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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Eichenbaum, Julian Nikolovski, Gjorgji Mülhens, Leon Reke, Michael Ferrein, Alexander Scholl, Ingrid The Mobile Autonomous Systems & Cognitive Robotics Institute Fh Aachen University of Applied Science Aachen Germany

ISBN: (纸本)9798350320695

Autonomous agents require rich environment models for fulfilling their missions. High-definition maps are a well-established map format which allows for representing semantic information besides the usual geometric information of the environment. These are, for instance, road shapes, road markings, traffic signs or barriers. The geometric resolution of HD maps can be as precise as of centimetre level. In this paper, we report on our approach of using HD maps as a map representation for autonomous load-haul-dump vehicles in open-pit mining operations. As the mine undergoes constant change, we also need to constantly update the map. Therefore, we follow a lifelong mapping approach for updating the HD maps based on camera-based object detection and GPS data. We show our mapping algorithm based on the Lanelet 2 map format and show our integration with the navigation stack of the Robot Operating System. We present experimental results on our lifelong mapping approach from a real open-pit mine. © 2023 IEEE.

关键词： Roads and streets

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Generation of 3D models of victims within their surroundings at rescue sites

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Current Directions in Biomedical Engineering 2023年第1期9卷 634-637页

作者： Kriebisch, Susann Bruder, Ralf Ernst, Floris University of Luebeck Ratzeburger Allee 160 Luebeck 23562 Germany Institute for Robotics and Cognitive Systems University of Luebeck Ratzeburger Allee 160 Luebeck 23562 Germany

The use of state-of-the-art technology in emergencies enables fast assessment of the situation. Modern rescue robots, but also rescuers with camera systems, record vast amounts of image data. In addition to the benefits for rescue operations, a quick overview based on this data can help medical staff in the search for suitable treatment strategies. However, such data must be examined and fused into an intuitive display. In this work, exemplary image streams of RGB-D cameras are searched for victims and transferred into separate 3D models per detected person for subsequent intuitive viewing, rotating, and zooming. The method was tested and preliminary evaluated for its functionality, detail accuracy and readability of textures at the German Rescue robotics Center. © 2023 the author(s), published by Walter de Gruyter Berlin/Boston.

关键词： Textures

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Generalized Automatic Probe Alignment based on 3D Ultrasound

Generalized Automatic Probe Alignment based on 3D Ultrasound

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作者： Osburg, Jonas Wulff, Daniel Ernst, Floris Institute for Robotics and Cognitive Systems Ratzeburger Allee 160 Lubeck Germany

Acquiring reproducible ultrasound images of high quality is challenging in ultrasound imaging. While physicians can rely on their experience, robot-assisted systems must be able to automatically align the ultrasound probe with the correct orientation. This paper describes a method to align the central axis of the probe to the surface normal at the point of contact. This is done by analyzing the area of ultrasound volumes directly below the transducer of the probe. A convolutional neural network is trained to estimate the inclination of the probe orientation towards the direction of the surface normal. Experiments on two different phantoms indicate that the mean absolute angle error between the estimated rotation and the ground truth surface normal are 5.0 ± 2.8. The method is able to keep the probe-surface contact continuous and the results indicate that the method is invariant to anatomical structures. © 2022 by Walter de Gruyter Berlin/Boston.

关键词： Probes

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Landmark-Based Generation of Common Ultrasound Views and 17-Segment Model from Cardiac Computed Tomography

Landmark-Based Generation of Common Ultrasound Views and 17-...

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作者： Janorschke, Christian Xie, Jingyang Lu, Xinyu Schweikard, Achim Grehn, Melanie Blanck, Oliver Institute for Robotics and Cognitive Systems Universität zu Lübeck Ratzeburger Allee 160 Lübeck Germany Institute for Robotics and Cognitive Systems Universität zu Lübeck Germany Department of Radiation Oncology University Medical Center Schleswig-Holstein Kiel Germany

