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arXiv 2024年

作者： Keurulainen, Oskar Alcan, Gokhan Kyrki, Ville The Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Finland

Building machines capable of efficiently collaborating with humans has been a longstanding goal in artificial intelligence. Especially in the presence of uncertainties, optimal cooperation often requires that humans and artificial agents model each other’s behavior and use these models to infer underlying goals, beliefs or intentions, potentially involving multiple levels of recursion. Empirical evidence for such higher-order cognition in human behavior is also provided by previous works in cognitive science, linguistics, and robotics. We advocate for a new paradigm for active learning for human feedback that utilises humans as active data sources while accounting for their higher levels of agency. In particular, we discuss how increasing level of agency results in qualitatively different forms of rational communication between an active learning system and a teacher. Additionally, we provide a practical example of active learning using a higher-order cognitive model. This is accompanied by a computational study that underscores the unique behaviors that this model produces. Copyright © 2024, The Authors. All rights reserved.

关键词： Learning systems

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Mergulhão Bot: Design and Prototyping of a Low-Cost Hybrid Vehicle for Oil Leakage Detection 20

Mergulhão Bot: Design and Prototyping of a Low-Cost Hybrid ...

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20th Latin American robotics Symposium, 15th Brazilian Symposium on robotics, and 14th Workshop of robotics in Education, LARS/SBR/WRE 2023

作者： De Oliveira, Guilherme C. Garcia, Enrique F. Dos Santos, Julio Cesar S. Pedroso, Adir A. Pereira, Leonardo C. Drews, Paulo L. J. FURG - Federal University of Rio Grande NAUTEC - Intelligent robotics and automation group Rio Grande Brazil UFPEL - Federal University of Pelotas CDTEC - Technological Development Center Pelotas Brazil

ISBN: (纸本)9798350315387

Unmanned vehicles are increasingly popular and their demand increases annually. Since their invention in the 1950s, these vehicles have been widely used in various applications which include environmental monitoring. Oil spill in the oceans is an example of a serious problem for marine ecosystems that can be investigated with these vehicles. Currently, government authorities are analyzing satellite images to detect oil spots, but when oil submerges in the ocean becomes imperceptible by satellites. This oil can be silently moving to coastal regions, without containment maneuvers. Unmanned vehicles may be an effective alternative to remote sensing in these cases. In this scenario, this work presents a new design of a hybrid vehicle to move on the ocean surface and be able to submerge water, called the Mergulhão Bot. The robot was mechanically modeled using OnShape software, simulations were performed using ROS, Gazebo, and the UUV Simulator package. © 2023 IEEE.

关键词： Oil spills

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Optimization Design and Research on the Isolation Structure of Wheel-Leg Composite Robot

Optimization Design and Research on the Isolation Structure ...

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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Shao, Peiyao Wang, Ting Shao, Shiliang Ma, Guochen Guan, Facai Zhang, Yongsheng Shenyang Aerospace Xinguang Group Co. Ltd Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences State Key Laboratory of Robotics Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350316308

In order to improve the comprehensive vibration reduction performance of the wheel-leg composite robot vibration reduction system and improve the smoothness of its operation, a new type of integrated leg structure wheel-leg composite robot was designed. Dynamic models of parallel and series vibration reduction systems containing two vibration isolation devices were established, and a simulink simulation model was established with road excitation as input. The changes in the vertical acceleration of the robot center of mass, the dynamic deflection of the robot system, and the dynamic load index of the rubber at the bottom of the robot between the two vibration isolation systems and the original vibration isolation system were investigated. The results showed that compared to the original vibration isolation system, The series vibration isolation system can enhance the comprehensive isolation system, verifying the rationality of the design of the isolation system for this wheel-leg composite robot. © 2023 IEEE.

关键词： Wheels

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Interactive Identification of Granular Materials using Force Measurements

arXiv

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arXiv 2024年

作者： Hynninen, Samuli Le, Tran Nguyen Kyrki, Ville Intelligent Robotics Group The Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Finland

The ability to identify granular materials facilitates the emergence of various new applications in robotics, ranging from cooking at home to truck loading at mining sites. However, granular material identification remains a challenging and underexplored area. In this work, we present a novel interactive material identification framework that enables robots to identify a wide range of granular materials using only a force-torque sensor for perception. Our framework, comprising interactive exploration, feature extraction, and classification stages, prioritizes simplicity and transparency for seamless integration into various manipulation pipelines. We evaluate the proposed approach through extensive experiments with a real-world dataset comprising 11 granular materials, which we also make publicly available. Additionally, we conducted a comprehensive qualitative analysis of the dataset to offer deeper insights into its nature, aiding future development. Our results show that the proposed method is capable of accurately identifying a wide range of granular materials solely relying on force measurements obtained from direct interaction with the materials. Code and dataset are available at: https: //***/indentify_granular/. Copyright © 2024, The Authors. All rights reserved.

