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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： Fei Yan Yantao Tian Haiwei Wu Yanhua Zhou Liuyang Cao Changjiu Zhou College of Communication Engineering Jilin University Changchun China Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore Singapore

ISBN: (纸本)9781479943142

A novel iris image segmentation method using watershed and region merging is put forward. Total variation flow model is used to divide the eye image into structure part and texture part. Light spots in pupil are removed by closing. Watershed and region merging are both applied in structure part. Structure part is divided into separate parts. The regions may contain iris are labeled. Then, merging iris regions using average gray rule and total pixels rule. CASIA3.0-Interval iris image database is used to test the proposed method. Experiment results show that, the proposed method can segment iris images accurately and it can be used for different types of iris images.

关键词： Iris recognition Image segmentation Iris Merging Visual perception Image decomposition TV

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False alarm metrics: Evaluating safety in human robot interactions

False alarm metrics: Evaluating safety in human robot intera...

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IEEE Conference on robotics, Automation and Mechatronics

作者： Mohan Rajesh Elara Carlos A. Acosta Calderon Changjiu Zhou Wijerupage Sardha Wijesoma School of Electrical & Electronics Engineering Nanyang Technological University Singapore Advanced Robotics & Intelligent Control Centre Singapore polytechnics Singapore

ISBN: (纸本)9781424465033;9781424465064

Human robot teams combining the complementary capabilities of robots and humans towards solving potentially complex service tasks are gaining wide spread popularity. Many of these tasks will involve close interactions between the robot and the human it serves thereby making safety a crucial parameter. Erroneous interaction that inevitably arises between human and the robot causes accidents in service robotic applications. Currently, there are no metrics available in human robot interaction community for analyzing erroneous interactions. In this paper, we put forward a new class of false alarm metrics to define, classify and quantify the effects of erroneous interactions in human robot teams and explore the relationship between false alarms, and safety in service robots. We extend the receiver operating characteristics (ROC) curve commonly used in signal processing community to classify robots based on their associated risks. We also show the utility of the designed false alarm metrics and extended ROC curve by applying them to a service robot, Robo-Erectus@Home across tele-operation and semi-autonomous modes of autonomy.

关键词： Safety Human robot interaction Service robots ISO standards Rehabilitation robotics intelligent robots Hazards Industrial accidents Standards development Measurement standards

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A Convex Optimization Approach for Online Human Walking Motion Adaptation

A Convex Optimization Approach for Online Human Walking Moti...

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Workshop on Digital Media and Digital Content Management (DMDCM)

作者： Qing Tang Rong Xiong Jian Chu Changjiu Zhou State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou China ARICC(Advanced Robotics and Intelligent Control Centre) Singapore polytechnics Singapore

For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's walking motion, where the optimal objectives of kinematic similarity and dynamic stability can be simultaneously considered and easily balanced. With an inverted pendulum model based dynamics formulation of zero moment point (ZMP) in the framework of Lie group, the optimal objectives and constraints on both kinematics and dynamics are formulized into a second order cone programming problem. The simulation experiments show that the proposed method is promising for adapting HMCD online as well as simultaneously achieving and balancing the kinematic similarity and dynamic stability.

关键词： Joints Kinematics Mathematical model Equations Humanoid robots Dynamics Optimization

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3D Irregular Object Recognition for Twist-lock Handling System

3D Irregular Object Recognition for Twist-lock Handling Syst...

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第26届中国控制与决策会议

作者： Shuang Ma Changjiu Zhou Liandong Zhang Wei Hong Yantao Tian College of Communication Engineering Jilin University Advanced Robotics and Intelligent Control Centre Singapore Polytechnic500 Dover Road139651Singapore

ISBN: (纸本)9781479937097

关键词： feature extraction,3D recognition,PCA,KPCA,twist-lock handling.

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Development of an autonomous service robot for social interactions

Development of an autonomous service robot for social intera...

