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检索条件"主题词=Computer Aided Software Engineering"

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Human-Like Multimodal Perception and Purposeful Manipulation for Deformable Objects 18

Human-Like Multimodal Perception and Purposeful Manipulation...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Kaur, Upinder Ma, Xin Huang, Yuanmeng Voyles, Richard M. Purdue Univ Sch Engn Technol Purdue Polytech Inst W Lafayette IN 47907 USA

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

Humans possess the uncanny ability to perceive and manipulate deformable objects with agility. Deformable objects, such as a ziplock bag, with their infinite configurations, are particularly challenging. Manipulating deformable objects is hard as deciding corrective action demands great familiarity with its state transitions. Humans learn to manipulate such objects by leveraging multimodal perception capabilities wherein they build a rich understanding by exploration and active manipulation. For robots, such adaptability is lacking as multimodal perception is still limited. In this work, we emulate human-like learning by extending multimodal perception to assist in exploratory manipulation-to build a rich understanding of the deformable object- and purposeful manipulation- to learn to achieve the desired state based on the knowledge of the object. To validate this framework, we undertake the task of closing a ziplock bag as it is a challenging perception task with a simple state structure demanding multi-sensory modes. The bag's parameters are learned in 10mins during exploratory manipulation. With the multimodal inputs of the three sensors, the accuracy of state detection improves significantly across the different types of bags, illustrating the adaptability. The multimodal perception achieves a maximum state detection accuracy of 95.5%. The bags are closed fully in all 50 trials with the purposeful manipulation framework.

关键词： computer aided software engineering Automation Sensors Task analysis Robots

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An efficient bi-fidelity method for continuous simulation optimization 18

An efficient bi-fidelity method for continuous simulation op...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Wang, Gengchen Jin, Xiao Lee, Loo Hay Northeastern Univ Dept Informat Sci & Engn Shenyang Peoples R China Natl Univ Singapore C4NGL Singapore Singapore Natl Univ Singapore Fac Engn Singapore Singapore

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

We study optimization problems on a continuous decision space using the Ordinal Transformation framework. The original method was proposed to exploit the advantages of bi-fidelity simulation models, so observations from the low-fidelity can efficiently guide sampling on the high-fidelity model. However, this framework only worked on a discrete decision space. We extend the framework to continuous cases and through preliminary analysis, we show promising performance and present future research directions.

关键词： computer aided software engineering Automation Computational modeling Clustering algorithms Predictive models Prediction algorithms Numerical models

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Robot Cartesian Compliance Variation for Safe Kinesthetic Teaching using Safety Control Barrier Functions 18

Robot Cartesian Compliance Variation for Safe Kinesthetic Te...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Ducaju, Julian M. Salt Olofsson, Bjoern Robertsson, Anders Johansson, Rolf Lund Univ Dept Automat Control LTH Lund Sweden

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

Kinesthetic teaching allows human operators to reprogram part of a robot's trajectory by manually guiding the robot. To allow kinesthetic teaching, and also to avoid any harm to both the robot and its environment, Cartesian impedance control is here used for trajectory following. In this paper, we present an online method to modify the compliant behavior of a robot toward its environment, so that undesired parts of the robot's workspace are avoided during kinesthetic teaching. The stability of the method is guaranteed by a well-known passivity-based energy-storage formulation that has been modified to include a strict Lyapunov function, i.e., its time derivative is a globally negative-definite function. Safety Control Barrier Functions (SCBFs) that consider the rigid-body dynamics of the robot are formulated as inequality constraints of a quadratic optimization (QP) problem to ensure forward invariance of the robot's states in a safe set. An experimental evaluation using a Franka Emika Panda robot is provided.

关键词： Asymptotic stability computer aided software engineering Education Safety Trajectory Behavioral sciences Impedance

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Towards Online Socially Acceptable Robot Navigation 18

Towards Online Socially Acceptable Robot Navigation

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Silva, Steven Paillacho, Dennys Verdezoto, Nervo Hernandez, Juan David Cardiff Univ IROHMS Sch Comp Sci & Informat Cardiff S Glam Wales ESPOL Polytech Univ Res Dev & Innovat Ctr Comp Syst CIDIS Guayaquil Ecuador

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

When robots move through social spaces (i.e., environments shared with people) such as museums and shopping centers, they must navigate in a safe and socially acceptable manner to facilitate their inclusion and adoption. Therefore, robots operating in such settings must be able not only to avoid colliding with nearby obstacles, but also to show socially accepted behaviors, e.g., by minimizing the disruption in the comfort zone of nearby people. While there are well known approaches for social robot navigation, they are mostly based on social force models, which suffer from local minima. Meanwhile, other robot navigation frameworks do not consider social aspects. In this paper, we present an online social robot navigation framework, which is capable of generating collision free and socially acceptable paths online in uncontrolled crowded environments. Our proposed framework employs a modified sampling-based planner together with a new social relevance validity checking strategy. To evaluate our approach, we have designed a simulated social space in which the Pepper robot can safely navigate in a socially accepted manner. We compare our approach with other two alternative solutions while measuring specific social navigation metrics.

