检索结果-内蒙古大学图书馆

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Tampier, Carlos Tiderko, Alexander Schneider, Frank E. Fraunhofer Inst Commun Informat Proc & Ergon FKIE Cognit Mobile Syst Wachtberg Germany

ISBN: (纸本)9781665482172

Testing and performance analysis for outdoor field robots can be quite challenging, as environmental conditions cannot be completely controlled. In this paper, we present the Field Test Tool, a free, open source framework for logging, annotating, and automatically generating reports of field trials for autonomous ground vehicles. The Field Test Tool integrates a database, an automatic report generator, a web server, an interface for the Robot Operating System, and a web-based user interface. The reporting tool was successfully deployed and used during the European robotics Hackathon 2021 for a mobile robot performing a navigation task.

关键词： Field Test Tool FTT open source software software tools system testing performance evaluation documentation autonomous vehicles robotics and automation

来源：评论

学校读者我要写书评

暂无评论

Automated Retinal Vein Cannulation on Silicone Phantoms Using Optical-Coherence-Tomography-Guided Robotic Manipulations

引用

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2021年第5期26卷 2758-2769页

作者： Gerber, Matthew J. Hubschman, Jean-Pierre Tsao, Tsu-Chin Univ Calif Los Angeles Stein Eye Inst Los Angeles CA 90095 USA Univ Calif Los Angeles Dept Mech & Aerosp Engn Los Angeles CA 90095 USA

Retinal vein of the most common causes of vision loss, occurring when a blood clot or other obstruction occludes a retinal vein. A potential remedy for retinal vein occlusion is retinal vein cannulation, a surgical procedure that involves infusing the occluded vein with a fibrinolytic drug to restore blood flow through the vascular lumen. This article presents an image-guided robotic system capable of performing automated cannulation on silicone retinal vein phantoms. The system is integrated with an optical coherence tomography probe and a camera to provide visual feedback to guide the robotic system. Through automation, the developed system targets a vein phantom to within 20 mu m and automatically cannulates and infuses the vascular lumen with dyed water. The system was evaluated through 30 experimental trials and shown to be capable of performing automated cannulation of retinal vein phantoms with no reported cases of failure.

关键词： Visualization Target tracking Veins Robot vision systems Phantoms Retina Cameras robotics and automation Robots Medical robots robotics and automation Autonomous systems Imaging Optical coherence tomography

来源：评论

学校读者我要写书评

暂无评论

Robotic Waste Sorter With Agile Manipulation and Quickly Trainable Detector

引用

IEEE ACCESS 2021年 9卷 124616-124631页

作者： Kiyokawa, Takuya Katayama, Hiroki Tatsuta, Yuya Takamatsu, Jun Ogasawara, Tsukasa Nara Inst Sci & Technol NAIST Nara 6300192 Japan

Owing to human labor shortages, the automation of labor-intensive manual waste-sorting is needed. The goal of automating waste-sorting is to replace the human role of robust detection and agile manipulation of waste items with robots. To achieve this, we propose three methods. First, we provide a combined manipulation method using graspless push-and-drop and pick-and-release manipulation. Second, we provide a robotic system that can automatically collect object images to quickly train a deep neural-network model. Third, we provide a method to mitigate the differences in the appearance of target objects from two scenes: one for dataset collection and the other for waste sorting in a recycling factory. If differences exist, the performance of a trained waste detector may decrease. We address differences in illumination and background by applying object scaling, histogram matching with histogram equalization, and background synthesis to the source target-object images. Via experiments in an indoor experimental workplace for waste-sorting, we confirm that the proposed methods enable quick collection of the training image sets for three classes of waste items (i.e., aluminum can, glass bottle, and plastic bottle) and detection with higher performance than the methods that do not consider the differences. We also confirm that the proposed method enables the robot quickly manipulate the objects.

