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

作者： Eric Sihite Filip Slezak Ioannis Mandralis Adarsh Salagame Milad Ramezani Arash Kalantari Alireza Ramezani Morteza Gharib The Department of Aerospace Engineering California Institute of Technology Pasadena USA Department of Electrical and Computer Engineering The Silicon Synapse Labs Northeastern University Boston USA The Robotics and Autonomous Systems DATA61 CSIRO Brisbane QLD Australia The Jet Propulsion Laboratory Pasadena USA

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy efficient mode of locomotion in a given environment. The robotic biomimicry of this multi-modal locomotion capability can be very challenging but offer the same advantages. However, the expanded range of locomotion also increases the complexity of performing localization and path planning. In this work, we present our morphing multi-modal robot, which is capable of ground and aerial locomotion, and the implementation of readily available SLAM and path planning solutions to navigate a complex indoor environment.

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AXI-REALM: A Lightweight and Modular Interconnect Extension for Traffic Regulation and Monitoring of Heterogeneous Real-Time SoCs

arXiv

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arXiv 2023年

作者： Benz, Thomas Ottaviano, Alessandro Balas, Robert Garofalo, Angelo Restuccia, Francesco Biondi, Alessandro Benini, Luca Integrated Systems Laboratory ETH Zurich Switzerland Department of Electrical Electronic and Information Engineering University of Bologna Italy Department of Computer Science and Engineering UC San Diego San DiegoCA United States Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy

The increasing demand for heterogeneous functionality in the automotive industry and the evolution of chip manufacturing processes have led to the transition from federated to integrated critical real-time embedded systems (CRTESs). This leads to higher integration challenges of conventional timing predictability techniques due to access contention on shared resources, which can be resolved by providing system-level observability and controllability in hardware. We focus on the interconnect as a shared resource and propose AXI-REALM, a lightweight, modular, and technology-independent real-time extension to industry-standard AXI4 interconnects, available open-source. AXI-REALM uses a credit-based mechanism to distribute and control the bandwidth in a multi-subordinate system on periodic time windows, proactively prevents denial of service from malicious actors in the system, and tracks each manager’s access and interference statistics for optimal budget and period selection. We provide detailed performance and implementation cost assessment in a 12nm node and an end-to-end functional case study implementing AXI-REALM into an open-source Linux-capable RISC-V SoC. In a system with a general-purpose core and a hardware accelerator’s DMA engine causing interference on the interconnect, AXI-REALM achieves fair bandwidth distribution among managers, allowing the core to recover 68.2 % of its performance compared to the case without contention. Moreover, near-ideal performance (above 95 %) can be achieved by distributing the available bandwidth in favor of the core, improving the worst-case memory access latency from 264 to below eight cycles. Our approach minimizes buffering compared to other solutions and introduces only 2.45 % area overhead compared to the original SoC. Copyright © 2023, The Authors. All rights reserved.

关键词： Embedded systems

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FEIF: Feature Excitation and Interactive Fusion for 6D Object Pose Estimation

FEIF: Feature Excitation and Interactive Fusion for 6D Objec...

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IEEE International Conference on robotics and Biomimetics

作者： Qiwei Meng Shiqiang Zhu Jianjun Gu Zheyuan Lin Ling Zhong Wei Song Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information through lay-erwise feature excitation and interactive fusion, thus improving the effectiveness and robustness of extracted features. The representative RGBD features can be subsequently applied for object keypoints prediction and pose computation. In addition, our FEIF includes a self-evaluation module to make robots aware of the confidence of pose estimation, so they are flexible to take the corresponding strategy for following tasks. Experiment results prove the SOTA performance of our model on LineMOD, Occlusion-LineMOD and YCB-Video datasets, and we also demonstrate its applicability and robustness in real-world robotic manipulation.

