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Real-time people detection and mapping system for a mobile robot using a RGB-D sensor 11

Real-time people detection and mapping system for a mobile r...

引用

11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Sales, Francisco F. Portugal, David Rocha, Rui P. Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9789897580406

In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). The system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor's point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.

关键词： Mapping

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Autonomous trail following using a pre-trained deep neural network 15

Autonomous trail following using a pre-trained deep neural n...

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

作者： Hoveidar-Sefid, Masoud Jenkin, Michael Electrical Engineering and Computer Science Department York Centre for Field Robotics Lassonde School of Engineering York University Toronto Canada

ISBN: (纸本)9789897583216

Trails are unstructured and typically lack standard markers that characterize roadways;nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail following by identifying the deviation of the robot from the heading angle of the trail through the refinement of a pretrained Inception-V3 (Szegedy et al., 2016a) Convolutional Neural Network (CNN) trained on the ImageNet dataset (Deng et al., 2009). A differential system is developed that uses a pair of cameras each providing input to its own CNN directed to the left and the right that estimate the deviation of the robot with respect to the trail direction. The resulting networks have been successfully tested on over 1 km of different trail types (asphalt, concrete, dirt and gravel). Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Deep neural networks

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Atlas - Examining the wider context of assistive robotics 15

Atlas - Examining the wider context of assistive robotics

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

作者： Doran, H.D. Neumann, S. Becker, H.K. Kollmar, A. Misoch, S. Pauli, C. Müller, S. Hannich, F. Institute of Embedded Systems Zürich University of Applied Sciences Winterthur Switzerland Institute of Occupational Therapy Zurich University of Applied Sciences Winterthur Switzerland Interdisciplinary Competence Centre for Ageing IKOA-FHS University of Applied Sciences St. Gallen St. Gallen Switzerland Institute of Marketing Management Zurich University of Applied Sciences Winterthur Switzerland

ISBN: (纸本)9789897583216

We examine the proposition of a stationary assistive robot arm in the kitchen. Based on a preliminary business plan and with the aim of generating engineering requirements, a multi-disciplinary project was established to examine the wider ramifications of such assistive technology in the household, in a Swiss context, in the fields of health and social wellbeing. Additionally the engineering aspects as well as the business aspects were examined. We detail both the individual methodologies used in this study, the results achieved and discuss the results in a wider context. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： robotics

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Application of artificial neural network state feedback controller to torque ripple minimization of PMSM 11

Application of artificial neural network state feedback cont...

引用

11th international conference on informatics in control, automation and robotics, ICINCO 2014

作者： Niewiara, L. Tarczewski, T. Grzesiak, L.M. Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland

ISBN: (纸本)9789897580390

This paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. The novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.

关键词： Neural networks

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Domain Adaptation in LiDAR Semantic Segmentation by Aligning Class Distributions 18

Domain Adaptation in LiDAR Semantic Segmentation by Aligning...

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

作者： Alonso, Inigo Riazuelo, Luis Montesano, Luis Murillo, Ana C. Univ Zaragoza DIIS I3A RoPeRt Grp Zaragoza Spain Bitbrain Zaragoza Spain

ISBN: (纸本)9789897585227

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems, such as autonomous vehicles, during their decision making processes. Unfortunately, the annotation process for this task is very expensive. To overcome this, it is key to find models that generalize well or adapt to additional domains where labeled data is limited. This work addresses the problem of unsupervised domain adaptation for LiDAR semantic segmentation models. We propose simple but effective strategies to reduce the domain shift by aligning the data distribution on the input space. Besides, we present a learningbased module to align the distribution of the semantic classes of the target domain to the source domain. Our approach achieves new state-of-the-art results on three different public datasets, which showcase adaptation to three different domains.

关键词： robotics Autonomous Systems LiDAR Deep Learning Semantic Segmentation Domain Adaptation

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Studies on visual perception for perceptual robotics

Studies on visual perception for perceptual robotics

引用

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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Efficient 3D control for needle steering using duty-cycled rotation

Efficient 3D control for needle steering using duty-cycled r...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Li, Xiao Lehocky, Craig A. Riviere, Cameron N. Dept. of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Dept. of Biomedical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

ISBN: (纸本)9789898565716

Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing proportional control of trajectory curvature. This paper presents computationally efficient techniques for path planning and path-following control for this application, using a 3D simulated brain environment. Path planning algorithms for this class of steerable needles have been developed using Rapidly-exploring Random Trees (RRTs). This paper expands on these methods, using quaternions for representation of rotation, and enhancing computational efficiency through use of interpolation, and by relaxing the entry constraint. For path-following, a look-ahead proportional controller for position and orientation is presented. Simulations in a 3D brain-like environment demonstrate the performance of the proposed planner and path-following controller. The look-ahead is seen to improve path-following performance.

关键词： Motion planning

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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...

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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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Simulation of Vehicle Platoon Overtaking a Normal Vehicle 8

Simulation of Vehicle Platoon Overtaking a Normal Vehicle

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8th international conference on robotics and automation Engineering, ICRAE 2023

作者： Ishizawa, Daisuke Kita, Eisuke Graduate School of Information Sciences Nagoya University Nagoya Japan Graduate School of Informatics Nagoya University Nagoya Japan

ISBN: (纸本)9798350327656

Vehicle platooning is very effective technology for safely increasing the traffic capacity of the road network. When the platooning vehicles and the normal vehicles run together, the platooning vehicles should control the inter-vehicle distance with different rules for the normal vehicle. In this study, the vehicle velocity control model is defined according to the car-following model. Then validity of the model is discussed in computer simulation and experiment of LEGO MINDSTORM EV3. The results showed that the proposed model can control the velocity adequately. © 2023 IEEE.

关键词： Vehicles

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Interrupt handling in µC/OSII porting to dsPIC33 CPU

Interrupt handling in µC/OSII porting to dsPIC33 CPU

引用

international asia conference on informatics in control, automation and robotics, CAR

作者： Yun Shi School of Automation Wuhan University of Technology Wuhan Wuhan (Hubei) China

A real-time kernel is software that manages the time of a microprocessor or microcontroller to ensure that all time critical events are processed as efficiently as possible .This paper describes how μC/OS-II has been ported to the Microchip dsPIC33 family of CPU and mainly analizes the interrupt handling methods in proting process .

关键词： Registers Multitasking robotics and automation Counting circuits asia informatics Automatic control Robot control Kernel conference management

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