关键词： Robots Training Annotations Detectors Manipulators Lighting Histograms robotics and automation robot vision systems computer vision recycling machine learning object detection

来源：评论

学校读者我要写书评

暂无评论

Complex Semantic-Spatial Relation Aided Indoor Target-Directed Exploration

引用

IEEE ACCESS 2021年 9卷 167039-167053页

作者： Lee, Woo-Cheol Choi, Han-Lim Korea Adv Inst Sci & Technol Dept Aerosp Engn & KI Robot Daejeon 34141 South Korea

This paper addresses the problem of target-directed exploration (TDE) in initially unknown and large-scale indoor environments. In such scenarios, the inference on an unknown space can improve the search performance under the assumption that the context of a particular space (i.e., the functional category of the space) is correlated with the existence of a target. The space inference is promising in that there is a strong statistical correlation between the semantic categories of indoor spaces and their adjacency because the spaces are designed to reflect universal human preferences. In this point of view, we propose a novel TDE scheme leveraging the semantic-spatial relations of an indoor floorplan dataset. Whereas existing works dealing with the data-driven space inferences consider only the one-to-one relation statistics of the spaces or utilize heuristic counting-based matching algorithms without building a trainable latent model, we propose the pattern cognitive Multivariate Bernoulli Distribution-based Graphical Space Inference Model (MBD-GSIM). MBD-GSIM efficiently captures the core contexts of the discrete semantic-spatial relations to predict an unknown space by using the latent Multivariate Bernoulli Distribution model. We also suggest utilizing the MBD-GSIM in a cost-utility based frontier exploration scheme for TDE problems. The proposed scheme is constructed in the Robot Operating System (ROS);its efficiency is investigated in the Gazebo simulation environment.

关键词： Robots Semantics Navigation Context modeling Space missions Robot sensing systems Predictive models Indoor exploration robot exploration robotics and automation indoor environments inference algorithms indoor space inference planning computation artificial intelligence semantic-spatial relation

来源：评论

学校读者我要写书评

暂无评论

Simultaneous, Robot-Compatible γ-Ray Spectroscopy and Imaging of an Operating Nuclear Reactor

引用

IEEE SENSORS JOURNAL 2021年第4期21卷 5434-5443页

作者： Tsitsimpelis, Ioannis West, Andrew Licata, Mauro Aspinall, Michael D. Jazbec, Anze Snoj, Luka Martin, Philip A. Lennox, Barry Joyce, Malcolm J. Univ Lancaster Dept Engn Lancaster LA1 4YW England Univ Manchester Sch Elect & Elect Engn Manchester M13 9PL Lancs England Jozef Stefan Inst Reactor Phys Div SI-1000 Ljubljana Slovenia Jozef Stefan Inst Reactor Infrastruct Ctr SI-1000 Ljubljana Slovenia Univ Manchester Dept Chem Engn & Analyt Sci Manchester M13 9PL Lancs England

The design and test of a robot-compatible, radiation detection instrument providing simultaneous gamma-ray imaging and gamma-ray spectroscopy is described. The sensing system comprises a cerium bromide inorganic scintillation detector and a cylindrical, lead slot collimator that is configured with a robot-compatible, on-board data acquisition system. The mount for the sensor is a lightweight, bespoke 3-axis gimbal actuated by servos for pan, tilt and rotation of the collimator for imaging capability. This paper discusses the integration of this relatively low-cost radiation detection apparatus with a commercially available, Robot-Operating-System-controlled robotic platform (a Clearpath roboticsTM Jackal). The detection system is compliant with the power and mass payload constraints of the robot. Its performance has been evaluated by means of two practical examples: a) measurements in a laboratory environment to assess the ability of the system to resolve two caesium-137 point sources, and b) deployment at the Jozef Stefan Institute TRIGA Mark II research reactor to assess the ability of the system to characterise the gamma-ray emission at 1 kWfroma horizontal tangential beam port in the reactor hall and from the reactor sample pool above the core.

关键词： robotics and automation environmental monitoring and control detection estimation and classification based on sensor data

来源：评论

学校读者我要写书评

暂无评论

An Empirical Investigation of Early Stopping Optimizations in Proximal Policy Optimization

引用

IEEE ACCESS 2021年 9卷 117981-117992页

作者： Dossa, Rousslan Fernand Julien Huang, Shengyi Ontanon, Santiago Matsubara, Takashi Kobe Univ Grad Sch Syst Informat Kobe Hyogo 6578501 Japan Drexel Univ Coll Comp & Informat Philadelphia PA 19104 USA Osaka Univ Grad Sch Engn Sci Osaka 5608531 Japan

