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Automatic detection of fruits in coffee crops from aerial images 从航空图像中自动检测咖啡作物果实
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215283
Gabriel L. A. Carrijo, Danilo E. Oliveira, G. A. D. Assis, M. Carneiro, V. Guizilini, Jefferson R. Souza
{"title":"Automatic detection of fruits in coffee crops from aerial images","authors":"Gabriel L. A. Carrijo, Danilo E. Oliveira, G. A. D. Assis, M. Carneiro, V. Guizilini, Jefferson R. Souza","doi":"10.1109/SBR-LARS-R.2017.8215283","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215283","url":null,"abstract":"A big challenge in the precision agriculture is the detection of fruits in coffee crops on agricultural environments. This paper presents a comparison of four features set to detect the red fruits (mature) in Coffee plants. An Unmanned Aerial Vehicle (UAV) is used to obtain high-resolution RGB images of a coffee hall. The proposed methodology enables the extraction of visual features from image regions and uses supervised Machine Learning (ML) techniques to classify areas as coffee fruits and non-fruits (e.g. branches and leaves). Several ML methods were compared using the test data achieved from a Coffee plantation. Experimental results show that the ANN model is more reliable than other ML methods for accurately identifying coffee fruits.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"76 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126299102","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
Communication network architecture specification for multi-UAV system applied to scanning rocket impact area first results 多无人机系统应用于火箭弹冲击区扫描的通信网络体系结构规范
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215296
M. R. Silva, E. S. Souza, P. Alsina, F. H. C. Junior, A. Medeiros, M. Nogueira, G. G. L. A. D. Alburquerque, João B. D. Dantas
{"title":"Communication network architecture specification for multi-UAV system applied to scanning rocket impact area first results","authors":"M. R. Silva, E. S. Souza, P. Alsina, F. H. C. Junior, A. Medeiros, M. Nogueira, G. G. L. A. D. Alburquerque, João B. D. Dantas","doi":"10.1109/SBR-LARS-R.2017.8215296","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215296","url":null,"abstract":"This paper presents the specifications for a network architecture of a squadron of Unmanned Aerial Vehicles to be used to scan rocket impact areas. It presents the main features of communication networks for multi UAV systems and the details of its application. In this context, we propose a network architecture based on XBee Pro 900HP S3B modules integrated to a hardware platform controlled by embedded computer Model Raspberry Pi 2B, equipped with GPS and Ardupilot controller board. A test plan was established to evaluate the performance of the proposed network architecture in terms of robustness, reliability and energy efficiency. For benchmarking the possible formation of UAVs squadron scenarios, we used network management software in order to measure throughput, packet loss and other performance indicators in the communication links between the different network nodes.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127271439","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
Development of a low cost weather station using free hardware and software 利用免费硬件和软件开发一个低成本的气象站
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215292
Robison Cris Brito, F. Favarim, Guilherme Calin, E. Todt
{"title":"Development of a low cost weather station using free hardware and software","authors":"Robison Cris Brito, F. Favarim, Guilherme Calin, E. Todt","doi":"10.1109/SBR-LARS-R.2017.8215292","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215292","url":null,"abstract":"Weather stations are a valuable tool to many different areas, like agriculture, aviation, construction, sports and recreation, specially because they collect weather data, which can be stored and processed to gather specific information to correlate events to the weather action. This work shows a development model of a low cost weather station, using only free hardware and software, connected to the internet, giving real time data taken from the station, as well as history of the stored data. This station, even though using low cost or handcrafted sensors, like those that measure wind speed, wind direction and rainfall index, showed consistent results costing only 10% of the price, in comparison with some professional weather stations, allowing its popularization in agriculture, homes and institutions.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132868615","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: 15
Analysis of human-swarm interaction through potential field manipulation 基于势场操纵的人群交互分析
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215320
Tarcisio L. Oliveira, M. R. Batista, R. Romero
