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检索条件"任意字段=International Conference on Robotics and Automation for Humanitarian Applications"

共 5702 条记录，以下是21-30 订阅

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Design and Implementation of a Locomotion Suspension System for a Desert Terrain UGV 9

Design and Implementation of a Locomotion Suspension System ...

引用

9th international conference on automation, robotics and applications (ICARA)

作者： Althani, Thani Salim, Rufaidah Anzil, Mohammed Minhas Bramaniam, Prashanth Su Lmaeeni, Khuloud A. Shukla, Amit Dubai Elect Water Author DEWA R&D Ctr Dubai U Arab Emirates

ISBN: (纸本)9781665489218

Unmanned ground vehicles (UGVs) are currently used to collect data and deliver payloads across industries. Most wheeled UGV implementations for uneven terrain are based on a combination of rocker and bogie. This paper proposes a variation of a suspension system for locomotion suitable for desert terrain. This variation is the transformation of the traditional inclined bogies parallel to the ground surface as the front of the rover, along with an additional transversal bogie as the rear of the robot. The design parameters, material selection, and fabrication process were performed to achieve the highest possible performance of the UGV in navigation on desert terrain. To test stability and obstacle climbing ability, experiments were carried out in desert terrain and concrete surfaces.

关键词： Locomotion systems suspension systems all-terrain robots mobile robotics

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Biomimetic Convergence-based High resolution Depth Estimation 18

Biomimetic Convergence-based High resolution Depth Estimatio...

引用

18th international conference on Control automation robotics and Vision

作者： Harsha, Achintya Jonna, Prashanth Nitheezkant, R. Rao, Madhav IIIT Bangalore Bangalore Karnataka India

ISBN: (纸本)9798331518509;9798331518493

Accurate depth estimation is a fundamental challenge in robotics and computer vision, crucial for applications ranging from autonomous navigation to complex object manipulation. While traditional techniques such as RGBD cameras and 3D Lidar systems provide high precision, their high costs and computational demands restrict their use in many scenarios. Conversely, monocular depth estimation (MDE) offers a more affordable solution but often struggles with depth accuracy and real-time performance. In response, this research introduces a novel convergence-based stereo vision system that leverages two independently movable cameras for dynamic depth estimation. The system facilitates depth tracking of any selected object by adapting camera orientation and extrinsic matrices to achieve millimeter-level accuracy with less than 1% error in depth estimation over 5 meters, which is significantly better than few state-of-the-art Stereo systems that offer up to 2% error over a similar range. ArUco tag-based calibration mechanism was used to improve accuracy due to precise angle calculation. Further, the system successfully tracks and localizes multiple human body joints simultaneously using the Google Mediapipe Joint Detection model, providing a 3D approximation of the subject's position concerning the system in real-time. This approach not only offers a cost-effective and precise solution for real-time depth perception but also opens new avenues for dynamic, high-resolution environmental interaction in robotics.

关键词： robotics

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Systems of Digital Twins and Physical Systems: Interoperability, Decentralization, and Mobility in Robotic applications 28

Systems of Digital Twins and Physical Systems: Interoperabil...

引用

28th international conference on Methods and Models in automation and robotics (MMAR)

作者： Girke, Felix Harmann, Rene Kaigom, Eric Guiffo Frankfurt Univ Appl Sci Dept Comp Sci & Engn Frankfurt Germany