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International Conference on Information, Communications and Signal Processing

作者： Carlos Antonio Acosta Calderon Changjiu Zhou Rajesh Elara Mohan Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore Polytechnic Singapore Singapore University of Technology and Design Singapore

Increasing research and development during these years has explored Human-Robot interactions especially for the challenge of the service robot. While service robots are becoming popular, these robots are just focusing into a specific tasks, and most of them are not ready prepare for the unpredictability of human environments. The efforts to develop more reliable robots that could interact with the human, are promoting the next generation of service robot. This type of robot would be equipped with perception, motion, and manipulation among other skills, to be help humans in daily tasks in different environments. This paper presents Snowie, a service robot used as Receptionist. The Snowie combines visual clues, voice, distance and PC input to detect humans and features in the environment. Guidance is one of the tasks that the receptionist robot must perform. To complete its task Snowie could receive extra information from smart beacons located in the building. The paper also explores two modalities to the guiding missions. Finally, experiments are presented in order to highlight the relevance of the approach.

关键词： Humans Face Service robots Navigation Robot vision systems

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Experimenting Extended Neglect Tolerance Model for Human Robot Interactions in Service Missions

Experimenting Extended Neglect Tolerance Model for Human Rob...

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International Conference on control, Automation, robotics and Vision

作者： Mohan Rajesh Elara Carlos A. Acosta Calderon Changjiu Zhou Wijerupage Sardha Wijesoma Advanced Robotics & Intelligent Control Centre Singapore Polytechnic Singapore 139651 School of Electrical & Electronics Engineering Nanyang Technological University Singapore 639798

ISBN: (纸本)9781424478149

In this paper, we validate the extended neglect tolerance model for estimation of human robot team performance in relation to robot autonomy and compare its results with the traditionally adopted neglect tolerance model which assumes zero false alarms in human robot interactions. Extended neglect tolerance model estimates robot performance in human robot teams, where the human operator switches control between robots sequentially, based on acceptable performance levels, taking into account any false alarms and their respective demands. Experiments were performed with Robo-Erectus@Home, a service robot across tele-operation, and semi-autonomous modes of autonomy where a human operator controlled the robot to perform a walking assistant task. Measured false alarm demands and robot performances were largely consistent with the extended neglect tolerance model predictions for both autonomy modes. We also compared traditionally adopted neglect tolerance and extended neglect tolerance model for the same experimental design. The results showed that the latter offers better estimates of robot performance and attention demands, due to the inclusion of false alarms into the model.

关键词： tolerance model Human machine interaction False alarms neglect Robot Autonomy

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Software framework for a humanoid robotic arm

Software framework for a humanoid robotic arm

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International Conference on Information, Communications and Signal Processing

作者： Jorg Wiedemann Maximilian Baro Paul Seybold Carlos Antonio Acosta Calderon Liandong Zhang Munich University of Applied Sciences Munich Germany Advanced Robotics and Intelligent Control Centre chool of Electrical and Electronic Engineering Singapore Polytechnic Singapore

This paper provides a brief description of the software framework of the arm of Robo-Erectus Senior - a Adultsize Soccer Playing Humanoid Robot developed at advanced robotics and intelligent control centre of Singapore Polytechnic. This paper covers the hardware and software overview, the kinematics and the collision detection modules of the manipulator.

关键词： Robots Joints Actuators Kinematics Collision avoidance Servers Software

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The piecewise monte carlo localization system for a humanoid soccer robot

The piecewise monte carlo localization system for a humanoid...

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IEEE International Conference on Automation and Logistics

作者： Wei Hong Yantao Tian Changjiu Zhou College of Communication Engineering Jilin University Changchun China Advanced Robotics and Intelligent Control Centre School of Electrical and Electronic Engineering Singapore polytechnics Singapore

ISBN: (纸本)9781424447947

This paper presents the piecewise Monte Carlo localization method that changes the size of sample set and resampling rules dynamically driven by the state of filter at each recursive update step. The states of filter is divided into global localization and local tracking based on two feature variables: focus and near. Physical walking toward target experiments and simulative kidnap problem experiments were performed on the humanoid soccer robot platform. Experimental results show that the piecewise MCL can acquire useful localization data in a short time and track its position timely with an acceptable errors in both distance and orientation. Moreover, it can transfer between global localization state and local tracking state correctly.

