Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081192
Ricardo D. C. Marin, T. Botterill, R. Green
In this paper we are interested in recovering 2D tree structure of vines from binary images. We propose a bottom-up approach that firstly segments an input image into cane parts, and second infer their connectivity by using Gibbs Sampling. Our approach is similar to previous work on vine structure inference [1], but instead of the use of heuristics for connecting cane parts, our method uses Gibbs sampling which has been successfully used in similar computer vision tasks [2]. We show comparative results against [1], and we provide directions on how this work could be extended in the future.
{"title":"Gibbs sampling for 2D cane structure extraction from images","authors":"Ricardo D. C. Marin, T. Botterill, R. Green","doi":"10.1109/ICARA.2015.7081192","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081192","url":null,"abstract":"In this paper we are interested in recovering 2D tree structure of vines from binary images. We propose a bottom-up approach that firstly segments an input image into cane parts, and second infer their connectivity by using Gibbs Sampling. Our approach is similar to previous work on vine structure inference [1], but instead of the use of heuristics for connecting cane parts, our method uses Gibbs sampling which has been successfully used in similar computer vision tasks [2]. We show comparative results against [1], and we provide directions on how this work could be extended in the future.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126956043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081209
K. Sattar, A. Naveed
With the advancement in technology, BGA based integrated circuits for robotics and other devices are being prepared in small sizes with more pin count. This increase in number requires more number of pins to be escaped from the inner side of the IC towards the escape boundary. Ordered escape routing is very important due to its great impact on area and length routing at later stage. Basic design rules of planarity and capacity along with constraints like length matching make the ordered escape routing problem more difficult. In this paper we formulate flow model on the basis of inter-pin capacity. Using flow model we propose optimization model that solves ordered escape routing problem under design constraints. Evaluation of model using randomly generated examples shows that maximum possible nets are being routed by the model.
{"title":"Ordered escape routing using network flow and optimization model","authors":"K. Sattar, A. Naveed","doi":"10.1109/ICARA.2015.7081209","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081209","url":null,"abstract":"With the advancement in technology, BGA based integrated circuits for robotics and other devices are being prepared in small sizes with more pin count. This increase in number requires more number of pins to be escaped from the inner side of the IC towards the escape boundary. Ordered escape routing is very important due to its great impact on area and length routing at later stage. Basic design rules of planarity and capacity along with constraints like length matching make the ordered escape routing problem more difficult. In this paper we formulate flow model on the basis of inter-pin capacity. Using flow model we propose optimization model that solves ordered escape routing problem under design constraints. Evaluation of model using randomly generated examples shows that maximum possible nets are being routed by the model.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129845497","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081212
Cheng-Ting Liu, R. Hsu
In this study, a fuzzy logic controller with parameters tuned by Q-learning is proposed for the assisted power management of a pedelec. The pedelec is a human-electric hybrid vehicle driven by mainly the rider's pedal force with the assisted power from the electric motor. The proposed assisted power management (APM) method adaptively provides an appropriate assisted power (action) according to the environmental changes via the fuzzy inference coordinated Q-learning, i.e. fuzzy Q-learning. Simulations of the proposed method, hereafter abbreviated as FQLAPM, on a pedelec are performed, and the results exhibit better performance in comparing with other existent assisted power methods.
{"title":"A fuzzy Q-learning based assisted power management method for comfortable riding of pedelec","authors":"Cheng-Ting Liu, R. Hsu","doi":"10.1109/ICARA.2015.7081212","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081212","url":null,"abstract":"In this study, a fuzzy logic controller with parameters tuned by Q-learning is proposed for the assisted power management of a pedelec. The pedelec is a human-electric hybrid vehicle driven by mainly the rider's pedal force with the assisted power from the electric motor. The proposed assisted power management (APM) method adaptively provides an appropriate assisted power (action) according to the environmental changes via the fuzzy inference coordinated Q-learning, i.e. fuzzy Q-learning. Simulations of the proposed method, hereafter abbreviated as FQLAPM, on a pedelec are performed, and the results exhibit better performance in comparing with other existent assisted power methods.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131760699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081141
J. X. J. Bannwarth, Callum Munster, K. Stol
This paper investigates the modelling and control of step traversal using a two-wheeled robot (TWR). The traversal of TWRs over steps and other uneven terrain requires large platform tilt angles to adjust the centre of mass. This process is highly nonlinear, which complicates the controller design process. An auxiliary reaction wheel actuator is used in a novel way to facilitate step traversal. A mathematical model of step ascent is derived and used to create a feedback linearisation controller. The performance of the controller is assessed in simulation against a baseline controller from literature. The feedback linearisation controller yields significant improvements in tracking performance, with a decrease in tracking error of up to 86% when climbing a step in 1 second. Furthermore, the effects of varying the ascent conditions on performance are assessed. The controller is shown to operate over a large range of ascent times and reference tilt angles.
