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39th International Symposium on Automation and robotics in Construction, ISARC 2022

作者： Vierling, A. Groll, T. Meckel, D. Heim, K. Walter, D. Scheidhauer, L. Körkemeyer, K. Berns, K. Department of Computer Science Robotics Research Lab University of Kaiserslautern Germany Department of Civil Engineering Construction Management University of Kaiserslautern Germany

ISBN: (纸本)9789526952420

This paper presents a method for automated excavation speed and progress estimation. First, a measure for the progress speed of an excavation pit is taken from the literature and evaluated regarding the possibility for automation. For each possible parameter, an automated extraction algorithm is presented. The used system is an autonomous excavator arm of a backhoe loader where the used hardware and software system is described. Experimental evaluation of the presented approach has been done with the autonomous system for a small trench, including multiple digging cycles. The resulting measurements seem to include some systematic errors which could be identified and suitable sanity checks could be implemented, removing the erroneous measurements. The remaining measurements were used to determine the excavation speed of the autonomous excavator arm and compared to the values of experienced and amateur operators. © 2022 International Association on Automation and robotics in Construction.

关键词： Excavation

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Design of an Automatic Price Tag System for Web-Based Retail Business

Design of an Automatic Price Tag System for Web-Based Retail...

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International Conference on Information Management and Technology (ICIMTech)

作者： Suryadiputra Liawatimena Devina Gunawan Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Deparment BINUS Graduate Program Master of Computer Science Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350390025

ISBN: (纸本)9798350390032

Modern retail businesses face a significant challenge with the inefficiency of manually changing price labels on shelves. This manual process not only consumes valuable time and resources but also increases the likelihood of errors, leading to potential inaccuracies in pricing and a less streamlined shopping experience for customers. The proposed solution is the implementation of an Electronic Shelf Label (ESL) system that automatically displays the prices of goods on retail business shelves. This system connects a website (front end and back end) to e-paper via a Wi-Fi network and microcontroller, allowing retail business owners to update prices more easily. Additionally, buyers can search for desired items through the website. The results are the time to send data from the website to the e-paper, namely, to know the performance of the e-paper used. The average time required from 10 attempts to send data from the website to the e-paper is 20.935 seconds. Since the data is connected to the server and will be updated automatically, using this system will be more efficient than manually changing the price label, although it takes time to transfer data from the website to the e-paper.

关键词： Electric potential Microcontrollers Pricing Manuals Information management Servers Wireless fidelity Faces Business

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FlowBot++: Learning Generalized Articulated Objects Manipulation via Articulation Projection

arXiv

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arXiv 2023年

作者： Zhang, Harry Eisner, Ben Held, David Robotics Institute School of Computer Science Carnegie Mellon University United States

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after training on other articulated objects. Previous approaches for articulated object manipulation rely on either modular methods which are brittle or end-to-end methods, which lack generalizability. This paper presents FlowBot++, a deep 3D vision-based robotic system that predicts dense per-point motion and dense articulation parameters of articulated objects to assist in downstream manipulation tasks. FlowBot++ introduces a novel per-point representation of the articulated motion and articulation parameters that are combined to produce a more accurate estimate than either method on their own. Simulated experiments on the PartNet-Mobility dataset validate the performance of our system in articulating a wide range of objects, while real-world experiments on real objects' point clouds and a Sawyer robot demonstrate the generalizability and feasibility of our system in real-world scenarios. Videos are available on our anonymized website here. © 2023, CC BY.

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Quantifiable Robustness Estimation for Object Detection with CNNs Using Intrinsic Dimensionality

Quantifiable Robustness Estimation for Object Detection with...

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IEEE International Conference on Image Processing

作者： Axel Vierling Ajay Chawda Mahesh Kashyap Belakavadi Manjunath Karsten Berns Robotics Research Lab Department of Computer Science University of Kaiserslautern-Landau Germany

Interpreting the results of Convolutional Neural Networks remains a challenging task. Quantitative evaluations apart from precision, recall, and their extensions are rare and usually do not cover the necessary aspects of specific applications. In this work, a methodology based on the intrinsic dimensionality of the image space and latent space in multiple layers is presented. This methodology has been used in other literature for classification but is leveraged to object detection where the interpretation of the results is more complex. The suitability of the intrinsic dimensionality is evaluated first for general augmentation techniques in multiple datasets and with multiple networks and later on a specific use case with multiple disturbances included. With the help of the intrinsic dimensionality, conclusions about the robustness can be drawn which are not apparent from the precision and the suitability of the methodology as an auxiliary quantifiable metric therefore shown.

