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Robo-vision! 3D mesh generation of a scene for a robot for planar and non-planar complex objects

Multimedia Tools and Applications 2023年第27期82卷 42641-42659页

作者： Agarwal, Swapna Maity, Soumyadip Barua, Hrishav Bakul Bhowmick, Brojeshwar Robotics & Autonomous Systems group TCS Research Kolkata India

This paper presents a novel architecture to generate a world model in terms of mesh from a continuous image stream with depth information extracted from a robot’s ego-vision camera. We propose two algorithms for planar and non-planar mesh generation. A Cartesian grid-based mesh fitting algorithm is proposed for mesh generation of planar objects. For mesh generation of non-planar objects, we propose a Self Organization Map based algorithm. The proposed algorithm better approaches the boundary and overall shape of the objects compared to State-Of-the-Art (SOA). Extensive experiments done on three public datasets show that our method surpasses SOA both qualitatively and quantitatively. © 2023, The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature.

关键词： Mesh generation

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On the Collaborative Object Transportation Using Leader Follower Approach

On the Collaborative Object Transportation Using Leader Foll...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Ghosh, Sumanta Nath, Subhajit Sortee, Sarvesh Kumar, Lokesh Bera, Titas Robotics and Autonomous Systems Group TCS Research India

ISBN: (纸本)9798350337020

In this paper we address the multi-agent collab-orative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators collaboratively transporting an object along specified desired trajectories. The proposed approach treats the mobile manipulation system as two independent subsystems: a mobile platform and a manipulator arm and uses their kinematics model for trajectory tracking. In this work we considered that the mobile platform is subject to non-holonomic constraints, with a manipulator carrying a rigid load. The desired trajectories of the end points of the load are obtained from Probabilistic RoadMap-based planning approach. Our method combines Proportional Navigation Guidance-based approach with a proposed Stop-and-Sync algorithm to reach sufficiently close to the desired trajectory;the deviation due to the non-holonomic constraints being compensated by the manipulator arm. Concurrently, a leader follower approach for computing inverse kinematics solution for the position of the end-effector of the manipulator arm is proposed to maintain the load rigidity. Further, we compare the proposed approach with other approaches to analyse the efficacy of our algorithm. © 2023 IEEE.

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Effective learning through prototyping boards

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IEEE Potentials 2022年第5期41卷 6-11页

作者： Sharma, Anshul Thakur, Khushal Kapoor, Divneet Singh Singh, Kiran Jot Sohi, Balwinder Singh Embedded Systems and Robotics Research Group Chandigarh University Punjab 140413 India

The study of engineering begins with the basics and fundamentals of programming, mechanics, and electronics. From many years, classroom teaching has not evolved much, and, quite often, the rewards for student learning seem to be vague and remote. The effectiveness of education skyrockets if fascinating outcomes of the learning are within reach. © 1988-2012 IEEE.

关键词： Students

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Comparative Analysis of Object-Based Big Data Storage systems on Architectures and Services: A Recent Survey

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Journal of The Institution of Engineers (India): Series B 2024年第3期105卷 685-700页

作者： Mondal, Anindita Sarkar Sanyal, Madhupa Barua, Hrishav Bakul Chattopadhyay, Samiran Mondal, Kartick Chandra Department of Information Technology Jadavpur University West Bengal Kolkata India Genpact Karnataka Bangaluru India Robotics and Autonomous Systems Group TCS Research West Bengal Kolkata India

Object storage systems are a flexible class of storage where data are architectured and stored in the form of units called objects. Objects may store structured, semi-structured or unstructured data, so it is well suited for big data in cloud environments. It was introduced particularly for academic purposes at Carnegie Mellon University and the University of California at Berkeley. Till then, large-scale file systems were practiced for their search engine. The earliest instance of object storage used in an organization was EMC’s Centera platform (2001). This article plays an important role in the industry and research in the field of understanding the available storage systems for supporting big data features, whereas our analysis of the object-based storage system is based on the classification of the storage systems and the comparative study of these systems’ architecture. It helps to distinguish the basic characteristics of object-based storage systems with respect to the implementation of these storage systems. Furthermore, it discusses the future perspective, research challenges and limitations. © The Institution of Engineers (India) 2024.

