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Advbot: Towards Understanding Human Preference in a Human-Robot Interaction Scenario

Advbot: Towards Understanding Human Preference in a Human-Ro...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Clarice J. Wong Yong Ling Tay Lincoln W.C. Lew Hui Fang Koh Yijing Xiong Yan Wu Raffles Institution Singapore Nanyang Technological University Singapore Robotics and Autonomous Systems Department A*STAR Institute for Infocomm Research Singapore

Recent studies show that the growth of social robotics market will dominate the robotics sector by 2025. Social robots are set to enter and co-exist in daily living, making human-robot interaction studies a crucial research direction in these robotics applications. One such application is the deployment of robotics in information dissemination to augment the shrinking workforce in developed economies, such as advertisement campaigns. this work seeks to understand whether live robot advertiser can better engage audience and improve audience perception of a marketed product as compared to pre-filmed video advertising clips. In this preliminary study, a humanoid robot, the NAO, was programmed to act according to a marketing campaign script, engaging the audience through voice, simulated eye-contacts, gestures and interaction with the Keepon, a robot to be advertised. We carried out three sets of experiments in the CBD of Singapore on teenage pedestrians. the results of this study suggest that physical robot presence will enhance information dissemination and hence improve advertising result, providing value-add to the advertised product.

关键词： Advertising Cost accounting Service robots Humanoid robots Human-robot interaction

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Multi-Scale YOLOv2 for Hand Detection in Complex Scenes

Multi-Scale YOLOv2 for Hand Detection in Complex Scenes

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Jia Chen Zihan Ni Nong Sang Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan China

this paper presents a model named Multi-Scale YOLOv2 (MS-YOLOv2) for hand detection in complex scenes. the proposed MS-YOLOv2 is implemented by introducing three modules to YOLOv2, including a Multi-Scale Feature Refinement Module to acquire fine-grained features, a Channel Importance Evaluation Module to recalibrate feature channels and a Hard Example Punishment Module to get rid of hand interference areas. Experiment results show that the proposed MS-YOLOv2 makes much performance improvement to YOLOv2, but with little computational complexity gain. On our dataset, the proposed MS-YOLOv2 can achieve 98.2% of AP and 97.9% of AR. Moreover, on the VIVA challenge, the proposed MS-YOLOv2 achieves AP/AR of 85.1%/45.8% at Level-1 and 80.1%/45.9% at Level-2.

关键词： Feature extraction Detectors Object detection Skin Color Gesture recognition

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Observers and Invariant Sets for Lure-type Nonlinear Systems using LPV-Embedding

Observers and Invariant Sets for Lure-type Nonlinear Systems...

引用

international conference on control, automation, robotics and vision

作者： Ainain N. Hanafi Maria M. Seron Jose A. De Dona Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Melaka Malaysia Priority Research Centre for Complex Dynamic Systems and Control The University of Newcastle Australia

this paper deals with observers for Lure-type nonlinear systems designed so that the associated estimation error dynamics are bounded in an invariant set. the design uses the LPV-embedding technique, whereby the nonlinearity is redefined in terms of a time-varying parameterised linear function, called the 'LPV parameter'. For LPV parameters with bounded variation, invariant sets for the original nonlinear system are computed by embedding the LPV system into a convex polytopic description. the trajectories of the estimation error are guaranteed to be bounded and remain in the computed invariant set, which exists if a condition in terms of the system matrices and parameters is satisfied. We show that arbitrarily small estimation error bounds can be achieved for some classes of systems. We illustrate the results via a simulation example of a flexible manipulator.

关键词： Eigenvalues and eigenfunctions Estimation error Observers Nonlinear systems Trajectory Perturbation methods

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A Flexible and Adaptive Spatial Density Model for Context-Aware Social Mapping: Towards a More Realistic Social Navigation

A Flexible and Adaptive Spatial Density Model for Context-Aw...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Araceli Vega-Magro Luis J. Manso Pablo Bustos Pedro Núñez Robotics and Artificial Vision Laboratory (RoboLab) University of Extremadura Cáceres Spain School of Engineering and Applied Science Aston University Birmingham United Kingdom

Social navigation is a topic with enormous interest in autonomous robotics. Robots are gradually being used in human environments, working individually or collaborating with humans in their daily tasks. Robots in these scenarios have to be able to behave in a socially acceptable way and, for this reason, the way in which robots move has to adapt to humans and context. Proxemics has been extensively studied with the aim of improving social navigation. However, these works do not take into account that, in several situations, the personal space of the humans depends on the context (e.g., this human space is not the same in a narrow corridor than in a wide room). this work proposes the definition of an adaptive and flexible space density function that allows, on the one hand, to describe the comfort space of individuals during an interaction and, on the other hand, dynamically adapt its value in terms of the space that surrounds this interaction. In order to validate the performance, this article describes a set of simulated experiments where the robustness and improvements of the approach are tested in different environments.