关键词： Measurement computer aided software engineering Automation Navigation Social robots Force Museums

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In-Hand Pose Estimation and Pin Inspection for Insertion of Through-Hole Components 18

In-Hand Pose Estimation and Pin Inspection for Insertion of ...

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Hagelskjaer, Frederik Kraft, Dirk Univ Southern Denmark Maersk McKinney Moller Inst Odense Denmark

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

The insertion of through-hole components is a difficult task. As the tolerances of the holes are very small, minor errors in the insertion will result in failures. These failures can damage components and will require manual intervention for recovery. Errors can occur both from imprecise object grasps and bent pins. Therefore, it is important that a system can accurately determine the object's position and reject components with bent pins. By utilizing the constraints inherent in the object grasp a method using template matching is able to obtain very precise pose estimates. Methods for pin-checking are also implemented, compared, and a successful method is shown. The set-up is performed automatically, with two novel contributions. A deep learning segmentation of the pins is performed and the inspection pose is found by simulation. From the inspection pose and the segmented pins, the templates for pose estimation and pin check are then generated. To train the deep learning method a dataset of segmented through-hole components is created. The network shows a 97.3 % accuracy on the test set. The pin-segmentation network is also tested on the insertion CAD models and successfully segment the pins. The complete system is tested on three different objects, and experiments show that the system is able to insert all objects successfully. Both by correcting in-hand grasp errors and rejecting objects with bent pins.

关键词： Deep learning Solid modeling computer aided software engineering Pose estimation Robot vision systems Manuals Inspection

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Work-in-Progress: NoRF: A Case Against Register File Operands in Tightly-Coupled Accelerators

Work-in-Progress: NoRF: A Case Against Register File Operand...

引用

International Conference on Compilers, Architecture, and Synthesis for Embedded Systems (CASES)

作者： Schlais, David J. Zhuo, Heng Lipasti, Mikko H. Univ Wisconsin Madison WI 53705 USA

ISBN: (数字)9781665472968

ISBN: (纸本)9781665472968

Accelerators are often used to increase performance and/or energy efficiency of general-purpose CPUs. However, Tightly-Coupled Accelerators (TCAs) often perform computations on data structures that may not be a natural fit for general-purpose registers. The designer can either use the existing register file (RF), a RF tailored for the accelerator, or eschew a RF entirely (NoRF), accessing operands directly from the memory hierarchy. Designers for embedded and edge devices are particularly conscientious towards energy-efficient compute and data transfer. We explore the possibility of mini-DGEMM accelerators (example TCAs) within the context of CPUs and edge devices, which also have increasing applications for DGEMM compute. At a high level, register files help reduce memory accesses (steps 1, 2, 5, and 6 in Figure 1 ) when the compiler finds reuse of operands in the program dataflow. On the other hand, direct memory access simplifies the data movement by completely eliminating the intermediate reads and writes to a register file but issues more memory requests. This paper evaluates the difference between these options of operand delivery. Figure 2 shows that all recent vector extensions use a register file implementation. By this trend, it may seem natural to incorporate mini-matrices into the RF. However, we present quantitative and qualitative evidence to advocate for direct cache access for operands.

关键词： Radio frequency Performance evaluation Program processors Embedded systems computer aided software engineering Market research Data transfer

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Towards Infield Navigation: leveraging simulated data for crop row detection 18

Towards Infield Navigation: leveraging simulated data for cr...

引用

IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： de Silva, Rajitha Cielniak, Grzegorz Gao, Junfeng Univ Lincoln Lincoln Agrirobot Ctr Lincoln Inst Agrifood Technol Lincoln England

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

Agricultural datasets for crop row detection are often bound by their limited number of images. This restricts the researchers from developing deep learning based models for precision agricultural tasks involving crop row detection. We suggest the utilization of small real-world datasets along with additional data generated by simulations to yield similar crop row detection performance as that of a model trained with a large real world dataset. Our method could reach the performance of a deep learning based crop row detection model trained with real-world data by using 60% less labelled real-world data. Our model performed well against field variations such as shadows, sunlight and growth stages. We introduce an automated pipeline to generate labelled images for crop row detection in simulation domain. An extensive comparison is done to analyze the contribution of simulated data towards reaching robust crop row detection in various real-world field scenarios.

