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检索条件"机构=Institute for Systems and Robotics and Electrical Engineering and Computers"

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Interaction-aware Maneuver Prediction for Autonomous Vehicles using Interaction Graphs

Interaction-aware Maneuver Prediction for Autonomous Vehicle...

引用

IEEE Symposium on Intelligent Vehicle

作者： Iago Pachêco Gomes Cristiano Premebida Denis Fernando Wolf Institute of Mathematics and Computer Science University of São Paulo Brazil Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

Intention prediction (IP) is a challenging task for intelligent vehicle’s perception systems. IP provides the likelihood, or probability, of a target vehicle to perform a maneuver subjected to a finite set of possibilities. There are many factors that influence the decision-making process of a driver, which should be considered in a prediction framework. In addition, the lack of labeled large-scale dataset with maneuver annotation imposes another challenge to the task. This paper proposes an Interaction-aware Maneuver Prediction framework, called IAMP, using interaction graphs to extract complex interaction features from traffic scenes. In addition, we explored a semi-supervised approach called Noisy Student to take advantage of unlabeled data in the training step. Experimental results show relevant improvement when using unlabeled data, increasing the average performance of a classifier by 7.17% of accuracy. Moreover, this approach also made it possible to obtain an intention predictor with similar results to a classifier., even when using a shorter observation horizon.

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Late-Fusion Multimodal Human Detection Based on RGB and Thermal Images for Robotic Perception

Late-Fusion Multimodal Human Detection Based on RGB and Ther...

引用

European Conference on Mobile Robots (ECMR)

作者： Elísio Sousa Kennedy O. S. Mota Iago P. Gomes Luís Garrote Denis F. Wolf Cristiano Premebida Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal Institute of Mathematics and Computer Science University of São Paulo Brazil

This paper addresses the problem of detecting humans in RGB and Thermal (long-wave IR) images taken by cameras mounted onboard a mobile robot. Human/Pedestrian detection is currently one of the most pertinent object detection problems, mainly due to safety concerns in autonomous vehicles. The majority of approaches apply deep-learning techniques based solely on RGB images. However, they have a few shortcomings, namely that during foggy weather, nighttime, and low-light scenarios, these images may not contain sufficient information. To address these issues, this work studies the use of thermal cameras as a complementary source of information for human detection in indoor and outdoor environments. The proposed approach uses YOLOv5 to detect pedestrians in both thermal and RGB images. Moreover, the different modalities are combined using early and late fusion techniques. Evaluation of the proposed approach is carried out in the FLIR Aligned dataset and in a new in-house dataset. Results indicate that the use of fusion techniques highlights a promising way to improve the overall performance in this application domain.

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A 5G-Based Switching Method between a Local Controller and an Edge Controller 6

A 5G-Based Switching Method between a Local Controller and a...

引用

6th International Conference on Intelligent robotics and Control engineering, IRCE 2023

作者： Wang, Xiulian Lin, Jinggao Jin, Xi Xia, Changqing Xu, Chi College of Automation and Electrical Engineering Shenyang Ligong University China Chinese Academy of Sciences Key Laboratory of Networked Control Systems Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350326338

With the rapid development of edge computing, industrial automation has evolved a two-layer distributed computing architecture, including local controllers communicating through wired networks and edge controllers communicating wirelessly. The edge controllers in existing studies use WIFI, which has a limited working distance and requires independent network deployment, so they are unsuitable for future large-scale complex industrial production. At present, 5G technology is undergoing rapid development in the field of industrial automation, with wide coverage and excellent mobility, gradually becoming suitable for future large-scale and complex industrial production scenarios. Therefore, this paper proposed an SW5G method based on 5G, which combined the local controller with the edge controller. The controllers were switched according to the constantly changing 5G network transmission delay, thereby optimizing the overall system control performance. Finally, simulation experiments demonstrated good control performance of SW5G in various network scenarios. © 2023 IEEE.