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IoT based Truck Wheel Temperature Monitoring System

IoT based Truck Wheel Temperature Monitoring System

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2024 Asian Conference on Intelligent Technologies, ACOIT 2024

作者： Zaid, Mohd Ahmad, Nadeem Aljamal, Mohammed Patel, Sarosh Khan, Asif Dept. of Computer Science and Engineering Integral University Lucknow India Dept. of Electronics and Communication Engg. Goel Institute of Technology and Managment Lucknow India School of Engineering University of Bridgeport United States Integral Robotics Lab Dept. of Computer Application Integral University Lucknow India

ISBN: (纸本)9798350374933

The main objective of this paper is to design an IoT based truck wheel temperature monitoring system using Arduino board with the aim to overcome endanger and raise the safety measures for truck and goods. By designing and implementing a temperature-detecting system, we can detect the temperature of the wheels trucks. By the use of such detecting device we can prevent the major problem associated with wheel’s temperature and may avoid the major accidents. This monitoring system senses the temperature data of the wheel and transmits through the Wi-Fi module. In addition, it upgrades Thingspeak channel that can collect the data and it can easily be accessed by the transport agency and the truck driver. This can further be analysed using any computer system or mobile with internet connectivity anywhere across the globe to take real-time decision. The core function of the proposed detecting system is to monitor the real- time value of truck wheel temperature and to inform the concerned people. © 2024 IEEE.

关键词： Wi-Fi

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Sarax: An Open-Source Software/Hardware Framework for Aerial Manipulators

Sarax: An Open-Source Software/Hardware Framework for Aerial...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ayham Alharbat Dion Zwakenberg Hanieh Esmaeeli Abeje Mersha Smart Mechatronics and Robotics research group Saxion University of Applied Science Enschede The Netherlands Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

The use of Multi-Rotor Aerial Vehicles (MRAVs) in tasks that require physical interaction has been an active research field in the last decade which resulted in an increasing interest in Aerial Manipulators (AMs). This raises many challenges in the modeling, control, perception, and planning of these robots. However, designing and realizing an AM testbed is a complicated multi-disciplinary task, and there is a lack of standardization in the relatively new field of AMs. For this purpose, we introduce Sarax, an open-source hardware and software framework tailored for AMs research and innovation. The software of Sarax is built on top of open-source projects such as the Robot Operating System (ROS) and PX4 Autopilot, while the hardware is designed to be customizable, modular, and easily scalable through parameterized models. We verified and validated the proposed framework through indoor and outdoor experiments. We aim to open the door to accelerate AMs research and innovation, allow researchers and developers to focus on their core contributions, and take AMs technology to a higher readiness level.

关键词： Technological innovation Operating systems Standardization Manipulators Software Planning Open source hardware

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A study on Automated railway level crossing control system using FMCW radar for accident prevention

A study on Automated railway level crossing control system u...

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International Conference on Applied Electronics, AE

作者： Kristaps Māris Greitans Robotics and Machine Perceptions laboratory Institute of Electronics and Computer science Riga Latvia

This study paper explores the implementation of Intelligent Transportation Systems (ITS) in railway transportation, with a focus on level crossings, which have been a significant issue in railway safety. The paper discusses the limitations of current technologies such as laser technology and video surveillance and presents a novel solution utilizing a 79GHz Frequency Modulated Continuous Wave (FMCW) radar in combination with a CCTV camera for a dual sensor module. The FMCW radar is shown to be more accurate and cost-effective than previous technologies and can detect both large and small objects in the defined area at level crossings and difficult weather situations. The paper also presents a system architecture that takes into account vehicle detection time, which is crucial in reducing the risk of accidents and improving the safety of level crossings. This study aimed to compare the performance of different object detection modules under varying weather conditions. Three object detection methods were tested: a camera with the object detection algorithm Yolov5, FMCW radar with a built-in tracker, and manual observation. Four measurement sessions were conducted, each with a different combination of weather and time of day. The results showed that all modules performed similarly well under clear weather conditions, with the camera and radar modules detecting all vehicles approaching. However, under rainy and dark conditions, the radar module outperformed the camera, detecting 5 more objects.

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Development and Analysis of a Versatile Dataset of Speech, Real and Synthesized, of Arabic Learners 3

Development and Analysis of a Versatile Dataset of Speech, R...

