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Intelligent Systems and Advanced Applications (ICISAA), International Conference on

作者： Niyaj Shikalgar Yashraj Patil Atharv Karale Mayuresh Patil Vineeth Thadi Ritesh Bankar Department of Automation and Robotics Dr. D. Y. Patil Institute of Technology Pune India

ISBN: (数字)9798331539948

ISBN: (纸本)9798331539955

The commercial and defence applications of the use of mobile robots have escalated tremendously in the last ten years. These robots are created to perform some tasks and have been proven to be very useful in performing operations which have no requirement of a human being. Accordingly, the project’s goal is to design and develop a small Unmanned Ground Vehicle (UGV) which can be fully operated through a remote control. Further, in surveillance and Logistics Operations, vehicles are used. Lidar and cameras are employed in the vision system of the robot; therefore, the robot can be manually operable. The Unmanned Ground Vehicles are equipped primarily with obstacle avoidance, the reality which can bring people closer to the objects that surround them. These types of UGV primarily rely on sensors to detect the environment or other objects around them, act autonomously, navigate through situations which cannot be predicted or whose outcome is uncertain or they use this information to convey this information through various means to the operator of UGV when the service is required.

关键词： Laser radar Navigation Surveillance Cameras Autonomous aerial vehicles Land vehicles Sensors Collision avoidance Logistics Testing

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Planning Human-Robot Co-manipulation with Human Motor Control Objectives and Multi-component Reaching Strategies

arXiv

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arXiv 2024年

作者： Haninger, Kevin Peternel, Luka Department of Automation Fraunhofer IPK Berlin Germany Department of Cognitive Robotics Delft Univerity of Technology Delft Netherlands

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to lower-level functioning such as ergonomics, and the latter have limited generalizability or data efficiency. What is missing, is the inclusion of human motor control models that can provide generalizable human behavior estimates and integrate into robot planning methods. We use well-studied models from human motor control based on the speed-accuracy and cost-benefit trade-offs to plan collaborative robot motions. In these models, the human trajectory minimizes an objective function, a formulation we adapt to numerical trajectory optimization. This can then be extended with constraints and new variables to realize collaborative motion planning and goal estimation. We deploy this model, as well as a multi-component movement strategy, in physical collaboration with uncertain goal-reaching and synchronized motion tasks, showing the ability of the approach to produce human-like trajectories over a range of conditions. © 2024, CC BY.

关键词： Ergonomics

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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MLPER: Multi-Level Prompts for Adaptively Enhancing Vision-Language Emotion Recognition

MLPER: Multi-Level Prompts for Adaptively Enhancing Vision-L...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Yu Gao Weihong Ren Xinglong Xu Yan Wang Zhiyong Wang Honghai Liu School of Mechanical Engineering and Automation State Key Lab of Robotics and Systems Harbin Institute of Technology Shenzhen China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In the field of robotics, vision-based Emotion Recognition (ER) has achieved significant progress, but it still faces the challenge of poor generalization ability under unconstrained conditions (e.g., occlusions and pose variations). In this work, we propose MLPER model, which introduces Vision-Language Model for Emotion Recognition to learn discriminative representations adaptively. Specifically, different from typically leveraging a hand-crafted prompt (e.g., "a photo of a [class] person"), we first establish Multi-Level Prompts from three aspects: facial expression, human posture and situational condition using large language models, like ChatGPT. Correspondingly, we extract the visual tokens from three levels: the face, body, and context. Further, to achieve fine-grained alignment at each level, we adopt textual tokens from the positive and the hard negative to query visual tokens, predicting whether a pair of image and text is matched. Experimental results demonstrate that our MLPER model outperforms the state-of-the-art methods on several ER benchmarks, especially under the conditions of occlusions and pose variations.