ISBN: (纸本)9798350362350;9798350362343

Whereas digital twins are receiving an increasing attention, their implementation has been predominated by monolithic and static solutions. A resulting issue is the lack of a modular integration and seamless interplay of digital twins when it comes to adapt and support varying industrial and societal applications. Another drawback arises from limited services that digital twins can provide as the physical system is extended with new components and/or separated from constituting parts, giving rise to a metamorphosic system of systems. Furthermore, the respective mobility of physical systems and citizens assumed to interact with them via their digital surrogates is hardly transformed into industrial and societal opportunities, such as a pervasive and itinerant human-robot-interaction (pi-HRC). Within the scope of our Metarobotics framework that propels pi-HRC, we address these challenges by leveraging on the OPCUA standard to develop portable data connectors that move with and give access to the data source, which is the associated physical system. Our Raspberry-Pi driven connector encapsulates a digital twin of the corresponding system and its offered services to capture the loose coupling and decentralization of systems of systems even remotely and in motion. Each data connector semantically interoperates with any OPC-UA capable system and device via wireless communication. This opens up new opportunities for different monitoring (and control) modalities of large scale systems whose physical or/and virtual constituting subsystems are distributed across distinct geographical locations in the industrial and societal realm. We apply our framework to a mobile multi-arm robotic system with edge-computing capabilities and demonstrate the performance of its monitoring functionality from the cabin of a moving train in city traffics in practice. We provide experimental measurements results and highlight the usefulness and effectiveness of our approach.

关键词： robotics Digital Twins System of Systems Industry 4.0 Industry 5.0 Society 5.0 Human-Robot-Interaction

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FogROS2-LS: A Location-Independent Fog robotics Framework for Latency Sensitive ROS2 applications

FogROS2-LS: A Location-Independent Fog Robotics Framework fo...

引用

IEEE international conference on robotics and automation (ICRA)

作者： Chen, Kaiyuan Wang, Michael Gualtieri, Marcus Tian, Nan Juette, Christian Ren, Liu Ichnowski, Jeffrey Kubiatowicz, John Goldberg, Ken Univ Calif Berkeley Dept Elect Engn & Comp Sci Berkeley CA 94720 USA Robert Bosch Res & Technol Ctr North Amer Sunnyvale CA 94085 USA Univ Calif Berkeley Dept Ind Engn & Operat Res Berkeley CA USA Carnegie Mellon Univ Robot Inst Pittsburgh PA USA

ISBN: (纸本)9798350384581;9798350384574

In Cloud robotics, long system latency due to varying network conditions can cause instability and collisions. However, this can be minimized in the almost univeral case where there are multiple sources available for cloud servers. By extending anycast routing, we introduce FogROS2-Latency-Sensitive, a Fog robotics framework that offers secure, location-independent connections between robots and latency-sensitive cloud-based servers. FogROS2-LS offloads conventional onboard state estimators and feedback controllers to Cloud and Edge compute hardware without modifying existing applications in ROS2. In the presence of multiple identical services, FogROS2-LS dynamically identifies and transitions to the optimal service deployment that meets latency requirements, thereby empowering robots with limited on-board computing capacity to safely and efficiently navigate dynamic, human-dense environments. We evaluate FogROS2-LS with two latency sensitive case studies: (1) Collision Avoidance: a robot arm guided by visual feedback from consistent distance estimation and collision checking on Cloud and Edge. FogROS2-LS reduces collision failures by up to 8.5x by selecting the best available server, and (2) Target Tracking: FogROS2-LS enables robust and continuous target following and can recover from network failures. Videos and code are available on the website https://***/view/fogros2-ls.

关键词： HTTP

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STAR: Swarm Technology for Aerial robotics Research 24

STAR: Swarm Technology for Aerial Robotics Research

引用

24th international conference on Control, automation and Systems

作者： Chiun, Jimmy Tan, Yan Rui Cao, Yuhong Tani, John Sartoretti, Guillaume Natl Univ Singapore Coll Design & Engn Singapore Singapore

