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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Hamidreza Raei Juan M. Gandarias Elena De Momi Pietro Balatti Arash Ajoudani HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Systems Engineering and Automation Department Robotics and Mechatronics lab University of Malaga Malaga Spain

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that inte-grates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface's pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot's end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature of this interface, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface's usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation.

关键词： Performance evaluation Wireless communication Visualization Wireless sensor networks Accuracy Robot vision systems Collaborative robots Sensors Usability Robots

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An MPC-Based Framework for Dynamic Trajectory Re-Planning in Uncertain Environments

An MPC-Based Framework for Dynamic Trajectory Re-Planning in...

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IEEE-RAS International Conference on Humanoid Robots

作者： Maolin Lei Liang Lu Arturo Laurenzi Luca Rossini Edoardo Romiti Jörn Malzahn Nikos G. Tsagarakis Humanoids and Human Centered Mechatronics Research Line Istituto Italiano Di Tecnologia (IIT) Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Genoa Italy

ISBN: (纸本)9798350309805

Online motion re-planning is an important feature for introducing robots into unstructured environments where the close presence of humans at any time can challenge the operation of the robot from the human safety perspective. This work introduces a novel re-planning framework for robotic manipulators operating in dynamic environments where the interactions with humans may occur either in an anticipated or unexpected manner. The contribution of the proposed framework lies in the fact that it allows to account for the uncertainty of human pose and challenges associated with human motion estimation during occlusion phases of the human with respect to the perception system on the robot. To this aim the proposed framework is comprised of an uncertainty estimation component and a model predictive control (MPC) component, the combination of which enables to efficiently and dynamically track a task-space trajectory by the robot while limiting the probability of potential collisions with a moving human obstacle entering the workspace of the robot. Simulations and experimental trials on a robotic platform show the effectiveness of the proposed framework in re-planning the trajectory of the robotic arm under the presence of a human detected by the perception system installed on the robot.

关键词： Uncertainty Tracking Computational modeling Dynamics Humanoid robots Trajectory Collision avoidance

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An Hourly Fuel-Specific Dead Fuel Moisture Content Model for Wildfire Danger Assessment

SSRN

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SSRN 2024年

作者： Perello, Nicolò Trucchia, Andrea D’Andrea, Mirko degli Esposti, Silvia Fiorucci, Paolo Gollini, Andrea Negro, Dario Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via All’Opera Pia 13 Genova16145 Italy CIMA Research Foundation Via A. Magliotto 2 Savona17100 Italy Dipartimento della Protezione Civile Consiglio dei Ministri via Vitorchiano 2 Roma00189 Italy

Estimating the moisture content of dead fuel is crucial in wildfire risk management, representing a key component in forest fire danger rating systems and wildfire simulation models. Dead fuel moisture content (DFMC) fluctuates sub-daily and spatially, influenced by local weather and fuel characteristics. This necessitates models that provide spatialized, sub-daily fuel moisture conditions for improving wildfire risk management. However, many forest fire danger rating systems typically rely on daily fuel moisture models that overlook local fuel characteristics, with consequent impact on wildfire *** semi-empirical DFMC model proposed addresses this issue by providing hourly dead fuel moisture dynamics, considering local fuel characteristics. The model has been calibrated and validated using a Particle Swarm Optimization algorithm on hourly 10-hours fuel sticks measurements, and tested operationally as hourly fuel-specific DFMC *** this model in forest fire danger rating systems will enhance detail in forest fire danger conditions, advancing wildfire risk management. © 2024, The Authors. All rights reserved.

关键词： Fire hazards

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A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots

arXiv

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arXiv 2024年

作者： Raei, Hamidreza Gandarias, Juan M. De Momi, Elena Balatti, Pietro Ajoudani, Arash HRI2 Lab Istituto Italiano di Tecnologia Genoa Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy Robotics and Mechatronics lab Systems Engineering and Automation Department University of Malaga Malaga Spain

This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/detached from a robot, offering two control modes: local control (attached) and teleoperation (detached). These modes are integrated with a robot whole-body controller and presented in a unified close- and far-proximity control framework for MCR. The earlier introduction of the haptic component in this interface enabled users to execute intricate loco-manipulation tasks via admittance-type control, effectively decoupling task dynamics and enhancing human capabilities. In contrast, this ongoing work proposes a novel design that integrates a visual component. This design utilizes Visual-Inertial Odometry (VIO) for teleoperation, estimating the interface’s pose through stereo cameras and an Inertial Measurement Unit (IMU). The estimated pose serves as the reference for the robot’s end-effector in teleoperation mode. Hence, the interface offers complete flexibility and adaptability, enabling any user to operate an MCR seamlessly without needing expert knowledge. In this letter, we primarily focus on the new visual feature, and first present a performance evaluation of different VIO-based methods for teleoperation. Next, the interface’s usability is analyzed in a home-care application and compared to an alternative designed by a commercial MoCap system. Results show comparable performance in terms of accuracy, completion time, and usability. Nevertheless, the proposed interface is low-cost, poses minimal wearability constraints, and can be used anywhere and anytime without needing external devices or additional equipment, offering a versatile and accessible solution for teleoperation. © 2024, CC BY-NC-ND.

