2020 17th International Conference on Ubiquitous Robots (UR)最新文献_第5页

Fast In-situ Mesh Generation using Orb-SLAM2 and OpenMVS 基于Orb-SLAM2和OpenMVS的快速原位网格生成

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144879

Thomas Wright, Toshihide Hanari, K. Kawabata, B. Lennox

{"title":"Fast In-situ Mesh Generation using Orb-SLAM2 and OpenMVS","authors":"Thomas Wright, Toshihide Hanari, K. Kawabata, B. Lennox","doi":"10.1109/UR49135.2020.9144879","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144879","url":null,"abstract":"In exploratory robotics for nuclear decommissioning, environmental understanding is key. Sites such as Fukushima Daiichi Power Station and Sellafield often use manually controlled or semi-autonomous vehicles for exploration and monitoring of assets. In many cases, robots have limited sensing capabilities such as a single camera to provide video to the operators. These limitations can cause issues, where a lack of data about the environment and limited understanding of depth within the image can lead to a mis-understanding of asset state or potential damage being caused to the robot or environment. This work aims to aid operators by using the limited sensors provided i.e. a single monocular camera, to allow estimates of the robot’s surrounding environments to be generated insitu without having to off load large amounts of data for processing. This information can then be displayed as a mesh and manipulated in 3D to improve the operator awareness. Due to the target environment for operation being radioactive, speed is prioritised over accuracy, due to the damaging effects radiation can cause to electronics. In well lit environments images can be overlaid onto the meshes to improve the operators understanding and add detail to the mesh. From the results it has been found that 3D meshes of an environment/object can be generated in an acceptable time frame, less than 5 minutes. This differs from many current methods which require offline processing due to heavy computational requirement of Photogrammetry, or are far less informative giving data as raw point clouds, which can be hard to interpret. The proposed technique allows for lower resolution meshes good enough for avoiding collisions within an environment to be generated during a mission due to it’s speed of generation, however there are still several issues which need to be solved before such a technique is ready for deployment.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129777455","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

Persistent Area Coverage for Swarms Utilizing Deployment Entropy with Potential Fields 基于势场部署熵的蜂群持续区域覆盖

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144917

John D. Kelly, D. Lofaro, D. Sofge

{"title":"Persistent Area Coverage for Swarms Utilizing Deployment Entropy with Potential Fields","authors":"John D. Kelly, D. Lofaro, D. Sofge","doi":"10.1109/UR49135.2020.9144917","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144917","url":null,"abstract":"Our work focuses on persistent area coverage using a large number of agents. This is a valuable capability for multi-agent and swarm-based systems. Specifically, we strive to effectively disperse the agents throughout an area of interest such that it is sufficiently and persistently covered by the sensing sweeps of the agents. This capability can be applied toward tasks such as surveillance, target tracking, search and rescue, and exploration of unknown areas. Many methods can be implemented as behaviors for the agents to accomplish this. One strategy involves measuring area coverage using a measure known as deployment entropy, which relies on the area being divided into regions. Deployment entropy expresses the coverage of the area as the uniformity of agents per region across all regions. This strategy is useful due to its low computational complexity, scalability, and potential implementation on decentralized systems. Though previous results are promising, they focus on instantaneous area coverage and are not persistent. It is proposed in this paper that combining the split region strategy with the implementation of potential fields can retain the benefits of the split region strategy while increasing the spread of agents and therefore the total area that is persistently covered by the agents’ sensors. This approach is implemented and demonstrated to be effective through simulations of various numbers and densities of agents. Ultimately, these studies showed that a greater spread of agents and increased sensor coverage is obtained when compared to previous results not using potential fields with deployment entropy.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130291645","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

A Fusion of CNNs and ICP for 3-D Point Cloud Registration* 三维点云配准的cnn和ICP融合*

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144767

Wen-Chung Chang, Van-Toan Pham, Yang-Cheng Huang

{"title":"A Fusion of CNNs and ICP for 3-D Point Cloud Registration*","authors":"Wen-Chung Chang, Van-Toan Pham, Yang-Cheng Huang","doi":"10.1109/UR49135.2020.9144767","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144767","url":null,"abstract":"3-D point cloud registration appears to be one of the principal techniques to estimate object pose in 3-D space and is critical to object picking and assembly in automated manufacturing lines. Thereby, this paper proposes an effective registration architecture with the aim of estimating the transformation between a data point cloud and the model point cloud. Specifically, in the first registration stage, a trainable Convolutional Neural Network (CNN) model is developed to learn the pose estimation between two point clouds in the case of a full range of orientation from −180° to 180°. In order to generate the training data set, a descriptor is proposed to extract features which are employed to train the CNN model from point clouds. Then, based on the rough estimation of the trained CNN model in the first stage, two point clouds can be further aligned precisely in the second stage by using the Iterative Closest Point (ICP) algorithm. Finally, the performance of the proposed two-stage registration architecture has been verified by experiments in comparison with a baseline method. The experimental results illustrate that the developed algorithm can guarantee high precision while significantly reducing the estimation time.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130761566","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

