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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Raimund Edlinger Stefan Dumberger Roman Froschauer Wolfgang Pointner Marcel Zeilinger Andreas Nü chter Smart Automation and Robotics University of Applied Sciences Upper Austria Wels Austria Assistive &#x0026 Autonomous Systems AIT &#x2013 Austrian Institute of Technology Vienna Austria Informatics VII - Robotics and Telematics Julius-Maximilians-University W&#x00FC rzburg W&#x00FC rzburg Germany

The automation of transport and work tasks in various application domains continues to be a major challenge. The proposed paper presents key technologies within a process from sensing to reasoning and includes: (i) understanding the scene and its relations through new approaches in object classification and pose estimation based on machine learning, as well as methods for reliable detection of objects and object features; (ii) reliable and safe outdoor localization and mapping based on multi-modal approaches and innovative camera-based methods. The fusion of different sensor data is used for reliable obstacle detection and collision avoidance. The investigation of suitable system architectures, data processing platforms and communication mechanisms taking into account safety requirements is a prerequisite for the operation in a safety-critical environment. The paper provides a proof of concept for an automated platform to demonstrate and evaluate application scenario provided by the Linz Airport in the form of an automated transport process for air freight between a terminal and the aircraft.

关键词： Navigation Transportation Systems architecture Switches Robot sensing systems Software Software reliability

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Fairly Adaptive Negative Sampling for Recommendations

arXiv

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arXiv 2023年

作者： Chen, Xiao Fan, Wenqi Chen, Jingfan Liu, Haochen Liu, Zitao Zhang, Zhaoxiang Li, Qing The Hong Kong Polytechnic University Hong Kong Michigan State University United States Center for Artificial Intelligence and Robotics HKISI CAS Hong Kong Institute of Automation Chinese Academy of Sciences China Guangdong Institute of Smart Education Jinan University China

Pairwise learning strategies are prevalent for optimizing recommendation models on implicit feedback data, which usually learns user preference by discriminating between positive (i.e., clicked by a user) and negative items (i.e., obtained by negative sampling). However, the size of different item groups (specified by item attribute) is usually unevenly distributed. We empirically find that the commonly used uniform negative sampling strategy for pairwise algorithms (e.g., BPR) can inherit such data bias and oversample the majority item group as negative instances, severely countering group fairness on the item side. In this paper, we propose a Fairly adaptive Negative sampling approach (FairNeg), which improves item group fairness via adaptively adjusting the group-level negative sampling distribution in the training process. In particular, it first perceives the model’s unfairness status at each step and then adjusts the group-wise sampling distribution with an adaptive momentum update strategy for better facilitating fairness optimization. Moreover, a negative sampling distribution Mixup mechanism is proposed, which gracefully incorporates existing importance-aware sampling techniques intended for mining informative negative samples, thus allowing for achieving multiple optimization purposes. Extensive experiments on four public datasets show our proposed method’s superiority in group fairness enhancement and fairness-utility tradeoff. Copyright © 2023, The Authors. All rights reserved.

关键词： Recommender systems

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A Novel Interoperability Evaluation Framework for the Warehouse Management System

A Novel Interoperability Evaluation Framework for the Wareho...

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Annual Conference of Industrial Electronics Society

作者： Tijo Thayil Jingbing Zhang Prahlad Vadakkepat Abdullah Al Mamun Krishna Sagar Smart Robotics and Automation Advanced Remanufacturing & Technology Centre (ARTC) Agency for Science Technology and Research (A*STAR) Singapore Republic of Singapore Dept. of Electrical and Computer Engineering College of Design and Engineering National University of Singapore Advanced Remanufacturing & Technology Centre (ARTC) Agency for Science Technology and Research (A*STAR) Singapore Republic of Singapore

Warehouse management is a critical element in the supply chain. The rise of e-commerce demands ‘any-mix any-volume’ customized and personalized orders. Due to the variety of products in ‘any-mix any-volume’ scenario the warehouse operations have become complex. The advent of multi-channel commerce has reduced the minimum order quantity (MOQ), claiming frequent changes. The ‘any-mix any-volume’ operations require flexible automation for product storage, retrieval, packing and shipping. Seamless operations of multiple devices are essential for automating flexible warehouses. For effective flexible operations, the Warehouse Management System (WMS) requires controlling the automation devices and associated auxiliary systems. Heterogenous automation devices with distinct communication protocols, data formats and connectivity are challenges for WMS centered control. An interoperable WMS can enable seamless communication and data exchange among devices. In this work, the interoperability of the WMS and various aspects of interoperability of engineering systems are presented. Different WMS system designs are considered and evaluated for the interoperability requirements. A framework for evaluating the interoperability of a WMS is proposed which is validated through experimental trials at an industry grade warehouse.

