2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)最新文献_第5页

List of Committee Members 委员会成员名单

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1016/b978-0-08-033215-4.50001-7

Bing Wang, R. Subramaniam, Ramesh Kasi, Henry Hu, H. Hsu, Kai Cheng, V. Shastri, Loai Aljerf, M. J. Lavorante

引用次数: 0

Low Cost Autonomous Amphibious Bird Chasing Robot 低成本自主两栖追鸟机器人

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955705

Hoo Kim, Emily McCloy, G. Williamson, Tommy Vandermolen

{"title":"Low Cost Autonomous Amphibious Bird Chasing Robot","authors":"Hoo Kim, Emily McCloy, G. Williamson, Tommy Vandermolen","doi":"10.1109/ISMCR47492.2019.8955705","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955705","url":null,"abstract":"The use of artificial intelligence and machine learning to create autonomous robot platforms has been spreading into many applications recently, including animal behavior modification. Following this trend, we propose a low-cost, autonomous, and amphibious vehicle to modify the behavior of birds, such as Canadian geese, in commercial areas. Our robot patrols a predefined area set by GPS via an in-house developed Graphical User Interface (GUI). As it patrols this area along a predefined path, a Convolutional Neural Network (CNN) runs a goose detection algorithm to identify geese within a 5 m range. The robot also has basic collision avoidance through a combination of time-of-flight distance sensors and a bumper that detects physical collisions. Our solution is to chase the Canadian geese away from commercial areas frequented by humans such as golf courses before they nest and become territorial. This solution ensures that geese find safer and less disruptive nesting sites in a way that does not harm them. Moreover, the robot collects both locational and behavioral information by taking pictures, which provides information for bird behavior research. Our platform shows the potential to resolve human-animal contested environments with a low-cost intelligent robot solution that can be extended to many other applications.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"101 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131589047","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

A robotic laparoscope holder operated by jaw movements and triaxial head rotations 一种由下颚运动和三轴头部旋转操作的机器人腹腔镜支架

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955703

M. Arai, Takato Omori, S. Moromugi, T. Adachi, Taiichiro Kosaka, S. Ono, S. Eguchi

{"title":"A robotic laparoscope holder operated by jaw movements and triaxial head rotations","authors":"M. Arai, Takato Omori, S. Moromugi, T. Adachi, Taiichiro Kosaka, S. Ono, S. Eguchi","doi":"10.1109/ISMCR47492.2019.8955703","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955703","url":null,"abstract":"Authors have been developing a robotic laparoscope holder operated by using a head-mounted interface. Pan-tilt operations of a flexible endoscope are available through surgeon's head rotations in pitch and yaw directions and zoom in/out operations are available through the head rotation in roll direction with this system. In addition to the head rotations, jaw movements are used as control commands. Endoscope operations are available only under the surgeon's gentle chewing effort. Surgeon can anytime stops and restarts camera operation by stop/restart of chewing efforts during the surgery. Therefore no footswitch which is often used in commercialized robotic laparoscope system are needed for this system. Two evaluation tests have been conducted to see the performance of the proposed system. In the first test, the operability of the two control methods, one under chewing efforts which is proposed in this study and the other under footswitch operations, has been compared. It has been shown that the control methods using chewing efforts allow users to have a camera work of the equivalent operability as that under footswitch operation through the test. In the second evaluation test, the efficiency of a forceps task under the surgeon's camera work by using the proposed system has been evaluated. The time for completing a forceps task was compared between the case of surgeon's camera work by using the proposed system and the case of under scope operations of a human assistant. It was shown that the forceps task under scope operations using the proposed system always takes more time than that under scope operation of camera assistant because the surgeon needs to play a double role, a surgeon and a camera assistant during the surgery. The increase rates of the time for completing the task of general adult subjects and surgeon subjects from that of the task under camera work given by a camera assistant were 40[%] and 70[%], respectively.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"216 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123021344","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

Swarmathon: A Swarm Robotics Experiment For Future Space Exploration Swarmathon:未来太空探索的群体机器人实验