Code-level optimizations, which are low-level optimization techniques used in the implementation of algorithms, have generally been considered as tangential and often do not appear in published pseudo-code of Reinforcement Learning (RL) algorithms. However, recent studies suggest these optimizations to be critical to the performance of algorithms such as Proximal Policy Optimization (PPO). In this paper, we investigate the effect of one such optimization known as "early stopping'' implemented for PPO in the popular openai/spinningup library but not in openai/baselines. This optimization technique, which we refer to as KLE-Stop, can stop the policy update within an epoch if the mean Kullback-Leibler (KL) Divergence between the target policy and current policy becomes too high. More specifically, we conduct experiments to examine the empirical importance of KLE-Stop and its conservative variant KLE-Rollback when they are used in conjunction with other common code-level optimizations. The main findings of our experiments are 1) the performance of PPO is sensitive to the number of update iterations per epoch (K), 2) Early stopping optimizations (KLE-Stop and KLE-Rollback) mitigate such sensitivity by dynamically adjusting the actual number of update iterations within an epoch, 3) Early stopping optimizations could serve as a convenient alternative to tuning on K.

关键词： Artificial Intelligence deep learning reinforcement learning proximal policy optimization robotics and automation robot learning

来源：评论

学校读者我要写书评

暂无评论

Extending the Evaluation of Social Assistive Robots With Accessibility Indicators: The AUSUS Evaluation Framework

引用

IEEE TRANSACTIONS ON HUMAN-MACHINE SYSTEMS 2021年第6期51卷 601-612页

作者： Iglesias, Ana Garcia, Javier Garcia-Olaya, Angel Fuentetaja, Raquel Fernandez, Fernando Romero-Garces, Adrian Marfil, Rebeca Bandera, Antonio Ting, Karine Lan Hing Voilmy, Dimitri Duenas, Alvaro Suarez-Mejias, Cristina Univ Carlos III Madrid Comp Sci & Engn Dept Leganes 28911 Spain Univ Malaga Dept Elect Technol Malaga 29016 Spain Univ Technol Troyes F-10300 Troyes France Hosp Univ Virgen Rocio Seville 41013 Spain

The introduction of robots in the real world requires previous evaluation of the envisaged performance. Factors like usability, user experience, social acceptance, or societal impact, among others, have been taken into account in evaluation frameworks defined during the last years. However, one of the most important factors that need to be evaluated in any kind of interaction is whether all the users are able to work with the system with the same opportunities and easiness, and none of the current human-robot interaction (HRI) evaluation frameworks include this factor yet. This article proposes an extension of a popular HRI evaluation framework, including accessibility as a new evaluation factor. The proposed approach, named AUSUS, considers Accessibility, Usability, Social acceptance, User experience, and Societal impact. This article presents a use case of the framework, which is evaluated through a socially assistive robotic platform created to perform comprehensive geriatric assessment: the CLARC system. The details of the evaluation process in a hospital and a retirement home are reported, and the main difficulties and recommendations of using AUSUS are discussed.

关键词： Robots Usability Software Guidelines User experience Service robots Faces Human-robot interaction robotics and automation robots service robots systems man and cybernetics

来源：评论

学校读者我要写书评

暂无评论

A Benchmarking Platform for Learning-Based Grasp Synthesis Methodologies

引用

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2021年第3期102卷 1-16页

作者： van Vuuren, Jacques Janse Tang, Liqiong Al-Bahadly, Ibrahim Arif, Khalid Mahmood Massey Univ Dept Mech & Elect Engn SF&AT Palmerston North New Zealand

Benchmarking is a common practice employed to quantify the performance of various approaches toward the same task. By maintaining a consistent test environment, the inherent behaviours between methods may be distinguished-which is key to progressing a research field. In robotic manipulation research there is a current lack of standardisation, making it challenging to fairly assess and compare various approaches throughout literature. This paper proposes new criteria in conjunction with a benchmarking platform to measure the effectiveness of a grasping pipeline. The proposed benchmarking template offers a testing platform for 2-fingered, vision-based grasp synthesis methodologies. A prototype system was constructed. The prototype was shown to serve as a suitable benchmarking platform for the deployment of various grasp synthesis methodologies. 4000 trials were conducted to evaluate the differing approaches. Results showed that the proposed metrics provide useful insights into the quality of grasp poses produced by a grasp synthesis methodology. Moreover, such metrics provide more comprehensive insights into grasp outcome than traditional methods used to quantify performance of a methodology and present a fair baseline for comparison between different approaches.

