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IEEE International Conference on Imaging systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Remote control library and GUI development for Russian crawler robot Servosila Engineer 13

Remote control library and GUI development for Russian crawl...

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13th International Conference on Electromechanics and robotics "Zavalishin's Readings", ER(ZR) 2018

作者： Mavrin, Ilya Lavrenov, Roman Svinin, Mikhail Sorokin, Sergey Magid, Evgeni Intelligent Robotics Department Higher School of Information Technology and Information Systems Kazan Federal University Russia Robot Dynamics and Control Laboratory College of Information Science and Engineering Ritsumeikan University Japan Mechanical Engineering Department Chuvash State University Russia

Recently a large variety of robots are available on the global market for a reasonable price. Often it turns out that even though a robot has a high-quality hardware and architecture, an original software of the robot may have a number of drawbacks or lacks some important features, which are required for a particular application of the robot. In such cases a user may decide to implement new libraries and functionalities using a provided by a manufacturer application programming interfaces as in most cases code of a commercial robot system is not an open-source. A number of our ongoing research projects concentrate on applications of various robots in urban search and rescue operations, and in most of these projects utilize Russian crawler robot Servosila Engineer. This paper describes the development of a new ROS-based control software and graphical user interface for Servosila Engineer robot. © The Authors, published by EDP sciences.

关键词： Graphical user interfaces

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Pitching and catching of an object between a pair of air jet 15

Pitching and catching of an object between a pair of air jet

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15th International Conference on Informatics in Control, Automation and robotics, ICINCO 2018

作者： Abe, Nobukado Iwaki, Satoshi Yoshinaga, Kazuki Tsuchihashi, Naoki Ikeda, Tetsushi Kosaku, Toshiharu Takaki, Takeshi Systems Engineering Robotics Laboratory Graduate School of Information Science Hiroshima City University 3-4-1 Ozukahigashi Asaminami-ku Hiroshima Japan Graduate School of Engineering Hiroshima University 3-3-2 Kagamiyama Higashihiroshima Hiroshima Japan

ISBN: (纸本)9789897583216

We have been studying an air jet manipulation technology to non-contactly carry an object over a long distance using multiple 3D air jet manipulation modules consisting of a single air jet nozzle and a pan-tilt actuator. Here we challenge long distant transportation through object pitching-and-catching between a pair of air jet. In this report, we propose a control algorithm to determine each air jet angle and its flow rate, for both pitching side and catching side. First we try to observe human behaviour in a real catch-ball as a hint to create the algorithm. Next, as a preliminary experiment, a pitching experiment and a catching experiment are independently performed to obtain an air jet output function and a control law for each. After that, we propose an integrated transporting algorithm of pitching and catching, and confirm its validity by demonstration experiment. Copyright © 2018 by SCITEPRESS – science and Technology Publications, Lda. All rights reserved

关键词： Behavioral research

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Cooperative control and navigation in the scope of the EC CADDY project

Cooperative control and navigation in the scope of the EC CA...

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OCEANS - Europe

作者： Pedro Abreu Mohammadreza Bayat João Botelho Pedro Góis António Pascoal Jorge Ribeiro Miguel Ribeiro Manuel Rufino Luís Sebastião Henrique Silva Laboratory of Robotics and Systems in Engineering and Science (LARSyS) ISR/IST University of Lisbon Lisbon Portugal

Cognitive Autonomous Diving Buddy (CADDY) is an FP7 project initiated in February 2014. The key objectives of the project are to develop, implement, and demonstrate in the course of missions at sea the efficacy of a number of innovative systems to assist human divers during the execution of demanding scientific and commercial activities in hazardous underwater environments. At the core of CADDY is the development of an underwater robot that plays the role of a buddy diver and a surface robot to improve guidance, monitoring, assistance, and safety of the diver's mission. The present paper gives a brief summary of the work done during the first year of the project towards the development and testing of the systems required for coordinated surface / underwater vehicle operations. We consider the cases where the leader is either the surface or the underwater vehicle. The architecture adopted for multiple vehicle coordination is described. Results of tests with the MEDUSA class of autonomous marine vehicles show the efficacy of the systems developed for navigation and coordinated motion control.

关键词： Vehicles Underwater vehicles Navigation Trajectory Robot kinematics

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Learning to Synthesize and Remove Rain Unsupervisedly 18th

Learning to Synthesize and Remove Rain Unsupervisedly

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18th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2021

作者： Qi, Yinhe Pan, Meng Jin, Zhi School of Intelligent Systems Engineering Sun Yat-sen University Shenzhen China Guangdong Provincial Key Laboratory of Fire Science and Technology Guangzhou510006 China Guangdong Provincial Key Laboratory of Robotics and Digital Intelligent Manufacturing Technology Guangzhou510535 China

ISBN: (纸本)9783030893699

Most existing single image deraining networks are trained in a supervised way, which relies on paired images including one clean image and one rain image. In most cases, the rain images are synthesized from the clean ones manually to obtain sufficient paired images. However, not only huge time costs but expert knowledge are needed to ensure the synthesized images are realistic enough. In addition, the superior performance of these deraining networks trained on manually synthesized rain images is hard to be maintained when testing on real rain images. To address these issues, we propose a scene adaptive asymmetric CycleGAN (SAA-CycleGAN) which transfers clean images to their rainy counterparts automatically so that adequate realistic rain images can be obtained for training deraining networks in a supervised way. Moreover, SAA-CycleGAN can both remove rain from rainy images and synthesize rain on clean images benefiting from the cycle consistency strategy. Since the information is not symmetric during the rain synthesis process and the deraining process, the generators are designed with different architecture accordingly for these two processes. Comprehensive experiments show that the SAA-CycleGAN is able to synthesize more lifelike rain images and achieve similar deraining performance compared with the state-of-the-art deraining methods. © 2021, Springer Nature Switzerland AG.

