2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)最新文献

Insertion tasks using an aerial manipulator 使用空中机械手的插入任务

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869148

C. Korpela, M. Orsag, T. Danko, P. Oh

引用次数: 11

Remote retail monitoring and stock assessment using mobile robots 使用移动机器人的远程零售监控和库存评估

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869136

S. Kumar, Geetika Sharma, N. Kejriwal, Saumil Jain, Madhvi Kamra, Brijendra Singh, Vishal Kumar Chauhan

{"title":"Remote retail monitoring and stock assessment using mobile robots","authors":"S. Kumar, Geetika Sharma, N. Kejriwal, Saumil Jain, Madhvi Kamra, Brijendra Singh, Vishal Kumar Chauhan","doi":"10.1109/TePRA.2014.6869136","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869136","url":null,"abstract":"This paper describes a Virtual Reality (VR) based system for automating data collection and surveying in a retail store using mobile robots. The manpower cost for surveying and monitoring the shelves in retail stores are high, because of which these activities are not repeated frequently causing reduced customer satisfaction and loss of revenue. Further, the accuracy of data collected may be improved by avoiding human related factors. We use a mobile robot platform with on-board cameras to monitor the shelves either autonomously or through tele-operation. A remote operator can control the robot from a console which shows a 3D of view of the store as well as, capture real images and videos of the store. The robot is designed to facilitate automatic detection of Out-of-Stock (OOS) situations. It would be possible for a single operator to control multiple robots placed at different stores thus optimizing the available resources. As the deployment of the proposed system does not require modifying existing infrastructure of the store, the cost of the entire solution is cheaper with shorter return-on-investment (ROI) period.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128521354","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: 17

Message authentication codes for secure remote non-native client connections to ROS enabled robots 用于到启用ROS的机器人的安全远程非本地客户端连接的消息身份验证码

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869141

Russell Toris, Craig A. Shue, S. Chernova

引用次数: 22

GPS-denied hover stabilization of a quad-rotor via visual servoing 通过视觉伺服控制四旋翼飞行器无gps悬停稳定

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869147

Louis H. Buck, David R. Manegold, L. Ray

引用次数: 0

Truss assembly and welding by Intelligent Precision Jigging Robots 智能精密跳汰机器人桁架装配与焊接

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869150

E. Komendera, J. Dorsey, William R. Doggett, N. Correll

引用次数: 13

Toward coordinated manipulator-host visual servoing for mobile manipulating UAVs 移动操纵无人机的机器人-主机协同视觉伺服研究

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869149

T. Danko, P. Oh

{"title":"Toward coordinated manipulator-host visual servoing for mobile manipulating UAVs","authors":"T. Danko, P. Oh","doi":"10.1109/TePRA.2014.6869149","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869149","url":null,"abstract":"Manipulating objects using arms mounted to unmanned aerial vehicles (UAVs) is attractive because UAVs may access many locations that are otherwise inaccessible to traditional mobile manipulation platforms such as ground vehicles. Historically, UAVs have been employed in ways that avoid interaction with the environment at all costs. The recent trend of increasing small UAV lift capacity and the reduction of the weight of manipulator components make the realization of mobile manipulating UAVs imminent. Despite recent work, several major challenges remain to be overcome before it will be practical to manipulate objects from UAVs. Among these challenges, the constantly moving UAV platform and compliance of manipulator arms make it difficult to position the UAV and end-effector relative to an object of interest precisely enough for manipulation. Solving this challenge will bring UAVs one step closer to being able to perform meaningful tasks such as infrastructure repair, disaster response, law enforcement, and personal assistance. Toward a solution to this challenge, this paper describes an approach to coordinate the redundant degrees of freedom of an aerial manipulation system. The manipulator's six degrees of freedom will be visually servoed using an eye-in-hand camera to a specified pose relative to a target while treating motions of the host platform as perturbations. Simultaneously, the host platform's degrees of freedom will be servoed using kinematic information from the manipulator. This will drive the UAV to a position that allows the manipulator to assume a joint-space configuration that maximizes reachability, thus facilitating the arm's ability to compensate for undesired UAV motions without the need for an external pose estimation system.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128535375","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

A multi-ball drive for omni-directional mobility 多球驱动，实现全方位移动

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869140

Biruk A. Gebre, Zachary Ryter, S. R. Humphreys, Scott M. Ginsberg, Sean P. Farrell, A. Kauffman, William Capon, William Robbins, K. Pochiraju

{"title":"A multi-ball drive for omni-directional mobility","authors":"Biruk A. Gebre, Zachary Ryter, S. R. Humphreys, Scott M. Ginsberg, Sean P. Farrell, A. Kauffman, William Capon, William Robbins, K. Pochiraju","doi":"10.1109/TePRA.2014.6869140","DOIUrl":"https://doi.org/10.1109/TePRA.2014.6869140","url":null,"abstract":"In this paper, the concept of replacing the standard wheel, which is used by most ground vehicles today, by a spherical ball drive system is explored. The aim is to develop a practical and agile omnidirectional mobility platform which can especially be useful for applications related to mobile ground robotics. The paper discusses some of the advantages and drawbacks of using balls instead of wheels and the challenges involved in trying to implement a ball drive system. As a proof-of-concept a functional prototype vehicle that utilizes balls for mobility has been developed and successfully tested. 3D printing technology was utilized in the development of the prototype to fabricate some of the more intricate components of the design. Some of the lessons learned during the design, development, and testing of this prototype as well as some of the solutions implemented to tackle the challenges in developing a working prototype are also discussed. The paper shows that while there are numerous design challenges in developing a mobile platform driven by balls instead of wheels, once these challenges are overcome, the result can be a mobile platform with highly agile maneuvering capabilities. These maneuvering capabilities may especially be useful for simplifying navigation tasks and enhancing the mobility capabilities of mobile ground robots.","PeriodicalId":382960,"journal":{"name":"2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114296397","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: 9

Graph-based ground segmentation of 3D LIDAR in rough area 粗糙区域三维激光雷达基于图形的地面分割

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869157

Zhu Zhu, Jilin Liu

引用次数: 6

Early phases of humanoid vehicle ingress using depth cameras 使用深度相机的人形飞行器进入的早期阶段

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869159

C. Rasmussen, Kiwon Sohn, Karthikeyan Yuvraj, P. Oh

引用次数: 3

An algorithm to identify docking locations for autonomous surface vessels from 3-D LiDAR scans 一种通过3d激光雷达扫描识别自主水面舰艇停靠位置的算法

2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA) Pub Date : 2014-04-14 DOI: 10.1109/TePRA.2014.6869160

J. Esposito, M. Graves

引用次数: 10