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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Wu, Qingyu Shen, Jianfei Fan, Feiyi Gu, Yang Xu, Chenyang Chen, Yiqiang Chinese Academy of Sciences Institute of Computing Technology Beijing China University of Chinese Academy of Sciences Beijing China The Beijing Key Laboratory of Mobile Computing and Pervasive Device Beijing China Shandong Academy of Intelligent Computing Technology ShanDong China Peng Cheng Laboratory Shenzhen China Tianjin University Institute of Robotics and Autonomous Systems Tianjin China

ISBN: (纸本)9798350337488

For low-semantic sensor signals from human activity recognition (HAR), contrastive learning (CL) is essential to implement novel applications or generic models without manual annotation, which is a high-performance self-supervised learning (SSL) method. However, CL relies heavily on data augmentation for pairwise comparisons. Especially for low semantic data in the HAR area, conducting good performance augmentation strategies in pretext tasks still rely on manual attempts lacking generalizability and flexibility. To reduce the augmentation burden, we propose an end-to-end auto-augmentation contrastive learning (AutoCL) method for wearable-based HAR. AutoCL is based on a Siamese network architecture that shares the parameters of the backbone and with a generator embedded to learn auto-augmentation. AutoCL trains the generator based on the representation in the latent space to overcome the disturbances caused by noise and redundant information in raw sensor data. The architecture empirical study indicates the effectiveness of this design. Furthermore, we propose a stop-gradient design and correlation reduction strategy in AutoCL to enhance encoder representation learning. Extensive experiments based on four wide-used HAR datasets demonstrate that the proposed AutoCL method significantly improves recognition accuracy compared with other SOTA methods. © 2023 IEEE.

关键词： Contrastive Learning Human Activity Recognition Self-Supervised Learning

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Auto-Augmentation Contrastive Learning for Wearable-based Human Activity Recognition

Auto-Augmentation Contrastive Learning for Wearable-based Hu...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Qingyu Wu Jianfei Shen Feiyi Fan Yang Gu Chenyang Xu Yiqiang Chen Institute of Computing Technology Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China The Beijing Key Laboratory of Mobile Computing and Pervasive Device Beijing China Shandong Academy of Intelligent Computing Technology ShanDong China Peng Cheng Laboratory Shenzhen China Institute of Robotics and Autonomous Systems Tianjin University Tianjin China

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State and parameter estimation of suspended load using quadrotor onboard sensors

State and parameter estimation of suspended load using quadr...

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International Conference on Unmanned Aircraft systems (ICUAS)

作者： Vicko Prkačin Ivana Palunko Ivan Petrović Laboratory for intelligent autonomous systems (LARIAT) Department of Electrical and Computer Engineering University of Dubrovnik Dubrovnik Croatia Laboratory for autonomous systems and mobile robotics (LAMOR) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

ISBN: (数字)9781728142784

ISBN: (纸本)9781728142791

In this paper, we address the problem of state and parameter estimation of a suspended load using quadrotor onboard sensors. Flying with a suspended load alters the quadrotor flight dynamics, sometimes to a large extent, making it a challenging and hazardous task. Monitoring the state of the suspended load is vital for safe flight operations while parameter estimation decouples the control design from specific parameter-dependent solutions. We take advantage of the fact that the forces and torques the suspended load exerts on the quadrotor can be detected in the aircraft IMU measurements as a low frequency harmonic. Thus, by combining the available measurements and system mass we are able to estimate the state of the suspended load. Since our approach stems from understanding the aircraft-load interaction, we start off by delineating the full system model of the quadrotor with a suspended load. To isolate the natural frequency of the suspended load and determine the length of suspension cable, we employ the Fast Fourier Transform (FFT). The proposed estimation algorithms are validated through extensive numerical simulations and experimentally.

关键词： Estimation Aircraft Load modeling Sensors Atmospheric modeling Parameter estimation Numerical models

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Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

arXiv

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

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External localization system for mobile robotics

External localization system for mobile robotics

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International Conference on Advanced robotics (ICAR)

作者： Tomáš Krajník Matías Nitsche Jan Faigl Tom Duckett Marta Mejail Libor Přeučil University of Lincoln Lincoln Lincolnshire GB Lab. of Robotics and Emb. Systems Univ. of Buenos Aires Argentina Dpt. of Computer Science and Engineering FEE Czech Technical Univ. in Prague Lincoln Centre for Autonomous Systems Univ. of Lincoln United Kingdom Intelligent and Mobile Robotics Group FEE Czech Technical Univ. in Prague

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems.

关键词： Cameras Three-dimensional displays Robots Mathematical model Estimation Equations Detectors

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Teleoperation of AZIMUT-3, an omnidirectional non-holonomic platform with steerable wheels

Teleoperation of AZIMUT-3, an omnidirectional non-holonomic ...

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： François Ferland Lionel Clavien Julien Frémy Dominic Létourneau François Michaud Michel Lauria Université de Sherbrooke Sherbrooke Québec Canada Canada Research Chair in Mobile Robotics and Autonomous Intelligent Systems University of Applied Science Geneva Switzerland

AZIMUT-3 is an omnidirectional non-holonomic (or pseudo-omnidirectional) robotic platform intended for safe human-robot interaction. In its wheeled configuration, shown in Fig. 1, AZIMUT-3 uses eight actuators for locomotion: four for propulsion and four for steering the wheels, which can rotate 180 degrees around their steering axis. Propulsion is done using standard DC brushless motors (Bayside K064050-3Y) with optical encoders (US Digital E4-300-157-HUB, 0.3 deg of resolution), capable of reaching 1.47 m/s. The platform uses steerable wheels motorized using differential elastic actuators (DEA), which provide compliance, safety and torque control capabilities. AZIMUT-3's hardware architecture consists of distributed modules for sensing and low-level control, communicating with each other through a 1 Mbps CAN bus. A Mini-ITX computer equipped with a 2.0 GHz Core 2 duo processor running Linux with real-time patches (RT-PREEMPT) is used on-board for high-level control modules. Nickel-metal hydride batteries provide power to the platform for up to 3 hours of autonomy. A passive vertical suspension mechanism (Rosta springs) is used to connect the wheels to AZIMUT-3's chassis, allowing them to keep contact with the ground on uneven surfaces. The platform has a 34 kg payload capacity and weights 35 kg.