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Vector detection network: An application study on robots reading analog meters in the wild

arXiv

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arXiv 2021年

作者： Dong, Zhipeng Gao, Yi Yan, Yunhui Chen, Fei School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China Smart Manipulation Robots Laboratory Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Analog meters equipped with one or multiple pointers are wildly utilized to monitor vital devices' status in industrial sites for safety concerns. Reading these legacy meters autonomously remains an open problem since estimating pointer origin and direction under imaging damping factors imposed in the wild could be challenging. Nevertheless, high accuracy, flexibility, and real-time performance are demanded. In this work, we propose the Vector Detection Network (VDN) to detect analog meters' pointers given their images, eliminating the barriers for autonomously reading such meters using intelligent agents like robots. We tackled the pointer as a two-dimensional vector, whose initial point coincides with the tip, and the direction is along tail-to-tip. The network estimates a confidence map, wherein the peak pixels are treated as vectors' initial points, along with a two-layer scalar map, whose pixel values at each peak form the scalar components in the directions of the coordinate axes. We established the Pointer-10K dataset composing of realworld analog meter images to evaluate our approach due to no similar dataset is available for now. Experiments on the dataset demonstrated that our methods generalize well to various meters, robust to harsh imaging factors, and run in real-time. Impact Statement-From the automatic meter recognition perspective, this work proposes an accurate, flexible, and ready-to-use pointer detection algorithm that contributes to dealing with legacy pointer-type meters, which still serve in industrial sites to date and require extensive human inspection. Adopting this technique to automatic agents could save human labor and promote the effectiveness and efficiency of getting data. It also inspires particular object detection problems, wherein the object could be considered a vector whose position is concerned, and its orientation also matters. The proposed Vector Detection Network is agnostic to the semantic meaning of the vectors it detects.

关键词： Vectors

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A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)

A Unified Perception Benchmark for Capacitive Proximity Sens...

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IEEE International Conference on robotics and automation (ICRA)

作者： Serkan Ergun Yitao Ding Hosam Alagi Christian Schöffmann Barnaba Ubezio Gergely Soti Michael Rathmair Stephan Mühlbacher-Karrer Ulrike Thomas Björn Hein Michael Hofbaur Hubert Zangl Institute of Smart Systems Technologies Klagenfurt University (AAU) Klagenfurt am Wörthersee Austria Lab of Robotics and Human-Machine-Interaction Chemnitz University of Technology (TUC) Chemnitz Germany Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR - IPR) Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Joanneum Research Robotics (Jr) Institute of Robotics and Mechatronics Klagenfurt am Wörthersee Austria Karlsruhe University of Applied Sciences

During the co-presence of human workers and robots, measures are required to avoid injuries from undesired contacts. Capacitive Proximity Sensors (CPSs) offer a cost-effective solution to cover the entire robot manipulator with fast close-range perception for HRC tasks, closing the perception gap between tactile detection and mid-range perception. CPSs do not suffer from occlusion and compared to pure tactile or force sensing, they react earlier and allow increasing the operating speed of Collaborative Robots (Cobots) while still maintaining safety. However, since capacitive coupling to obstacles varies with their distance, shape and material properties, the projection from capacitance to actual distances is a general problem. In this work, we propose an universal benchmark test procedure for fellow researchers to evaluate their CPSs. Considering ISO/TS 15066 for Power and Force Limiting (PFL) as a reference, we derive the requirements for the specified body regions and propose a method for determining the operation speed to comply with PFL based on a pre-defined detection threshold. Finally, the benchmark test procedure is evaluated on three different concepts of CPSs from the contributed researchers, demonstrating the general applicability.

