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检索条件"任意字段=6th International Conference on Informatics in Control, Automation and Robotics"

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(A) vision for 2050 - the road towards image understanding for a human-robot soccer match

(A) vision for 2050 - The road towards image understanding f...

引用

5th international conference on informatics in control, automation and robotics

作者： Frese, Udo Laue, Tim DFKI D-28359 Bremen Germany Univ Bremen Fac Math & Comp Sci 3 SFB TR Spatial Cognit 8 D-28359 Bremen Germany

ISBN: (纸本)9789898111319

We believe it is possible to create the visual subsystem needed for the RoboCup 2050 challenge - a soccer match between humans and robots - within the next decade. In this position paper, we argue, that the basic techniques are available, but the main challenge will be to achieve the necessary robustness. We propose to address this challenge through the use of probabilistically modeled context, so for instance a visually indistinct circle is accepted as the ball, if it fits well with the ball's motion model and vice versa. Our vision is accompanied by a sequence of (partially already conducted) experiments for its verification. In these experiments, a human soccer player carries a helmet with a camera and an inertial sensor and the vision system has to extract all information from that data, a humanoid robot would need to take the human's place.

关键词： vision recognition image processing state estimation sensor fusion robot soccer sport robotics

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the basis of control-related robotics research - Open high-rate low-level control architectures for industrial manipulators

The basis of control-related robotics research - Open high-r...

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Joint 41st international Symposium on robotics, ISR 2010 and 6th German conference on robotics 2010, ROBOTIK 2010

作者： Sommerkorn, Alexander Kubus, Daniel Wahl, Friedrich M. Institut für Robotik und Prozessinformatik TU Braunschweig Germany

ISBN: (纸本)9781617387197

In a study and research environment open control architectures are crucial for evaluating new control laws and for multisensor integration. Unfortunately, most commercial robot manufacturers do not provide open control architectures. In order to fill this gap, the Institut für Robotik und Prozessinformatik has a long tradition of building robot control systems. this paper gives a motivation for using open control architectures and introduces two architectures which had been developed at the institute in the last years. Apart from general architecture aspects, it focuses on synchronization approaches for distributed control systems and concrete implementation issues. Experimental results demonstrate the need for high control rates in teleoperation and force control applications.

关键词： Distributed parameter control systems

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Methodology for learning visual reactive behaviours in robotics through reinforcement and image-based states

Methodology for learning visual reactive behaviours in robot...

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4th international conference on informatics in control, automation and robotics

作者： Quintia, Pablo Domenech, Jose E. Gamallo, Cristina Regueiro, Carlos V. Univ A Coruna Fac Informat La Coruna 15071 Spain

ISBN: (纸本)9789728865832

this article describes the development of a methodology for the learning of visual and reactive behaviours using reinforcement learning. With the use of artificial vision the environment is perceived in 3D, and it is possible to avoid obstacles that are invisible to other sensors that are more common in mobile robotics. Reinforcement learning reduces the need for intervention in behaviour design, and simplifies its adjustment to the environment, the robot and the task. the designed methodology is intended to be general;thus, in order to change the desired behaviour, only the reinforcement and the filtering of the image need to be changed. For the definition of the reinforcement a laser sensor is used, and for the definition of the states a fixed 3x3 grid is used. the behaviours learned were wall following, object following, corridor following and platform following. Results are presented with a Pioneer 2 AT. A Gazebo 3D simulator was used for the Learning and testing phase, and a test of the wall following behaviour was carried out in a real environment.

关键词： reinforcement learning mobile robotics artificial vision visual reactive behaviours motivation

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IntellWheels - A development platform for intelligent wheelchairs for disabled people

IntellWheels - A development platform for intelligent wheelc...

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5th international conference on informatics in control, automation and robotics

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo Artificial Intelligence and Computer Science Lab-LIACC Faculty of Engineering University of Porto 4200-465 Porto Rua Dr. Roberta Frias s/n Portugal

ISBN: (纸本)9789898111319

Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. this paper describes a development platform for intelligent wheelchairs called IntellWheels. the intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. the paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.

关键词： intelligent wheelchair intelligent robotics human-robots interfaces

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Useful computer vision techniques for a robotic head

Useful computer vision techniques for a robotic head

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4th international conference on informatics in control, automation and robotics

作者： Deniz, O. Castrillon, M. Lorenzo, J. Canalis, L. A. Univ Las Palmas Gran Canaria Inst Univ Sistemas Inteligentes & Aplicac Numer I Las Palmas Gran Canaria 35017 Spain

ISBN: (纸本)9789728865832

this paper describes some simple but useful computer vision techniques for human-robot interaction. First, an omnidirectional camera setting is described that can detect people in the surroundings of the robot, giving their angular positions and a rough estimate of the distance. the device can be easily built with inexpensive components. Second, we comment on a color-based face detection technique that can alleviate skin-color false positives. third, a person tracking and recognition system is described. Finally, a simple head nod and shake detector is described, suitable for detecting affirmative/negative, approval/disapproval, understanding/disbelief head gestures.

关键词： social robotics sociable robot person detection omnidirectional vision

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Development of Discrete Mechanics for Distributed Parameter Mechanical Systems and Its Application to Vibration Suppression control of a String 13

Development of Discrete Mechanics for Distributed Parameter ...