关键词： Monte Carlo methods Humanoid robots Robot sensing systems Filters Legged locomotion Robot vision systems robotics and automation Target tracking intelligent sensors Hardware

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3D object recognition using Kernel PCA based on depth information for twist-lock grasping

3D object recognition using Kernel PCA based on depth inform...

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IEEE International Conference on robotics and Biomimetics

作者： Shuang Ma Changjiu Zhou Liandong Zhang Wei Hong Yantao Tian Advanced Robotics and Intelligent Control Centre Singapore Polytechnic Singapore Dalian Jiaotong University Dalian China College of Communication Engineering Jilin University Changchun China

ISBN: (纸本)9781479927456

The handling of twist-locks has been a heavy burden for the container industry. There have been many efforts in developing automated twist-lock handling solutions. To address this challenge, we are developing a customized mobile manipulator for twist-lock pose estimation and grasping. In this paper, we propose a 3D object recognition approach using Kernel Principal Component Analysis (KPCA) only based on depth information to determine the basic information for twist-lock grasping using robotic manipulator. The challenge for twist-lock detection, recognition and grasping is 3D irregular object recognition in unstructured port environment. Motivated by gradient edge descriptor and KPCA, we propose a hybrid twist-lock detection approach without human intervention, in which we treat depth image as gray value image, and background difference method is combined with gradient edge descriptor. We also develop a set of kernel features on depth images, for description 3D object using kernel principal component features, to recognize types and pose of the twist-locks according to the nearest neighbor distance hierarchically. Experiments using a customized manipulator for detection, recognition and grasping twist-locks have been carried out to verify the feasibility of the proposed methods. Since depth images are insensitive to changes in lighting conditions, the proposed approach based on depth information is able to address the issues and solve problems caused by rust and painting peeled off of twist-lock handling in port environment.

关键词： Kernel Training Robots Principal component analysis Feature extraction Three-dimensional displays Grasping

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Distributed linear equations over random networks

arXiv

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arXiv 2020年

作者： Yi, Peng Lei, Jinlong Chen, Jie Hong, Yiguang Shi, Guodong Department of Control Science and Engineering Tongji University Shanghai201804 China Institute of Advanced Study Tongji University Shanghai201804 China Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney NSW2006 Australia

Distributed linear algebraic equation over networks, where nodes hold a part of problem data and cooperatively solve the equation via node-to-node communications, is a basic distributed computation task receiving an increasing research attention. Communications over a network have a stochastic nature, with both temporal and spatial dependence due to link failures, packet dropouts or node recreation, etc. In this paper, we study the convergence and convergence rate of distributed linear equation protocols over a ∗-mixing random network, where the temporal and spatial dependencies between the node-to-node communications are allowed. When the network linear equation admits exact solutions, we prove the mean-squared exponential convergence rate of the distributed projection consensus algorithm, while the lower and upper bound estimations of the convergence rate are also given for independent and identically distributed (i.i.d.) random graphs. Motivated by the randomized Kaczmarz algorithm, we also propose a distributed randomized projection consensus algorithm, where each node randomly selects one row of local linear equations for projection per iteration, and establish an exponential convergence rate. When the network linear equation admits no exact solution, we prove that a distributed gradient-descent-like algorithm with diminishing step-sizes can drive all nodes' states to a least-squares solution at a sublinear rate. These results collectively illustrate that distributed computations may overcome communication correlations if the prototype algorithms enjoy certain contractive properties or are designed with suitable parameters. Copyright © 2020, The Authors. All rights reserved.

关键词： Graph theory

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