{"title":"Analysis of human-swarm interaction through potential field manipulation","authors":"Tarcisio L. Oliveira, M. R. Batista, R. Romero","doi":"10.1109/SBR-LARS-R.2017.8215320","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215320","url":null,"abstract":"Manipulation of beacons is a method of Human-Swarm Interaction (HSI) of relative ease to implement, especially for computer simulated environments. This paper focuses on doing an in depth analysis of an implementation of attractor and repulsor fields and determining its advantages and disadvantages through experimental means. The results give an optimistic view of the method: the learning curve is not steep, making it relatively easy for humans to adapt to its use.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134383795","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 fixed-wing vertical takeoff and landing aircraft as an autonomous vehicle 作为自主飞行器的固定翼垂直起降飞机的研制
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215275
N. B. F. Silva, João V. C. Fontes, R. Inoue, K. Branco
{"title":"Development of a fixed-wing vertical takeoff and landing aircraft as an autonomous vehicle","authors":"N. B. F. Silva, João V. C. Fontes, R. Inoue, K. Branco","doi":"10.1109/SBR-LARS-R.2017.8215275","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215275","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) with different configurations exist to supply requirements for diverse applications. One of them is the tailsitter that gathers complementary advantages from Vertical Takeoff and Landing (VTOL) and fixed-wing UAVs. In this paper, we present a new design of a tailsitter UAV, named AVALON (Autonomous VerticAL takeOff and laNding). This UAV is composed of typical actuators and is independent of auxiliary infrastructure for vertical takeoff and landing. An autopilot for the tracking control problem of the AVALON vehicle is also proposed to maintain the aircraft in predefined conditions during all flight stages. Simulations results based on the AVALON equations of motion showed that the control techniques applied to all flight stages enable its use as an UAV platform successfully.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116718578","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: 6
Artificial neural networks applied to the classification of hand gestures using eletromyographic signals 人工神经网络应用于使用肌电图信号的手势分类
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215313
M. Fonseca, A. S. Conceição, Eduardo F. Simas Filho
{"title":"Artificial neural networks applied to the classification of hand gestures using eletromyographic signals","authors":"M. Fonseca, A. S. Conceição, Eduardo F. Simas Filho","doi":"10.1109/SBR-LARS-R.2017.8215313","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215313","url":null,"abstract":"This paper aims at the classification of hand gestures using electromyographic signals (EMG) obtained through a MyoTM armband, which has eight medical grade electrodes. Each electrode provides information regarding muscles contraction performed during the execution of the movement. From these electrodes signals are extracted seven features for each one of eight electrodes. After extraction of the characteristics a Feedforward Artificial Neural Network is trained to recognize the desired classes. The motivation of this research is the recognition of gestures for human-robot interaction. Experimental results are presented to demonstrate the performance of the proposed method.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"126 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133806279","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
Model-based robotic hand tracking and gripper state determination 基于模型的机械手跟踪与抓取器状态确定
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215330
Arthur Cruzde Araujo, A. M. N. Lima, J. Mattila, Rajkumar Muthusamy
{"title":"Model-based robotic hand tracking and gripper state determination","authors":"Arthur Cruzde Araujo, A. M. N. Lima, J. Mattila, Rajkumar Muthusamy","doi":"10.1109/SBR-LARS-R.2017.8215330","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215330","url":null,"abstract":"This paper proposes a 3D model-based vision system for detecting a manipulator's gripper on a scene, tracking it as it moves and continuously determining its state (opened or closed), information that is used to signal that an object can be grasped. Build upon the Robot Operating System (ROS), it mainly comprises a registration pipeline, a tracking algorithm and a state classifier based on a proposed measure of similarity between point clouds. The test platform includes a robotic arm and a depth camera. Satisfactory experimental results were obtained: tracking had a good performance for well-behaved trajectories and the detection of not only the state of the gripper, showing robustness to self-occlusion, but also the presence of an object, were successful. The state detector produced relevant output on grasping of unknown objects to be used in future works, which might contemplate the insertion of this system in a multi-robot collaborative scenario. The test results presented in this paper demonstrate the correctness of the proposed methodology and the feasibility of the proposed system design.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132831037","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