关键词： Deep learning computer aided software engineering Navigation Pipelines Crops Training data Predictive models

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Smooth Spline-based Trajectory Planning for Semi-Rigid Multi-Robot Formations 18

Smooth Spline-based Trajectory Planning for Semi-Rigid Multi...

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Recker, Tobias Lurz, Henrik Raatz, Annika Univ Hanover Inst Assembly Technol D-30823 Garbsen Germany

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

This paper presents an approach for smooth trajectory planning in semi-rigid nonholonomic mobile robot formations using Bezier-splines. Unlike most existing approaches, the focus is on maintaining a semi-rigid formation, as required in many scenarios such as object transport, handling or assembly. We use a Relaxed A* planner to create an optimal collision-free global path and then smooth this path using splines. The smoothed global path serves to create target paths for every robot in the formation. From these paths, we then calculate the trajectories for each robot. In an iterative process, we match the velocities of the robots so that all trajectories are synchronized, and the dynamic limits of all robots are maintained. We provide experimental validation, which confirms no violation of the dynamic limits and shows an excellent control performance for a system of three robots moving at 0.3 m/s.

关键词： computer aided software engineering Automation Trajectory planning Trajectory Synchronization Mobile robots Iterative methods

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A reinforcement learning path planning approach for range-only underwater target localization with autonomous vehicles 18

A reinforcement learning path planning approach for range-on...

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Masmitja, Ivan Martin, Mario Katija, Kakani Gomariz, Spartacus Navarro, Joan Mbari Bioinspirat Lab Moss Landing CA 95062 USA CSIC Inst Ciencies Mar Barcelona 08003 Spain Univ Politecn Cataluna Knowledge Engn & Machine Learning Grp Barcelona Tech Barcelona 08034 Spain Univ Politecn Cataluna SARTI Res Grp Barcelona Tech Elect Dept Barcelona 080934 Spain

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

Underwater target localization using range-only and single-beacon (ROSB) techniques with autonomous vehicles has been used recently to improve the limitations of more complex methods, such as long baseline and ultra-short baseline systems. Nonetheless, in ROSB target localization methods, the trajectory of the tracking vehicle near the localized target plays an important role in obtaining the best accuracy of the predicted target position. Here, we investigate a Reinforcement Learning (RL) approach to find the optimal path that an autonomous vehicle should follow in order to increase and optimize the overall accuracy of the predicted target localization, while reducing time and power consumption. To accomplish this objective, different experimental tests have been designed using state-of-the-art deep RL algorithms. Our study also compares the results obtained with the analytical Fisher information matrix approach used in previous studies. The results revealed that the policy learned by the RL agent outperforms trajectories based on these analytical solutions, e.g. the median predicted error at the beginning of the target's localisation is 17% less. These findings suggest that using deep RL for localizing acoustic targets could be successfully applied to in-water applications that include tracking of acoustically tagged marine animals by autonomous underwater vehicles. This is envisioned as a first necessary step to validate the use of RL to tackle such problems, which could be used later on in a more complex scenarios.

关键词： Location awareness Autonomous underwater vehicles Target tracking Power demand computer aided software engineering Navigation Reinforcement learning

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A Game Benchmark for Real-Time Human-Swarm Control 18

A Game Benchmark for Real-Time Human-Swarm Control

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IEEE 18th International Conference on Automation Science and engineering (IEEE CASE)

作者： Meyer, Joel Pinosky, Allison Trzpit, Thomas Colgate, Ed Murphey, Todd D. Northwestern Univ Ctr Robot & Biosyst Evanston IL 60208 USA

ISBN: (数字)9781665490429

ISBN: (纸本)9781665490429

We present a game benchmark for testing human-swarm control algorithms and interfaces in a real-time, high-cadence scenario. Our benchmark consists of a swarm vs. swarm game in a virtual ROS environment in which the goal of the game is to "capture" all agents from the opposing swarm;the game's high-cadence is a result of the capture rules, which cause agent team sizes to fluctuate rapidly. These rules require players to consider both the number of agents currently at their disposal and the behavior of their opponent's swarm when they plan actions. We demonstrate our game benchmark with a default human-swarm control system that enables a player to interact with their swarm through a high-level touchscreen interface. The touchscreen interface transforms player gestures into swarm control commands via a low-level decentralized ergodic control framework. We compare our default human-swarm control system to a flocking-based control system, and discuss traits that are crucial for swarm control algorithms and interfaces operating in real-time, high-cadence scenarios like our game benchmark. Our game benchmark code is available on Github;more information can be found at https: //***/view/swarm- game-benchmark.

关键词： computer aided software engineering Codes Games Transforms Benchmark testing Touch sensitive screens Control systems

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