关键词： Robots Navigation Adaptation models Computer architecture Brain modeling Context modeling Density functional theory

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Cooperative control of TCSC to Relieve the Stress of Cyber-physical Power System

Cooperative Control of TCSC to Relieve the Stress of Cyber-p...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Chao Zhai Gaoxi Xiao Hehong Zhang Tso-Chien Pan School of Electrical and Electronic Engineering Nanyang Technological University Institute of Catastrophe Risk Management Nanyang Technological University Singapore

this paper addresses the cooperative control problem of thyristor-controlled Series Compensation (TCSC) for eliminating the stress of cyber-physical power system. Specifically, the cyber-physical power system is composed of power transmission network, flexible alternate current transmission systems (FACTS) devices, phasor measurement unit (PMU), and protection and control center. A cooperative control algorithm of TCSC is developed to adjust the branch impedance and redistribute the power flow for the stress relief. To reduce computation burdens, an approximate method is adopted to estimate the Jacobian matrix for producing the TCSC control signals. In addition, a performance index is introduced to quantify the stress level of power system. theoretical analysis is conducted to guarantee the convergence of performance index when the cooperative control algorithm is implemented in the uncertain environment. Finally, numerical simulations are carried out to validate the cooperative control approach on IEEE 24 Bus Systems with the advantages over the PID control.

关键词： Power capacitors thyristors Jacobian matrices Stress Power system stability Impedance

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Bridging the Gap between Bio-Inspired Steering and Locomotion: A Braitenberg 3a Snake Robot

Bridging the Gap between Bio-Inspired Steering and Locomotio...

引用

international conference on control, automation, robotics and vision

作者： I. Rano A. Gomez Eguiluz F. Sanfilippo Embodied Systems for Robotics and Learning Unit University of Southern Denmark Robotics Vision and Control Group University of Seville Department of Science and Industry Systems University College of Southeast Norway (USN)

Braitenberg vehicles are simple models of animal motion towards, or away from, a stimulus (light, sound, chemicals, etc). they have been widely used in robotics to implement target reaching and avoidance behaviors based on different types of sensors. While the seminal work of Braitenberg used wheeled vehicles to illustrate the principles of animal steering, few attempts have been made at combining these steering level controllers with locomotion mechanism other than actuated wheels. this paper presents the first implementation of this biologically inspired steering controller in a snake-like robot with non-actuated wheels and actuated joints. the sinusoidal gait of the snake is modulated following the principles of the Braitenberg vehicle 3α using two sensors symmetrically located on the head. the effectiveness of this bio-inspired controller is shown through simulations where the snake orients its head and body with the direction of the stimulus gradient, and reaches the stimulus maximum within some range. this paper represents one of the first steps towards connecting bio-inspired sensor-based steering mechanisms and bio-inspired locomotion, and shows that existing theoretical results of Braitenberg vehicles with actuated wheels also apply to a snake-like robot with non-actuated wheels.

关键词： Bio-inspired robots Braitenberg vehicles snake-like robots

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Water flow Detection Using Deep Convolutional Encoder-decoder Architecture

Water flow Detection Using Deep Convolutional Encoder-decode...

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international conference on control, automation and Systems

作者： Husnu Baris Baydargil Jangsik Park Hyun-Suk Shin Kwanghee Park Kyungsung University Busan Busan KR Pusan National University Kumjeong-ku KR Department of Electrical and Electronic Engineering Kyungsung University Busan Republic of Korea

ISBN: (纸本)9781538670804;9788993215168

Due to shortcomings in sewage systems, there are areas in many cities that are highly susceptible to flooding in heavy rain scenarios. While the CCTV cameras for variety reasons scattered everywhere around the city, detecting sudden developed situations still require human attention and focus. Especially in emergency disaster situations, necessary actions that need to be done should also be quick in order to minimize the impact. Detecting flooding early on can save human lives, time, money for the government, as well as an important step to move towards smarter cities. In this paper, the authors propose a deep learning approach to detect floods in certain susceptible areas due to numerous reasons. Using state-of-the-art architecture capable of image segmentation, the system is trained to detect floods using either CCTV or PTZ-capable cameras, and the alert center is warned about the flooded area in order to divert units to respond accordingly to the situation.