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13th international conference on informatics in control, automation and robotics (ICINCO)

作者： Kai, Tatsuya Yamaki, Kouhei Koike, Shunpei Tokyo Univ Sci Katsushika ku 6-3-1 Niijuku Tokyo 12585859 Japan Simplex Inc Minato Ku 1-23-1 Toranomon Tokyo 1056319 Japan

ISBN: (纸本)9789897581984

In this study, a new stabilization method by blending discrete mechanics and nonlinear optimization for 1-dimensional distributed parameter mechanical systems is developed. Discrete mechanics is a kind of numerical solutions for distributed parameter mechanical systems and it is known that it has some advantages in terms of numerical errors and preserving property of the original systems. First, for discrete Euler-Lagrange equations with control inputs, we formulate a nonlinear optimal control problem with constraints by setting an objective function, and initial and boundary conditions. then, it is shown that the problem is represented as a finite-dimensional nonlinear optimal problem with constraints and it can be solved by the sequential quadratic programming method. After that, a vibration suppression control problem for a string is dealt with as a physical example. As a result, it can be confirmed that vibration of the string is suppressed and the whole of the system is stabilized by the proposed new method.

关键词： Discrete Mechanics Distributed Parameter Mechanical Systems Nonlinear Optimization Vibration Suppression control String

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Neuroevolution with CMA-ES for Real-time Gain Tuning of a Car-like Robot controller 16

Neuroevolution with CMA-ES for Real-time Gain Tuning of a Ca...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Hill, Ashley Lucet, Eric Lenain, Roland CEA LIST Interact Robot Lab F-91191 Gif Sur Yvette France Univ Clermont Auvergne Irstea UR TSCF Ctr Clermont Ferrand F-63178 Aubiere France

ISBN: (纸本)9789897583803

this paper proposes a method for dynamically varying the gains of a mobile robot controller that takes into account, not only errors to the reference trajectory but also the uncertainty in the localisation. To do this, the covariance matrix of a state observer is used to indicate the precision of the perception. CMA-ES, an evolutionary algorithm is used to train a neural network that is capable of adapting the robot's behaviour in real-time. Using a car-like vehicle model in simulation. Promising results show significant trajectory following performances improvements thanks to control gains fluctuations by using this new method. Simulations demonstrate the capability of the system to control the robot in complex environments, in which classical static controllers could not guarantee a stable behaviour.

关键词： Neuroevolution Machine Learning Neural Network Evolution Strategies Gradient-free Optimization robotics Mobile Robot control theory Gain Tuning Adaptive control

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Investigation of Non-circular Scanning Trajectories in Robot-based Industrial X-ray Computed Tomography of Multi-material Objects 16

Investigation of Non-circular Scanning Trajectories in Robot...

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16th international conference on informatics in control, automation and robotics (ICINCO)

作者： Landstorfer, Peter Herl, Gabriel Hiller, Jochen Fraunhofer Applicat Ctr CTMT Dieter Gorlitz Pl 2 D-94469 Deggendorf Germany Deggendorf Inst Technol Dieter Gorlitz Pl 1 D-94469 Deggendorf Germany

ISBN: (纸本)9789897583803

In this work the application of six-axis robots for robot-based industrial X-ray computed tomography (CT) imaging is investigated. In contrast to classical Cartesian manipulators with a turntable used in industrial cone-beam CT, robots offer increased flexibility regarding scanning trajectories. the increased flexibility with respect to scanning trajectories helps to gather highly informative content from alternative ray paths for a high-quality 3D reconstruction of the object to be scanned. Using numerical simulations we show that this additional informations increase the image quality of a CT scan of a multi-material measuring object, consisting of tantalum spheres and a carbon structure.

关键词： X-ray Computed Tomography X-ray Simulation robotics Robot-based Imaging Scanning Trajectory

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Improved occupancy grid learning - the ConForM approach to occupancy grid mapping

Improved occupancy grid learning - The ConForM approach to o...

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4th international conference on informatics in control, automation and robotics

作者： Collins, thomas Collins, J. J. Ryan, Conor Univ Limerick Dept Comp Sci & Informat Syst Limerick Ireland

ISBN: (纸本)9789728865832

A central requirement for the development of robotic systems, that are capable of autonomous operation in non-specific environments, is the ability to create maps of their operating locale. the creation of these maps is a non trivial process as the robot has to interpret the findings of its sensors so as to make deductions regarding the state of its environment. Current approaches fall into two broad categories: on-line and offline. An on-line approach is characterised by its ability to construct a map as the robot traverses its operating environment, however this comes at the cost of representational clarity. An offline approach on the other hand requires all sensory data to be gathered before processing begins but is capable of creating more accurate maps. In this paper we present a new means of constructing occupancy grid maps which addresses this problem.

关键词： robotics occupancy grids machine learning artificial intelligence

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Presentation of the Programme of the 6th GI/ACM Standardization Workshop on Industrial automation and control Systems the 6th IACS WS'21 September 28, 2021 Virtual 51

Presentation of the Programme of the 6th GI/ACM Standardizat...

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Die 51. Jahrestagung der Gesellschaft fur Informatikin, INFORMATIK 2021 - 51st Annual conference of the German informatics Society, INFORMATIK 2021

作者： de Meer, Jan Waedt, Karl Rennoch, Axel Hof, Hans-Joachim Smartspace®lab eu GmbH Berlin Germany Framatome GmbH Erlangen Germany Fraunhofer-FOKUS Berlin Germany Technische Hochschule Ingolstadt Germany Germany

One of the important basic objectives of the 6th IACS WS'21 is to contribute to Sustainability achieved by standardization that is based on new I4.0 technologies such as Smart Manufacturing, Digital Twin, AI-based... 详细信息

ISBN: (纸本)9783885797081

关键词： Life cycle

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