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AIAA Space and Astronautics Forum and Exposition, 2018

作者： Ono, Masahiro Heverly, Matthew Rothrock, Brandon Ishimatsu, Takuto Almeida, Eduardo Calef, Fred Soliman, Tariq Williams, Nathan Gengl, Hallie Nicholas, Austin Stilley, Erisa K. Otsu, Kyohei Trautman, Marshall Lange, Robert Milkovich, Sarah Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Research Technologist Mobility and Robotics Systems Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Mechanical Engineering Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Science Data Understanding Group Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Geophysics and Planetary Geosciences Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Data Visualization Developer Instrument Software and Science Data Systems PasadenaCA91106 United States Software Systems Engineering Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Mission Systems Engineering Section Jet Propulsion Laboratory California Institute of Technology PasadenaCA91106 United States Science Systems Engineer Jet Propulsion Laboratory California Institute of Technology 394B PasadenaCA91106 United States

ISBN: (纸本)9781624105753

– The Mars 2020 Rover Mission (M2020) is characterized by demanding requirement on the distance and time for traveling between scientific Regions Of Interest (ROIs). As a result, surface traversability is one of the major driving factors for the landing site selection of M2020. With the newly developed Mars Terrain Traversability analysis Tools (MTTT), we performed traversability analysis of the eight candidate landing sites with an unprecedented granularity. This paper describes the MTTT analysis capabilityies, as well as how the MTTT capabilities were used to downselect from eight to three candidate landing sites for further evaluation. © 2018, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Site selection

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Open problems in robotic anomaly detection

arXiv

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arXiv 2018年

作者： Gupta, Ritwik Kurtz, Zachary T. Scherer, Sebastian Smereka, Jonathon M. Software Engineering Institute Carnegie Mellon University 4500 Fifth Avenue PittsburghPA15213 United States Robotics Institute Carnegie Mellon University 5000 Forbes Avenue PittsburghPA15213 United States U.S. Army TARDEC WarrenMI48397 United States

Failures in robotics can have disastrous consequences that worsen rapidly over time. This, the ability to rely on robotic systems, depends on our ability to monitor them and intercede when necessary, manually or autonomously. Prior work in this area surveys intrusion detection and security challenges in robotics, but a discussion of the more general anomaly detection problems is lacking. As such, we provide a brief insight-focused discussion and frameworks of thought on some compelling open problems with anomaly detection in robotic systems. Namely, we discuss non-malicious faults, invalid data, intentional anomalous behavior, hierarchical anomaly detection, distribution of computation, and anomaly correction on the fly. We demonstrate the need for additional work in these areas by providing a case study which examines the limitations of implementing a basic anomaly detection (AD) system in the Robot Operating System (ROS) 2 middleware. Showing that if even supporting a basic system is a significant hurdle, the path to more complex and advanced AD systems is even more problematic. We discuss these ROS 2 platform limitations to support solutions in robotic anomaly detection and provide recommendations to address the issues discovered. Copyright © 2018, The Authors. All rights reserved.

关键词： Anomaly detection

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Decentralized connectivity-preserving deployment of large-scale robot swarms

arXiv

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arXiv 2018年

作者： Majcherczyk, Nathalie Jayabalan, Adhavan Beltrame, Giovanni Pinciroli, Carlo Robotics Engineering Worcester Polytechnic Institute 85 Prescott St. WorcesterMA10609 United States Department of Computer and Software Engineering École Polytechnique Montréal 2900 Edouard Montpetit Blvd MontréalQCH3T 1J4 Canada

We present a decentralized and scalable approach for deployment of a robot swarm. Our approach tackles scenarios in which the swarm must reach multiple spatially distributed targets, and enforce the constraint that the robot network cannot be split. The basic idea behind our work is to construct a logical tree topology over the physical network formed by the robots. The logical tree acts as a backbone used by robots to enforce connectivity constraints. We study and compare two algorithms to form the logical tree: outwards and inwards. These algorithms differ in the order in which the robots join the tree: the outwards algorithm starts at the tree root and grows towards the targets, while the inwards algorithm proceeds in the opposite manner. Both algorithms perform periodic reconfiguration, to prevent suboptimal topologies from halting the growth of the tree. Our contributions are (i) The formulation of the two algorithms;(ii) A comparison of the algorithms in extensive physics-based simulations;(iii) A validation of our findings through real-robot experiments. Copyright © 2018, The Authors. All rights reserved.