关键词： Scene understanding Video automation Computer vision Image segmentation Video surveillance Flood detection Deep learning Emergency management

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A Novel Warehouse Multi-Robot automation System with Semi-Complete and Computationally Efficient Path Planning and Adaptive Genetic Task Allocation Algorithms

A Novel Warehouse Multi-Robot Automation System with Semi-Co...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Kam Fai Elvis Tsang Yuqing Ni Cheuk Fung Raphael Wong Ling Shi Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong

We consider the problem of warehouse multi-robot automation system in discrete-time and discrete-space configuration with focus on the task allocation and conflict-free path planning. We present a system design where a centralized server handles the task allocation and each robot performs local path planning distributively. A genetic-based task allocation algorithm is firstly presented, with modification to enable heuristic learning. A semi-complete potential field based local path planning algorithm is then proposed, named the recursive excitation/relaxation artificial potential field (RERAPF). A mathematical proof is also presented to show the semi-completeness of the RERAPF algorithm. the main contribution of this paper is the modification of conventional artificial potential field (APF) to be semi-complete while computationally efficient, resolving the traditional issue of incompleteness. Simulation results are also presented for performance evaluation of the proposed path planning algorithm and the overall system.

关键词： Task analysis Resource management Robot sensing systems Path planning Biological cells Genetic algorithms

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Distributed Fusion Estimator Over Sensor Networks with Stochastic Event-Triggered Scheduling

Distributed Fusion Estimator Over Sensor Networks with Stoch...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Zengwang Jin Yanyan Hu Fen Zhang Changyin Sun School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China School of Automation Southeast University Nanjing China

this paper deals with the state estimation fusion problem for stochastic continuous-time systems over wireless sensor networks (WSNs) with multi-sensor scheduling. Due to the power limitation and communication constraints in WSNs, a closed-loop stochastic event-triggered mechanism is designed to reduce the redundant data transmission. Since this design preserves the Gaussian property of the conditional distribution of the system state, an exact minimum mean square error (MMSE) estimator could be presented for every sensor subsystem. then, the distributed event-triggered information fusion estimator is proposed based on maximum a posterior probability criterion by a matrix-weighted combination of all available local estimates from sensor subsystems. the proposed distributed algorithm has advantages on reliability, computation efficiency due to the netted parallel structure. A numerical simulation is conducted to illustrate the effectiveness of the proposed distributed estimator.

关键词： Wireless sensor networks Covariance matrices State estimation Estimation error Robot sensing systems Job shop scheduling

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Anti-unwinding Attitude control of Spacecraft using Back-Stepping Technique with Finite Time Convergence

Anti-unwinding Attitude Control of Spacecraft using Back-Ste...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Umair Javaid School of Automation and Electrical Engineering Beihang Univeristy Beijing China

Quaternion representation of spacecraft has double equilibrium points associated with it, which may cause unwinding phenomenon in attitude control if both equilibria are not treated as stable during control law design procedure. this paper presents anti-unwinding attitude tracking control of rigid body spacecraft in presence of external disturbance and model uncertainties. In pursuit of our goal, anti-unwinding attitude tracking control law using back-stepping technique (BT) is developed, in accomplice with sliding mode control (SMC). Sliding surface using initial value of scalar component of quaternion is formulated. Furthermore, system dynamics are transformed to facilitate application of observer for estimation of lumped uncertainties. Extended state observer (ESO) is employed to compensate for total system uncertainties. the proposed controller gives faster transient response. Furthermore, controller output is chattering free and smooth. In addition, proposed control law has superior disturbance rejection capabilities and is robust against model uncertainties. Stability analysis of closed loop system is performed using Lyapunovs theory and Barbalats lemma in finite time (FT). Numerical simulations are performed to show the efficiency of proposed control scheme.

关键词： Attitude control Space vehicles Quaternions Observers Uncertainty Kinematics Angular velocity

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