关键词： Technological innovation Computational modeling Biomimetics Pose estimation Feature extraction Robustness Data mining

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SVM-based Extended Kalman Filter State Estimation of Biped Robot

SVM-based Extended Kalman Filter State Estimation of Biped R...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Gao, Chengzhi Xie, Ye Zhu, Shiqiang Huang, Guanyu Kong, Lingyu Xie, Anhuan Gu, Jianjun Zhang, Dan Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China York University North YorkM3J 1P3 Canada Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

At present, more and more attention has been paid to the exploration of biped robots. As the precondition of biped stable walking, the state estimation of robot has also received the attention of many experts. Biped robot has special motion characteristics, has a hybrid dynamic system and belongs to a floating base, so it must obtain the contact information of two feet before realizing the motion state estimation of the robot. The contribution of this paper is to introduce soft support vector machine to detect contact phase. This method based on support vector machine (SVM) eliminates the need for force sensors on two feet because they are vulnerable to the impact between the foot and the contact surface. In addition, precise dynamic modeling is not required. Furthermore, this paper uses SVM to obtain the touchdown information, and proposes a state estimation method using extended Kalman filter to combine motion estimation with IMU data. Finally, the touchdown detection algorithm and the state estimation algorithm are verified through experiments, and the accuracy and feasibility of the SVM method are proved through the touchdown detection experiments. Based on this, the full state estimation of the robot is realized through the state estimation experiments. © 2022 IEEE.

关键词： State estimation

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Low-cost Mars Terrain Classification System Based on Coarse-grained Annotation

Low-cost Mars Terrain Classification System Based on Coarse-...

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IEEE International Conference on robotics and Biomimetics

作者： Jian Zhang Yeheng Chen Shiqiang Zhu Yuehua Li Tian Xie Jason Gu Zhejiang Laboratory Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-grained training samples, while the undefined terrains on Mars are difficult to be classified or fine-grained labeled. Actually, most of the terrain categories can only be coarse-grained labeled due to several limitations, such as overlapped sub-regions, blurred borders, etc. To solve this problem, CACMT (Coarse-grained Annotation-based Classification for Mars Terrain) is proposed to generate the global fine-grained classification map from the local coarse-grained data. Specifically, the complete pipeline is decomposed into (i) annotation rules with unique design, (ii) hierarchical feature fusion network for predicting sub-features of terrain (iii) and a generator for outputting dense terrain categories of Mars. Finally, the results of actual data on Mars demonstrate that the terrain sub-features can be successfully recognized and a dense terrain classification map can be generated applying only coarse-grained labeled images.

关键词： Training Image recognition Annotations Biomimetics Pipelines Generators Robots

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Directional sliding of water:biomimetic snake scale surfaces

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Opto-Electronic Advances 2021年第4期4卷 35-46页

作者： Yizhe Zhao Yilin Su Xuyan Hou Minghui Hong Department of Electrical and Computer Engineering National University of Singapore4 Engineering Drive 3117576Singapore State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Bioinspired superhydrophobic surfaces have attracted many industrial and academic interests in recent *** by unique superhydrophobicity and anisotropic friction properties of snake scale surfaces,this study explores the feasibility to produce a bionic superhydrophobic stainless steel surface via laser precision engineering,which allows the realization of directional superhydrophobicity and dynamic control of its water *** mechanism of water sliding on hierarchical snake scale structures is studied,which is the key to reproduce artificially bioinspired multifunctional materials with great potentials to be used for water harvesting,droplet manipulation,pipeline transportation,and vehicle acceleration.

关键词： biomimetic hierarchical micro/nanostructures directional superhydrophobicity anisotropic friction

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HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re-Identification Implemented on Tour-Guide Robot

HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re...

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IEEE International Conference on robotics and Biomimetics

作者： Zheyuan Lin Min Huang Wen Wang Mengjie Qin Te Li Minhong Wan Jason Gu Shiqiang Zhu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

For service robots, person re-identification (ReID) and multi-pedestrian tracking (MPT) are vital to get a person's location and link identities across frames. Though their accuracy keeps improving, most work lacks consideration of the application scenario, haunted by limited space, constrained power supply, and demands of the real-time response during human-robot interaction. Some ReID models learn trivial or unrelated features, inhibiting the downstream tasks. To solve these issues, the efficient and light-weighted Head-Shoulder Mask aided ResNet (HSMR) is proposed. This model applies multi-task learning to enhance the feature extraction performance in the training stage without extra computational load during inference. The auxiliary task fully uses head-shoulder information to guide the network and focuses on the head region, which contains the identity information. In experiments on the Tour-Guide Robot Data Base (TGRDB), HSMR earned results better than ResNet-18 on the ReID task and was superior to the recent two-stream method on the MPT task. On the mobile hardware, inference reaches an average of 15.2 FPS, three times faster than the two-stream method. The code is released at https://***/ZhYLin99/HSMR.