Complex medical therapies can require a multitude of imaging modalities and are often supervised by a team with different medical backgrounds. This necessitates the conversion of medical data between technical systems and visualizations. In the case of stereotactic arrhythmia radioablation therapy (STAR-Therapy) of the left ventricle, electroanatomical mapping, ultrasound (US) and computed tomography (CT) are the central imaging modalities that are needed for defining the target volume as well as for the examination and validation pre and post treatment. In the interest of developing a motion management system for STAR-Therapy, a way to transfer information and visualizations between these modalities and to compare data from different patients is needed. For this purpose, we present a landmark-based approach for the generation of commonly used ultrasound views and the 17-segment model from cardiac computed tomography (CCT) data. The developed tool can already be used to aid the examination process by extracting function-based views from CT datasets, comparing them to live US imaging, localize CT structures within the 17-segment model or to transfer information like motion or strain data from one modality to the other. In the future, it will be used in the development of a live or predictive management system for cardiac and respiratory motion. © 2023 the author(s), published by Walter de Gruyter Berlin/Boston.

关键词： Medical imaging

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Steam Deck: A Handheld ROS 2 Based Rescue Robot Controller

Steam Deck: A Handheld ROS 2 Based Rescue Robot Controller

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27th RoboCup International Symposium, 2024

作者： Pawar, Shubham Kirsch, Maximillian Gollok, Christoph Ferrein, Alexander The Mobile Autonomous Systems & Cognitive Robotics Institute FH Aachen University of Applied Sciences Eupener Straße 70 Aachen52056 Germany

ISBN: (纸本)9783031858581

Efficient and rapid deployment of robots by first responders in rescue scenarios is crucial for locating and rescuing more victims faster. Easy to use teleoperating robot interface in urban search and rescue scenario is important to effectively guide the robots through complex environments, alongside having autonomous functions allowing them to operate independently when necessary. In this paper, we propose using the Steam Deck as a ROS 2-based Rescue Robot Controller, utilizing its capabilities as a powerful and a portable controller to control robots in the RoboCup Rescue League. We explore the Steam Deck for interacting and teleoperating the robot in the context of our Rescue Team ALeRT, where we control a quadruped robot Spot which is equipped with a Kinova light-weight manipulator. We show the ROS integration on the Steam Deck and discuss the usability of it as a controller. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Using Off-the-Shelf Deep Neural Networks for Position-Based Visual Servoing

Using Off-the-Shelf Deep Neural Networks for Position-Based...

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27th RoboCup International Symposium, 2024

作者： Tschesche, Matteo Hofmann, Till Ferrein, Alexander Lakemeyer, Gerhard Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Sciences Aachen Germany Knowledge-Based Systems Group RWTH Aachen University Aachen Germany

ISBN: (纸本)9783031858581

Visual servoing is a well-established technique for object grasping and controls the robot in a closed-loop fashion. It typically uses hand-crafted features or a neural network that directly learns the control output. We propose an alternative approach that uses an off-the-shelf neural network object classifier and can therefore compute target poses without manually selected features while also not requiring training from scratch. Instead, the object classifier only needs to be fine-tuned on a domain-specific dataset, significantly reducing the amount of required training data. We describe a task sequencing approach that can control a robot with a mobile base and an additional gripper, which is a typical setup in many robotics applications. We evaluate the approach in the RoboCup Logistics League and demonstrate the reliability and speed of the proposed approach. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Exploring Children’s Strategies in Response to Robot’s Advice During a Group Task with iCub and Nao 16th

Exploring Children’s Strategies in Response to Robot’s A...

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16th International Conference on Social robotics, ICSR + AI 2024

作者： Pusceddu, Giulia Sangineto, Mariapia Cocchella, Francesca Bogliolo, Michela Belgiovine, Giulia Lastrico, Linda Casadio, Maura Rea, Francesco Gena, Cristina Sciutti, Alessandra Robotics Brain and Cognitive Science Department Italian Institute of Technology Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering University of Genoa Genoa Italy Department of Computer Science University of Turin Turin Italy Cognitive Architecture for Collaborative Technologies Unit Italian Institute of Technology Genoa Italy Scuola di Robotica Genoa Italy

ISBN: (纸本)9789819635184

This study investigates children’s trust in two humanoid robots, Nao and iCub, through a cooperative game designed to elicit spontaneous behaviors and group dynamics. We investigate whether participants change their choices after hearing advice from a robot, considering rounds where the advice is correct or incorrect, with the robot apologizing for its mistakes. Results reveal that, in most cases, participants prefer not to change their moves after the robot’s advice. Additionally, after the robots made mistakes, participants are less likely to actively follow their advice and more likely to reject it. No significant differences in strategies among the iCub and Nao samples are evidenced. Furthermore, we examine the influence of group dynamics, identifying "Proactive Players" who consistently initiated moves. A significant association between the strategies of this player and their teammates is found, suggesting potential influence. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Adversarial machine learning

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A ROS 2-Based Navigation and Simulation Stack for the Robotino

A ROS 2-Based Navigation and Simulation Stack for the Rob...

