - 6 tracked robot","authors":"Moubiao Xie, Chuanwei Wang","doi":"10.1109/URAI.2018.8441792","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441792","url":null,"abstract":"Because the tracked robot has better performance, it has been used in complex conditions such as wilderness and ruins. The change of the center of gravity (CoG) of 4 swing arms-6 tracked robot(4SA-6TR) is directly related to the robot's obstacle performance. Robot's four swing arms are controlled by four motors, so robot can achieve various attitude changes. And robot's CoG is also changing when the robot's swing arms are swinging. But the CoG of the robot cannot be directly obtained through ADAMS simulation soft. The article presents a method of secondary development to obtain the center of gravity coordinates of the 4SA-6TR. The correctness of the secondary development is verified through the experiments of robot climbing up and down the steps. Relevant research results can provide theoretical basis for the operation and control of the robot.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"61 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":"114648367","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
Assisted Teleoperation for Underwater Manipulation utilizing Touch Screen Inputs 辅助远程操作水下操纵利用触摸屏输入
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441898
G. Cho, H. Ki, Ji-Hong Li, Munjik Lee, S. Jee
{"title":"Assisted Teleoperation for Underwater Manipulation utilizing Touch Screen Inputs","authors":"G. Cho, H. Ki, Ji-Hong Li, Munjik Lee, S. Jee","doi":"10.1109/URAI.2018.8441898","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441898","url":null,"abstract":"In the paper, an assistive teleoperation technique for underwater intervention is addressed. The key idea behind the proposed method is simple as that, by touching several points on the touch screen, one can move the manipulator to an object; it can reduce the burden for operators to teleop-erate every degree-of-freedom(DOF) of the manipulators. The assistance technique involves a position estimation algorithm which can estimate 6 DOF position of the object by utilizing 2D positions on the two images from cameras deployed in stereo. Control structure for the assistive teleoperation is also investigated. The structure involves an inverse kinematics scheme based on the weighted damped least squares. The scheme can handle workspace limit and singularity, and joint limits on position and velocity, which are easily violated when the desired position of end-effector is given in Cartesian space. Through the laboratory experiments, it is verified that the proposed assistance technique can reduce operation time meaningfully in comparison with the conventional teleoperation.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"24 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":"131269886","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
IPMC Embedded in a Pneumatic Soft Robotic Actuator: Preliminary Experiments in Actuation and SensingBehaviors IPMC嵌入气动软机器人执行器:驱动和感知行为的初步实验
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441902
J. Neubauer, T. Stalbaum, K. Kim
{"title":"IPMC Embedded in a Pneumatic Soft Robotic Actuator: Preliminary Experiments in Actuation and SensingBehaviors","authors":"J. Neubauer, T. Stalbaum, K. Kim","doi":"10.1109/URAI.2018.8441902","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441902","url":null,"abstract":"The configuration of hybrid robotic actuator presented herein consists of a bending pneumatic actuator with an ionic polymer-metal composite (IPMC) embedded within the strain-limiting layer. The strain-limiting layer consists of a thicker layer of material on the pneumatic actuator that resists deformation and in-turn hinders motion. Pneumatic actuators rely on the geometric stiffening of the strain-limiting layer to produce a desired motion. In this hybrid actuator, an IPMC is inserted into the strain-limiting layer. This hybrid actuator is fabricated by using 3D printed molds. These molds are then cast using a silicone based elastomer such as Ecoflex®. The separate pieces of the pneumatic sleeve are then cast together using the same silicone based elastomer. Lastly, an IPMC is then inserted into the slot inside of the strain-limiting layer of the pneumatic sleeve. The objective is to create an actuator that possesses both actuation and sensing capabilities that can be applied to soft robotics. This actuator could be used for the testing and modelling of IPMC sensing because of the capability to test an IPMC using a controlled curvature. This hybrid actuator could also be used as a directional sensor or actuator, such as directional propulsion in underwater vehicles.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"11 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":"114236347","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