关键词： Controllers

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Hazard Analysis of Collaborative Automation systems: A Two-layer Approach based on Supervisory Control and Simulation

Hazard Analysis of Collaborative Automation Systems: A Two-l...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Tom P. Huck Yuvaraj Selvaraj Constantin Cronrath Christoph Ledermann Martin Fabian Bengt Lennartson Torsten Kröger Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology India Department of Electrical Engineering Division of Systems and Control Chalmers University of Technology Gothenburg Sweden

Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human reasoning, past experiences, and simple tools such as checklists and spreadsheets. Increasing system complexity makes such approaches decreasingly suitable. Furthermore, testing-based hazard analysis is often not suitable due to high costs or dangers of physical faults. A remedy for this are model-based hazard analysis methods, which either rely on formal models or on simulation models, each with their own benefits and drawbacks. This paper proposes a two-layer approach that combines the benefits of exhaustive analysis using formal methods with detailed analysis using simulation. Unsafe behaviours that lead to unsafe states are first synthesised from a formal model of the system using Supervisory Control Theory. The result is then input to the simulation where detailed analyses using domain-specific risk metrics are performed. Though the presented approach is generally applicable, this paper demonstrates the benefits of the approach on an industrial human-robot collaboration system.

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Interaction-Aware Maneuver Intention Prediction Using Gated Mixture-of-Experts Attention Mechanism

Interaction-Aware Maneuver Intention Prediction Using Gated ...

引用

International Conference on Intelligent Transportation

This paper addresses the task of predicting the behavior of traffic participants, which involves complexities such as road geometry and agent interactions. To overcome these challenges, this paper presents a novel framework called AIMP (Attention-based Interaction-aware Maneuver Prediction). AIMP utilizes interaction graphs to extract intricate interaction features from traffic scenes. The framework incorporates a Gated Mixture-of-Experts Attention Mechanism, which combines information from road geometry, interaction patterns, and motion dynamics. This fusion process also considers prior maneuver intention estimations, enhancing both explainability and informativeness. Experimental results highlight a performance enhancement (approximately 2% ∼ 9% of accuracy) of the proposed AIMP framework compared to alternative fusion methods.

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Strictly Positive Realness-Based Feedback Gain Design Under Imperfect Input-Output Feedback Linearization in Prioritized Control Problem

Strictly Positive Realness-Based Feedback Gain Design Under ...

引用

IEEE Conference on Decision and Control

作者： Sang-ik An Gyunghoon Park Dongheui Lee School of Electrical and Computer Engineering University of Seoul Faculty of Electrical Engineering and Information Technology Autonomous Systems at Institute of Computer Technology TU Wien Austria German Aerospace Center (DLR) Institute of Robotics and Mechatronics

The prioritized control problem is a process to find a control strategy for a dynamical system with prioritized multiple outputs, so that it can operate outside its nonsingular domain. Singularity typically leads to imperfect inversion in the prioritized control problem, which in turn results in imperfect input-output feedback linearization. In this paper, we propose a method based on the Kalman-Yakubovich-Popov lemma that compensates nonlinear feedback terms caused by the imperfect inversion of the prioritized control problem. In order to realize this idea, we prove existence of a feedback gain matrix that gives a strictly positive real transfer function whose output matrix is identical to the feedback gain matrix. Our proof is constructive so that a set of such matrices can be found. Also, we provide a numerical approach that gives a larger set of feedback gain matrices and validate the result with numerical examples.

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On the effectiveness of MaxWhere 3D user interface 22

On the effectiveness of MaxWhere 3D user interface

引用

2024 IEEE 22nd World Symposium on Applied Machine Intelligence and Informatics, SAMI 2024

作者： Ludik, Peter Nagy, Eniko Molnar, Gyorgy Nagy, Balint Óbuda University Budapest Antal Bejczy Ctr. for Intelligent Robotics John von Neumann Fac. Institute of Cyberphysical Systems Hungary University of Dunaújváros Dunaújváros Hungary Óbuda University Budapest Kandó Kálmán Faculty of Electrical Engineering Hungary Budapest Business University Budapest Hungary

ISBN: (纸本)9798350317206

Under certain conditions, the benefit of three-dimensional virtual environments during worker training is unquestionable. When demonstrating the components of special mechanical equipment and training firefighters for special emergencies, there are certainly situations where the use of virtual reality is necessary and rewarding. Research also shows that a difference between 2D and 3D information sources can also be found in the time required to obtain information and in the examination of eye movements. In this study, it is examined how well students can use and accept the 3D environment for subjects where the need for 3D is not so clear. For this purpose, in the case of Multimedia and Mathematics subjects at a Hungarian university, a test environment is built to obtain the opinions of a sufficient number of students. Although many students expressed positive experiences and expectations regarding the development of 3D interfaces, it cannot be said that there are clearly only advantages of the use of 3D user environment for all students. © 2024 IEEE.