关键词： Trees (mathematics)

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An Evaluation Circuit for DC-Link Capacitors Used in a High-Power Three-Phase Inverter with Condition Monitoring

An Evaluation Circuit for DC-Link Capacitors Used in a High-...

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International Power Electronics Conference

作者： Kazunori Hasegawa Ichiro Omura Shin-ichi Nishizawa School of Software Engineering Xi’an Jiaotong University Xi’an China Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Xi’an China

This paper presents a condition monitoring method of dc-link capacitors used in a high-power three-phase PWM inverter intended for load life testing with an evaluation circuit consisting a low-voltage inverter. The evaluation circuit provides the equivalent ripple current waveform and dc-bias voltage to those of the high-power inverter. Hence, the monitoring method allows the load life testing with the equivalent condition to the high-power inverter at low cost. Experimental results verify that the monitoring method extracts both the ESR and capacitance changes of a capacitor under test.

关键词： Evaluation Circuit DC-Link Capacitors Condition Monitoring

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Dynamic Drive Chain Error Analysis of Industrial Robots with Cyber Sensing Technology

Dynamic Drive Chain Error Analysis of Industrial Robots with...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Meng Chen Zhi Li Shaodong Zhan Guanglie Zhang Institute of Intelligent Cyber Sensing System Shenzhen Academy of Robotics College of Computer Science and Software Engineering Shenzhen University

ISBN: (纸本)9781538604915

The drive chain error of industrial robots is one of the main effects of the robots' accuracy and repeatability. This paper presents a cyber sensing technology based dynamic drive chain error estimation method. Cyber sensing nodes are deployed on an industrial robot to monitor the vibration of robot joints while the robot is working. The dynamic drive chain error is obtained from the vibration noise signal analysis. The proposed method is validated experimentally.

关键词： Cyber sensing Industrial robot Drive chain error Health monitoring industrial robots HEALTH MONITORING Sensing Techniques robot joint Error analysis Robot

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Assessing the Integration of software Agents and Industrial Automation Systems with ISO/IEC 25010

Assessing the Integration of Software Agents and Industrial ...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Stamatis Karnouskos Roopak Sinha Paulo Leitão Luis Ribeiro Thomas. I. Strasser SAP Walldorf Germany IT & Software Engineering Auckland University of Technology New Zealand Research Centre in Digitalization and Intelligent Robotics (CeDRI) Instituto Politécnico de Bragança Campus de Santa Apolónia Bragança Portugal Linköping University Linköping Sweden Center for Energy – AIT Austrian Institute of Technology and Institute of Mechanics and Mechatronics – Vienna University of Technology Vienna Austria

Agent-technologies have been used for higher-level decision making in addition to carrying out lower-level automation and control functions in industrial systems. Recent research has identified a number of architectural patterns for the use of agents in industrial automation systems but these practices vary in several ways, including how closely agents are coupled with physical systems and their control functions. Such practices may play a pivotal role in the Cyber-Physical System integration and interaction. Hence, there is a clear need for a common set of criteria for assessing available practices and identifying a bestfit practice for a given industrial use case. Unfortunately, no such common criteria exist currently. This work proposes an assessment criteria approach as well as a methodology to enable the use case based selection of a best practice for integrating agents and industrial systems. The software product quality model proposed by the ISO/IEC 25010 family of standards is used as starting point and is put in the industrial automation context. Subsequently, the proposed methodology is applied, and a survey of experts in the domain is carried out, in order to reveal some insights on the key characteristics of the subject matter.

关键词： Automation IEC Standards ISO Standards Stakeholders software Best practices

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Using Image Mapping to Analyze Moving Vehicle Weight on Bridges

Using Image Mapping to Analyze Moving Vehicle Weight on Brid...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems

作者： Shaodong Zhan Meng Chen Zhi Li Guanglie Zhang Institute of Intelligent Cyber Sensing System Shenzhen Academy of Robotics Shenzhen China College of Computer Science and Software Engineering Shenzhen University Shenzhen China

ISBN: (纸本)9781538604915

In this paper, we propose a novel Bridge Weight-In-Motion (B-WIM) detection method based on the bridge deck vibration signal analysis with the image mapping algorithm. The algorithm maps the vibration signals into 8-Bit grayscale images and then uses image sharpness to detect B-WIM in single-vehicle tests. The result shows that the proposed method can effectively estimate B-WIM.