关键词： Shape Force Collaboration Benchmark testing Robot sensing systems Manipulators Sensors

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Fabrication of an Arrayed Microstructure Surface Based on a Femtosecond Laser for Colloidal Particles Self-Assembly

SSRN

引用

SSRN 2022年

作者： Qiu, Ye Yu, Haibo Zheng, Jianchen Wang, Xiaoduo Zhang, Yuzhao Luo, Hao Zhao, Wenxiu Wen, Yangdong Liu, Lianqing Li, Wen Jung State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Department of Mechanical Engineering City University of Hong Kong Hong Kong Institute of Smart City and Intelligent Transportation Southwest Jiaotong University Chengdu610000 China Zhejiang Lab Hangzhou310000 China

Particle patterning, referred to as colloidal patterning or natural patterning, has wide applications in creating devices for photonic and surface-enhanced Raman spectroscopy (SERS) applications;and if applied to patterning organic thin films, the technique can be used to generate spatially selective surface templates to deposit polymers, proteins, and self-assembled monolayers. On the other hand, interfacial materials with special wettability have gained much research interest in the past decade, with promising applications in diverse areas including biomedical science and environmental engineering, such as cell-biomaterial interaction, biochip fabrication, membrane-based water desalination, biofouling control, and corrosion control. In this study, we developed a self-assembly method for particle patterning using femtosecond (fs)-laser micromachined micro-concave arrays to control surface wettability. Quantitative analyses revealed that the aspect ratio of the micro-concave structures could control the wettability of surfaces, could induce solution infiltration, and regulate the droplet evaporation process. For example, experimental results showed that arrays of micro-concave structures with AR = 0.28 could reduce the water contact angle (WCA) from 68° to 36°, i.e., increasing the wettability of a surface, and providing uniform dispersion of polystyrene (PS) micro-particles. Subsequently, surfaces with pre-patterned arrays of these micro-cavities are used to create more complex patterns of micro-particle on silicon substrates;the patterned micro-particles could also be transferred to PDMS surfaces directly to create micro-particle templates on the flexible PDMS surface. This transferring process does not damage the micro-concave structures on the silicon surface even after several repetitive transfer processes. This work provides a new application realm for fs-laser micro/nano processing and will provide insights for advancements in micro/nano particle self-assembl

关键词： Self assembly

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A surgical dataset from the da Vinci Research Kit for task automation and recognition

arXiv

引用

arXiv 2021年

作者： Mariani, Andrea Rivas-Blanco, Irene Pérez-Del-Pulgar, Carlos J. Tortora, Giuseppe Reina, Antonio J. Dept. Systems Engineering and Automation University of Malaga Malaga Spain The BioRobotics Institute Dept. Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Smart Medical Theatre Lab ABzero srl Pisa Italy

The use of large datasets is essential in surgical robotics to advance in the field of recognition and automation of surgical tasks. Furthermore, public datasets allow the comparison of different algorithms and methods to evaluate their performance. The objective of this work is to provide a complete dataset of three common training surgical tasks performed with the da Vinci Research Kit (dVRK). The dataset contains a total of 206 trials performed by twelve different subjects. For each trial, the dataset includes 154 kinematic variables from the dVRK (both master and slave sides) together with the associated video recorded with a camera. All the data has been carefully timestamped and provided in a readable csv format. A MATLAB interface integrated with ROS for using and replicating the data is also provided. Copyright © 2021, The Authors. All rights reserved.

关键词： Large dataset

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Development of a Bedside Rehabilitation Robot for Stroke Survivors

Development of a Bedside Rehabilitation Robot for Stroke Sur...

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IEEE International Conference on robotics and Biomimetics

作者： Xiaowei Lu Quanquan Liu Lihong Duan Jiaxiang Dong Zhi Zhang Zhen Liu Xin Zhang Xiaohua Zhang Chunbao Wang Jing Guo Jianjun Wei Jianjun Long Yulong Wang Peng Li Xuezhi Zhao Zhengzhi Wu Department of Neurology The First Affiliated Hospital of Shenzhen University Shenzhen China School of Automation Guangdong University of Technology Guangzhou China Guangdong MK Smart Robotics CO. Ltd Zhuhai China School of Mechanical and Automotive Engineering South China University of Technology Guangzhou China School of Mechanical and Automotive Engineering Guangxi University of Science and Technology Liuzhou China School of Mechanical and Electrical Engineering Guilin University of Electronic Technology Guilin China Department of Rehabilitation Shenzhen Dapeng New District Nan’Ao People Hospital Shenzhen China School of Mechanical and Electrical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

Stroke has become one of the main causes of disability and death in the elderly population. A number of stroke survivors suffers from motor dysfunction, reducing their daily quality of life. Early intervention can effectively improve rehabilitative effectiveness. Therefore, it is necessary for patients to start rehabilitation training when they are in bed. In this paper, a bedside rehabilitation robot is proposed to assist patient’s lower limb rehabilitation exercise training from bedridden stage. A motor drives a double-link mechanism to achieve linear reciprocating motion for leg extension and retracting training. Two double-link mechanisms allow stroke patients to perform different training modes. A hill model of lower leg muscle was constructed to simulate the motor workload during linear reciprocating motion of patient lower limb. The preliminary experiments demonstrated the feasibility of the bedside rehabilitation robot for lower limb exercise training of stroke survivors.

