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

作者： Jia-Hui Pan Ka-Hei Hui Xiaojie Gao Shize Zhu Yun-Hui Liu Pheng-Ann Heng Chi-Wing Fu Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Centre for Logistics Robotics Department of Mechanical and Automation Engineering The Chinese University of Hong Kong

Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach based on signed distance field (SDF) to model the geometric condition of objects in a container and compute the object placement locations and packing orders for achieving a more compact bin packing. Our method adopts a truncated SDF representation to localize the computation, and based on it, we formulate the SDF -minimization heuristic to find optimized placements to compactly pack objects with the existing ones. To further improve space utilization, if the packing sequence is controllable, our method can suggest which object to be packed next. Experimental results on a large variety of everyday objects show that our method can consistently achieve higher packing compactness over 1,000 packing cases, enabling us to pack more objects into the container, compared with the existing heuristics under various packing settings. The code is publicly available at: https://***/kwpoon/SDF-Pack.

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Real-time Motion Generation and Data Augmentation for Grasping Moving Objects with Dynamic Speed and Position Changes

arXiv

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arXiv 2023年

作者： Yamamoto, Kenjiro Ito, Hiroshi Ichiwara, Hideyuki Mori, Hiroki Ogata, Tetsuya Robotics Research Department Connective Automation Innovation Center R&D Group Hitachi Ltd Germany Institute for AI and Robotics Future Robotics Organization Japan Faculty of Science and Engineering Waseda University Japan

While deep learning enables real robots to perform complex tasks had been difficult to implement in the past, the challenge is the enormous amount of trial-and-error and motion teaching in a real environment. The manipulation of moving objects, due to their dynamic properties, requires learning a wide range of factors such as the object’s position, movement speed, and grasping timing. We propose a data augmentation method for enabling a robot to grasp moving objects with different speeds and grasping timings at low cost. Specifically, the robot is taught to grasp an object moving at low speed using teleoperation, and multiple data with different speeds and grasping timings are generated by down-sampling and padding the robot sensor data in the time-series direction. By learning multiple sensor data in a time series, the robot can generate motions while adjusting the grasping timing for unlearned movement speeds and sudden speed changes. We have shown using a real robot that this data augmentation method facilitates learning the relationship between object position and velocity and enables the robot to perform robust grasping motions for unlearned positions and objects with dynamically changing positions and velocities. Copyright © 2023, The Authors. All rights reserved.

关键词： Robots

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Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning

Robot-Assisted Navigation for Visually Impaired through Adap...

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IEEE International Conference on robotics and automation (ICRA)

作者： Pietro Balatti Idil Ozdamar Doganay Sirintuna Luca Fortini Mattia Leonori Juan M. Gandarias Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Dept. of Informatics Bioengineering Robotics and System Engineering University of Genoa Genoa Italy Systems Engineering and Automation Department Robotics and Mechatronics Lab University of Malaga Malaga Spain

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human subject who gets guided by the robotic arm via physically coupling their hand with the cobot’s end-effector. These components, receiving a goal from the user, traverse a collision-free set of waypoints in a coordinated manner, while avoiding static and dynamic obstacles through an obstacle avoidance unit and a novel human guidance planner. With this aim, we also present a legs tracking algorithm that utilizes 2D LiDAR sensors integrated into the mobile base to monitor the human pose. Additionally, we introduce an adaptive pulling planner responsible for guiding the individual back to the intended path if they veer off course. This is achieved by establishing a target arm end-effector position and dynamically adjusting the impedance parameters in real-time through a impedance tuning unit. To validate the framework we present a set of experiments both in laboratory settings with 12 healthy blindfolded subjects and a proof-of-concept demonstration in a real-world scenario.

关键词： Target tracking Navigation Robot kinematics End effectors Real-time systems Path planning Sensors

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A Cost-Effective Smart Labor Assistance Trolley for Industrial Applications

A Cost-Effective Smart Labor Assistance Trolley for Industri...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muneeb Zafar Sarmad Shafique Faisal Riaz Samia Abid Umar Raza William Holderbaum Department of CS & IT National Center of Robotics and Automation (NCRA) Control Automotive and Robotics (CAR) Mirpur University of Science and Technology Mirpur Pakistan Department of Engineering Manchester Metropolitan University Manchester United Kingdom