关键词： Bridges Vibrations Axles Mathematical model Strain measurement Robot sensing systems Slabs

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Heuristic search for structural constraints in data association

arXiv

引用

arXiv 2017年

作者： Zhou, Xiao Jiang, Peilin Wang, Fei Institute of Artificial Intelligence and Robotics Xian Jiaotong University Xi'an China Peilin Jiang is with the School of Software Engineering Xian Jiaotong University Xi'an China

The research on multi-object tracking (MOT) is essentially to solve for the data association assignment, the core of which is to design the association cost as discriminative as possible. Generally speaking, the match ambiguities caused by similar appearances of objects and the moving cameras make the data association perplexing and challenging. In this paper, we propose a new heuristic method to search for structural constraints (HSSC) of multiple targets when solving the problem of online multi-object tracking. We believe that the internal structure among multiple targets in the adjacent frames could remain constant and stable even though the video sequences are captured by a moving camera. As a result, the structural constraints are able to cut down the match ambiguities caused by the moving cameras as well as similar appearances of the tracked objects. The proposed heuristic method aims to obtain a maximum match set under the minimum structural cost for each available match pair, which can be integrated with the raw association costs and make them more elaborate and discriminative compared with other approaches. In addition, this paper presents a new method to recover missing targets by minimizing the cost function generated from both motion and structure cues. Our online multi-object tracking (MOT) algorithm based on HSSC has achieved the multi-object tracking accuracy (MOTA) of 25.0 on the public dataset 2DMOT2015 [1]. Copyright © 2017, The Authors. All rights reserved.

关键词： Heuristic methods

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Precise pose estimation using landmark feature extraction and blob analysis for bin picking

Precise pose estimation using landmark feature extraction an...

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International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Jihyeong Pyo Jaemin Cho Sangseung Kang Kyekyung Kim Department of Computer Software Engineering Korea University of Science and Technology Daejeon South Korea Intelligent Robotics Research Division Electronics and Telecommunications Research Institute Daejeon South Korea

This paper proposes a method of vision based pose estimation of randomly piled objects. It is necessary to estimate precise rotation angle of picking objects. However, it is non-trivial task because an object placed in every position makes distorted image far from right position image. We propose a precise pose estimation method of bin picking objects. The landmark feature of a picking object is extracted and is used to estimate coarse rotation angle of object. The pose of the object can be precisely estimated by analyzing feature blobs in the landmark. We have experimented to evaluate proposed method in the pilot system, which is constructed like a real manufacturing environment. The experiments have been conducted using 1,000 images. As a result, the pose estimation accuracy of less than 0.154 degree has obtained.

关键词： Pose estimation Robots Estimation error Feature extraction Cameras Dispersion

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Gesture Recognition Using Enhanced Depth Motion Map and Static Pose Map

Gesture Recognition Using Enhanced Depth Motion Map and Stat...

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International Conference on Automatic Face and Gesture Recognition

作者： Zhi Zhang Shenghua Wei Yonghong Song Yuanlin Zhang Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an P. R. China School of Software Engineering Xi'an Jiaotong University Xi'an P.R. China

In this paper, we propose a gesture recognition method using Enhanced Depth Motion Map (eDMM) and Static Pose Map (SPM) from depth videos. Firstly, the eDMM is proposed to describe motions in gesture videos, which is more robust to noise than DMM. The SPM is constructed to describe static postures of a gesture, which provides complementary information for the eDMM. Then a 2-CNN architecture is used to extract features from eDMM and SPM. The extracted features are fused to form gesture feature which contains both dynamic movement information and static pose information. Finally an ANN is trained for gesture recognition. The proposed method is evaluated on the Chalearn IsoGD dataset and the NATOPS dataset. The experimental results show that the proposed method achieves higher recognition rate than the baseline method of the Chalearn IsoGD dataset and is competitive with the-state-of-art of the NATOPS dataset.

关键词： Feature extraction Videos Gesture recognition Robustness Video sequences Noise measurement Data mining

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