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18th Annual Conference on Towards Autonomous robotics (TAROS)

作者： Gruenauer, Andreas Halmetschlager-Funek, Georg Prankl, Johann Vincze, Markus TU Wien Automat & Control Inst Vis Robot Lab A-1040 Vienna Austria

ISBN: (纸本)9783319641072;9783319641065

Small autonomous florr cleaning robots are the first robots to have entered our homes. These automatic vacuum cleaners have only used ver low-level dirt detection sensors and the vision systems have been constrained to plain-colored and simple-textured floors. However, for industrial applications, where efficiency and the quality of work are paramount, explicit high-level dirt detection is essential. To extend the usability of floor cleaning robots to theses real-world applications, we introduce a more general approach that detects dirt spots on single-colored as well as regularly-textured floors. Dirt detection is approached as a single-class classification problem, using unsupervised online learning of a Gaussian Mixture Model representing the floor pattern. An extensive evaluation shows that our method detects dirt spots on different floor types and that it outperforms state-of-the-art approaches especially for complex floor textures.

关键词： Visual floor inspection RGBD GMM Unsupervised learning industrial cleaning robots

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Autonomy infused teleoperation with application to brain computer interface controlled manipulation

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AUTONOMOUS ROBOTS 2017年第6期41卷 1401-1422页

作者： Muelling, Katharina Venkatraman, Arun Valois, Jean-Sebastien Downey, John E. Weiss, Jeffrey Javdani, Shervin Hebert, Martial Schwartz, Andrew B. Collinger, Jennifer L. Bagnell, J. Andrew Carnegie Mellon Univ Inst Robot Pittsburgh PA 15213 USA Univ Pittsburgh Dept Bioengn Pittsburgh PA USA Univ Pittsburgh Dept Phys Med & Rehabil Pittsburgh PA USA VA Pittsburgh Healthcare Syst Pittsburgh PA USA Ctr Neural Basis Cognit Pittsburgh PA USA

Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain-computer Interfaces (BCIs) exacerbates these problems through especially noisy and erratic low-dimensional motion commands due to the difficulty in decoding neural activity. We introduce a general framework to address these challenges through a combination of computer vision, user intent inference, and arbitration between the human input and autonomous control schemes. Adjustable levels of assistance allow the system to balance the operators capabilities and their perception of control authority. Additionally, a custom servo controller design allow for safe interactions of the robotic arm with the environment. We present experimental results demonstrating significant performance improvement using our shared-control assistance framework on adapted rehabilitation benchmarks with two subjects at various timepoints relative to their implantation with intracortical BCIs. Our results indicate that shared assistance mitigates perceived user difficulty in using a seven-degree of freedom robotic arm as a prosthetic and enables successful performance on previously infeasible tasks. We showcase the extensibility of our architecture with applications to quality-of-life tasks such as opening a door, pouring liquids from containers, and manipulation with objects previously unknown to the system in densely cluttered environments.

关键词： Brain computer interface Shared control telerobotics Neuroprosthetics Assistive robotics

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Automated seam tracking system based on passive monocular vision for automated linear robotic welding process 15

Automated seam tracking system based on passive monocular vi...

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15th IEEE International Conference on industrial Informatics, INDIN 2017

作者： Weis, Atila A. Mor, Jusoan L. Soares, Luciane B. Steffens, Cristiano R. Drews-Jr, Paulo L. J. De Faria, Matheus F. Evald, Paulo J. D. O. Azzolin, Rodrigo Z. Filho, Nelson D. Botelho, Silvia S. Da C. Intelligent Robotics and Automation Group NAUTEC Science Computer Center - C3 Federal University of Rio Grande Brazil

ISBN: (纸本)9781538608371

Welding is an important process in the industrial scenario, especially in the shipbuilding industry. This process is recognized by the laborious work and the hazardous work environment. The use of robots to automate the welding process can reduce the human interference and improve the productivity. This paper proposes a system for automated seam tracking based on passive monocular vision. The vision provides a data feedback to the automated robotic welding system allowing quality and productivity gains. A trajectory controller is developed to correct the robot's movement over the seam reference. The controller and a visual algorithm to find the seam reference in a real Gas Metal Arc Welding (GMAW) process are presented. The proposed system allows the automated seam tracking, the trajectory control of the welding torch, and a higher automation level in linear robotic welding. The capabilities of the method is evaluated using a commercial linear welding robot showing its viability. © 2017 IEEE.