In the last couple of decades, autonomous human assistance robots have been enormously attracting the industrial sector. For this purpose, numerous researchers have contributed towards designing efficient and robust human assistance mechanisms. However, their proposed approaches do not provide a cost-effective solution due to the deployment of exorbitant sensors and sophisticated infrastructure. Besides, it was quite challenging for existing human-following robots to track their assigned human companion in different illusional states and luminous conditions while detecting obstacles and taking respective maneuvers (i.e., abrupt turns, etc.). Moreover, self-driving solutions need to take fast and real-time actions to avoid collisions in the designated environment. For this purpose, literature has shown the efficiency of YOLOv3 with respect to providing real-time results in latency-sensitive applications. Hence, to overcome this dilemma, we propose to develop an economically efficient deep learning- based smart labor assistance trolley that uses the YOLO v3 as a core detective deep learning technique with advance and efficient perception and motion planning modules. The perception module succours the autonomous trolley to precisely detect and classify the objects. While the motion planning module uses the specific intended target detection technique to follow the targeted person in crowded environment. These techniques make the autonomous trolley able to take expeditious, meticulous, and conspicuous action in real-time. The labor assistant robot detects and tracks the respective person using YOLOv3. To validate the efficiency of the proposed solution, we have performed a series of experiments considering different test cases. Our proposed work achieved a mean average precision of 0.81%.

关键词： automation Target tracking Service robots Transportation Object detection Robot sensing systems Real-time systems

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Distance-based Formation-Motion Control for Unicycle Agents

Distance-based Formation-Motion Control for Unicycle Agents

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American Control Conference (ACC)

作者： Jin Chen Bayu Jayawardhana Hector Garcia de Marina Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen The Netherlands Department of Computer Engineer Automation and Robotics and With CITIC The University of Granada Spain

We present a distance-based distributed formation-motion control law for unicycle agents that are required to move together at a constant reference speed. The distributed control law consists of the standard distance-based formation gradient control law, which is projected to the longitudinal and angular velocity inputs of the unicycle, and of a linear term that depends on the reference speed. The main contribution of this paper is to realize the consistency of unicycle agents’ orientations without orientation measurement, thereby reducing the possibility of significant orientation measurement errors in real-world applications. We prove and show numerically the local exponential convergence of the unicycle agents to the desired formation, where they eventually move in unison at a constant reference speed.

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Unmanned Aerial Vehicle for disaster response and relief operations: helping hands from air

Unmanned Aerial Vehicle for disaster response and relief ope...

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International Conference on Power, Energy, Control and Transmission Systems (ICPECTS)

作者： Avinash Verma Vibhanshu Kaushik R. Dheivanai Department of Robotics and Automation Dronacharya College of Engineering Gurugram Department of Electronics and Electrical Engineering Dronacharya College of Engineering Gurugram

ISBN: (纸本)9781665462761

Fixed wing plane requires large area for take-off and also has long flying time; on the other hand, Quadcopter take-off area is small but lesser flying time. So we have designed a hybrid Vertical take-off and landing (VTOL) plane which can either land or take off vertically like a quadcopter as well as long endurance of fixed wing has been put together while eliminating the disadvantage of both quadcopters and fixed wing planes. This will help to adopt superior flying qualities to the hybrid vertical take-off and landing plane. This paper presents the design and working of a hybrid unmanned aerial vehicle (UAVs) which can run at its robust speed for a long distance and with the help of the solar panel fitted on its upper body, it can recharge its battery while flying. It can also be used at longer distance with the help of 4G module fitted in it and also get footage of that area with help of camera on it. These are the unique features of our UAV which made it different from other hybrid UAVs. In this paper, a prototype of aerial vehicle is presented and some plans for future aerial vehicles are also been discussed.

关键词： Prototypes Autonomous aerial vehicles Control systems Cameras Batteries Solar panels Quadrotors

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Embodied-AI Wheelchair Framework with Hands-free Interface and Manipulation

Embodied-AI Wheelchair Framework with Hands-free Interface a...

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2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022

作者： Leaman, Jesse F. Yang, Zongming Elglaly, Yasmine N. La, Hung Li, Bing Automotive Engineering Department GreenvilleSC United States Gryphon Foundation for People with Disadvantages Western Washington University Computer Science Department United States University of Nevada Advanced Robotics and Automation Laboratory Reno United States

ISBN: (数字)9781665452588

ISBN: (纸本)9781665452588

Assistive robots can be found in hospitals and rehabilitation clinics, where they help patients maintain a positive disposition. Our proposed robotic mobility solution combines state of the art hardware and software to provide a safer, more independent, and more productive lifestyle for people with some of the most severe disabilities. New hardware includes, a retractable roof, manipulator arm, a hard backpack, a number of sensors that collect environmental data and processors that generate 3D maps for a hands-free human-machine *** proposed new system receives input from the user via head tracking or voice command, and displays information through augmented reality into the user's field of view. The software algorithm will use a novel cycle of self-learning artificial intelligence that achieves autonomous navigation while avoiding collisions with stationary and dynamic objects. The prototype will be assembled and tested over the next three years and a publicly available version could be ready two years thereafter. © 2022 IEEE.

