2023 9th International Conference on Automation, Robotics and Applications (ICARA)最新文献_第3页

Emergency Stop System of Computer Vision Workstation Based on GMM-HMM and LSTM 基于GMM-HMM和LSTM的计算机视觉工作站紧急停车系统

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125926

Muhuan Wu, Fangrui Guo, Junwei Wu, Yuliang Xiao, Mingyu Jin, Quan Zhang

{"title":"Emergency Stop System of Computer Vision Workstation Based on GMM-HMM and LSTM","authors":"Muhuan Wu, Fangrui Guo, Junwei Wu, Yuliang Xiao, Mingyu Jin, Quan Zhang","doi":"10.1109/ICARA56516.2023.10125926","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125926","url":null,"abstract":"Voice recognition and command technology for applications with industrial robots is a relatively new field in the intelligent manufacturing industry. It offers a number of advantages over other methods of communication with robots, as it requires fewer specialized skills to manipulate the robot workstation. Additionally, using voice commands can help reduce the number of industrial injuries caused by contact with machinery, thus potentially save operators' lives in emergency situations where external assistance is not immediately available. This study presents a design of a Cartesian robot workstation which is equipped with a voice recognition system controlled by audio commands, as well as a vision perception system. The vision perception system uses the Real Sense depth camera that captures information about the coordinates of the work pieces, which is processed by SSD algorithm. The voice recognition system has been developed with an algorithm which combines both LSTM and HMM, and it has good performance in term of both efficiency and accuracy in controlling normal operation as well as emergency stop for our robot grasping workstation.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130793816","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

Reinforcement-Learning Based Robotic Assembly of Fractured Objects Using Visual and Tactile Information 基于视觉和触觉信息的基于强化学习的断裂物体机器人装配

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125938

Xinchao Song, Nikolas Lamb, Sean Banerjee, N. Banerjee

{"title":"Reinforcement-Learning Based Robotic Assembly of Fractured Objects Using Visual and Tactile Information","authors":"Xinchao Song, Nikolas Lamb, Sean Banerjee, N. Banerjee","doi":"10.1109/ICARA56516.2023.10125938","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125938","url":null,"abstract":"Though several approaches exist to automatically generate repair parts for fractured objects, there has been little prior work on the automatic assembly of generated repair parts. Assembly of repair parts to fractured objects is a challenging problem due to the complex high-frequency geometry at the fractured region, which limits the effectiveness of traditional controllers. We present an approach using reinforcement learning that combines visual and tactile information to automatically assemble repair parts to fractured objects. Our approach overcomes the limitations of existing assembly approaches that require objects to have a specific structure, that require training on a large dataset to generalize to new objects, or that require the assembled state to be easily identifiable, such as for peg-in-hole assembly. We propose two visual metrics that provide estimation of assembly state with 3 degrees of freedom. Tactile information allows our approach to assemble objects under occlusion, as occurs when the objects are nearly assembled. Our approach is able to assemble objects with complex interfaces without placing requirements on object structure.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128135545","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

Densifying SLAM for UAV Navigation by Fusion of Monocular Depth Prediction 基于单目深度预测融合的SLAM无人机导航

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125712

Yassine Habib, P. Papadakis, C. L. Barz, Antoine Fagette, Tiago Gonçalves, Cédric Buche

引用次数: 1

Vehicle Motion Control with Jerk Constraint by Nonlinear Model Predictive Control 基于非线性模型预测控制的车辆运动控制

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125913

Kyoshiro Itakura

引用次数: 0

Offline Task Assignment and Motion Planning Algorithm Considering Agent's Dynamics 考虑Agent动力学的离线任务分配与运动规划算法

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125759

Tomoaki Shimizu, Kosuke Taneda, Ayumu Goto, Tomoya Hattori, Toyokazu Kobayashi, Ryota Takamido, Jun Ota