Design of a Passive 10-DOF Arterial Puncturing Mechanism for Reducing Radiological Exposure 一种减少辐射暴露的被动10自由度动脉穿刺机构的设计
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441833
Muhammad Umair Ahmad Khan, Chang-Hwan Yoon, B. Yi
{"title":"Design of a Passive 10-DOF Arterial Puncturing Mechanism for Reducing Radiological Exposure","authors":"Muhammad Umair Ahmad Khan, Chang-Hwan Yoon, B. Yi","doi":"10.1109/URAI.2018.8441833","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441833","url":null,"abstract":"This paper proposes a new arterial puncturing mechanism that would reduce the radiation exposure for the surgeon. In vascular intervention procedures, a surgeon is usually exposed to a large amount of radiation that is harmful for the surgeon carrying out the surgery on a daily basis. A passive 10-DOF needle and guide wire insertion mechanism consists of 7 DOF articulated arm for positioning and 3 DOF for precise needle insertion. The guidewire can be inserted easily into a small, sterilizable tube attached to the mechanism. To test the feasibility of the device, animal experiment has been performed and radiation exposure has been measured with the help of dosimeter.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"62 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":"134085361","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
Automated task planning using object arrangement optimization 使用对象安排优化的自动任务规划
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8442210
Mincheul Kang, Youngsun Kwon, Sung-eui Yoon
{"title":"Automated task planning using object arrangement optimization","authors":"Mincheul Kang, Youngsun Kwon, Sung-eui Yoon","doi":"10.1109/URAI.2018.8442210","DOIUrl":"https://doi.org/10.1109/URAI.2018.8442210","url":null,"abstract":"We present a method enabling a robot to automatically arrange objects using task and motion planning. Given an input scene consisting of cluttered objects, our method first constructs a target layout of objects as a guidance to the robot for arranging them. For constructing the layout, we use positive examples and pre-extract hierarchical, spatial and pairwise relationships between objects, to understand the user preference on arranging objects. Our method then enables a robot to arrange input objects to reach their target configurations using any task and motion planner. To efficiently arrange the objects, we also propose a priority layer that decides an order of arranging objects to take a small amount of actions. This is achieved by utilizing a dependency graph between objects. We test our method in three different scenes with varying numbers of objects, and apply our method to two well-known task and motion planners with the virtual PR2 robot. We demonstrate that we can use the robot to automatically arrange objects, and show that our priority layer reduces the total running time up to 2.15 times in those tested planners.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"50 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":"133079300","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
Research on information acquisition and preprocessing of array force sensor 阵列力传感器信息采集与预处理研究
2018 15th International Conference on Ubiquitous Robots (UR) Pub Date : 2018-06-01 DOI: 10.1109/URAI.2018.8441796
Chuanqi Ban, Ming-xing Lin, Lei Chen, Fangquan Liu, G. Ma, Xiaojian Wu
{"title":"Research on information acquisition and preprocessing of array force sensor","authors":"Chuanqi Ban, Ming-xing Lin, Lei Chen, Fangquan Liu, G. Ma, Xiaojian Wu","doi":"10.1109/URAI.2018.8441796","DOIUrl":"https://doi.org/10.1109/URAI.2018.8441796","url":null,"abstract":"This paper describes the application of a flexible array force sensor in the field of rehabilitation robot. In order to collect the distribution of man-machine force, a multi-channel array force data acquisition system is designed. In the hardware design, the CD4051B is used to select the channel, and the STM32 micro controller is used for data acquisition and processing. The computer display interface program is written by Microsoft Visual Studio 2013, which realizes the collection, processing, storage and graphical display of sensor data. Experiments show that the data acquisition system has the characteristics of simple structure, friendly man-machine interface, and it has great application value in rehabilitation field.","PeriodicalId":347727,"journal":{"name":"2018 15th International Conference on Ubiquitous Robots (UR)","volume":"1 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":"130834166","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
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