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11th International Japan-Africa Conference on Electronics, Communications, and Computations, JAC-ECC 2023

作者： Fawzy, Arwa Hassan, Ahmed Gad, Ahmed Zaky, Ahmed B. El-Hussieny, Haitham Alexandria Egypt program Alexandria Egypt Benha University Faculty of Engineering at Shoubra Electrical Engineering Department Egypt Egypt-Japan University of Science and Technology Department of Mechatronics and Robotics Engineering Alexandria Egypt

ISBN: (纸本)9798350369328

Pet owners experience difficulty in understanding their pets' body language and its implications for animal welfare, given that animals cannot utilize human speech to communicate their emotions and health conditions. However, previous experiments for analyzing cat behavior have demonstrated that cats are precisely expressive. DeepCat, a deep-learning approach developed in this study, translates cats' body language signals, enabling owners to discern their feline companions' intended messages and emotional states. Our DeepCat model was trained on a dataset comprising 10,000 cat images, implementing automatic labeling to track key features, including the tail, eyes, and mouth. Presented as a Flutter application, DeepCat can function everywhere, allowing owners to easily monitor their cats and make informed decisions in situations that require caution. This paper discusses the potential benefits and limitations of DeepCat and provides suggestions for future research in this domain. © 2023 IEEE.

关键词： Emotion Recognition

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Control strategies for gutter maintenance robot

Control strategies for gutter maintenance robot

引用

IEEE Latin American robotics Symposium, LARS

作者： Marllely Hernandez Sofia Dussan Adrian Chavarro Ruthber Rodriguez Mario Arbulu Mechatronics Engineering Program CORHUILA Neiva Huila Colombia R&D Section Robotics 4.0 Neiva Huila Colombia Tecnoparque Nodo Neiva SENA Neiva Hula Colombia Mechatronics Engineering Program CORHUILA Robotics 4.0 Neiva Huila Colombia

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

This paper presents the control system of the ROMANCAN robot (Gutter Maintenance Robot), a tracked differential mobile robot designed to clean buildings gutters and reduce the risk of operators falling. The focus on the control system deals with following wall, to correct the robot trajectory in real time. In addition, the integrated electronic components, such as sensors and actuators, are detailed. The simulation results and experimental tests, show the effectiveness of the system in simulated conditions, and with physical prototype, it is noticed at kinematic control that the compensation angle can be computed by dividing 2.5 the initial robot deviation angle; otherwise the dynamic control allows compensate additional real environment disturbs contributing to the field of mobile robotics and automation in narrow spaces at urban environments.

关键词： Wireless communication Urban areas Kinematics Robot sensing systems Control systems Cleaning Safety Maintenance Usability Robots

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Design of an Automatic Price Tag System for Web-Based Retail Business

Design of an Automatic Price Tag System for Web-Based Retail...

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International Conference on Information Management and Technology (ICIMTech)

作者： Suryadiputra Liawatimena Devina Gunawan Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Computer Science Deparment BINUS Graduate Program Master of Computer Science Bina Nusantara University Jakarta Indonesia Automotive & Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798350390025

ISBN: (纸本)9798350390032

Modern retail businesses face a significant challenge with the inefficiency of manually changing price labels on shelves. This manual process not only consumes valuable time and resources but also increases the likelihood of errors, leading to potential inaccuracies in pricing and a less streamlined shopping experience for customers. The proposed solution is the implementation of an Electronic Shelf Label (ESL) system that automatically displays the prices of goods on retail business shelves. This system connects a website (front end and back end) to e-paper via a Wi-Fi network and microcontroller, allowing retail business owners to update prices more easily. Additionally, buyers can search for desired items through the website. The results are the time to send data from the website to the e-paper, namely, to know the performance of the e-paper used. The average time required from 10 attempts to send data from the website to the e-paper is 20.935 seconds. Since the data is connected to the server and will be updated automatically, using this system will be more efficient than manually changing the price label, although it takes time to transfer data from the website to the e-paper.