关键词： Granular materials

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Integrating Expert Guidance for Efficient Learning of Safe Overtaking in Autonomous Driving Using Deep Reinforcement Learning

arXiv

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arXiv 2023年

作者： Lu, Jinxiong Alcan, Gokhan Kyrki, Ville The Intelligent Robotics Group Department of Electrical Engineering and Automation Aalto University Espoo02150 Finland

Overtaking on two-lane roads is a great challenge for autonomous vehicles, as oncoming traffic appearing on the opposite lane may require the vehicle to change its decision and abort the overtaking. Deep reinforcement learning (DRL) has shown promise for difficult decision problems such as this, but it requires massive number of data, especially if the action space is continuous. This paper proposes to incorporate guidance from an expert system into DRL to increase its sample efficiency in the autonomous overtaking setting. The guidance system developed in this study is composed of constrained iterative LQR and PID controllers. The novelty lies in the incorporation of a fading guidance function, which gradually decreases the effect of the expert system, allowing the agent to initially learn an appropriate action swiftly and then improve beyond the performance of the expert system. This approach thus combines the strengths of traditional control engineering with the flexibility of learning systems, expanding the capabilities of the autonomous system. The proposed methodology for autonomous vehicle overtaking does not depend on a particular DRL algorithm and three state-of-the-art algorithms are used as baselines for evaluation. Simulation results show that incorporating expert system guidance improves state-of-the-art DRL algorithms greatly in both sample efficiency and driving safety. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Strictly Decentralized Approaches for Multi-Robot Grasp Coordination 19

Strictly Decentralized Approaches for Multi-Robot Grasp Coor...

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

作者： Muthusamy, Rajkumar Kyrki, Ville Muthusamy, Praveen Kumar Taha, Tarek Hussain, Irfan Zweiri, Yahya Prattichizzo, Domenico Gan, Dongming Robotics Lab Dubai Future Labs Dubai United Arab Emirates Aalto University Intelligent Robotics Group Department of Electrical Engineering and Automation Finland Khalifa University of Science and Technology Abu Dhabi United Arab Emirates Istituto Italiano di Tecnologia Department of Advanced Robotics Genoa16163 Italy Purdue University United States

ISBN: (纸本)9798350320695

Grasp coordination is crucial for performing cooperative object manipulation tasks. Planning cooperative grasps among a group of decentralized robots is a new line of coordination problem that requires robots to simultaneously handle complex and large shaped and sized objects, a new level of difficulty that is rarely addressed in the literature. In this paper, we propose grasp coordination approaches for a decentralized group of robots facing explicit communication and sensing limitations. In particular, a scenario where robots with incomplete knowledge about each other's embodiments further lose the ability to 1. observe others' grasps occluded by the object's shape 2. exchange direct messages due to potential communication degradation resulting from the real-time planning and execution constraints. To tackle such a scenario, we introduce two baseline and two probabilistic approaches that are specifically designed for strict decentralization. The approaches analyze cooperative grasps using traditional grasp quality metrics and estimate cooperative grasps based on the assigned robot's priority. Simulation experiments demonstrate that the probabilistic approaches exhibit superior performance over the baseline approaches, reaching performance close to optimal for both homogeneous and heterogeneous groups. These approaches provide solutions to simulated multi-robot grasp coordination scenarios that have the potential to translate to real-world environments such as logistics, manufacturing, and services. © 2023 IEEE.

关键词： Industrial robots

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Doppler-only Single-scan 3D Vehicle Odometry

Doppler-only Single-scan 3D Vehicle Odometry

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IEEE International Conference on robotics and automation (ICRA)

作者： Andres Galeote-Luque Vladimír Kubelka Martin Magnusson Jose-Raul Ruiz-Sarmiento Javier Gonzalez-Jimenez System Engineering and Automation Department Machine Perception and Intelligent Robotics (MAPIR) Group University of Malaga Spain Mobile Robotics & Olfaction (MRO) AASS Research Centre Örebro University Sweden

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

We present a novel 3D odometry method that recovers the full motion of a vehicle only from a Doppler-capable range sensor. It leverages the radial velocities measured from the scene, estimating the sensor’s velocity from a single scan. The vehicle’s 3D motion, defined by its linear and angular velocities, is calculated taking into consideration its kinematic model which provides a constraint between the velocity measured at the sensor frame and the vehicle *** carried out prove the viability of our single-sensor method compared to mounting an additional IMU. Our method provides a more reliable translation of the sensor, compared to the errors linked to IMUs due to noise and biases. Its short-term accuracy and fast operation (∼5ms) make it a proper candidate to supply the initialization to more complex localization algorithms or mapping pipelines. Not only does it reduce the error of the mapper, but it does so at a comparable level of accuracy as an IMU would. All without the need to mount and calibrate an extra sensor on the vehicle.

