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UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings最新文献

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Trajectory Creation Towards Fast Skill Deployment in Plug-and- Produce Assembly Systems: A Gaussian-Mixture Model Approach 即插即用装配系统中快速技能部署的轨迹创建:一种高斯混合模型方法
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-03-21 DOI: 10.31256/UKRAS19.23
Melanie Zimmer, Ali Al-Yacoub, P. Ferreira, N. Lohse
{"title":"Trajectory Creation Towards Fast Skill Deployment in Plug-and- Produce Assembly Systems: A Gaussian-Mixture Model Approach","authors":"Melanie Zimmer, Ali Al-Yacoub, P. Ferreira, N. Lohse","doi":"10.31256/UKRAS19.23","DOIUrl":"https://doi.org/10.31256/UKRAS19.23","url":null,"abstract":"In this paper, a technique that reduces the changeover time in industrial workstations is presented. A Learning from Demonstration-based algorithm is used to acquire a new skill through a series of real-world human demonstrations in which the human shows the desired task. Initially, the collected data are filtered and aligned applying Fast Dynamic Time Warping (FastDTW). Then the aligned trajectories are modelled with a Gaussian Mixture Model (GMM), which is used as an input to generate a generalisation of the motion through a Gaussian Mixture Regression (GMR). The proposed approach is set into the context of the openMOS framework to efficiently add new skills that can be performed on different workstations. The main benefit of this work in progress is providing an intuitive, simple technique to add new robotics skills to an industrial platform which accelerates the changeover phase in manufacturing scenarios.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125757737","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 Deep Adaptive Framework for Robust Myoelectric Hand Movement Prediction 一种鲁棒手肌电运动预测的深度自适应框架
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-03-21 DOI: 10.31256/UKRAS19.1
Carl Peter Robinson, Baihua Li, Q. Meng, M. Pain
{"title":"A Deep Adaptive Framework for Robust Myoelectric Hand Movement Prediction","authors":"Carl Peter Robinson, Baihua Li, Q. Meng, M. Pain","doi":"10.31256/UKRAS19.1","DOIUrl":"https://doi.org/10.31256/UKRAS19.1","url":null,"abstract":"This work explored the requirements of accurately\u0000and reliably predicting user intention using a deep learning\u0000methodology when performing fine-grained movements of the\u0000human hand. The focus was on combining a feature engineering\u0000process with the effective capability of deep learning to further\u0000identify salient characteristics from a biological input signal. 3\u0000time domain features (root mean square, waveform length, and\u0000slope sign changes) were extracted from the surface\u0000electromyography (sEMG) signal of 17 hand and wrist\u0000movements performed by 40 subjects. The feature data was\u0000mapped to 6 sensor bend resistance readings from a CyberGlove\u0000II system, representing the associated hand kinematic data.\u0000These sensors were located at specific joints of interest on the\u0000human hand (the thumb’s metacarpophalangeal joint, the\u0000proximal interphalangeal joint of each finger, and the\u0000radiocarpal joint of the wrist). All datasets were taken from\u0000database 2 of the NinaPro online database repository. A 3-layer\u0000long short-term memory model with dropout was developed to\u0000predict the 6 glove sensor readings using a corresponding sEMG\u0000feature vector as input. Initial results from trials using test data\u0000from the 40 subjects produce an average mean squared error of\u00000.176. This indicates a viable pathway to follow for this\u0000prediction method of hand movement data, although further\u0000work is needed to optimize the model and to analyze the data with\u0000a more detailed set of metrics.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114350045","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
An Information Theoretic Approach to Path Planning for Frontier Exploration 前沿勘探路径规划的信息论方法
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-03-21 DOI: 10.31256/UKRAS19.11
Callum Rhodes, Cunjia Liu, Wen‐Hua Chen
{"title":"An Information Theoretic Approach to Path Planning for Frontier Exploration","authors":"Callum Rhodes, Cunjia Liu, Wen‐Hua Chen","doi":"10.31256/UKRAS19.11","DOIUrl":"https://doi.org/10.31256/UKRAS19.11","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127970640","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
Development of a Simulated Production Environment for Plug-And-Produce Architecture Testing 即插即用架构测试模拟生产环境的开发
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/UKRAS19.27
William Eaton
{"title":"Development of a Simulated Production Environment for Plug-And-Produce Architecture Testing","authors":"William Eaton","doi":"10.31256/UKRAS19.27","DOIUrl":"https://doi.org/10.31256/UKRAS19.27","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123699927","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
Visual Features as Frames of Reference in Task-Parametrised Learning from Demonstration 视觉特征作为任务参数化示范学习的参考框架
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/ukras19.25
Shirine El Zaatari, Weidong Li
{"title":"Visual Features as Frames of Reference in Task-Parametrised Learning from Demonstration","authors":"Shirine El Zaatari, Weidong Li","doi":"10.31256/ukras19.25","DOIUrl":"https://doi.org/10.31256/ukras19.25","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122112322","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
Controlling a Bipedal Robot with Pattern Generators Trained with Reinforcement Learning* 用强化学习训练的模式生成器控制双足机器人*
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/ukras19.5
Christos Kouppas, Q. Meng, M. King, D. Majoe
{"title":"Controlling a Bipedal Robot with Pattern Generators Trained with Reinforcement Learning*","authors":"Christos Kouppas, Q. Meng, M. King, D. Majoe","doi":"10.31256/ukras19.5","DOIUrl":"https://doi.org/10.31256/ukras19.5","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130161909","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
Development of a Multi-robotic System for Exploration of Biomass Power Plants 生物质发电厂探测多机器人系统的研制
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/UKRAS19.15
Sihai An, F. Arvin, S. Watson, B. Lennox
{"title":"Development of a Multi-robotic System for Exploration of Biomass Power Plants","authors":"Sihai An, F. Arvin, S. Watson, B. Lennox","doi":"10.31256/UKRAS19.15","DOIUrl":"https://doi.org/10.31256/UKRAS19.15","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115476349","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
An Embedded System for Real-Time 3D Human Detection 一种实时三维人体检测的嵌入式系统
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/UKRAS19.31
Haibin Cai, Lei Jiang, Junyi Wang, Mohamad Saada, Q. Meng
{"title":"An Embedded System for Real-Time 3D Human Detection","authors":"Haibin Cai, Lei Jiang, Junyi Wang, Mohamad Saada, Q. Meng","doi":"10.31256/UKRAS19.31","DOIUrl":"https://doi.org/10.31256/UKRAS19.31","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123527265","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
Acoustic side-scan on enclosed underwater environment 封闭水下环境声侧扫描
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/ukras19.21
Peng Yibin, P. Green
{"title":"Acoustic side-scan on enclosed underwater environment","authors":"Peng Yibin, P. Green","doi":"10.31256/ukras19.21","DOIUrl":"https://doi.org/10.31256/ukras19.21","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122721949","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
Subclass Discriminant Analysis based Myoelectric Hand Motion Recognition 基于子类判别分析的肌电手动作识别
UK-RAS19 Conference: "Embedded Intelligence: Enabling and Supporting RAS Technologies" Proceedings Pub Date : 2019-01-24 DOI: 10.31256/UKRAS19.33
Dalin Zhou, Yinfeng Fang, Zhaojie Ju, Honghai Liu
{"title":"Subclass Discriminant Analysis based Myoelectric Hand Motion Recognition","authors":"Dalin Zhou, Yinfeng Fang, Zhaojie Ju, Honghai Liu","doi":"10.31256/UKRAS19.33","DOIUrl":"https://doi.org/10.31256/UKRAS19.33","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121603957","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
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