关键词： Electric potential Microcontrollers Pricing Manuals Information management Servers Wireless fidelity Faces Business

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Design of a Knee-joint Exoskeleton to Reduce Misalignment in Both the Sagittal and Coronal Planes

Design of a Knee-joint Exoskeleton to Reduce Misalignment in...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Shubhranil Sengupta Jee-Hwan Ryu The Robotics Program KAIST Daejeon South Korea Department of Civil and Environmental Engineering KAIST Daejeon South Korea

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Many individuals experience knee dysfunctions attributed to the natural aging process and degenerative conditions. To aid individuals in regaining knee functionality, supportive exoskeletons were designed to be affixed to both the shin and thigh. However, a common issue encountered in knee exoskeletons involves the misalignment of joints between the exoskeleton and the user, resulting in discomfort and potential injuries. To reduce misalignment with the knee joint, it is essential for the thigh and shin harnesses of the exoskeleton to replicate the natural trajectories of the knee. However, achieving this is a complex task due to the shifting center of rotation of the knee in both the Sagittal and Coronal planes. Previous knee exoskeletons primarily focus on aligning the joint in the Sagittal plane, neglecting alignment in the other dimension due to inherent design constraints. For the first time, this study introduces a knee-joint exoskeleton capable of conforming to the natural movement of the knee in both the Sagittal and Coronal planes, with the aim of minimizing joint misalignment without the use of inherently soft materials. A spherical scissor linkage mechanism (SSLM) was utilized in conjunction with a customized guide rail to adjust the center of rotation of the SSLM. This configuration facilitates knee flexion/extension while accommodating the knee joint’s center of rotation in both the Sagittal and Coronal planes. The experimental outcomes demonstrated a substantial reduction in misalignment with the knee when compared to a commercial knee-support brace with a one-degree-of-freedom revolute joint.

关键词： Rails Couplings Exoskeletons Thigh Aging Trajectory Task analysis

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Development of a Collaborative Robotic Arm-based Bimanual Haptic Display

arXiv

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arXiv 2024年

作者： Lee, Joong-Ku Kim, DongHyeon Park, Seong-Su Lee, Jiye Ryu, Jee-Hwan Department of Civil and Environmental Engineering KAIST Daejeon Korea Republic of Robotics Program KAIST Daejeon Korea Republic of

This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation techniques. The optimized setup configuration maximizes workspace coverage, dexterity, and haptic feedback capability while ensuring collision safety. Inertia/friction compensation significantly improve transparency and reduce user fatigue, leading to a more seamless and transparent interaction. The effectiveness of our system is demonstrated in various applications, including bimanual bilateral teleoperation in both real and simulated environments. This research contributes to the advancement of haptic technology by presenting a practical and effective solution for creating high-performance bimanual haptic displays using collaborative robot arms. © 2024, CC BY.

关键词： Collaborative robots

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Conditional Latent ODEs for Motion Prediction in Autonomous Driving

arXiv

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arXiv 2024年

作者： Khang, Truong G. Kim, Yongjae Finazzi, Andrea KAIST CS Korea Republic of KAIST ME Korea Republic of The Robotics Program - KAIST EE Korea Republic of

This paper addresses imitation learning for motion prediction problem in autonomous driving, especially in multi-agent setting. Different from previous methods based on GAN, we present the conditional latent ordinary differential equation (cLODE) to leverage both the generative strength of conditional VAE and the continuous representation of neural ODE. Our network architecture is inspired from the Latent-ODE model. The experiment shows that our method outperform the baseline methods in the simulation of multi-agent driving and is very efficient in term of GPU memory consumption. Our code and docker image are publicly available: https://***/TruongKhang/cLODE;https://***/r/kim4375731/clode. © 2024, CC BY.

关键词： Ordinary differential equations

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Therapist's and Robot's Roles in Robot-Assisted Interventions during JA Therapies of Children with ASD 23

Therapist's and Robot's Roles in Robot-Assisted Intervention...

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23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024

作者： Aguirre, Andrés Sierra M, Sergio D. Gaitán-Padilla, Maria Frizera-Neto, Anselmo Cifuentes, Carlos A. Múnera, Marcela Federal University of Espirito Santo Graduate Program of Electrical Engineering Vitoria29075-910 Brazil University of the West of England Bristol Robotics Laboratory Bristol United Kingdom Colombian School of Engineering Julio Garavito D.C. Bogotá Colombia