关键词： Emotion recognition Adaptation models Visualization Large language models Human-robot interaction Medical services Benchmark testing Chatbots Faces Intelligent robots

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Distributed adaptive control for high-order stochastic nonlinear systems with unknown control gains and uncertainties

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Journal of Control and Decision 2023年第4期10卷 484-493页

作者： Baoyu Wen Jiangshuai Huang Shaoxin Sun Xingyue Sheng Xiaowen Yue Chongqing Engineering Laboratory of Robotics for Traffic Engineering Chongqing Jiaotong UniversityChongqingPeople’s Republic of China School of Automation Chongqing UniversityChongqingPeople’s Republic of China Chongqing Zhixiang Paving Technology Engineering Co. Ltd.ChongqingPeople’s Republic of China

The leader-following tracking consensus problem of a class of high-order stochastic nonlinearmulti-agent systems with unknown control gains and unknown system parameters is solved inthis paper. For a class of high-orderstochastic nonlinear multi-agentsystemsin parametric strictfeedback, the distributed control scheme is designed by using backstepping technology. Theadaptive control method is used to deal with the unknown control gains and unknown systemparameters. Besides, to save communication resources, the event-trigged control is applied. Thecontrol algorithms ensure that allstatesin the closed-loop system and tracking errors are globallybounded stable in probability. Two simulation examples verify the effectiveness of the designedalgorithms.

关键词： Adaptive control nonlinear stochastic systems leader-following consensus control

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Upper Bounds for Localization Errors in 2D Human Pose Estimation

Upper Bounds for Localization Errors in 2D Human Pose Estima...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Patrick Schlosser Christoph Ledermann Tamim Asfour Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

Obtaining reliable detections of a human is crucial for many safety-related robotic tasks. This can be done by human pose estimation methods, which predict the position of several different keypoints of the human body. In most cases, recent approaches based on neural networks produce ‘good’ results, i.e. predictions with small localization errors, however, large errors do also occur. For an individual keypoint prediction, the magnitude of the error is unknown, posing a risk to safety. In this work, we extend a neural network architecture for single-person 2D human pose estimation, so that it predicts not only the keypoints of the human body, but also corresponding upper bounds for their localization errors. These upper bounds correspond to the neural network's confidence in its output, and are obtained by one of two general strategies based on (i) a direct estimation of the localization error or (ii) the predicted standard deviations of a 2D Gaussian. We propose several approaches employing these strategies and evaluate them on the MPII Human Pose dataset. In addition, we consider two quality criteria for the results: closeness of the predicted keypoint position to the actual one, and closeness of the predicted upper bound to the localization error. The best results are achieved by a Gaussian-based approach, which predicted correct upper bounds in 94.7% of the cases, while also sufficiently fulfilling the quality criteria.

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Tele-Operated Robotic Manipulator based Contactless Heartbeat Measurement Mechanism

Tele-Operated Robotic Manipulator based Contactless Heartbea...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Abdullah Haider Ali Syed Murtazza Hassan Kazmi Riaz Uddin Haptics Human-Robotics and Condition Monitoring Lab National Center of Robotics and Automation NED University of Engineering and Technology Karachi Pakistan

Use of tele-operated robotic manipulators for performing various medical tasks have become significant due to concerns regarding the spread of contagious diseases. The area that we have specifically targeted in this paper is the frequently taken heartbeat measurements. The key to accurately measuring patient's heartbeat using a robotic manipulator is adjusting the stethoscope by exerting correct amount of force through the end-effector. In this paper, we have designed a setup using a 6-Degree of Freedom (DOF) tele-operated robotic arm coupled with a force sensor, buzzer and a stethoscope. The idea is that the robot embedded with force sensor will palpate the patient for heartbeat reading and that force signal will generate sound feedback for the doctor operating at master site. Signal from the force sensor helps to achieve appropriate exertion force and adjustment of stethoscope on patient's body so as to get accurate heartbeat waveform on doctor's mobile phone. For this, manual experiments are performed to establish baseline force range. Experiments are also performed using both pendant and haptic device at master end. As a result, Force-Time graph are obtained in all experimental configurations while the heartbeat is monitored using stethoscope's mobile application. Thus, a contactless heartbeat measurement is achieved. Results from the setup shows the validity of the proposed procedure.