关键词： Students

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Empirical research on robot-Assisted educational innovations 26

Empirical research on robot-Assisted educational innovations

引用

26th IEEE International Conference on Intelligent engineering systems, INES 2022

作者： Nagy, Eniko Holik, Ildiko Institute of Cyberphysical Systems Obuda University Antal Bejczy Center for Intelligent Robotics John von Neumann Faculty Budapest Hungary Trefort Agoston Centre of Engineering Education Obuda University Kalman Kando Faculty of Electrical Engineering Budapest Hungary

ISBN: (数字)9781665492096

ISBN: (纸本)9781665492096

The technological development of the 21st century entails the methodological renewal of public education and higher education, and the application of educational innovations. As a result of this modernisation, educational robots have also entered the educational field, offering many new possibilities in the areas of curriculum development, motivation of students, interest arousal and soft skills development. Tutor robots are also being used successfully in education in Hungary, mainly in the field of programming education. In our questionnaire survey we explored the characteristics of robot-supported educational innovations. The paper presents the main results of the research. © 2022 IEEE.

关键词： Surveys

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Towards the Application of Operational Design Domain Based Scene Generation for Artificial Intelligence Training in Railway Automation The project “Rail Automation with Artificial Intelligence for Detection of Exceptional Situations” (RailAIxs) received funding in the mFUND conveyor line by the German Federal Ministry for Digital and Transport under the funding code 19FS2031A-D.

Towards the Application of Operational Design Domain Based S...

引用

International Conference on Intelligent Transportation

作者： Till Mersmann Friedrich Betz Julian Eichenbaum Fabian Hampel Simon Klamt Yannick Otten Ingrid Scholl Christian Schindler Faculty of Mechanical Engineering Institute for Rail Vehicle and Transport Systems (IFS) RWTH Aachen University Aachen Germany Faculty of Electrical Engineering and Information Technology Mobile Autonomous Systems and Cognitive Robotics Institute (MASCOR) FH Aachen University of Applied Sciences Aachen Germany

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

For automated, driverless rail transportation applications in open environments, Artificial Intelligence (AI)-based methods are gaining importance, especially in computer vision and perception tasks. The safe operation of complex automated systems requires validation processes. For this purpose, the concept of Operational Design Domains (ODDs), driven by recent developments in the automotive industry, is gaining momentum, allowing to describe different aspects of operating conditions as scenes and scenarios. With regard to safety and authorization using AI-based vision systems, data coverage is needed, which can be enhanced by employing virtual reality in different forms. The creation of virtual scenes and sensor models allows the generation of synthetic sensor data and metadata that can be used as a database for the training of the vision system.

关键词： Training Solid modeling Automation Machine vision Virtual reality Rail transportation Safety Artificial intelligence Standards Synthetic data

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Development of a Robotic Hand Glove System for Secure Grasp with AI Wireless Sensor Data 20

Development of a Robotic Hand Glove System for Secure Grasp ...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Almassri, Ahmed Koyanagi, Ken'Ichi Wada, Chikamune Horio, Keiichi Hasan, Wan Zuha Wan Toyama Prefectural University Department of Intelligent Robotics 5180 Kurokawa Toyama Imizu Japan Kyushu Institute of Technology Department of Life Science and Systems Engineering 2-4 Hibikino Fukuoka Kitakyushu Japan Universiti Putra Malaysia Department of Electrical and Electronic Selangor 43400 Malaysia Gaza Palestine

ISBN: (纸本)9798350320831

Robotic Hand glove is one of the most commonly used technique in the rehabilitation systems. In this paper, we developed a robotic hand system with a proposed sensing mechanism-based AI algorithm, which can acquire grasping forces from human fingers. It is composed of five low-cost force sensors attached to the glove's fingertips and wireless data logger. Several experiments including grasping a plastic bottle and squeezing a tennis ball are implemented to verify the efficiency of the proposed system using the developed glove. As a result, it accurately estimates the forces applied by each finger with the aim of achieving a secure grasp comparison with conventional methods. © 2023 IEEE.

关键词： Robotic arms

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