关键词： Big data

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Internet of Things in Agriculture Industry: Implementation, Applications, Challenges and Potential 8th

Internet of Things in Agriculture Industry: Implementation, ...

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8th International Conference on Microelectronics, Circuits, and systems, Micro 2021

作者： Singh, Kiran Jot Kapoor, Divneet Singh Sharma, Anshul Thakur, Khushal Bajaj, Tanishq Tomar, Ashwin Mittal, Sparsh Singh, Baljap Agarwal, Raghav Embedded Systems and Robotics Research Group Chandigarh University Punjab Mohali140413 India

ISBN: (纸本)9789819904112

The Internet of Things (IoT) is allowing agriculture, particularly arable farming, to become more data-driven, resulting in more timely and cost-effective agricultural production and management while reducing environmental impact. In comparison with other agricultural systems, this study would involve an empirical evaluation of current and prospective IoT applications in arable farming where spatial details, vastly diverse landscapes, mission variety, and mobile devices provide unique challenges to overcome. The analysis describes the state-of-the-art in terms of deployed technologies. It discusses present and future applications and provides an overview of current and possible applications, as well as problems, viable alternatives, and implementations. Finally, it explores any potential IoT applications in arable agriculture. Smart phones, intelligent sensor control, middleware platforms, integrated field management systems across the supply chain, and automated vehicles and robots all stand out as present issues preventing arable farming from becoming smart. Interoperability is a key obstacle across all layers of an IoT system’s design, which may be solved through shared standards and protocols, and it arises during implementation. The paper examined has identified and addressed in detail difficulties such as data privacy, cost, power consumption, network latency, data analytics, and security, among others. Different resolutions to all recognized challenges are presented by technologies such as artificial intelligence, intelligent data managing, and further addressed in depth issues such as availability, device power usage, latency of network, big data processing, data protection, and protection, among others. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Machine learning

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Cooperative Aerial Slung Load Transportation Using a Novel Adaptive Sliding Mode Controller

Cooperative Aerial Slung Load Transportation Using a Novel A...

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2021 International Conference on Unmanned Aircraft systems, ICUAS 2021

作者： N S, Abhinay Shobhit, Shubhankar Sridhar, Nithya Das, Kaushik Embedded Systems and Robotics Reserach Group Tcs Research India

ISBN: (纸本)9780738131153

This paper presents a decentralized approach to transport a cable suspended load using multiple Unmanned Aerial Vehicles (UAVs). The proposed approach is decentralized in the sense that the trajectory for each of the UAVs is computed offline using the kinematics of the system and the desired path of the load. This approach enabled the task of cooperative transportation to be treated as a problem of multiple UAVs, each carrying a cable suspended load. A neural adaptive sliding mode controller proposed by the authors in an earlier work is then deployed on each of the UAVs to track the trajectory while minimizing the load swing. Since the system of an UAV carrying a suspended load is underactuated, the conditions on the sliding surface variables that ensure the stability of the system are also given. The performance of the proposed approach is tested with payloads of non-uniform density and uncertain mass, using Gazebo simulations. The performance is compared against an adaptive sliding mode controller which motivated the design of the proposed controller. © 2021 IEEE.

关键词： Cables

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Designing and evaluating a system for studying EarEEG signals

Designing and evaluating a system for studying EarEEG signal...

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Adjunct Proceedings of the 2022 ACM International Joint Conference on Pervasive and Ubiquitous Computing and the 2022 ACM International Symposium on Wearable Computers

作者： Adarsh Meghana Kartik Muralidharan Jayavardhana Gubbi Ramesh Kumar Ramakrishnan Arpan Pal TCS Research India Tata Consultancy Services India Embedded Systems and Robotics TCS Research India

ISBN: (纸本)9781450394239

Electroencephalography (EEG) allows the study of the brain in humans with applications in areas of Psychology, Brain-Computer Interfaces, and Neuromarketing. The conventional systems limit the applications of EEG to lab environments, but recent developments towards portable EEG have allowed brain studies outside the laboratory in more realistic situations. One such direction is the Ear EEG, a wearable concept for recording the EEG using an ear worn device. This paper discusses a system design to study the Ear EEG compared to the scalp EEG using the OpenBCI. We evaluate the signal quality obtained with Ear EEG using a customized earpiece and demonstrate the feasibility of recording alpha attenuation using Ear EEG.