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27th RoboCup International Symposium, 2024

作者： Borse, Saurabh Viehmann, Tarik Ferrein, Alexander Lakemeyer, Gerhard The Mobile Autonomous Systems and Cognitive Robotics Institute FH Aachen University of Applied Science Aachen52066 Germany Knowledge-Based Systems Group RWTH Aachen University Aachen52074 Germany

ISBN: (纸本)9783031858581

The Robotino, developed by Festo Didactic, serves as a versatile platform in education and research for mobile robotics tasks. However, there currently is no ROS 2 integration for the Robotino available. In this paper we describe our work on a Webots simulation environment for a Robotino platform extended by LIDAR sensors. A ROS 2 integration and a pre-configured setup for localization and navigation using existing ROS packages from the Nav2 suite is provided. We validate our setup by comparing simulations with real-world experiments conducted by three Robotinos in a logistics environment in our lab. Additionally, we tested the setup using a ROS 2 hardware driver for the Robotino developed by team GRIPS of the RoboCup Logistics League. The results demonstrate the feasibility of using ROS 2 and Nav2 for navigation tasks on the Robotino platform showing great consistency between simulation and real-world performance. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Mobile robots

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Optimization of Image Preprocessing and Background Influences using a Depth Camera for Person Re-Identification on a Mobile Robot 19

Optimization of Image Preprocessing and Background Influence...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Flores, Sebastian Boztoprak, Zeynep Jost, Jana Fraunhofer Institute for Material Flow and Logistics The Department of Ai and Autonomous Systems Dortmund44227 Germany Fraunhofer Institute for Material Flow and Logistics The Department of Robotics and Cognitive Systems Dortmund44227 Germany

ISBN: (纸本)9798350320695

In this paper, we optimize datasets with different image preprocessing techniques for person re-identification using the ResNet18 model on a mobile robot with limited hardware, e.g., computational power and depth camera. For this, we create 16 datasets for which we discovered that the inverted original images, from the IR gray value images of the depth camera, results in the highest values with an r1, r5 and mAP of 98.48 %,99.82 % and 80.86 %. Additionally, we explore the cross-dataset evaluation for the 16 datasets to examine the robustness of our model, which points to a low generalizability. The scores are associated with the similarity between the trained and evaluated dataset. © 2023 IEEE.

关键词： Mobile robots

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Motion planning for 4WS vehicle with autonomous selection of steering modes via an MIQP-MPC controller

Motion planning for 4WS vehicle with autonomous selection of...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ngoc Thinh Nguyen Pranav Tej Gangavarapu Nicolas Mandel Ralf Bruder Floris Ernst Institute for Robotics and Cognitive Systems (ROB) University of Luebeck Luebeck Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Navigation in agricultural fields imposes various constraints on manoeuvrability, which can be tackled by using four-wheel steering (4WS) vehicles which are capable of switching between multiple steering mechanisms with distinct kinematic properties. For example, parallel positive steering (PPS) with four wheels in parallel to each other can maintain the vehicle’s heading when moving along a curve. Symmetric negative steering (SNS) with two wheels on each side sharing the same steering angle can turn with a small radius. This paper presents a controller capable of selecting and switching between the two aforementioned modes autonomously for better trajectory tracking performance with special heading requirements for agricultural applications. The controller is implemented as a Model Predictive Control (MPC) controller formulated as a mixed-integer quadratic programming (MIQP) problem for the 4WS vehicle. Practical constraints, such as limits on wheel velocities, steering angles and their rate-of-changes are taken into account. A Python implementation confirms the real-time execution capability of the controller and simulation results highlight its effectiveness.

关键词： Trajectory tracking Simulation Wheels Switches Programming Real-time systems Quadratic programming

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