A Proactive Trajectory Planning Algorithm for Autonomous Mobile Robots in Dynamic Social Environments 动态社会环境下自主移动机器人的主动轨迹规划算法

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144925

L. A. Nguyen, T. Pham, T. Ngo, Xuan-Tung Truong

引用次数: 4

Task Planning with Mixed-Integer Programming for Multiple Cooking Task Using dual-arm Robot 双臂机器人多烹饪任务的混合整数规划

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144803

June-sup Yi, M. Ahn, Hosik Chae, Hyunwoo Nam, Donghun Noh, D. Hong, H. Moon

引用次数: 3

A Stiffness-controlled Robotic Palm based on a Granular Jamming Mechanism 基于颗粒干扰机制的刚度控制机器人手掌

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144805

Jeongwon Lee, W. Han, Eunchan Kim, Ingu Choi, Sungwook Yang

{"title":"A Stiffness-controlled Robotic Palm based on a Granular Jamming Mechanism","authors":"Jeongwon Lee, W. Han, Eunchan Kim, Ingu Choi, Sungwook Yang","doi":"10.1109/UR49135.2020.9144805","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144805","url":null,"abstract":"This paper presents a new type of a robotic palm based on a granular jamming mechanism to improve grasping performance. The granular jamming principle is adopted to alter the shape and stiffness of the robotic palm by controlling a transition between a solid-state and a fluid-state of a granular material used. The robotic palm incorporates a specifically designed granular chamber that is optimized for dealing with large volume change. The control system is also developed for the proposed granular jamming mechanism to be electrically operated without any pneumatic components. In addition, the stiffness of the palm can be precisely regulated by the feedback control of the negative pressure applied to the granular chamber. We evaluate the shape-adaptability of the robotic palm for various objects. As a result, the robotic palm could accommodate the various shapes of the testing objects by conformably altering its shape during contact. Moreover, the stiffness-controllability is also investigated for the three different sizes of granular materials. The stiffness increases up to 30 fold under fully jammed state for the small size of the grain. Finally, we evaluate the grasping performance of the robotic palm with a commercially available robot hand. 1.7 times higher grasping force was attained with the conformably deformed and stiffened surface, compared to the flat skin of the rigid palm. Therefore, the stiffness-controlled robotic palm can improve grasping performance with the enhanced shape-adaptability and stiffness-controllability.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125482192","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

Pointing Direction Estimation for Attention Target Extraction Using Body-mounted Camera 基于摄像机的注意力目标提取的指向估计

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144978

Yusei Oozono, H. Yamazoe, Joo-Ho Lee

引用次数: 0

Facial Landmark Localization Robust on the Eyes with Position Regression Network 基于位置回归网络的人眼面部特征鲁棒定位

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144702

Chanwoong Kwak, Jaeyoon Jang, Hosub Yoon

引用次数: 3

Fall detection based on CNN models implemented on a mobile robot 基于CNN模型的跌倒检测在移动机器人上实现

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144836

Carlos Menacho, Jhon Ordoñez

引用次数: 7

A Pneumatic Soft Gripper with Configurable Workspace and Self-sensing 具有可配置工作空间和自感知的气动软夹持器

2020 17th International Conference on Ubiquitous Robots (UR) Pub Date : 2020-06-01 DOI: 10.1109/UR49135.2020.9144922

Qiwen Shao, Ningbin Zhang, Zequn Shen, Guoying Gu

{"title":"A Pneumatic Soft Gripper with Configurable Workspace and Self-sensing","authors":"Qiwen Shao, Ningbin Zhang, Zequn Shen, Guoying Gu","doi":"10.1109/UR49135.2020.9144922","DOIUrl":"https://doi.org/10.1109/UR49135.2020.9144922","url":null,"abstract":"In this paper, we present a novel pneumatic soft gripper with a configurable workspace and perception to grasp various objects and recognize their sizes. The soft gripper consists of three pneu-net soft fingers embedded with resistive strain sensors and cascaded by a stretchable palm. The pneu-net soft fingers are fabricated through a lost-wax casting process. Each strain sensor is designed with an ionic hydrogel-elastomer hybrid structure and embedded into a soft finger to recognize its deformation. The stretchable palm is designed with an opening-closing parallel mechanism driven by a pneumatic fiber-reinforced soft actuator to modify the grasping workspace of the gripper. The characterization experiments are conducted to demonstrate the excellent performance of soft gripper. Based on the measurement of the strain sensors, we propose two kinds of grasping strategies for the soft gripper: a traditional finger-bending identification strategy (FBI strategy) without the active palm and a new palm-closing identification strategy (PCI strategy) with the active palm. Experimental results with an industrial robot demonstrate that our soft gripper with the PCI strategy can perform more robust picking tasks and more accurate identification tasks than with the FBI strategy.","PeriodicalId":360208,"journal":{"name":"2020 17th International Conference on Ubiquitous Robots (UR)","volume":"303 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123233824","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