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With the continuing development and innovation of modern information and communication technologies in recent years, social media platforms, such as WeChat and Microblog, have been witnessed to play a key role in employee management for enterprises or organizations, enabling individual or groups of employees to express their viewpoints or report their works in a real-time fashion. The resulting Cyber-workspace...
Multi-modal interface in medicine has been of interest as it extends clinical vision and diagnostic to a higher dimension. In this paper, we develop a real-time intra-operative guidance for robot-assisted surgical operation using a dual photoacoustic (PA) and fluorescence (FL) imaging based on a common pulsed laser and commercial ultrasound array transducer.
India is primarily an agriculture-based country and its economy largely depends upon the agriculture. But, most of the crops grown by the farmer are affected by weeds. Weed identification and control remains one of the most challenging tasks in agriculture. The most widely used methods for weed control is manual spraying of herbicides. But, this method has several negative impacts. Since hand labor...
This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined with a low-computational load while being on-line adaptable to changes in the control scenario. Examples for such scenarios are cooperative control, task-based control and fault-tolerant control, where...
Learning and planning in partially bservable Markov decision processes (POMDPs) is computationally intractable in real-time system. In order to address this problem, this paper proposes a belief policy reuse (BPR) method to avoid repeated computation. Firstly, the policy reuse evaluation mechanism based on belief Kullback¨CLeibler divergence is presented as a similarity metric between beliefs in the...
This paper presents a method of map building and path planning in an unknown environment. The method employs Light Detection And Ranging (LiDAR) to construct the 2D grid map, on which Anytime D* (AD*) and Dynamic Window Approach (DWA) are used for path planning. The global path is generated by AD* algorithm while DWA is responsible for dynamic obstacle avoidance. Simulation and experiments verify...
Communication atmosphere in Human-Robot Interaction (HRI) is estimated by integrating emotional states of humans and robots based on the concept of Fuzzy Atmosfield (FA), where human emotion is estimated from bimodal communication cues (i.e., speech and facial expression) and robot emotion is generated by emotional expression synthesis. Fuzzy Analytical Hierarchy Process (FAHP) is used for dynamic...
In this study, we aim to achieve path-planning for firefighter robots in large petrochemical complexes. In large environments, path-planning (e.g., Hybrid A*) requires a large computation memory and a long execution time. These constrains are not feasible for firefighter robots. In order to overcome these two challenges, we propose a two-stage hybrid A* path-planning. For the first stage we use a...
This paper proposes a novel technique for the real-time estimation of the joint torques variations in humans while performing heavy manipulation tasks. To achieve this, the method is based on the deviations of the Centre of Pressure (CoP) and Ground Reaction Force (GRF) in the presence of interaction forces. The CoP and GRF variations are calculated from the difference between the estimated values...
In this paper, we present an experimental set-up reproducing a convergent 5G service scenario spanning over SDN-based Edge network, Cloud and IoT domains. To address reliability and robustness requirements of future 5G networks, the set-up also includes an SDN orchestrator able to adaptively provision data delivery paths connecting service components running in those different domains. In particular,...
There is a demand for a new neurorehabilitation modality with a brain-computer interface for stroke patients with insufficient or no remaining hand motor function. We previously developed a robotic hand rehabilitation system triggered by multichannel near-infrared spectroscopy (NIRS) to address this demand. In a preliminary prototype system, a robotic hand orthosis, providing one degree-of-freedom...
Reinforcement learning (RL) has been applied to robotics and many other domains in which a system must learn in real-time and interact with a dynamic environment. In most studies the state-action space that is the key part of RL is predefined. Integration of RL with deep learning method has however taken a tremendous leap forward to solve novel challenging problems such as mastering a board game of...
Using compliant joints and haptic feedback are two methods that could improve next-generation teleoperated systems, but both methods present challenges to traditional control systems. This paper describes the first experimental investigation of a new approach to real-time haptic control for teleoperated robots with compliant joints. One original aspect of the approach is using an auxiliary error,...
This paper considers the problem of safe mission planning of dynamic systems operating under uncertain environments. Much of the prior work on achieving robust and safe control requires solving second-order cone programs (SOCP). Unfortunately, existing general purpose SOCP methods are often infeasible for real-time robotic tasks due to high memory and computational requirements imposed by existing...
Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally incomplete. Moreover, during online reconstruction, the surface changes with every newly integrated depth image which poses a significant challenge for physics engines...
Our work builds upon Visual Teach & Repeat 2 (VT&R2): a vision-in-the-loop autonomous navigation system that enables the rapid construction of route networks, safely built through operator-controlled driving. Added routes can be followed autonomously using visual localization. To enable long-term operation that is robust to appearance change, its Multi-Experience Localization (MEL) leverages...
Simulation is a valuable tool for robotics research and development, and various simulation packages have been proposed. However, we are aware of no freely-available packages which implement the required fidelity to accurately model earth-moving robots that manipulate the terrain itself. The software which does exist for this is difficult if not impossible to run in real-time while achieving the desired...
In this paper, we present a general framework for learning social affordance grammar as a spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human interactions, and transfer the grammar to humanoids to enable a real-time motion inference for human-robot interaction (HRI). Based on Gibbs sampling, our weakly supervised grammar learning can automatically construct a hierarchical representation...
Fetching items is an important problem for a social robot. It requires a robot to interpret a person's language and gesture and use these noisy observations to infer what item to deliver. If the robot could ask questions, it would help the robot be faster and more accurate in its task. Existing approaches either do not ask questions, or rely on fixed question-asking policies. To address this problem,...
We present a novel method to learn human preferences during, and for, the execution of concurrent joint humanrobot tasks. We consider tasks realized by a team of a human operator and a robot helper that should adapt to the human's task execution preferences. Different human operators can have different abilities, experiences, and personal preferences, so that a particular allocation of activities...
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