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955661

L. Nguyen, T. L. Harman, Carol Fairchild

{"title":"Swarmathon: A Swarm Robotics Experiment For Future Space Exploration","authors":"L. Nguyen, T. L. Harman, Carol Fairchild","doi":"10.1109/ISMCR47492.2019.8955661","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955661","url":null,"abstract":"A human mission to Mars has been the subject of science fiction, aerospace engineering, and scientific proposals since the 19th century. The plans comprise proposals to land on Mars, eventually settling on and terraforming the planet, while utilizing its moons, Phobos and Deimos. Successful exploration of Mars and its moons requires the location and retrieval of local resources on extraplanetary surfaces. Technologies are needed to find and collect materials such as ice (convertible into liquid water, hydrogen fuel and oxygen to support human life) and rocks, minerals and construction materials to build human shelters. This is referred to as In-situ resource utilization (ISRU). Swarm robotics is an approach to the coordination of multiple robots as a system which consists of large numbers of mostly simple physical robots. It is supposed that a desired collective behavior emerges from the interactions between the robots and interactions of robots with the environment. This technology presents the potential to dramatically improve the ability for robots to efficiently locate, identify and collect resources over large and previously explored territory and further ISRU efforts. In an effort to encourage the study and development of this technology, in 2016, the Swarmathon competition project was created from a cooperative agreement between the NASA Minority University Research and Education Program (MUREP) and the University of New Mexico (UNM) in partnership with the NASA KSC Swamp Works. This annual competition is designed to engage students in developing cooperative robotic algorithms to revolutionize space exploration. This paper describes the ongoing activities and the educational benefits the Swarmathon competition brings to our students at the University of Houston Clear Lake (UHCL) as a continuing participant.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114562098","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

Free response evaluation via neural network for an IMathAS system 基于神经网络的IMathAS系统自由响应评价

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955695

N. Wiggins, Milton Smith

{"title":"Free response evaluation via neural network for an IMathAS system","authors":"N. Wiggins, Milton Smith","doi":"10.1109/ISMCR47492.2019.8955695","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955695","url":null,"abstract":"A fully interactive class with mixed reality and simulation learning should provide many free response types for students to learn beyond numerical answers and multiple choice. Essay and string responses in the IMathAS homework system have to be manually graded, making the free response questions difficult to generate instant feedback. The ability to write questions with automatic feedback during active lecture offer improvements to the current systems and provide an opportunity for critical thinking to occur. The following study provides framework for an interpretive neural network to be implemented into any IMathAS system. These responses can be in the form of equations, words and sentences, or pictures. Findings show that correctly trained networks using manually graded artifacts can be more than 90% accurate in providing feedback to a correct answer in student practice, allowing for lessons that guide students towards correct and well-phrased answers using their own words, and can even assign partial credit. The findings imply that Marzano's taxonomy level of analysis can be reached using the IMathAS system and that critical thinking methods can be directly applied for scoring. When integrated into the existing system, simulation-based or mixed reality homework can have free responses and the grades can be transferred via learning tool interoperability connection into the institutional learning management system for direct scoring in the gradebook.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129801493","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

Path Following of Autonomous Mobile Robot with Distance Measurement using RFID Tags 基于RFID标签距离测量的自主移动机器人路径跟踪

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955666

S. Barai, Manash Kumar Kundu, B. Sau

引用次数: 4

Master-Slave Robot Hand Control Method based on Congruence of Vectors for Telexistence Hand Manipulation 基于矢量同余的远程机械手主从控制方法

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955688

Y. Inoue, F. Kato, S. Tachi

{"title":"Master-Slave Robot Hand Control Method based on Congruence of Vectors for Telexistence Hand Manipulation","authors":"Y. Inoue, F. Kato, S. Tachi","doi":"10.1109/ISMCR47492.2019.8955688","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955688","url":null,"abstract":"This research focuses on robot hand control of telexistence robot to realize precise hand manipulation. A humanoid surrogate robot which possesses large number of DoF and works under master-slave controlling can reproduce operator's hand and finger movements, and therefore it will realize fine and delicate teleoperation as if the work were performed by operator's own hand. However, even though the robot hand moves with dexterity, the body size difference between operator and robot has great influence to the consistency of position and configuration of body-parts such as fingertips between them, and may lead the difficultly of manual teleoperation. The problem is how to manage various operator's body size and maintain the correspondence of the operator to the robot. To overcome this issue, we propose a novel method of robot hand control which is based on congruence of two vectors bellows: (1) thumb tip to opposite fingers and (2) point-of-view to thumb/fingers. Considering that the spatial relationship between thumb and opposite fingers are important to perform precise hand manipulation, to keep the vector makes replication of operator's handshape on the robot hand. Also, because the operator of telexistence robot sees robot's body-parts including hand via eye-camera as his/her surrogate body, to match the vector realizes consistent experiences about hand position and aids intuitive operation. The proposed method was implemented to the control system of newly developed telexistence robot “TELESAR6” and the performance of hand manipulation using the method was evaluated.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131378240","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