ISBN: (纸本)9798331517939;9788993215380

In recent years, the field of aerial robotics has witnessed significant progress, finding applications in diverse domains, including post-disaster search and rescue operations. Despite these strides, the prohibitive acquisition costs associated with deploying physical multi-UAV systems have posed challenges, impeding their widespread utilization in research endeavors. To overcome these challenges, we present STAR (Swarm Technology for Aerial robotics Research), a framework developed explicitly to improve the accessibility of aerial swarm research experiments. Our framework introduces a swarm architecture based on the Crazyflie, a low-cost, open-source, palm-sized aerial platform, well suited for experimental swarm algorithms. To augment cost-effectiveness and mitigate the limitations of employing low-cost robots in experiments, we propose a landmark-based localization module leveraging fiducial markers. This module, also serving as a target detection module, enhances the adaptability and versatility of the framework. Additionally, collision and obstacle avoidance are implemented through velocity obstacles. The presented work strives to bridge the gap between theoretical advances and tangible implementations, thus fostering progress in the field.

关键词： Aerial robotics Micro UAV Landmark Localization Robotic Application

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RoboKube: Establishing a New Foundation for the Cloud Native Evolution in robotics 10

RoboKube: Establishing a New Foundation for the Cloud Native...

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10th international conference on automation, robotics, and applications, ICARA 2024

作者： Liu, Yu Herranz, Aitor Hernandez Sundin, Roberto C. Ericsson Research Stockholm Sweden

ISBN: (纸本)9798350394245

Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the robotics domain from both literature and industrial perspectives. We propose RoboKube, an adaptive framework that is based on the Kubernetes (K8s) ecosystem to set up a common platform across the device-cloud continuum for the deployment of cloudified Robotic Operating System (ROS) powered applications, to facilitate the cloud native evolution in robotics. We examine the process of modernizing ROS applications using cloud-native technologies, focusing on both the platform and application perspectives. In addition, we address the challenges of networking setups for heterogeneous environments. This paper intends to serves as a guide for developers and researchers, offering insights into containerization strategies, ROS node distribution and clustering, and deployment options. To demonstrate the feasibility of our approach, we present a case study involving the cloudification of a teleoperation testbed. © 2024 IEEE.

关键词： robotics

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JUST TELL ME: A Robot-assisted E-health Solution for People with Lower-extremity Disability 9

JUST TELL ME: A Robot-assisted E-health Solution for People ...

引用

9th international conference on automation, robotics and applications (ICARA)

作者： Coutras, Alexander Obidat, Omar Zhu, Michelle Wang, Weitian Chatham High Sch Chatham Kent England Montclair State Univ Dept Comp Sci Montclair NJ 07043 USA

ISBN: (纸本)9781665489218

robotics technology has been increasingly applied to healthcare contexts to enhance efficiency and safety in healthcare processes in recent years. People with mobility impairments and disabilities often require caretakers in their lives. Fortunately, robots can provide attention and assistance consistently for them instead of human caretakers. Motivated by this, we develop a robot-assisted e-health solution to empower the patients' daily lives and improve their wellbeing in this study. A transfer learning-based approach is proposed to train the robot to understand and identify patients' needs through a small dataset. Using the proposed approach, the robot is able to understand the patient's needs through speech recognition and recognize objects that the patient has requested. The proposed solution is experimentally implemented in real-world human-robot interactive healthcare contexts. Results and analysis indicate the success and accuracy of our approaches.

关键词： robotics human-robot interaction E-health mobility impairments computer vision healthcare informatics systems

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An Effective Method for Creating Virtual Doors and Borders to Prevent Autonomous Mobile Robots from Entering Restricted Areas 9

An Effective Method for Creating Virtual Doors and Borders t...