Self-learning in the inverse kinematics of robotic arm 机械臂逆运动学的自学习
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215342
Samuel Cavalcanti, O. Santana
{"title":"Self-learning in the inverse kinematics of robotic arm","authors":"Samuel Cavalcanti, O. Santana","doi":"10.1109/SBR-LARS-R.2017.8215342","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215342","url":null,"abstract":"This work makes a study in the usage of a learning machine and computer vision for the control of the movements of an robotic arm. The technique chosen for the learning process was the Map of Kohonen, because it is a classic technique with a self-learning capacity. The solution investigated was part of a huge problem: the learning process of tasks by articulated robots, for example the pick-and-place task. The results that were found indicated that the proposed solution was able to learn in two scenarios: data of movements of the end effector in line and data of end effector realizing movements in a plane. In a future work, it should address more complex scenarios and other stages of the task learning process by Robotic manipulators with computer vision.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134175383","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
First response fire combat: Deep leaning based visible fire detection 第一反应消防:基于可见火灾探测的深度学习
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215312
Valquiria Huttner, C. Steffens, S. Botelho
{"title":"First response fire combat: Deep leaning based visible fire detection","authors":"Valquiria Huttner, C. Steffens, S. Botelho","doi":"10.1109/SBR-LARS-R.2017.8215312","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215312","url":null,"abstract":"Visible spectrum video based fire detection using non-stationary cameras has been an overlooked research problem. While many authors have successfully developed algorithms to identify and measure the proportions of uncontrolled fire using thermal or stationary surveillance cameras, the development of non-stationary systems provides a much larger application scope. We present a deep learning based approach, based on Google's Inception v3 and evaluate how the use of different optimizers, learning rates and reduction functions impact the convergence time and the results obtained. The experiment used a balanced two-class dataset, composed of images from videos captured through hand-held and drone attached cameras on real fire hazard situations. The results show that using any choice of algorithms, the Inception v3 architecture is able to converge and obtain results that surpass the state-of-the-art fire detection methods. We show that using a proper choice of learning rate, the network is able to achieve a 99% accuracy in less than one hundred interactions.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130358357","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: 16
A proposal of a graduate class for the human robot interaction area 人机交互领域的研究生课程设计方案
2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) Pub Date : 2017-11-01 DOI: 10.1109/SBR-LARS-R.2017.8215295
R. Romero, J. J. G. Ramos, Helio Azevedo
{"title":"A proposal of a graduate class for the human robot interaction area","authors":"R. Romero, J. J. G. Ramos, Helio Azevedo","doi":"10.1109/SBR-LARS-R.2017.8215295","DOIUrl":"https://doi.org/10.1109/SBR-LARS-R.2017.8215295","url":null,"abstract":"The most recent European and American Roadmaps for robotics point out the role that robotics will play in people's lives in the coming years, constituting an important tool to support everyday life. The main change is associated with a greater proximity and interactivity of robots with people, influencing their lives, such as unmanned vehicles, personal robotics, assistive robotics, etc. Certainly, this scenario, in which robots will be ubiquitous, will require that many of the technological problems to be addressed and most of the challenges are associated with a growing field of Robotics known as Human-Robot Interaction (HRI). Associated with this challenge, HRI classes have been created around the world to to prepare qualified personal in this area and disseminate this theme. In this article, with the goal of motivating the robotics community in disseminating this subject, a proposal of a graduate class: “Human Robot Interaction Principles” is presented, describing other similar initiatives in the world, the approach adopted, the means used, and finally, the results achieved.","PeriodicalId":435860,"journal":{"name":"2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115245245","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
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