关键词： Robots Robotic learning Robot control robotics and automation Benchmarking Performance evaluation

来源：评论

学校读者我要写书评

暂无评论

Robust and Efficient RGB-D SLAM in Dynamic Environments

引用

IEEE TRANSACTIONS ON MULTIMEDIA 2021年 23卷 4208-4219页

作者： Yang, Xin Yuan, Zikang Zhu, Dongfu Chi, Cheng Li, Kun Liao, Chunyuan Huazhong Univ Sci & Technol Sch Elect Informat & Commun Wuhan 430074 Peoples R China HiScene Informat Technol Co Ltd Shanghai 201210 Peoples R China

Simultaneous localization and mapping (SLAM) using an RGB-D camera is a key enabling technique for many augmented reality (AR) applications. However, most existing RGB-D SLAM methods could fail in dynamic scenarios due to non-trivial pose estimation errors arising from moving objects. In this study, we present an accurate and robust RGB-D SLAM system for dynamic scenarios which can run real-time on a single dual-core CPU. The core of our system is a robust and efficient dynamic keypoint exclusion method which consists of three steps: 1) grouping spatially and appearance related pixels of a keyframe into regions;2) identifying dynamic regions by checking motion consistency of keypoints in every region;3) excluding keypoints in the identified dynamic regions as well as the matching points in the 3D local map. The dynamic keypoint exclusion method can be easily integrated into any keypoint based RGB-D SLAM system for improving the accuracy and robustness in dynamic scenes with trivial time increase (16.6ms per frame). Experimental results on the TUM dataset demonstrates that our method which runs on an Intel i7-4900 CPU is even 2.3X faster than the state-of-the-art method DS-SLAM [1] which runs parallel on a P4000 GPU and a comparable CPU. In addition, our system outperforms the state-of-the-art methods [1]-[4] in terms of smaller absolute trajectory errors (ATE). We also apply our system to a real AR application and live experiments with a hand-held RGB-D camera demonstrate the robustness and generalizability of our method in practical scenarios.(1) (1) A demo video is provided on https://***/cc-qy/Dynamic-RGB-D-SLAM

关键词： Dynamics Simultaneous localization and mapping Cameras Three-dimensional displays Pose estimation Robustness Motion segmentation robotics and automation robots robot sensing systems simultaneous localization and mapping

来源：评论

学校读者我要写书评

暂无评论

Autonomous Social Distancing in Urban Environments Using a Quadruped Robot

引用

IEEE ACCESS 2021年 9卷 8392-8403页

作者： Chen, Zhiming Fan, Tingxiang Zhao, Xuan Liang, Jing Shen, Cong Chen, Hua Manocha, Dinesh Pan, Jia Zhang, Wei Southern Univ Sci & Technol Dept Mech & Energy Engn Shenzhen 518055 Peoples R China Univ Hong Kong Dept Comp Sci Hong Kong Peoples R China City Univ Hong Kong Dept Biomed Engn Hong Kong Peoples R China Univ Maryland Dept Comp Sci College Pk MD 20742 USA Huazhong Univ Sci & Technol Sch Mech Sci & Engn Wuhan 430074 Peoples R China

Corona Virus Disease 2019 (COVID-19) pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance robots can not only monitor but also promote social distancing. Robots can be flexibly deployed and they can take precautionary actions to remind people of practicing social distancing. In this paper, we introduce a fully autonomous surveillance robot based on a quadruped platform that can promote social distancing in complex urban environments. Specifically, to achieve autonomy, we mount multiple cameras and a three dimensional light detection and ranging sensor (3D LiDAR) on the legged robot. The robot then uses an onboard real-time social distancing detection system to track nearby pedestrian groups. Next, the robot uses a crowd-aware navigation algorithm to move freely in highly dynamic scenarios. The robot finally uses a crowd-aware routing algorithm to effectively promote social distancing by using human-friendly verbal cues to send suggestions to over-crowded pedestrians. We demonstrate and validate that our robot can be operated autonomously by conducting several experiments in various urban scenarios.

关键词： Robots Collision avoidance Social factors Human factors Surveillance Laser radar Cameras Surveillance robotics and automation human robot interaction

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：