引用次数: 0

Design and Development of a Prototype Upper-limb Rehabilitation Robot Based on Multi-body Dynamics Analysis 基于多体动力学分析的上肢康复机器人原型设计与研制

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125669

H. Sung, C. Hsiao, C. Lee, Chin-Yu Wang

引用次数: 0

2023 9th International Conference on Automation, Robotics and Applications 2023第九届自动化、机器人及其应用国际会议

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/icara56516.2023.10125910

引用次数: 0

The Estimation of Ocean-current Velocity for AUV Using Optimization-Based Alignment 基于优化对准的水下航行器海流速度估计

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125952

Yongjiang Huang, Xixiang Liu

{"title":"The Estimation of Ocean-current Velocity for AUV Using Optimization-Based Alignment","authors":"Yongjiang Huang, Xixiang Liu","doi":"10.1109/ICARA56516.2023.10125952","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125952","url":null,"abstract":"Doppler velocity log (DVL) can provide velocity information for the strap-down inertial navigation system (SINS), and it is widely used in the field of navigation for autonomous underwater vehicles (AUVs). However, in deep-sea scenarios, the DVL's output is the velocity relative to the ocean currents since it works in the water-tracking mode. The ocean-current velocity brings systematic errors to the SINS/DVL integrated navigation system, which leads to the degradation of navigation positioning accuracy. Therefore, estimating and compensating for the current velocity is an essential requirement for high-precision navigation performance and an important topic for oceanographic research. In the small ocean area where AUV works, the current velocity remains stable for a short time, and it can be considered a constant value. This paper proposes an optimization-based alignment (OBA) method for estimating the ocean-current velocity based on the GNSS (global navigation satellite system)/SINS/DVL integrated system. The simulation results show that the proposed method can estimate the current velocity accurately and does not depend on the initial value compared with the traditional KF method.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133426198","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

Measurement Pose Optimization for Joint Offset Calibration with a Hand-Eye Camera 手眼相机关节偏移标定的测量姿态优化

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125953

Xiaotian Zhang, Hiroki Goto, Shouhei Shirafuji, Keiji Okuhara, Noritaka Takamura, Naoya Kagawa, Hiroyasu Baba, Jun Ota

引用次数: 0

An Effective Method for Creating Virtual Doors and Borders to Prevent Autonomous Mobile Robots from Entering Restricted Areas 一种防止自主移动机器人进入限制区域的虚拟门和边界的有效方法

2023 9th International Conference on Automation, Robotics and Applications (ICARA) Pub Date : 2023-02-10 DOI: 10.1109/ICARA56516.2023.10125943

K. Omer, A. Monteriù

{"title":"An Effective Method for Creating Virtual Doors and Borders to Prevent Autonomous Mobile Robots from Entering Restricted Areas","authors":"K. Omer, A. Monteriù","doi":"10.1109/ICARA56516.2023.10125943","DOIUrl":"https://doi.org/10.1109/ICARA56516.2023.10125943","url":null,"abstract":"Autonomous mobile robotics are becoming a common sight in smart homes and industries, where they are used for tasks such as cleaning and material handling. In some cases, it is necessary to restrict the movement of these robots to certain areas or rooms during specific times or for specific tasks, in order to ensure safety and prevent interference. Traditional methods for creating virtual walls and borders to accomplish this often have limitations in terms of ease of use, universality, and remote accessibility. In order to overcome these issues, this work presents a method for creating virtual walls, doors, and borders using the Robotic Operating System (ROS) and point cloud data. This method can be used to restrict the movement of autonomous mobile robots in human-centered environments, including smart homes and warehouses, and can be activated and deactivated remotely. It is a flexible and cost-effective solution that does not require specialized sensors and can be used with single or multi-robot systems. The effectiveness of our method has been demonstrated through testing in simulation based on the reconstruction of real environments.","PeriodicalId":443572,"journal":{"name":"2023 9th International Conference on Automation, Robotics and Applications (ICARA)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117220139","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