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3rd International Conference on Computing and Information Technology, ICCIT 2023

作者： Alsulaiman, Mansour Algabri, Mohammed Mathkour, Hassan Bencherif, Mohamed A. Muhammad, Ghulam Al-Gahtani, Saad Faisal, Mohammed Mekhtiche, Mohamed Amine Alfakih, Taha King Saud University College of Computer and Information Sciences Computer Engineering Department Riyadh Saudi Arabia AlMaarefa University College of Applied Sciences Computer Science and Information Systems Department Riyadh Saudi Arabia King Saud University College of Computer and Information Sciences Computer Science Department Riyadh Saudi Arabia Riyadh Saudi Arabia King Saud University Arabic Language Institute Saudi Arabia Center of Ai & Robotics Kuwait

ISBN: (纸本)9798350321487

computer-Aided Pronunciation Training (CAPT) systems are gaining popularity recently due to the advancements in deep neural networks (DNN) and machine learning and the availability of databases of speech of language learners. Unfortunately, research in Arabic CAPT systems suffer from the lack of CAPT datasets compared to other languages. In this paper, we present the details of and the ideas used in the development of a versatile dataset of speech, real and synthesized, of Arabic Learners. To develop the dataset, we utilized an existing Arabic speech corpus, King Saud University Speech Database (KSU-SD). KSU-SD's main application was a speaker recognition system, but it was designed to be useful in other applications such as CAPT systems. KSU-SD includes a large number of speakers from diverse nationalities (Saudis, Arabs, and Non-Arabs). KSU-SD contains the recording of about 60 non-native speakers from more than 20 nationalities, hence we selected it to build the non-native Arabic-CAPT corpus. The developed corpus consists of transcribed, segmented, and annotated speech, which makes it suitable for building Arabic CAPT systems. In addition to presenting the details of developing the dataset, we also present an analysis of the text and speech errors of the dataset. The dataset was verified by many CAPT systems. © 2023 IEEE.

关键词： Deep neural networks

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AI Integrated Dialogic Alphabet Zone Board for Kids in Pre-childhood Education

AI Integrated Dialogic Alphabet Zone Board for Kids in Pre-c...

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International Conference on Electrical, computer and Communication Engineering (ECCE)

作者： Asif Mahmud Tahsin Faisal M. Akhtaruzzaman Jamal Uddin Tanvin Sachitra Halder Fahim Shahryer Department of Computer Science and Engineering Military Institute of Science and Technology Dhaka Bangladesh Quantum Robotics and Automation Research Group (QRARG) Dhaka Bangladesh

ISBN: (数字)9798350357509

ISBN: (纸本)9798350357516

The smart Dialogic Alphabet Zone Board (DAZ-Board) aims to address the issue of learning process for pre-childhood education among the children. It is importance to facilitate a healthy and effective environment for early childhood education in shaping a child’s cognitive development, language acquisition, and literacy skills. Traditional teaching methods often fail to engage young learners effectively, leading to limited understanding and retention. On the other hand, dependencies on mobile devices raise the physical and mental health issues. This study introduces an interactive, auditory, and multisensory game board providing a wonderful and healthy experiences in tailoring the developmental needs of children. The objective of this research is to design and develop an interactive alphabet board with necessary sensors, electronics, and controller modules. Moreover, designing a Machine Learning (ML) model for voice-based alphabet recognition is one of the important contributions of this research. Among the results of different ML models, Naïve Bayes Classifier outperforms the most with accuracy ≈ . %. The proposed system will facilitate the preschoolers to learn in modern and interactive way, while keeping away from being addicted to the mobile devices.

关键词： Pediatrics Visualization Accuracy Scalability Education Games Speech recognition Sensors Smart phones Systematic literature review

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Performance Evaluation of the Rockchip Systems-on-Chip Through YOLOv4 Object Detection Model

Performance Evaluation of the Rockchip Systems-on-Chip Throu...

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Ural Symposium on Biomedical Engineering, Radioelectronics and Information Technology (USBEREIT)

作者： Radik Ismagilov School of Computer Science & Robotics Tomsk Polytechnic University Tomsk Russian Federation

This paper provides performance research of the Rockchip systems-on-chip RK3568 and RK3588 through convolutional neural network YOLOv4 in terms of average inference time and average power consumption. The obtained values were compared with the performance of NVIDIA Jetson Nano through the same neural network. We also compared precision, recall and F-score between half-precision model and asymmetric quantized model. Average inference time of the quantized YOLOv4 is 149 ms on Rockchip RK3588 at 8.9W power consumption, 481 ms - on Rockchip RK3568 at 5.5W power consumption. Rockchip RK3588 performs YOLOv4 half-precision model 1.3 times faster and Rockchip RK3568 performs the model 2.9 times slower than NVIDIA Jetson Nano. Average inference time of the quantized YOLOv4 is 361 ms on Rockchip RK3588, 1385 ms - on Rockchip RK3568. F-score of asymmetric quantized model detecting person equals 0.718 while percision is 1% higher and recall is 5% less compared to half-precision model. Average Intersection over Union metrics of quantized model equals 0.75 which is 8.5% less than that of half-precision model.

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