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Design and Implementation of a Robotic System for Oropharyngeal Swab Sampling Application

Design and Implementation of a Robotic System for Oropharyng...

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IEEE International Conference on robotics and Biomimetics

作者： Jiaxiang Dong Xiaowei Lu Lihong Duan Qi Liu Zhi Zhang Zhen Liu Xin Zhang Xiaohua Zhang Chunbao Wang Jing Guo Jianjun Long Yongtian Lu Jianjun Wei Peng Li Zhengzhi Wu Quanquan Liu Xuezhi Zhao School of Mechanical and Automotive Engineering South China University of Technology Guangzhou China Department of Neurology The First Affiliated Hospital of Shenzhen University Shenzhen China School of Automation Guangdong University of Technology Guangzhou China Guangdong MK Smart Robotics CO. Ltd Zhuhai China School of Mechanical and Automotive Engineering Guangxi University of Science and Technology Liuzhou China School of Mechanical and Electrical Engineering Guilin University of Electronic Technology Guilin China Department of Rehabilitation Shenzhen Dapeng New District Nan’Ao People Hospital Shenzhen China School of Mechanical and Electrical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

The Oropharyngeal (OP) swab sampling is a routine, simple and effective method for the detection of respiratory infectious diseases, especially when a large-scale infectious disease outbreak occurs, such as the newly experienced COVID-19. The traditional manual OP swab sampling process is full of difficulties, such as the high demand for professional medical staff, the risk of cross-infection, and the inflexibility of sampling time, etc., making the efficient implementation of this sampling method particularly critical. Therefore, this paper proposes a novel OP swab sampling robot system to assist the OP swab sampling task. The dual-stage series-parallel hybrid manipulator component is driven by four flexible shafts with torsion properties, which guarantees the completion of sampling tasks in the narrow space of the oral cavity. Accurate sampling point location information is provided through sensor calibration and location recognition algorithms based on deep learning, and the entire sampling task is implemented using a visual-tactile fusion control system. The preliminary experiments verified the completion and feasibility of the sampling task of the OP swab sampling system, and provided a prototype for the OP swab sampling tasks.

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Transfer Matrix Method-Based Dynamic Model to Compensate the Pulsating Pressure in Strain-Based Nonintrusive Pressure Measurement for the L-Shaped Pipe

SSRN

引用

SSRN 2023年

作者： Wang, Ze-Chao Qu, Yong-Zhi Yan, Wang-Ji Yuen, Ka-Veng Zhou, Zude Cheng, Shing Shin Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong Shun Hing Institute of Advanced Engineering The Chinese University of Hong Kong Hong Kong CUHK T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong Department of Mechanical and Industrial Engineering University of Minnesota Duluth United States State Key Laboratory of Internet of Things for Smart City Department of Civil and Environmental Engineering University of Macau China School of Mechanical Engineering Wuhan University of Technology Wuhan China

Since dynamic strain-pressure sensitivity coefficient (DSSC) is not always equal to the static SSC(SSSC), errors could be introduced. The present study introduces a transfer matrix method (TMM)-based dynamic model to compensate the pulsating pressure in strain-based nonintrusive pressure measurement for the L-shaped pipe to avoid the use of the shock tube. Firstly, the baseline dynamic model is calibrated with the tested SSSC and natural frequencies using model updating. Secondly, to select reasonable parameters to calibrate the baseline analytical model, the parametric sensitivity analysis is conducted with the derived closed-form sensitivities of the DSSC and natural frequency. The uniqueness of the field transfer matrix is also proven strictly regardless of whether the eigenvectors of the coefficient matrix of the governing equation are normalized. The proposed compensation method for pulsating pressure is finally validated in a hydraulic pipe system, which demonstrates that the proposed method can reduce measurement error effectively. © 2023, The Authors. All rights reserved.

关键词： Natural frequencies

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