关键词： Training Service robots Computational modeling Robot vision systems Human-robot interaction Multitasking Real-time systems

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Autonomous navigation of a tracked unmanned ground vehicle*

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IFAC-PapersOnLine 2022年第14期55卷 120-125页

作者： Marija Seder Anđela Jurić Ana Šelek Filip Marić Marija Lovrić Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics (LAMOR) Zagreb Croatia University of Zagreb Croatian Military Academy Dr. Franjo Tuđman Zagreb Croatia

This work proposes a complete autonomous navigation system for a tracked vehicle. The system enables a complete autonomous execution of waypoint and patrolling tasks selected by the user. It also enables user-vehicle shared autonomy, switching between the user teleoperation and the vehicle autonomous operation. Our navigation system uses the model predictive control scheme based on a navigation function. We propose the navigation function which takes into account changing environments, any-shape footprint, and non-holonomic motion of the tracked vehicle. Besides the waypoint and patrolling tasks, we implemented a fail-safe scenario in case of the user-vehicle communication loss, in which the vehicle returns autonomously to the previously visited goal where the communication was stable. The efficiency of the proposed system is validated by experimental results on the Komodo tracked vehicle.

关键词： Robot navigation path planning obstacle detection avoidance motion control map building

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Underwater Propagation of Spatially Partially Coherent Beams that Carry Orbital Angular Momentum 15

Underwater Propagation of Spatially Partially Coherent Beams...

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Ocean Sensing and Monitoring XV 2023

作者： Akhtar, Fjordia Avramov-Zamurovic, Svetlana Nelson, Charles Ferlic, Nate A. Judd, K. Peter Electrical and Computer Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States Weapons Robotics and Control Engineering Department United States Naval Academy 597 McNair Rd. Hopper Hall AnnapolisMD21402 United States 22347 Cedar Point Road Patuxent RiverMD20670 United States United States Naval Research Laboratory 4555 Overlook Ave. SW WashingtonDC20375 United States

ISBN: (纸本)9781510662025

We consider the design and generation of spatially partially coherent (SPC) beams carrying orbital angular momentum (OAM) propagating through complex random media. It has been theoretically shown that spatial coherence can be controlled through a prescribed linear superposition of Laguerre-Gaussian (LG) modes. Experimentally the SPC beams are obtained by randomly cycling the phase screens of the coherent modes, with each mode contributing a weight that is proportional to its eigenvalue in the coherent mode decomposition equation. The spectral degree of coherence, ξ, theoretically varies from 0 (fully coherent) to 1 (incoherent). Experimentally, it is suggested that we can reach the highest level of incoherence when the modes are combined where LG mode orders are of equal weights. Preliminary measurements indicate a reduced coherence corresponding to increasing ξ. Our experimental design imposes turbulence on the beam to examine the effects of its spatial partial coherence on the scintillation index (SI). It has been shown that benefits to communication system performance, specifically underwater, can be achieved through the control of spatial coherence properties of laser light propagation. © 2023 SPIE.

关键词： Turbulence

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Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

Collaborative Trolley Transportation System with Autonomous ...

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

作者： Bingyi Xia Hao Luan Ziqi Zhao Xuheng Gao Peijia Xie Anxing Xiao Jiankun Wang Max Q.-H. Meng Department of Electronic and Electrical Engineering Shenzhen Key Laboratory of Robotics Perception and Intelligence Southern University of Science and Technology Shenzhen China School of Computing National University of Singapore Singapore Jiaxing Research Institute Southern University of Science and Technology Jiaxing China Department of Electronic Engineering Department of Electrical and Computer Engineering Chinese University of Hong Kong in Hong Kong University of Alberta Canada

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video 1 1 Video demonstration: https://***/efnPERm0Rco.)

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