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On the usage of general-purpose compression techniques for the optimization of inter-Robot communication 12th

On the usage of general-purpose compression techniques for t...

引用

12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Martins, Gonçalo S. Portugal, David Rocha, Rui P. Institute of Systems and Robotics University of Coimbra Coimbra3030-790 Portugal

ISBN: (纸本)9783319264516

Managing the bandwidth requirements of a team of robots operating cooperatively is an ubiquitous and commonly overlooked problem, despite being a crucial issue in the successful deployment of robotic teams. As the team’s size grows, its bandwidth requirements can easily rise to unsustainable levels. On the other hand, general-purpose compression techniques are commonly used to transmit data through constrained communication channels, and may offer a solution to this problem. In this paper, we study the possibility of using general-purpose compression techniques to improve the efficiency of inter-robot communication, firstly by comparing the performance of various compression techniques in the context a of multi-robot simultaneous localization and mapping (SLAM) scenarios using simplified occupancy grids, and secondly by performing tests with one of the compression techniques on real-world data. © Springer international Publishing Switzerland 2016.

关键词： Multipurpose robots

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Continuous pre-calculation of human tracking with time-delayed ground-truth: A hybrid approach to minimizing tracking latency by combination of different 3D cameras

Continuous pre-calculation of human tracking with time-delay...

引用

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

作者： Philip Nicolai Jörg Raczkowsky Heinz Wörn Institute for Anthropomatics and Robotics (IAR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

We present an approach to track a point cloud with a 3D camera system with low latency and/or high frame rate, based on ground truth provided by a second 3D camera system with higher latency and/or lower frame rate. In particular, we employ human tracking based on Kinect cameras and combine it with higher frame-rate/lower latency of Time-of-Flight (ToF) cameras. We present the system setup, methods used and evaluation results showing a very high accuracy in combination with a latency reduction of up to factor 30.

关键词： Three-dimensional displays Cameras Optical imaging Image motion analysis Computer vision Target tracking Optical sensors

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Robots avoid potential failures through experience-based probabilistic planning

Robots avoid potential failures through experience-based pro...

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

作者： Melis Kapotoglu Cagatay Koc Sanem Sariel Artificial Intelligence and Robotics Laboratory Istanbul Technical University Istanbul Turkey

Robots should avoid potential failure situations to safely execute their actions and to improve their performances. For this purpose, they need to build and use their experience online. We propose online learning-guided planning methods to address this problem. Our method includes an experiential learning process using Inductive Logic Programming (ILP) and a probabilistic planning framework that uses the experience gained by learning for improving task execution performance. We analyze our solution on a case study with an autonomous mobile robot in a multi-object manipulation domain where the objective is maximizing the number of collected objects while avoiding potential failures using experience. Our results indicate that the robot using our adaptive planning strategy ensures safety in task execution and reduces the number of potential failures.

关键词： Planning Robot sensing systems Probabilistic logic Context Monitoring

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Pitfalls when solving eigenproblems with applications in control engineering

Pitfalls when solving eigenproblems with applications in con...

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

作者： Vasile Sima Peter Benner National Institute for Research & Development in Informatics Bucharest Romania Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany

There is a continuous research effort worldwide to improve the reliability, efficiency, and accuracy of numerical computations in various domains. One of the most promising research avenues is to exploit the structural properties of the mathematical problems to be solved. This paper investigates some numerical algorithms for the solution of common and structured eigenproblems, which have many applications in automatic control (e.g., linear-quadratic optimization and H ∞ -optimization), but also in various areas of applied mathematics, physics, and computational chemistry. Of much interest is to find the eigenvalues and certain deflating sub-spaces, mainly those associated to the stable eigenvalues. Several simple examples are used to highlight the pitfalls which may appear in such numerical computations, using state-of-the-art solvers. Balancing the matrices and the use of condition numbers for eigenvalues are shown to be essential options in investigating the behavior of the solvers and problem sensitivity.

关键词： Eigenvalues and eigenfunctions Matrix decomposition Standards Reliability Sensitivity MATLAB

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A trajectory tracking control of a skid steered mobile cleaning robot

A trajectory tracking control of a skid steered mobile clean...

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

作者： Seungwoo Jeon Wootae Jeong Soon-Bark Kwon Cheulkyu Lee Duckshin Park Department of Robotics & Virtual Engineering Korea University of Science and Technology Daejeon Korea Transportation Environmental Research Team Korea Railroad Research Institute Uiwang Korea

Cleaning accumulated dusts inside air ventilation ducts of underground facilities is an essential process to improve indoor air quality, especially at the underground facilities such as subway platforms. Therefore, various autonomous mobile duct cleaning robots have been actively studied to be applied at the closed space of the ventilation duct. In this paper, the four wheeled skid steering mobile platform with rotating brusharms has been developed and proposed an effective skid steering control technique under changeable center of mass (CM) of the platform. The shifted CM of the platform and unstable disturbances acting on the rotating brushes from cleaning surfaces can change the dynamic steering characteristics of the platform. Therefore, this paper also proposes a new integrated backstepping and I-PD controller for stable trajectory tracking of the platform and proves the effects of the controller through simulations.