引用

9th international conference on automation, robotics and applications (ICARA)

作者： Omer, Karameldeen Monteriu, Andrea Univ Politecn Marche Dept Informat Engn Via Brecce Bianche 12 I-60131 Ancona Italy

ISBN: (纸本)9781665489218

Autonomous mobile robotics are becoming a common sight in smart homes and industries, where they are used for tasks such as cleaning and material handling. In some cases, it is necessary to restrict the movement of these robots to certain areas or rooms during specific times or for specific tasks, in order to ensure safety and prevent interference. Traditional methods for creating virtual walls and borders to accomplish this often have limitations in terms of ease of use, universality, and remote accessibility. In order to overcome these issues, this work presents a method for creating virtual walls, doors, and borders using the Robotic Operating System (ROS) and point cloud data. This method can be used to restrict the movement of autonomous mobile robots in human-centered environments, including smart homes and warehouses, and can be activated and deactivated remotely. It is a flexible and cost-effective solution that does not require specialized sensors and can be used with single or multi-robot systems. The effectiveness of our method has been demonstrated through testing in simulation based on the reconstruction of real environments.

关键词： virtual walls virtual doors virtual borders human-centered environments no-go zones AAL robotics warehouse robotics logistics robots

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HPF-SLAM: An Efficient Visual SLAM System Leveraging Hybrid Point Features

HPF-SLAM: An Efficient Visual SLAM System Leveraging Hybrid ...

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IEEE international conference on robotics and automation (ICRA)

作者： Su, Xin Eger, Sebastian Misik, Adam Yang, Dong Pries, Rastin Steinbach, Eckehard Tech Univ Munich Sch Computat Informat & Technol Munich Inst Robot & Machine Intelligence MIRMI Dept Comp EngnChair Media Technol Munich Germany Nokia Munich Germany Siemens Technol Munich Germany

ISBN: (纸本)9798350384581;9798350384574

Visual SLAM is an essential tool in diverse applications such as robot perception and extended reality, where feature-based methods are prevalent due to their accuracy and robustness. However, existing methods employ either hand-crafted or solely learnable point features and are thus limited by the feature attributes. In this paper, we propose incorporating hybrid point features efficiently into a single system. By integrating hand-crafted and learnable features, we seek to capitalize on their complementary attributes in both key-point identification and descriptor expressiveness. To this purpose, we design a pre-processing module, which includes extraction, inter-class processing, and post-processing of hybrid point features. We present an efficient matching approach to exclusively perform the data association within the same class of features. Moreover, we design a Hybrid Bag-of-Words (H-BoW) model to deal with hybrid point features in matching and loop-closure-detection. By integrating the proposed framework into a modern feature-based system, we introduce HPF-SLAM. We evaluate the system on EuRoC-MAV and TUM-RGBD benchmarks. The experimental results show that our method consistently surpasses the baseline at comparable speed.

关键词： SLAM robotics

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The Role of robotics: automation in Shoe Manufacturing 20

The Role of Robotics: Automation in Shoe Manufacturing

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20th IEEE/ASME international conference on Mechatronic and Embedded Systems and applications (MESA)

作者： Dias, Pedro A. Petry, Marcelo R. Rocha, Luis F. INESC TEC Inst Engn Sistemas & Computadores Tecno Porto Portugal Inst Politecn Porto Inst Super Engn Porto Porto Portugal

ISBN: (纸本)9798331516246;9798331516239

Emerging from a rich heritage, the shoe manufacturing industry stands as one of the world's most enduring and tradition-bound sectors. While renowned for their high-quality craftsmanship, countries like Portugal and Italy share the spotlight with those who focus on mass production methods. Regardless of their manufacturing model, both must adapt to the evolving competitive landscape by embracing innovative manufacturing techniques. robotics has emerged as a transformative force within the shoe industry, offering a path towards enhanced working conditions for employees while simultaneously reducing reliance on manual labor and bolstering productivity. The main focus of this paper is the comprehensive literature review, which examines the advancements made by researchers in various stages of shoe production, including roughing, gluing, finishing, and lasting. This article sheds light on the industry's response to modernization and efficiency imperatives, providing a thorough understanding of robotics in shoe manufacturing automation. A case study on the real implementation and simulation of a robotic cell for sole roughing is also presented. The results revealed that the robotic cell maintains the production cadence.

关键词： Footwear automation Shoe production Sole roughing Shoe industry

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