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EAI international conference on automation and control in Theory and Practice 1

引用

丛书名： EAI/Springer Innovations in Communication and Computing

1000年

作者： Michal Balog Angelina Iakovets Stella Hrehova

ISBN: (数字)9783031319679

ISBN: (纸本)9783031319662;9783031319693

This book presents the proceedings of the 15;EAI international conference on automation and control in Theory and Practice (ARTEP 2023), held in Stará Lesná, Slovakia, February 8-10, 2023. The aim of the conference was to meet the experts in the field of control, industrial automation and ICT in the industry from universities, colleges, and practice. The conference aims to draw attention to modern trends in the field, to enable experts, pedagogues and scientific researchers to present the results achieved in their work, to exchange experiences and establish working contacts between meeting participants. The ARTEP proceedings includes papers on automation and control and their integration of technologies such as Industry 4.0, robotics, and IoT. ARTEP is primarily a conference for scientists and practitioners who develop and study automation, management, and technologies.

关键词： control, robotics, Mechatronics control and Systems Theory robotics and automation

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From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator 18

From 2D to 3D Mixed Reality Human-Robot Interface in Hazardo...

引用

18th international conference on informatics in control, automation and robotics (ICINCO)

作者： Szczurek, Krzysztof Adam Prades, Raul Marin Matheson, Eloise Perier, Hugo Buonocore, Luca Rosario Di Castro, Mario European Org Nucl Res Meyrin Switzerland Jaume I Univ Castellon Castellon De La Plana Spain

ISBN: (纸本)9789897585227

3D Mixed Reality (MR) Human-Robot Interfaces (HRI) show promise for robotic operators to complete tasks more quickly, safely and with less training. The objective of this study is to assess the use of 3D MR HRI environment in comparison with a standard 2D Graphical User Interface (GUI) in order to control a redundant mobile manipulator. The experimental data was taken during operation with a 9 DOF manipulator mounted in a robotized train, CERN Train Inspection Monorail (TIM), used for the Beam Loss Monitor robotic measurement task in a complex hazardous intervention scenario at CERN. The efficiency and workload of an operator were compared with the use of both types of interfaces with NASA TLX method. The usage of heart rate and Galvanic Skin Response parameters for operator condition and stress monitoring was tested. The results show that teleoperation with 3D MR HRI mitigates cognitive fatigue and stress by improving the operators understanding of both the robot's pose and the surrounding environment or scene.

关键词： Human-Robot Interface robotics Teleoperation Virtual Reality Mixed Reality Operator Workload Galvanic Skin Response

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Studies on visual perception for perceptual robotics

Studies on visual perception for perceptual robotics

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3rd international conference on informatics in control, automation and robotics, ICINCO 2006

作者： Ciftcioglu, Özer Bittermann, Michael S. Sariyildiz, I. Sevil Department of Building Technology Delft University of Technology Berlageweg 1 2628 CR Delft Netherlands

ISBN: (纸本)9728865600

Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environment. The measurement involves visual openness perception in virtual reality, which has direct implications for navigation issues of actual autonomous robotics. The perception is quantified by means of a mapping function which converts a distance to an elemental perception estimate. The measurement is carried out with the averaging of the elemental perceptions in real time. This is accomplished by means of exponential averaging. The mapping function parameters are optimized uniquely by means of genetic algorithm approach where the data set for model development consists of a number of perception data samples. These are obtained from individuals who are confronted with a number of scenes and asked for their perceptual openness statements. Based on this data, a perception model is developed for a virtual robot where the simulated vision interaction of the robot with the environment is converted to visual openness estimation through the model output. The model outcome is essential visual information for the navigation of an autonomous perceptual robot.

关键词： Genetic algorithms

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Integration of an Autonomous System with Human-in-the-Loop for Grasping an Unreachable Object in the Domestic Environment 16

Integration of an Autonomous System with Human-in-the-Loop f...

引用

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

作者： Kim, Jaeseok Limosani, Raffaele Cavallo, Filippo St Anna Sch Adv Studies Biorobot Inst Viale Rinaldo Piaggio Pisa Italy

ISBN: (纸本)9789897583803

In recent years, autonomous robots have proven capable of solving tasks in complex environments. In particular, robot manipulations in activities of daily living (ADL) for service robots have been widely developed. However, manipulations of grasping an unreachable object in domestic environments still present difficulty. To perform those applications better, we developed an autonomous system with human-in-the-loop that combined the cognitive skills of a human operator with autonomous robot behaviors. In this work, we present techniques for integration the system for assistive mobile manipulation and new strategies to support users in the domestic environment. We demonstrate that the robot can grasp multiple objects with random size at known and unknown table heights. Specifically, we developed three strategies for manipulation. We also demonstrated these strategies using two intuitive interfaces, a visual interface in rviz and a voice user interface with speech recognition. Moreover, the robot can select strategies automatically in random scenarios, which make the robot intelligent and able to make decisions independently in the environment. We demonstrated that our robot shows the capabilities for employment in domestic environments to perform actual tasks.

关键词： Mobile Manipulation Autonomous System with Human-in-the-Loop Assistive robotics Grasping an Unreachable Object Service robotics

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A Deep Learning Tool to Solve Localization in Mobile Autonomous robotics 17

A Deep Learning Tool to Solve Localization in Mobile Autonom...