Applications of Deep Learning to Road Sign Detection in DVR Images 深度学习在DVR图像道路标志检测中的应用

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955719

Y. Kuo, Shih-Hsun Lin

{"title":"Applications of Deep Learning to Road Sign Detection in DVR Images","authors":"Y. Kuo, Shih-Hsun Lin","doi":"10.1109/ISMCR47492.2019.8955719","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955719","url":null,"abstract":"This paper applies deep learning to road sign detection based on the images obtained from DVRs. Three convolutional neural network based state-of-the-art real-time object detection systems are explored for road sign detection, where the road sign plates are vertical or horizontal. First, collect the images of street scenes including road signs as an image library, which is divided into three parts for training, validation and testing. Secondly, according to the exposure values (EVs) of images, divide the images into three categories, high exposures labeled as EV -H, middle exposures labeled as EV-M, and low exposures labeled as EV-L. Thirdly, the road signs in each image are labeled to perform supervised learning. Fourthly, apply three object detection systems to road sign detection, You Only Look Once (yOLO) version 2 (v2), YOLO version 3 (v3), and Single-Step Multi-Box Detection (SSD), where an improved method based on YOLO v2 is proposed by dividing the images into three kinds of meshes and recalculating the values of the anchor boxes by k-means algorithm. Finally, analyze the mean average precisions and the frame rates of all images to conclude the best models for the three conditions EV-L, EV-M and EV-H.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116212125","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

Autonomous Color Based Object Tracking of a Hexapod with Efficient Intuitive Characteristics 具有高效直观特征的六足机器人自主颜色目标跟踪

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-09-01 DOI: 10.1109/ISMCR47492.2019.8955728

S. Ahmad, Saeed Moazami, H. Zargarzadeh

引用次数: 0

Rescue Boat Path Planning in Flooded Urban Environments 城市淹水环境下的救生船路径规划

2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR) Pub Date : 2019-07-20 DOI: 10.1109/ISMCR47492.2019.8955663

M. Ozkan, L. G. Carrillo, Scott A. King

{"title":"Rescue Boat Path Planning in Flooded Urban Environments","authors":"M. Ozkan, L. G. Carrillo, Scott A. King","doi":"10.1109/ISMCR47492.2019.8955663","DOIUrl":"https://doi.org/10.1109/ISMCR47492.2019.8955663","url":null,"abstract":"Mapping and path planning in disaster scenarios is an area that has benefited from aerial imaging and unmanned aerial (UAV) and surface vehicles (USV). Nowadays, there are many application areas of UAV and USV which consist of environmental monitoring, victim recovery and river mapping in the purpose of rescue operations. There are many challenges for flood rescue operations with existing systems where the time response is critical. The environment is completely changing under flood conditions and it causes a dangerous environment for victims and rescue operators. Rescue boats are widely used for search and rescue in flooded areas. However, rescue boats have a limited view while searching and rescuing the victims. By using UAVs, an aerial image can be taken off the flooded environment and this aerial image can provide global information such as the location of victims and landmarks. The rescue operations can be organized based on a generated flood environment map by using this global information. In this work, we analyze ground map generation and path planning algorithms which make use of aerial imaging provided by a UAV in a flooded urban environment. Based on the generated ground map, we used the concept of mobile robot path planning to represent our proposed approach in rescue boat path planning. In this purpose, A*, GA and PRM path planning algorithms are used and analyzed to find near-optimal paths for rescue boat between initial and target locations. Simulations are performed to evaluate the performance of the system algorithms to find out the most suitable algorithm in flooded urban environments.","PeriodicalId":423631,"journal":{"name":"2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127826410","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: 18