关键词： Accuracy Three-dimensional displays Roads Heuristic algorithms Pipelines Kinematics Odometry

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Raising Body Ownership in End-to-End Visuomotor Policy Learning via Robot-Centric Pooling

Raising Body Ownership in End-to-End Visuomotor Policy Learn...

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IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Zheyu Zhuang Ville Kyrki Danica Kragic Robotics Perception and Learning Lab EECS KTH Royal Institute of Technology Stockholm Sweden Department of Electrical Engineering and Automation (EEA) Intelligent Robotics Group Aalto University Espoo Finland

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

We present Robot-centric Pooling (RcP), a novel pooling method designed to enhance end-to-end visuomo-tor policies by enabling differentiation between the robots and similar entities or their surroundings. Given an image-proprioception pair, RcP guides the aggregation of image features by highlighting image regions correlating with the robot’s proprioceptive states, thereby extracting robot-centric image representations for policy learning. Leveraging contrastive learning techniques, RcP integrates seamlessly with existing visuomotor policy learning frameworks and is trained jointly with the policy using the same dataset, requiring no extra data collection involving self-distractors. We evaluate the proposed method with reaching tasks in both simulated and real-world settings. The results demonstrate that RcP significantly enhances the policies’ robustness against various unseen distractors, including self-distractors, positioned at different locations. Additionally, the inherent robot-centric characteristic of RcP enables the learnt policy to be far more resilient to aggressive pixel shifts compared to the baselines. Code available at: https://***/Zheyu-Zhuang/RcP

关键词： Propioception Performance gain Image representation Data collection Feature extraction Robustness History Robots intelligent robots Resilience

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Annular gap width measurement based on sub-pixel edge fitting 3

Annular gap width measurement based on sub-pixel edge fittin...

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3rd International Conference on Electronic Information Engineering and Data Processing, EIEDP 2024

作者： Zhang, Jiawei Xu, Yongli Liu, Mingyang Liu, Yufeng Du, Guangrong School of Information Science and Engineering Shenyang University of Technology Shenyang110870 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China Northwest Industries Group Co. Ltd. Xi’an710043 China

ISBN: (纸本)9781510680531

To address the difficulty in measuring the annular joint gap structure with structured light, a detection method based on sub-pixel edge fitting is proposed. Firstly, the centerline is extracted by combining the directional template method with the gray centroid method, and then the laser groups are positioned accordingly. Secondly, The Zernike moment method is used to detect the sub-pixel contours of each pair of laser lines. Subsequently, the sub-pixel feature points of the light pattern are obtained by sliding the feature circle along the centerline. Finally, the gap value is determined by calculating the average distance between the fitted straight lines of the sub-pixel feature points. A single annular gap is selected for both visual measurement and manual feeler gauge measurement. The measurement results show that the error between the final measurement value of the proposed method and the manual feeler gauge measurement is no greater than 0.05mm. This indicates that this detection method exhibits good accuracy and high stability. This visual measurement method can meet the requirements for the measurement accuracy of annular joint gap widths. © 2024 SPIE.

关键词： Method of moments

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Research on modular charging systems based on digital twins 3

Research on modular charging systems based on digital twins

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3rd IEEE International Conference on Power, Electronics and Computer Applications, ICPECA 2023

作者： Dong, Qicheng Xu, Zhigang Wang, Junyi Yang, Xiao Fan, Linlin Li, Wei Shenyang Aerospace University College of Mechanical and Electrical Engineering Shenyang China Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China Northwestern Industries Group Co. Ltd Xi'an China

ISBN: (纸本)9781665472784

The development of ammunition loading technology plays a vital role in the improvement of my country's national defense construction level. Compared with the traditional charge, the modular charge has the advantages of high interchangeability and modularity, and can realize the rapid filling of the charge. However, for the application of modular charging technology, when building unit modules, it is still necessary to manually teach the charging target point, and the modular charging technology has the disadvantage of being difficult to adapt to flexibility. Therefore, in the face of the diversity of ammunition, modular charge is not conducive to the rapid and efficient production of ammunition. The current automation technology is difficult to improve the flexible adaptability of modular charge. Aiming at the disadvantages of modular charging technology, a modular flexible charging system based on digital twin is proposed, including the construction of virtual charging workstation, key point identification, automatic trajectory generation and automatic robot program generation. The system greatly improves the production efficiency of modular charge, provides a reference for the research of modular flexible charge, and improves the digital manufacturing level of ammunition production. © 2023 IEEE.

关键词： Industrial research

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