关键词： Remote control

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Diversity-Aware Verbal Interaction Between a Robot and People With Spinal Cord Injury

Diversity-Aware Verbal Interaction Between a Robot and Peopl...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Lucrezia Grassi Danilo Canepa Amy Bellitto Maura Casadio Antonino Massone Carmine Tommaso Recchiuto Antonio Sgorbissa Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via all’Opera Pia 13 Genoa Italy Spinal Cord Unit Santa Corona hospital Viale 25 Aprile 38 Pietra Ligure Savona Italy RAISE Ecosystem Genova Italy

This article explores the acceptance of a humanoid robot designed to engage in conversations with clinicians and individuals with spinal cord injuries. Building upon prior research, we introduce the concept of “diversity-aware” robots, which possess the capability to interact with people while adapting to their culture, age, gender, preferences, and physical and mental conditions. These robots are connected to a cloud system specifically designed to consider these factors, enabling them to adapt to the context and individuals they interact with. Our experiments involved the NAO robot interacting with both clinicians and individuals with spinal cord injuries in a hospital environment. Subsequent to the interaction, participants completed a questionnaire and underwent an interview. The collected data were analyzed to assess the system’s acceptability and its persistence beyond the initial novelty effect. Furthermore, we investigated whether clinicians exhibited a lower predisposition towards the system and expressed greater concerns than end-users about using the robot, which could potentially hinder the adoption of the system.

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Aircraft wing vibration parameters measurement system using MEMS IMUs and closed-loop optimal correction

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Aerospace systems 2022年第3期5卷 473-480页

作者： Maamo, M.S. Afonin, A.A. Sulakov, A.S. Department of Control Systems Informatics and Power Engineering Moscow Aviation Institute (National Research University) Volokolamskoe shosse 4 Moscow 125993 Russian Federation Faculty of Robotics and Mechatronics Moscow University for Industry and Finance «Synergy» Street Meshchanskaya 9/14 Moscow 129090 Russian Federation

Nowadays, there is still a need for the development of a high-precision measurement system for aircraft structural elements vibrations, this is due to the fact that many aviation problems are associated with analyzing vibration characteristics of aircraft mechanical structures during its main modes of operation, including flight, particularly the airplane wing health monitoring. This paper presents preliminary results of research carried out toward building a promising system designed to measure vibration parameters of airplane wing. Comparing it with the existing analogues systems, the proposed system features the use of approaches that are traditional for solving orientation and navigation problems for vibration measurements. The article discusses the principles of building such system based on micromechanical inertial measurements units, displacement sensors, on-board aircraft navigation system and sensor data fusion technology. The paper provides a brief overview of the existing solutions in this field of research, and substantiates the relevance and feasibility of the proposed technical solution. The paper presents the basic hardware components of the proposed system, presents the fundamentals of its operation based on the data collected from many sources, including displacement sensors, inertial units and the optimal Kalman estimation and correction algorithm. Besides, the paper presents the mathematical errors models of the system main components. The main algorithms of the system are shown, including algorithms for inertial measurements, estimation and correction in a closed-loop scheme for including optimal Kalman filter, and indirect calculations of vibration parameters. Finally, the initial simulation results of system operation are shown, demonstrating its operability and expected accuracy characteristics, which confirms the system effectiveness and the prospects of the chosen direction of research. © 2022, Shanghai Jiao Tong University.