ISBN: (纸本)9798350373578

Joint Attention (JA) is a fundamental social interaction capability developed in early childhood by sharing a common focus point with others. However, this skill is commonly affected in children with Autism Spectrum Disorders (ASD). In this sense, social robots emerged as a tool for developing novel JA intervention strategies supporting therapists. Therefore, this work presents a study to determine the best combination of robot and therapist participation in JA therapies based on following the gaze of the mediator with verbal and pointing instructions. Sixteen subjects with ASD participated in seven robot-assisted sessions divided into a robot-assisted group (RAG) and a control group (CG), performing equivalent intervention sessions. A focus visual system measured quantitative and reliable JA metrics, while the robot's participation was progressively increased in the RAG to manage all the instructions at the last session. Results show that participants of the RAG had better JA scores than the CG during sessions 6 and 7 (=0.029 and p=0.018, respectively). The RAG paid more visual attention and presented more social engagement behaviours in the sessions (p © 2024 IEEE.

关键词： Social robots

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A Computationally Efficient GNSS/INS Design of Multirotor based on Error-state Kalman Filter

A Computationally Efficient GNSS/INS Design of Multirotor ba...

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SICE Annual Conference

作者： Sheng-Wen Cheng Yi-Hsiang Huang Graduate Degree Program of Robotics National Yang Ming Chiao Tung University Taiwan

This paper presents a GNSS/INS based on an error-state Kalman filter (ESKF) to combine the global navigation satellite system (GNSS) and inertial navigation system (INS) for multirotors. The onboard sensors consist of an inertial measurement unit (IMU), a magnetometer, a GNSS receiver, and a rangefinder. The proposed system can estimate the position, velocity, quaternion, and IMU bias, where the INS design significantly improves the positioning update rate of the GNSS. In addition, to execute the algorithm on flight computers with restricted computational resources, a code generator is developed to utilize the sparse and symmetric structure of the ESKF, which can produce high-efficient C code to speed up the computation time.

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Multi-Target Tracking Considering the Uncertainty of Deep Learning-based Object Detection of Marine Radar Images

Multi-Target Tracking Considering the Uncertainty of Deep Le...

引用

International Conference on Ubiquitous Robots (UR)

作者： Eunghyun Kim Jonghwi Kim Jinwhan Kim Robotics Program KAIST Daejeon Korea The Department of Mechanical Engineering KAIST Daejeon Korea

In this paper, a multi-target tracking approach that integrates the extended Kalman filter and deep learning-based object detection in marine radar images is presented. The Gaussian YOLOv3 method is utilized for object detection, providing both position measurements and their uncertainties. The extended Kalman filter is employed to estimate the position, heading, and speed of each detected target considering the uncertainty values obtained from the object-detection process. The global nearest neighbor-based data association and a dual filter structure composed of a confirmed track and a reserved track are applied to enhance the robustness of the tracking process. The feasibility of the proposed algorithm is validated through a real-world marine radar dataset collected in a coastal environment.

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Topological Guided Actor-Critic Modular Learning of Continuous Systems with Temporal Objectives

arXiv

引用

arXiv 2023年

作者： Li, Lening Qian, Zhentian Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA01609 United States

This work investigates the formal policy synthesis of continuous-state stochastic dynamic systems given high-level specifications in linear temporal logic. To learn an optimal policy that maximizes the satisfaction probability, we take a product between a dynamic system and the translated automaton to construct a product system on which we solve an optimal planning problem. Since this product system has a hybrid product state space that results in reward sparsity, we introduce a generalized optimal backup order, in reverse to the topological order, to guide the value backups and accelerate the learning process. We provide the optimality proof for using the generalized optimal backup order in this optimal planning problem. Further, this paper presents an actor-critic reinforcement learning algorithm when topological order applies. This algorithm leverages advanced mathematical techniques and enjoys the property of hyperparameter self-tuning. We provide proof of the optimality and convergence of our proposed reinforcement learning algorithm. We use neural networks to approximate the value function and policy function for hybrid product state space. Furthermore, we observe that assigning integer numbers to automaton states can rank the value or policy function approximated by neural networks. To break the ordinal relationship, we use an individual neural network for each automaton state’s value (policy) function, termed modular learning. We conduct two experiments. First, to show the efficacy of our reinforcement learning algorithm, we compare it with baselines on a classic control task, CartPole. Second, we demonstrate the empirical performance of our formal policy synthesis framework on motion planning of a Dubins car with a temporal specification. Copyright © 2023, The Authors. All rights reserved.

关键词： Learning algorithms

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