关键词： EEG EarEEG

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On the Collaborative Object Transportation Using Leader Follower Approach

On the Collaborative Object Transportation Using Leader Foll...

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IEEE International Conference on systems, Man and Cybernetics

作者： Sumanta Ghosh Subhajit Nath Sarvesh Sortee Lokesh Kumar Titas Bera Robotics and Autonomous Systems Group TCS Research India

In this paper we address the multi-agent collab-orative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators collaboratively transporting an object along specified desired trajectories. The proposed approach treats the mobile manipulation system as two independent subsystems: a mobile platform and a manipulator arm and uses their kinematics model for trajectory tracking. In this work we considered that the mobile platform is subject to non-holonomic constraints, with a manipulator carrying a rigid load. The desired trajectories of the end points of the load are obtained from Probabilistic RoadMap-based planning approach. Our method combines Proportional Navigation Guidance-based approach with a proposed Stop-and-Sync algorithm to reach sufficiently close to the desired trajectory; the deviation due to the non-holonomic constraints being compensated by the manipulator arm. Concurrently, a leader follower approach for computing inverse kinematics solution for the position of the end-effector of the manipulator arm is proposed to maintain the load rigidity. Further, we compare the proposed approach with other approaches to analyse the efficacy of our algorithm.

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Computer-Vision Based Object Detection and Recognition for Service Robot in Indoor Environment

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Computers, Materials & Continua 2022年第7期72卷 197-213页

作者： Kiran Jot Singh Divneet Singh Kapoor Khushal Thakur Anshul Sharma Xiao-Zhi Gao Embedded Systems&Robotics Research Group Chandigarh UniversityMohali140413PunjabIndia School of Computing University of Eastern FinlandYliopistonranta 1FI-70210KuopioFinland

The near future has been envisioned as a collaboration of humans with mobile robots to help in the day-to-day *** this paper,we present a viable approach for a real-time computer vision based object detection and recognition for efficient indoor navigation of a mobile *** mobile robotic systems are utilized mainly for home assistance,emergency services and surveillance,in which critical action needs to be taken within a fraction of second or *** object detection and recognition is enhanced with utilization of the proposed algorithm based on the modification of You Look Only Once(YOLO)algorithm,with lesser computational requirements and relatively smaller weight size of the network *** proposed computer-vision based algorithm has been compared with the other conventional object detection/recognition algorithms,in terms of mean Average Precision(mAP)score,mean inference time,weight size and false positive *** presented framework also makes use of the result of efficient object detection/recognition,to aid the mobile robot navigate in an indoor environment with the utilization of the results produced by the proposed *** presented framework can be further utilized for a wide variety of applications involving indoor navigation robots for different services.

关键词： Computer-vision real-time computing object detection robot robot navigation localization environment sensing neural networks YOLO

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On the Collaborative Object Transportation Using Leader Follower Approach

arXiv

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arXiv 2023年

作者： Ghosh, Sumanta Nath, Subhajit Sortee, Sarvesh Kumar, Lokesh Bera, Titas Robotics and Autonomous Systems Group TCS Research India

In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators collaboratively transporting an object along specified desired trajectories. The proposed approach treats the mobile manipulation system as two independent subsystems: a mobile platform and a manipulator arm and uses their kinematics model for trajectory tracking. In this work we considered that the mobile platform is subject to non-holonomic constraints, with a manipulator carrying a rigid load. The desired trajectories of the end points of the load are obtained from Probabilistic RoadMapbased planning approach. Our method combines Proportional Navigation Guidance-based approach with a proposed Stop- and-Sync algorithm to reach sufficiently close to the desired trajectory, the deviation due to the non-holonomic constraints is compensated by the manipulator arm. A leader follower approach for computing inverse kinematics solution for the position of the end-effector of the manipulator arm is proposed to maintain the load rigidity. Further, we compare the proposed approach with other approaches to analyse the efficacy of our algorithm. © 2023, CC BY-SA.

关键词： Inverse kinematics

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