关键词： Rain

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STAPointGNN: Spatial-Temporal Attention Graph Neural Network for Gesture Recognition Using Millimeter-Wave Radar 19th

STAPointGNN: Spatial-Temporal Attention Graph Neural Network...

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19th EAI International Conference on Collaborative Computing: Networking, Applications and Worksharing, CollaborateCom 2023

作者： Zhang, Jun Wang, Chunyu Wang, Shunli Zhang, Lihua Academy for Engineering and Technology Fudan University Shanghai China Jilin Provincial Key Laboratory of Intelligence Science and Engineering Changchun China Engineering Research Center of AI and Robotics Ministry of Education Shanghai China Engineering Research Center of AI and Unmanned Vehicle Systems of Jilin Province Changchun China

ISBN: (纸本)9783031545276

Gesture recognition plays a pivotal role in enabling natural and intuitive human-computer interaction (HCI), finding applications in diverse domains such as smart homes, robot control, and virtual reality. Thanks to advances in computer vision, the most popular method currently is to use the camera for gesture recognition. However, the camera struggles to function properly in poor lighting and inclement weather, and risks invading privacy. Due to the robust and non-invasive features of millimeter-wave radar, gesture recognition based on millimeter-wave radar has received extensive attention from researchers in recent years. In this paper, we propose a novel graph neural network named STAPointGNN for gesture recognition using millimeter-wave radar. In order to better extract features in the spatial and temporal dimensions of point clouds collected by millimeter-wave radar, we designed a spatial-temporal attention mechanism based on graph neural network. We also propose a novel point flow embedding method to capture the motion features of the point clouds in adjacent frames. To verify the superiority of our method, we conduct experiments on two public millimeter-wave radar gesture recognition datasets. The results show that our model outperforms existing mainstream algorithms. © ICST Institute for Computer sciences, Social Informatics and Telecommunications engineering 2024.

关键词： Gesture recognition

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Resilient Event-Triggered Model Predictive Control for Adaptive Cruise Control Under Sensor Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 807-809页

作者： Zhijian Hu Rong Su Kai Zhang Zeyuan Xu Renjie Ma School of Electrical and Electronic Engineering Nanyang Technological UniversitySingapore 639798Singapore Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technologyand the Center of Ultra-Precision Optoelectronic Instrument EngineeringHarbin Institute of TechnologyHarbin 150001China Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Department of Chemical and Biomolecular Engineering National University of SingaporeSingapore 117585Singapore State Key Laboratory of Robotics and Systems Harbin Institute of TechnologyHarbin 150001China IEEE

Dear Editor,This letter addresses the resilient model predictive control(MPC)problems for adaptive cruise control(ACC)systems under sensor *** the light of vulnerabilities of ACC systems to sensor attacks,an intrusion detection mechanism is proposed at the controller side to distinguish abnormal ***,the robust control gains are derived to design the terminal region constraint for MPC.

关键词： Trigger Event constraint

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Reactive collision avoidance for navigation with dynamic constraints

Reactive collision avoidance for navigation with dynamic con...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： J. Minguez L. Montano O. Khatib Dept. of Computer Science and Systems Engineering University of Zaragoza Spain Robotics Laboratory University of Stanford USA Robotics Laboratory Stanford University USA

We address the problem of applying reactive navigation methods for collision avoidance to systems where the dynamics cannot be neglected: mobile robots with slow dynamic capabilities, or systems working at high speeds. Rather than embedding the motion constraints when designing a navigation method, we propose to introduce the robot dynamic constraints directly into the spatial representation. In this space the dynamic capabilities of the robot are implicitly represented. With minor modifications, standard reactive navigation methods can be used in this space implicitly taking into account the robot dynamic constraints. To validate this framework, we show experimental results using two reactive navigation methods whose original formulation do not take the robot dynamic constraints into account (the nearness diagram navigation and the potential field method).

关键词： Collision avoidance Navigation Vehicle dynamics Orbital robotics Mobile robots Vehicles Computer science systems engineering and theory Design methodology Strips

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

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5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Optical flows

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Rfid-based warehouse management system prototyping using a heterogeneous team of robots 23rd

Rfid-based warehouse management system prototyping using a h...

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23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

作者： Khazetdinov, Artur Aleksandrov, Andrey Zakiev, Aufar Magid, Evgeni Hsia, Kuo-Hsien Laboratory of Intelligent Robotic Systems Intelligent Robotics Department Higher Institute of Information Technology and Intelligent Systems Kazan Federal University 35 Kremlevskya street Kazan420008 Russia Department of Electrical Engineering National Yunlin University of Science and Technology Tainan City74448 Taiwan

ISBN: (纸本)9781916449046

Robotic warehouse management is a promising field of research with a high practical applicability. Typically, warehouses are strictly organized and controlled environments with a high potential for rapid robot deployments. To provide system robustness every robotic deployment should be tested in advance using simulations. Such virtual testing environment should correspond well with a real world warehouse environment and be consistent with international and national standards. In this paper, we present a warehouse Gazebo simulation that was constructed in accordance with Government Standards of Russian Federation and international standards. We implemented a simplified Radio Frequency IDentification (RFID) transmitter-receiver mechanism within the Gazebo simulator and tested it in a virtual warehouse environment using a heterogeneous team of TIAGo Base mobile robot and PX4-based UAV. Our constructed virtual warehouse environment and RFID mechanism models are open-source for academic community use. © CLAWAR Association Ltd.

关键词： Robots

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