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IEEE International Conference on robotics and Automation (ICRA)

作者： Megha Gupta Gaurav S. Sukhatme Robotic Embedded Systems Laboratory and the Computer Science Department University of Southern California Los Angeles CA USA

This paper explores the idea of manipulation-aided perception and grasping in the context of sorting small objects on a tabletop. We present a robust pipeline that combines perception and manipulation to accurately sort Duplo bricks by color and size. The pipeline uses two simple motion primitives to manipulate the scene in ways that help the robot to improve its perception. This results in the ability to sort cluttered piles of Duplo bricks accurately. We present experimental results on the PR2 robot comparing brick sorting without the aid of manipulation to sorting with manipulation primitives that show the benefits of the latter, particularly as the degree of clutter in the environment increases.

关键词： Sorting Clutter Pipelines Robot sensing systems Grasping Color

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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Task-based Grasp Adaptation on a Humanoid Robot

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IFAC Proceedings Volumes 2012年第22期45卷 779-786页

作者： Jeannette Bohg Kai Welke Beatriz León Martin Do Dan Song Walter Wohlkinger Marianna Madry Aitor Aldóma Markus Przybylski Tamim Asfour Higinio Martí Danica Kragic Antonio Morales Markus Vincze Humanoids and Intelligence Systems Lab Institute for Anthropomatics KIT DE Autonomous Motion Lab MPI for Intelligent Systems DE Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI ES Computer Vision and Active Perception lab KTH SE Automation and Control Institute TUW AT

关键词： robotic Grasping and Manipulation Task-based Grasp Synthesis Visual Servoing Attention Segmentation Object categorization System Integration

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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Statement of thesis research: Multi-robot sampling strategies for large-scale oceanographic experiments

Statement of thesis research: Multi-robot sampling strategie...

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22nd International Joint Conference on Artificial Intelligence, IJCAI 2011

作者： Das, Jnaneshwar Robotic Embedded Systems Lab. Department of Computer Science University of Southern California Los Angeles CA 90089 United States

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Obstacle Detection and Avoidance for an Autonomous Surface Vehicle using a Profiling Sonar

Obstacle Detection and Avoidance for an Autonomous Surface V...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Hordur K. Heidarsson Gaurav S. Sukhatme Robotic Embedded Systems Lab and the Department of Electrical Engineering University of Southern Cal Robotic Embedded Systems Lab and the Department of Computer Science University of Southern Californi

We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to rely solely on sonar data to navigate and avoid obstacles in a lake and harbor environment.

关键词： Lakes Sonar measurements Collision avoidance Sensors Sonar navigation Sonar detection

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Safe automotive software

Safe automotive software

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Lecture Notes in computer science

作者： Heckemann, Karl Gesell, Manuel Pfister, Thomas Berns, Karsten Schneider, Klaus Trapp, Mario Fraunhofer Institute for Experimental Software Engineering Fraunhofer-Platz 1 67663 Kaiserslautern Germany Embedded Systems Group Department of Computer Science University of Kaiserslautern Germany Robotics Research Lab. Department of Computer Science University of Kaiserslautern Germany

ISBN: (纸本)9783642238659

For automotive manufacturers and tier-1 suppliers, the upcoming safety standard ISO 26262 results in new requirements for the development of embedded electronics and software. In particular, the variety of driver assistance systems that autonomously influence the driving dynamics of a vehicle may have a high risk potential and require development in accordance with the normative guidelines. But especially for those systems whose function is typically not based solely on hardware but on complex software algorithms, safety certification can be very complex or even impossible. In this paper the problems of development of vehicle systems according to ISO 26262 are described. Finally an approach for a safety-oriented reference architecture is presented that introduces adaptive software safety cages. This architecture enables application of formal verification methods. Supported by multisensor data fusion this allows to reduce safety requirements for vehicle control systems. © 2011 Springer-Verlag.

关键词： Control system synthesis

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Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes

Persistent Ocean Monitoring with Underwater Gliders: Towards...

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Ryan N. Smith Mac Schwager Daniela Rus Stephen L. Smith Gaurav S. Sukhatme School of Engineering Systems at the Queensland University of Technology BrisbaneQLD4000 Australia GRASP Lab University of PennsylvaniaPhiladelphiaPA 19104USA Distributed Robotics Lab Computer Science and Artificial Intelligence LaboratoryMassachusetts Insti Robotic Embedded Systems Laboratory Department of Computer ScienceUniversity of Southern California

This paper proposes a path planning algorithm and a velocity control algorithm for underwater gliders to persistently monitor a patch of ocean. The algorithms address a pressing need among ocean scientists to collect high-value data for studying ocean events of scientific and environmental interest, such as the occurrence of harmful algal blooms. The path planner optimizes a cost function that blends two competing factors: it maximizes the information value of the path, while minimizing the deviation from the path due to ocean currents. The speed control algorithm then optimizes the speed along the planned path so that higher resolution samples are collected in areas of higher information value. The resulting paths are closed circuits that can be repeatedly traversed to collect long term ocean data in dynamic environments. The algorithms were tested during sea trials on an underwater glider operating off the coast of southern California over the course of several weeks. The results show significant improvements in data resolution and path reliability compared to a sampling path that is typically used in the region.

关键词： Oceans Heuristic algorithms Vehicles Monitoring Sea measurements Vehicle dynamics Read only memory

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Radio Frequency Identification (RFID) enabling lean manufacturing

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International Journal of Manufacturing Research 2011年第4期6卷 321-336页

作者： Saygin, Can Sarangapani, Jagannathan Department of Mechanical Engineering Manufacturing Systems and Automation Lab University of Texas at San Antonio San Antonio TX 78249 United States Department of Electrical and Computer Engineering Embedded Systems and Networking Lab Missouri University of Science and Technology Rolla MO 65409 United States

A growing number of organisations are investigating the use of Radio Frequency Identification (RFID) as a tool to improve their business processes across the enterprise. When implemented properly, the benefits RFID brings to supply-chain management, logistics, and asset tracking are clearly understood. Yet many companies do not realise the value RFID can supply by providing data input into a company's Six Sigma and Lean applications by facilitating operational visibility. In this paper, a systematic approach that integrates the phases of business process reengineering, RFID data-based decision making, laboratory-level prototyping, and pilot implementation at industry site are discussed. Copyright © 2011 Inderscience Enterprises Ltd.

关键词： Lean production

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Toward free-living walking speed estimation using gaussian process-based regression with on-body accelerometers and gyroscopes

Toward free-living walking speed estimation using gaussian p...

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2010 4th International Conference on Pervasive Computing Technologies for Healthcare, Pervasive Health 2010

作者： Vathsangam, Harshvardhan Emken, Adar Spruijt-Metz, Donna Sukhatme, Gaurav S. Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California United States Spruijt-Metz Lab. Department of Preventive Medicine University of Southern California United States

ISBN: (纸本)9789639799899

Walking speed is an important determinant of energy expenditure. We present the use of Gaussian Process-based Regression (GPR), a non-linear, non-parametric regression framework to estimate walking speed using data obtained from a single on-body sensor worn on the right hip. We compare the performance of GPR with Bayesian Linear Regression (BLR) and Least Squares Regression (LSR) in estimating treadmill walking speeds. We also examine whether using gyroscopes to augment accelerometry data can improve prediction accuracy. GPR shows a lower average RMS prediction error when compared to BLR and LSR across all subjects. Per subject, GPR has significantly lower RMS prediction error than LSR and BLR (p

关键词： Accelerometers

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