关键词： Productivity

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Fast and Low Cost Acquisition and Reconstruction System for Human Hand-wrist-arm Anatomy

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Procedia Manufacturing 2017年 11卷 1600-1608页

作者： Carfagni, Monica Furferi, Rocco Governi, Lapo Servi, Michaela Uccheddu, Francesca Volpe, Yary Mcgreevy, Kathleen Department of Industrial Engineering Via di Santa Marta 3 Firenze 50139 Italy Research Innovation and International Relations Office Meyer Children's Hospital Viale Gaetano Pieraccini 24 Firenze 50139 Italy

3D body scanners are nowadays used in a range of applications spanning from health, fashion and fitness to reverse engineering applications for robotics and computer vision. Nowadays very good performances are achievable when using commercial 3D body scanners;however, focusing on relative complex shape of some body details, the results still lack precision and acceptable accuracy. Such critical issue remains unsolved also when dealing with the instantaneous acquisition of the hand-wrist-arm (HWA) anatomy. In this paper, we present a new approach that leverages the emerging 3D depth cameras technologies to design a compact low cost 3D dedicated HWA scanner system capable of delivering almost instantaneous full 3D measurement. © 2017 The Authors

关键词： 3D body scanner 3D surface calibration depth sensors hand-wrist-arm anatomy

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Dynamic Time-of-Flight 30

Dynamic Time-of-Flight

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30th IEEE/CVF Conference on computer vision and Pattern Recognition (CVPR)

作者： Schober, Michael Adam, Amit Yair, Omer Mazor, Shai Nowozin, Sebastian Max Planck Inst Intelligent Syst Stuttgart Germany Microsoft Res Bengaluru India Microsoft AIT Haifa Israel

ISBN: (纸本)9781538604571

Time-of-flight (TOF) depth cameras provide robust depth inference at low power requirements in a wide variety of consumer and industrial applications. These cameras reconstruct a single depth frame from a given set of infrared (IR) frames captured over a very short exposure period. Operating in this mode the camera essentially forgets all information previously captured - and performs depth inference from scratch for every frame. We challenge this practice and propose using previously captured information when inferring depth. An inherent problem we have to address is camera motion over this longer period of collecting observations. We derive a probabilistic framework combining a simple but robust model of camera and object motion, together with an observation model. This combination allows us to integrate information over multiple frames while remaining robust to rapid changes. Operating the camera in this manner has implications in terms of both computational efficiency and how information should be captured. We address these two issues and demonstrate a realtime TOF system with robust temporal integration that improves depth accuracy over strong baseline methods including adaptive spatio-temporal filters.

关键词： Cameras Hidden Markov models Robustness Computational modeling Bayes methods Mathematical model

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10th International Conference on intelligent robotics and applications, ICIRA 2017

10th International Conference on Intelligent Robotics and Ap...

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10th International Conference on intelligent robotics and applications, ICIRA 2017

ISBN: (纸本)9783319652917

The proceedings contain 235 papers. The special focus in this conference is on intelligent robotics and applications. The topics include: An NC code based machining movement simulation method for a parallel robotic machine;trajectory and force generation with multi-constraints for robotic belt grinding;fractional-order integral sliding mode controller for biaxial motion control system;pose estimation with mismatching region detection in robot bin picking;a five-degree-of-freedom hybrid manipulator for machining of complex curved surface;a dynamic real-time motion planning method for multi-robots with collision avoidance;reverse and forward post processors for a robot machining system;research on robot grinding technology considering removal rate and roughness;electromechanical coupling dynamic model and speed response characteristics of the flexible robotic manipulator;correction algorithm of LIDAR data for mobile robots;research and application on avoiding twist mechanism based on relative rotation platforms;optimal motion planning for mobile welding robot;off-line programmed error compensation of an industrial robot in ship hull welding;study and experiment on positioning error of SCARA robot caused by joint clearance;real-time normal measurement and error compensation of curved aircraft surface based on on-line thickness measurement;a feed-direction stiffness based trajectory optimization method for a milling robot;kinematic analysis and performance evaluation of a redundantly actuated hybrid manipulator;stiffness analysis of a variable stiffness joint using a leaf spring and design of a series variable stiffness joint based on antagonistic principle.

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12th International Conference on Information and Communication Technologies in Education, Research, and industrial applications, ICTERI 2016

12th International Conference on Information and Communicati...