关键词： Performance evaluation Force measurement Heart beat Force Stethoscope Medical services Manipulators

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Fractional-Order Fast Terminal Sliding Mode Control for Quadrotor UAV under Actuator Saturation

Fractional-Order Fast Terminal Sliding Mode Control for Quad...

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2023 China automation Congress, CAC 2023

作者： Li, Changjun Chen, Zhihuan Zhu, Zhenhua Wuhan University of Science and Technology Eng. Res. Center for Metallurgical Automation and Measurement Technology of Ministry of Education Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China School of Information Science and Engineering Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9798350303759

In this study, a delicate fractional-order fast terminal sliding mode controller is proposed for the position and attitude tracking of a quadrotor UAV under actuator saturation. In this controller, the fractional order calculus is incorporated to the fast terminal sliding mode surface design, which can enhance the convergence speed of the controlled UAV system. Meanwhile, to solve the problem of actual control input limitation, a RBF-based estimator is designed to evaluate the error between the virtual control input and actual control output. The stability of the controlled system is proved by using Lyapunov theorem, where the validity and effectiveness of the proposed controllers and estimator are verified by a detailed numerical simulation. © 2023 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Design of a directional feature-driven weld target tracking algorithm 23

Design of a directional feature-driven weld target tracking ...

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6th International Conference on Signal Processing and Machine Learning, SPML 2023

作者： Ma, Fengying Sun, Yuhe Ji, Peng Dong, Wanlong Li, Jie Li, Xuexin Yan, Wei Geng, Baojun School of Information and Automation Engineering Qilu University of Technology Shandong Academy of Sciences China China Unicom Research Institute China Robotics Co. Ltd China Pittsburgh College of Sichuan University China

ISBN: (纸本)9798400707575

In order to solve the problems such as unique and strange working space which is not easy to weld, inconvenient operation of teaching reproduction working mode, poor tracking effect caused by environmental interference of tracking accuracy of welding seam, a welding target tracking algorithm based on direction feature was designed. The algorithm has good accuracy, strong stability and is suitable for field welding operations. The orientation feature-driven welding seam target tracking algorithm proposed in this paper processes and calculates the images and other data captured by the camera to obtain the error of welding seam tracking and carry out follow-up tracking operations, which can complete welding seam tracking more accurately and reliably. The algorithm proposed in this paper adapts to the image features of V-groove under the irradiation of auxiliary light source, and enables the camera and welding torch to find the weld coordinates more accurately under the interference of arc light, splash and other noises. The results of welding experiment in the tank show that the system has good stability, high accuracy and good weld forming quality, which is within 0.12mm and meets the process requirements of pipeline welding. © 2023 ACM.

关键词： Cameras

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Robust Human Pose Estimation under Gaussian Noise

Robust Human Pose Estimation under Gaussian Noise

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IEEE International Conference on robotics and automation (ICRA)

作者： Patrick Schlosser Christoph Ledermann Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany

Robustness against specific kinds of noise is of high importance for safety-critical components in industrial robot applications, as legal and normative regulations demand the identification and handling of all unacceptable risks. This includes risks from environmental conditions, like noisy data. One such component is human pose estimation, which is needed and crucial for human-robot collaboration tasks and applications. However, little research on human pose estimation under specific noise types has been performed. In our work, we focus on extensively evaluating human pose estimation under specific noise and propose potential countermeasures. We leverage Gaussian noise as specific noise type and the hourglass model as human pose estimator. We show that human pose estimation is already vulnerable to small amounts of Gaussian noise. As countermeasures we propose either denoising images upfront or training the hourglass model to be robust against Gaussian noise. All methods achieve a significantly higher robustness against Gaussian noise, typically at the cost of slightly worse performance on clean data. Three of our methods also achieved slight improvements on clean data.

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