关键词： Mathematical model Cleaning Wheels Ducts Backstepping Brushes

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Implementation of evolving fuzzy models of a nonlinear process

Implementation of evolving fuzzy models of a nonlinear proce...

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

作者： Radu-Emil Precup Emil-Ioan Voisan Emil M. Petriu Mircea-Bogdan Radac Lucian-Ovidiu Fedorovici Department of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania School of Electrical Engineering and Computer Science University of Ottawa Ottawa ON Canada

This paper presents details on the implementation of evolving Takagi-Sugeno-Kang (TSK) fuzzy models of a nonlinear process represented by the pendulum dynamics in the framework of the representative pendulum-crane systems. The pendulum angle is the output variable of the TSK fuzzy models that are obtained by online identification. The rule bases and the parameters of the TSK fuzzy models are continuously evolved by an online identification algorithm (OIA) that adds new rules with more summarization power and modifies the existing rules and parameters. The OIA is associated with an input selection algorithm that guides the modelling in terms of ranking the inputs according to their importance factors. Three TSK fuzzy models evolved by the OIA are exemplified. The performance of the new evolving TSK fuzzy models is illustrated by experimental results conducted on pendulum-crane laboratory equipment.

关键词： Input variables Adaptation models Computational modeling Heuristic algorithms Classification algorithms Takagi-Sugeno model Cranes

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Preface

Preface

引用

international conference on Information Technology Systems and Innovation (ICITSI)

作者： Suhardi School of Electrical Engineering and Informatics (SEEI) Institute of Technology Bandung Indonesia

Welcome to the Proceeding of 2nd international conference on Information Technology Systems and Innovation (ICITSI) 2015. The international conference was held in Bandung, 16 – 17 November 2015 and continued in Bali, 18 – 19 November 2015. ICITSI 2015 is hosted by School of Electrical Engineering and informatics, Institute of Technology Bandung, and sponsored by IEEE Indonesia Joint Chapter of control System Society/robotics & automation Society (CSS/RAS), and IEEE Indonesia Join Chapter of Education Society/Electron Devices Society/Power Electronics Society/Signal Processing Society.

关键词： Electrical engineering informatics Information technology Technological innovation control systems automation Process control

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Flexible development environment for educational robotics

Flexible development environment for educational robotics

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international conference on control, automation and robotics (ICCAR)

作者： Christoph Krofitsch Wilfried Lepuschitz Markus Klein Gottfried Koppensteiner Practical Robotics Institute Austria Vienna Austria

robotics is considered to be a powerful tool for teaching STEM especially when employing white-box platforms to build and program robots. In this context, programming environments should be simple and understandable for increasing the learning success and for easing the entry for teachers with non-informatics background. Furthermore, many robotics applications can also benefit from flexibility in the program deployment in contrast to the usual code-compile-download paradigm. To address these issues, this paper presents a flexible programming environment based on a layered robot control architecture, which involves the usage of mobile devices. Source code created on a smartphone or tablet can be downloaded to the robot controller, which organizes the programs having on-board compilation and execution environments. Besides, a versioning system adds to the comfort. The presented approach enables students to intuitively handle their robots, but can also be applied in more sophisticated scenarios where module-based flexible programming is required.

关键词： Robot sensing systems Service robots Robot kinematics Software Programming profession

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Correction of odometry errors in a tri-wheel mobile robot

Correction of odometry errors in a tri-wheel mobile robot

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international conference on Methods and Models in automation and robotics

作者： Ryszard Beniak Tomasz Pyka Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland

This paper presents a simple algorithm for controlling robot trajectory that accounts for the torsion angle of a castor wheel. We identify the dynamics of the castor wheel as a plant of the second order inertia and th... 详细信息

ISBN: (纸本)9781479987023

关键词： castor wheel mobile robot correction of odometry errors

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Progressive co-adaptation in human-machine interaction

Progressive co-adaptation in human-machine interaction

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

作者： Paolo Gallina Nicola Bellotto Massimiliano Di Luca Department of Architecture and Engineering University of Trieste Trieste Italy Lincoln Centre for Autonomous Systems University of Lincoln Lincoln U.K. Centre for Computational Neuroscience and Cognitive Robotics & School of Psychology University of Birmingham Birmingham U.K.

In this paper we discuss the concept of co-adaptation between a human operator and a machine interface and we summarize its application with emphasis on two different domains, teleoperation and assistive technology. The analysis of the literature reveals that only in a few cases the possibility of a temporal evolution of the co-adaptation parameters has been considered. In particular, it has been overlooked the role of time-related indexes that capture changes in motor and cognitive abilities of the human operator. We argue that for a more effective long-term co-adaptation process, the interface should be able to predict and adjust its parameters according to the evolution of human skills and performance. We thus propose a novel approach termed progressive co-adaptation, whereby human performance is continuously monitored and the system makes inferences about changes in the users' cognitive and motor skills. We illustrate the features of progressive co-adaptation in two possible applications, robotic telemanipulation and active vision for the visually impaired.

关键词： Training Robots Usability Monitoring Mice Man machine systems Uncertainty

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