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12th International Conference on Information and Communication Technologies in Education, Research, and industrial applications, ICTERI 2016

ISBN: (纸本)9783319699646

The proceedings contain 11 papers. The special focus in this conference is on Information and Communication Technologies in Education, Research, and industrial applications. The topics include: The experience of the master classes as a means of formation of readiness of teachers to implement innovation;architecting for adaptive resource management in mobile augmented reality systems: Models, metrics and prototype software solutions;intelligent cyber defense system using artificial neural network and immune system techniques;application of ordered fuzzy decision trees in construction of structure function of multi-state system;using choreography of actors and rewriting rules to adapt legacy fortran programs to cloud computing;descriptive models of system dynamics;Implementation of an ICT curriculum: Tips and pitfalls of new learning concepts;robotics and prosthetics at cleveland state university: Modern information, communication, and modeling technologies;the Cloud-Based Learning Component with Maxima System and Its Evaluation.

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18th International Conference on Advanced Concepts for intelligent vision Systems, ACIVS 2017

18th International Conference on Advanced Concepts for Intel...

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18th International Conference on Advanced Concepts for intelligent vision Systems, ACIVS 2017

ISBN: (纸本)9783319703527

The proceedings contain 63 papers. The special focus in this conference is on Advanced Concepts for intelligent vision Systems. The topics include: Sensing forest for pattern recognition;analysis of skeletal shape trajectories for person re-identification;deep learning on underwater marine object detection: A survey;a novel and accurate local 3D representation for face recognition;human face detection improvement using incremental learning based on low variance directions;multi-view pose estimation with flexible mixtures-of-parts;shearlet-based region map guidance for improving hyperspectral image classification;evaluation of dimensionality reduction methods for remote sensing images using classification and 3D visualization;towards condition analysis for machine vision based traffic sign inventory;body related occupancy maps for human action recognition;learning siamese features for finger spelling recognition;AMD classification in choroidal OCT using hierarchical texton mining;prostate size inference from abdominal ultrasound images with patch based prior information;Omnidirectional localization in vSLAM with uncertainty propagation and bayesian regression;Visual localization based on place recognition using multi-feature combination (D- λ LBP++HOG);homography-based navigation system for unmanned aerial vehicles;robust tracking in weakly dynamic scenes;texturizing and refinement of 3D city models with mobile devices;image classification for ground traversability estimation in robotics;InSAR coherence-dependent fuzzy C-means flood mapping using particle swarm optimization;Facial expression recognition using local region specific dense optical flow and LBP features;monitoring and evaluation of flooded areas based on fused texture descriptors;anomaly detection in crowded scenarios using local and global gaussian mixture models;JND-guided perceptual pre-filtering for HEVC compression of UHDTV video contents.

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High Performance Stand-alone Structured Light 3D Camera for Smart Manipulators 14

High Performance Stand-alone Structured Light 3D Camera for ...

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14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Anwar, Inzamam Lee, Sukhan Sungkyunkwan Univ Coll Informat & Commun Engn Intelligent Syst Res Inst Suwon 16419 South Korea

ISBN: (纸本)9781509030569

This paper presents a structured light stand-alone 3D camera comprised of high speed embedded projector, high frame rate machine vision camera and on-board computer. Hierarchical Orthogonal Coding (HOC) is used for structured light patterns and Boundary Inheritance Codec [3] is used for decoding the HOC patterns. The proposed solution provides highly accurate 3D point cloud with less weight and smaller dimensions as compared to other. Camera provides direct 3D data without the use of any PC or laptop. Camera can achieve a scan speed of 3 Hz and provides an accuracy of 0.2 mm at 75 cm. With small baseline and compact size, 3D camera can be used with smart manipulator and other robotics applications.

关键词： Structured light 3D camera Embedded camera Machine vision Imaging system

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Remaining Useful Battery Life Prediction for UAVs based on Machine Learning

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IFAC-PapersOnLine 2017年第1期50卷 4727-4732页

作者： Mansouri S.S. Karvelis P. Georgoulas G. Nikolakopoulos G. Robotics Group Control Engineering Division of the Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden Laboratory of Knowledge and Intelligent Computing Department of Computer Engineering Technological Educational Institute of Epirus Arta Greece

Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries have a fixed capacity and after some time drain out. In order to extend the flying time window, the prediction of the time that the battery will no longer be able to support a flying condition is crucial. This in fact can be cast as a standard Remaining Useful Life prognostic problem, similarly encountered in many fields. In this article, the problem of Remaining Useful Life estimation of a battery, under different flight conditions, is tackled using four machine learning techniques: a linear sparse model, a variant of support vector regression, a multilayer perceptron and an advanced tree based algorithm. The efficiency of the overall proposed machine learning techniques, in the field of batteries prognostics, is evaluated based on multiple experimental data from different flight conditions. © 2017

关键词： Battery Machine Learning Prediction Remaining Useful Life UAVs

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