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17th international conference on informatics in control, automation and robotics (ICINCO)

作者： Cebollada, Sergio Paya, Luis Flores, Maria Roman, Vicente Peidro, Adrian Reinoso, Oscar Miguel Hernandez Univ Dept Syst Engn & Automat Elche Spain

ISBN: (纸本)9789897584428

In this work, a deep learning tool is developed and evaluated to carry out the visual localization task for mobile autonomous robotics. Through deep learning, a convolutional neural network (CNN) is trained with the aim of estimating the room where an image has been captured, within an indoor environment. This CNN is not only used as tool to solve a room estimation, but it is also used to obtain global-appearance descriptors of the input image from its intermediate layers. The localization task is addressed in two different ways: globally, as an image retrieval problem and hierarchically. About the global localization, the position of the robot is estimated by using a nearest neighbour search between the holistic description obtained from a test image and the training dataset (using the CNN to obtain the descriptors). Regarding the hierarchical localization method, first, the CNN is used to solve the rough localization step and after that, it is also used to obtain global-appearance descriptors;second, the robot estimates its position within the selected room through a nearest neighbour search by comparing the obtained holistic descriptor with the visual model contained in that room. Throughout this work, the localization methods are tested with a visual dataset that provides omnidirectional images from indoor environments under real-operation conditions. The results show that the proposed deep learning tool is an efficient solution to carry out visual localization tasks.

关键词： Mobile robotics Omnidirectional Images Holistic Description Deep Learning Hierarchical Localization

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A robotics task scheduler - TAPAS

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8th international conference on Climbing and Walking Robots (CLAWAR 2005)

作者： Focant, G. Fontaine, B. Steinicke, L. Joudrier, L. Space Applicat Serv Leuvensesteenweg 325 B-1932 Zaventem Belgium ESA ESTEC NL-2201 Noordwijk Netherlands

ISBN: (纸本)3540264132

Within the frame of the ESA project TAPAS (TAsk Planner for automation & robotics in Space), a generic scheduling tool has been developed. Its prime objective is to interactively assist a robot operator in planning and scheduling the activities of a robot-tended payload facility concurrently used by several (scientific) users, taking into account resources and various constraints. The system is potentially reusable in other space automation and robotics scenarios where this decentralised payload operations concept is applicable. One of the facilities analysed to establish the requirements was ERA, a robotic arm foreseen to be attached to the international Space Station. This abstract mainly gives an overview of the scheduling engine which is at the core of the software and constitutes its intelligence.

关键词： space robotics scheduling resources constraints

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Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality 14th

Behavior-Based Obstacle Detection in Off-Road Environments C...

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14th international conference on informatics in control, automation and robotics (ICINCO)

作者： Wolf, Patrick Ropertz, Thorsten Berns, Karsten Univ Kaiserslautern Dept Comp Sci Robot Res Lab Kaiserslautern Germany

ISBN: (纸本)9783030112929;9783030112912

In off-road environments, the assessment and classification in travers-able and non-traversable areas is a challenging task. Not only does the drive-ability depend on the vehicle's state in combination with the environmental geometry, but also the assessment is complicated by noisy and wrong sensor data. Thereby, faulty evaluation may lead to severe harm to goods or people since either safety issues or reliability problems are caused. While for the control part behavior-based systems proved to be suitable due to their inherent robustness against unforeseen situations, robust perception is still an unsolved problem leading to severe system failures. This paper faces the perception problem by introducing a new data quality-based perception module based on the integrated Behavior-Based control (iB2C) architecture. Therefore, a new concept of data quality in behavior-based systems and methods for quality aware data fusion are developed while taking advantage of the modularity, extensibility and traceability of the existing architecture.

关键词： Behavior-based control Quality-based perception Obstacle avoidance Off-road robotics

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Gesture-based robot control: Design challenges and evaluation with humans

Gesture-based robot control: Design challenges and evaluatio...

引用

2017 IEEE international conference on robotics and automation, ICRA 2017

作者： Coronado, Enrique Villalobos, Jessica Bruno, Barbara Mastrogiovanni, Fulvio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

ISBN: (纸本)9781509046331

In this paper we introduce a gesture-based robot control framework, we discuss the adopted design principles and we report results about its evaluation with humans. Gesture-based control using wearable devices may constitute a novel form of human-robot interaction, but its implications have not been discussed in the literature. We discuss the main challenging issues, possible design guidelines and an open source, freely available implementation using commercially available devices and robots. The overall performance of the architecture, as well as its validation with 27 untrained volunteers, is reported. © 2017 IEEE.

关键词： Human robot interaction

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A training simulator for teleoperated robots deployed at CERN 15

A training simulator for teleoperated robots deployed at CER...

引用

15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel Department of Systems and Control Engineering University of Malta Msida Malta Engineering Department EN-STI CERN Geneva Switzerland Centre for Automation and Robotics UPM-CSIC Universidad Politecnica de Madrid Madrid Spain

ISBN: (纸本)9789897583216

This paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. The robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. The resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Virtual reality

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Development of the Sensory Network for the Vibration-based Fault Detection and Isolation in the Multirotor UAV Propulsion System 15

Development of the Sensory Network for the Vibration-based F...

引用

15th international conference on informatics in control, automation and robotics, ICINCO 2018

作者： Bondyra, Adam Gasior, Przemyslaw Gardecki, Stanislaw Kasinski, Andrzej Institute of Control Robotics and Information Engineering Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (纸本)9789897583216

In this paper, a fault detection and isolation (FDI) system for propeller impairments of the multirotor UAV is presented. The algorithm is based on the processing of signal vectors from the set of vibration sensors located close to the propulsion units. Axial and radial vibrations are measured using MEMS accelerometers that provide data for the feature extraction based on the Fast Fourier Transform (FFT). Characteristic fault signatures extracted from vibration signals are used to detect and localize damaged blades using the set of random decision trees. A method was evaluated with data gathered during numerous test flights and validated in relation to signal acquisition time and number of classifiers in the ensemble. Results show over 95% sensitivity in detecting and isolating faulty rotor states. The presented approach is an effective and low-cost solution, very versatile to implement in the arbitrary UAV. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Vibration analysis

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