关键词： Wheelchairs

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Valuation of Trash Management in Railway Compartment Using ENTROPY – A MCDM Method 1

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23rd International Conference on Intelligent Systems Design and Applications, ISDA 2023

作者： Vadivel, S.M. Eswaran, A. Praveena, L. Shetty, Deeksha Sanjay Abhinav, A. VIT Business School Chennai Vandalur - Kelambakkam Road Chennai600127 India Department of Robotics and Automation Rajalakshmi Engineering College Thandalam Chennai602105 India Department of Management Studies Karpaga Vinayaga College of Engineering and Technology Chengalpattu603308 India School of Humanities Social Sciences and Management National Institute of Technology Karnataka Surathkal575025 India VIT Law School Vandalur - Kelambakkam Road Chennai600127 India

ISBN: (数字)9783031648502

ISBN: (纸本)9783031648496

Indian train routes are the most fashionable open-space project in India, but they have a starting problem with prodigal waste association frame. This is a problem with dry and wet garbage being transported inside of moving trains, along road tracks, and over involved rail courses. Typically enough, India has 7000 pilgrim trains that carry 23 million people. In India, the 16000 km square area surrounding the train course track has not been destroyed in any way. According to estimates, 6289 tonnes of plastic enter India’s rail rails on a regular basis. Other than the usual impurity, this enormous season of garbage is causing terrible clinical problems. We have done empirical research while travelling from Chennai to Mangalore regarding this issue. This study effectively and comprehensively deals with the enormous dry and wet garbage disposal within the moving train. In addition to helping to maintain the trains and rail course tracks clean, this will assist with the assessment dustbins disposal inside of trains in terms of passengers perspective. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Entropy

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Scaling up the formation of agents with heterogeneous sensing: mixed distance and bearing-only

arXiv

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arXiv 2023年

作者： Chen, Jin Jayawardhana, Bayu de Marina, Hector Garcia The Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen Netherlands Department of Computer Engineer Automation and Robotics CITIC The University of Granada Spain

Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this paper, we consider the problem of distributed formation control where each agent can only control distances or bearings with its neighbors. We firstly develop a rigidity theory with heterogeneous sensing to ensure that the desired shape is well-posed. Secondly, we propose an iterative method that allows us to scale up the number of agents with heterogeneous sensing. Finally, numerical simulations show the effectiveness of our method. © 2023, CC BY.

关键词： Iterative methods

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Early Detection and Treatment of Skin Diseases Using Advanced Image Preprocessing and Machine Learning Techniques

Early Detection and Treatment of Skin Diseases Using Advance...

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Ubiquitous Computing and Intelligent Information Systems (ICUIS), International Conference on

作者： Jeswin Paul Pandian R. Jegan R. Jerlinkasmir P. Subha Hency Jose P. Anantha Christu Raj Division of Biomedical Engineering Karunya Institute of Technology and Science Coimbatore Department of Mathematics Karunya Institute of Technology and Science Coimbatore Division of Robotics and Automation Engineering Karunya Institute of Technology and Science Coimbatore

ISBN: (数字)9798331529635

ISBN: (纸本)9798331529642

This research aims to develop a more accurate and efficient system for classifying skin diseases, including both malignant and non-cancerous conditions. The study utilizes a comprehensive dataset encompassing various skin diseases, including melanomas, basal cell carcinomas, and benign conditions like nevi and warts. To address the challenge of class imbalance with a higher number of melanoma images, the researchers employ techniques like SMOTE (Synthetic Minority Oversampling Technique) to create synthetic data for under-represented classes. The pre-processing stage involves crucial steps like image scaling, augmentation, normalization, and data cleaning to ensure the quality and consistency of the data. Following pre-processing, feature extraction and model training will be conducted. This research has the potential to significantly contribute to the field of dermatology by enabling faster and more precise diagnosis of skin diseases through the use of advanced pre-processing techniques and a diversified dataset.

关键词： Training Technological innovation Accuracy Malignant tumors Machine learning Ubiquitous computing Skin Medical diagnosis Cancer Synthetic data

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