关键词： mobile robots Robot kinematics Wheels Conferences Propulsion Actuators

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Force-controlled motion of a mobile platform

Force-controlled motion of a mobile platform

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Julien Frémy François Ferland Lionel Clavien Dominic Létourneau François Michaud Michel Lauria Université de Sherbrooke Sherbrooke Québec Canada Canada Research Chair (CRC) in Mobile Robotics and Autonomous Intelligent Systems Western Switzerland (HES-SO) University of Applied Sciences Geneva Switzerland

Robots are usually built using stiff actuators that can provide impressive motion performances. However, they struggle to control the force, they do not handle collisions graciously and are generally bad at interacting significantly with partially unknown or kinematically constrained environments. One solution is to add a force sensor in the closed-loop control of backdrivable actuators [1], but this is limited in terms of stability, safety and robustness [2] [3]. One of the foremost initiatives using this method was undertaken by the German Aerospace Center (DLR) and resulted in three generations of extensively optimized lightweight robotic arms [4] that can physically interact with people. Performances are impressive but robustness is still an issue.

关键词： Robot sensing systems Torque

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Telerehabilitation via a mobile robot

Telerehabilitation via a mobile robot

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International Workshop on Virtual Rehabilitation

作者： Daniel Labonte Francois Michaud Richard Cloutier Marc-Andre Roux Dominic Letourneau Michael Lauria Patrick Boissy Department of Electrical Engineering and Computer Engineering Université de Sherbrook QUE Canada Mobile Robotics and Autonomous Intelligent Systems Canada Department of Physical Education Université de Sherbrook QUE Canada

Teleoperated from a distant location, a mobile robot with some autonomous capabilities can become a beneficial tool in telerehabilitation applications. Safety being of prime concern in such settings, we took special care in coming up with the proper teleoperation interfaces that can provide pertinent information about the system states and conditions (objects, persons, free space, data, etc.) in conjunction with an efficient control system. In order to enhancement operatorpsilas performances we tested our new robot with three modalities of visual information presentation in the teleoperation interfaces, with the use of virtual reality for operator interfaces, in a setup reproducing home like environment.

关键词： Robots mobile communication Virtual reality mobile robots Medical services Solid modeling Context modeling

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Differential elastic actuator for robotic interaction tasks

Differential elastic actuator for robotic interaction tasks

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Lauria M.-A. Legault M.-A. Lavoie F. Michaud Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Québec Canada Department of Mechanical Engineering Université de Sherbrooke Québec Canada Mobile Robotics Autonomous Intelligent Systems Canada Research Chair

For complex robotic tasks (e.g., manipulation, locomotion), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (e.g., position of contact points, interaction forces) in real-time, the finite sampling time of digital control loops and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, a new compact design for high performance actuators specifically adapted for integration in robotic mechanisms is presented. This design makes use of a mechanical differential as its central element. Results shown that differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance mechanical spring provides the same benefits as serial coupling, but in a more compact and simple design. This new actuator, named Differential Elastic Actuator (DEA), provides interesting design implementations, especially for rotational actuators used for mobile robot locomotion.

关键词： Actuators Robot sensing systems Force measurement Transducers Impedance Position measurement Time measurement Sampling methods Digital control Mechanical sensors

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Elastic locomotion of a four steered mobile robot

Elastic locomotion of a four steered mobile robot

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2008 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Michel Lauria Francois Michaud Marc-Antoine Legault Dominic Letourneau Philippe Retornaz Isabelle Nadeau Pierre Lepage Yan Morin Frederic Gagnon Patrick Giguere Julien Fremy Lionel Clavien Department of Electrical Engineering and Computer Engineering Université de Sherbrook Quebec Canada Canada Research Chair (CRC) in Mobile Robotics and Autonomous Intelligent Systems Université Sherbrooke Quebec Canada Department of Electrical Engineering and Computer Engineering Université Sherbrooke Quebec Canada Department of Microtechnics Ecole Polytechnique Fédérale de Lausanne Switzerland

The most common ground locomotion method to make a mobile robot move is to use two-wheel drive with differential steering and a rear balancing caster. Controlling the two motors independently makes the robot non-holonomic in its motion. Such robots can work well indoor on flat surfaces and in environments adapted for wheelchairs. But the benefit of providing mobility to a robot directly relies on its locomotion capability, for handling different types of terrains (indoors or outdoors) and situations such as moving slowly or rapidly, with or without the presence of moving objects (living or not), climbing over objects and potentially having to deal with hazardous conditions. It is with this objective in mind that we designed AZIMUT. AZIMUT is a legged tracked wheeled robot capable of changing the orientation of its four articulations. Each articulation has three degrees of freedom (DOF): it can rotate 360deg around its point of attachment to the chassis, can change its orientation over 180deg, and rotate to propulse the robot.

关键词： Robots Actuators Prototypes Automation Computers Impedance Springs

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