关键词： Airplane wing Closed-loop optimal correction MEMS IMU Navigation and orientation Optimal Kalman filter Sensor data fusion Vibration measurement

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SLIFER: Investigating Performance and Robustness of Malware Detection Pipelines

arXiv

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arXiv 2024年

作者： Ponte, Andrea Trizna, Dmitrijs Demetrio, Luca Biggio, Battista Ogbu, Ivan Tesfai Roli, Fabio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Viale Causa 13 Genova16145 Italy Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Rome00185 Italy Department of Electrical and Electronic Engineering University of Cagliari Via Marengo 3 Cagliari09123 Italy Rina Consulting S.p.A. Via Antonio Cecchi 6 Genova16129 Italy

As a result of decades of research, Windows malware detection is approached through a plethora of techniques. However, there is an ongoing mismatch between academia – which pursues an optimal performances in terms of detection rate and low false alarms – and the requirements of real-world scenarios. In particular, academia focuses on combining static and dynamic analysis within a single or ensemble of models, falling into several pitfalls like (i) firing dynamic analysis without considering the computational burden it requires;(ii) discarding impossible-to-analyze samples;and (iii) analyzing robustness against adversarial attacks without considering that malware detectors are complemented with more non-machine-learning components. Thus, in this paper we bridge these gaps, by investigating the properties of malware detectors built with multiple and different types of analysis. To do so, we develop SLIFER, a Windows malware detection pipeline sequentially leveraging both static and dynamic analysis, interrupting computations as soon as one module triggers an alarm, requiring dynamic analysis only when needed. Contrary to the state of the art, we investigate how to deal with samples that impede analyzes, showing how much they impact performances, concluding that it is better to flag them as legitimate to not drastically increase false alarms. Lastly, we perform a robustness evaluation of SLIFER. Counter-intuitively, the injection of new content is either blocked more by signatures than dynamic analysis, due to byte artifacts created by the attack, or it is able to avoid detection from signatures, as they rely on constraints on file size disrupted by attacks. As far as we know, we are the first to investigate the properties of sequential malware detectors, shedding light on their behavior in real production environment. Copyright © 2024, The Authors. All rights reserved.

关键词： Malware

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New frontiers of freeway traffic control and estimation

New frontiers of freeway traffic control and estimation

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IEEE Conference on Decision and Control

作者： M. L. Delle Monache C. Pasquale M. Barreau R. Stern Department of Civil and Environmental Engineering University of California Berkeley USA Department of Informatics Bioengineering Robotics and Systems Engineering University of Genova Italy Division of Decision and Control Systems and Digital Futures KTH Royal Institute of Technology Stockholm Sweden Department of Civil Environmental and Geo-Engineering University of Minnesota USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

This article provides an overview of the classical and new techniques in traffic flow control and estimations. The overview begins with a description of the most used traffic flow models for estimation and control. Then, it shifts towards using those models for traffic flow estimation using physics-informed machine learning techniques. Lastly, it focuses on traffic flow control describing the most classical techniques and the new advancement in traffic control using autonomous vehicles.

关键词： Actuators Technological innovation Microscopy Estimation Machine learning Traffic control Data models

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A task-motion planning framework using iteratively deepened AND/OR graph networks

arXiv

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arXiv 2021年

作者： Karami, Hossein Thomas, Antony Mastrogiovanni, Fulvio The Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction for compactly representing the task-level states and actions. While retrieving a target object from clutter, the number of object re-arrangements required to grasp the target is not known ahead of time. To address this challenge, in contrast to traditional AND/OR graph-based planners, we grow the AND/OR graph online until the target grasp is feasible and thereby obtain a network of AND/OR graphs. The AND/OR graph network allows faster computations than traditional task planners. We validate our approach and evaluate its capabilities using a Baxter robot and a state-of-the-art robotics simulator in several challenging non-trivial cluttered table-top scenarios. The experiments show that our approach is readily scalable to increasing number of objects and different degrees of clutter. © 2021, CC BY.

关键词： Motion planning

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Task allocation for multi-robot task and motion planning: A case for object picking in cluttered workspaces

arXiv

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arXiv 2021年

作者： Karami, Hossein Thomas, Antony Mastrogiovanni, Fulvio Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Via Opera Pia 13 Genoa16145 Italy

We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a priori unknown number of object re-arrangements, such as those involved in retrieving objects from cluttered workspaces. Such situations may arise, for example, in search and rescue scenarios, while locating/picking a cluttered object of interest. The corresponding problem falls under the category of planning in clutter. One of the challenges while planning in clutter is that the number of object re-arrangements required to pick the target object is not known beforehand, in general. Moreover, such tasks can be decomposed in a variety of ways, since different cluttering object re-arrangements are possible to reach the target object. In our approach, task allocation and decomposition is achieved by maximizing a combined utility function. The allocated tasks are performed by an integrated task and motion planner, which is robust to the requirement of an unknown number of re-arrangement tasks. We demonstrate our results with experiments in simulation on two Franka Emika manipulators. © 2021, CC BY.

关键词： Motion planning

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