{"title":"Step ascension of a two-wheeled robot using feedback linearisation","authors":"J. X. J. Bannwarth, Callum Munster, K. Stol","doi":"10.1109/ICARA.2015.7081141","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081141","url":null,"abstract":"This paper investigates the modelling and control of step traversal using a two-wheeled robot (TWR). The traversal of TWRs over steps and other uneven terrain requires large platform tilt angles to adjust the centre of mass. This process is highly nonlinear, which complicates the controller design process. An auxiliary reaction wheel actuator is used in a novel way to facilitate step traversal. A mathematical model of step ascent is derived and used to create a feedback linearisation controller. The performance of the controller is assessed in simulation against a baseline controller from literature. The feedback linearisation controller yields significant improvements in tracking performance, with a decrease in tracking error of up to 86% when climbing a step in 1 second. Furthermore, the effects of varying the ascent conditions on performance are assessed. The controller is shown to operate over a large range of ascent times and reference tilt angles.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114583672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081146
Kishan Kumar, P. Chand, Kishen Kumar, D. Carnegie
This paper outlines some of the design details of creating an automated Pan Flute player targeting the Solomon Island's Pan Flute in the Pacific Region. Hence, the system functionality will be discussed first through a block diagram. Then the design will be further elaborated through discussion of the hardware assembly and different system modules. Thereafter, the results with overview of the system implementation will be presented. Finally, implications of the automated pan flute player on the society and future improvements will be discussed.
{"title":"Towards an automated Pan Flute player","authors":"Kishan Kumar, P. Chand, Kishen Kumar, D. Carnegie","doi":"10.1109/ICARA.2015.7081146","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081146","url":null,"abstract":"This paper outlines some of the design details of creating an automated Pan Flute player targeting the Solomon Island's Pan Flute in the Pacific Region. Hence, the system functionality will be discussed first through a block diagram. Then the design will be further elaborated through discussion of the hardware assembly and different system modules. Thereafter, the results with overview of the system implementation will be presented. Finally, implications of the automated pan flute player on the society and future improvements will be discussed.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"60 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129531548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081125
Youngjoo Kim, H. Bang
An approach to vision-based navigation system for autonomous navigation of unmanned aircraft with use of terrain elevation map is addressed. We considered simultaneous localization and mapping (SLAM) algorithm to be the system to which the digital terrain elevation data (DTED) is merged. The proposed algorithm acquires range measurement by line-of-sight (LOS) intersection and provides it to the SLAM algorithm. Simulation study verifies that the proposed method can estimate absolute position of unmanned aircraft even for the case that the features are not on the surface of the DTED. The uses of DTED makes the SLAM algorithm more feasible for airborne applications.
{"title":"Utilization of terrain elevation map in SLAM for unmanned aircraft","authors":"Youngjoo Kim, H. Bang","doi":"10.1109/ICARA.2015.7081125","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081125","url":null,"abstract":"An approach to vision-based navigation system for autonomous navigation of unmanned aircraft with use of terrain elevation map is addressed. We considered simultaneous localization and mapping (SLAM) algorithm to be the system to which the digital terrain elevation data (DTED) is merged. The proposed algorithm acquires range measurement by line-of-sight (LOS) intersection and provides it to the SLAM algorithm. Simulation study verifies that the proposed method can estimate absolute position of unmanned aircraft even for the case that the features are not on the surface of the DTED. The uses of DTED makes the SLAM algorithm more feasible for airborne applications.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132951426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081151
A. Alam, D. Eyers, Zhiyi Huang
Robotics and Wireless Sensor Network (WSN) collaboration is an emerging research field in which both technologies can benefit from integrated implementations. A robot operating in WSN assisted environments can dynamically push instructions using over the air (OTA) update protocols to alter sensors to suit the requirements. In this paper, an Intrusion Detection System (IDS) for a WSN software update protocol is designed and simulated. When the protocol modifies the running software in a mote, the mote sends related information to the WSN sink. The IDS analyses the update phenomena of each of the motes in the network and computes an Intrusion Warning Score (IWS) that indicates a possible intrusion due to an illegitimate software update.
{"title":"Helping secure robots in WSN environments by monitoring WSN software updates for intrusions","authors":"A. Alam, D. Eyers, Zhiyi Huang","doi":"10.1109/ICARA.2015.7081151","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081151","url":null,"abstract":"Robotics and Wireless Sensor Network (WSN) collaboration is an emerging research field in which both technologies can benefit from integrated implementations. A robot operating in WSN assisted environments can dynamically push instructions using over the air (OTA) update protocols to alter sensors to suit the requirements. In this paper, an Intrusion Detection System (IDS) for a WSN software update protocol is designed and simulated. When the protocol modifies the running software in a mote, the mote sends related information to the WSN sink. The IDS analyses the update phenomena of each of the motes in the network and computes an Intrusion Warning Score (IWS) that indicates a possible intrusion due to an illegitimate software update.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123680502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081199
S. Vongbunyong, S. Kara, M. Pagnucco
A principle of cognitive robotics has been introduced to resolve the problems associated with the uncertainties and variations found in the automated disassembly process. The general plans are used to compensate the inaccurate information perceived by the sensors. They are used in the trial-and-error phase to remove particular types of main components according to cognitive behaviours. Statistical information is used to identify the operation plans and the parameters for (semi-)destructive disassembly. The effectiveness of these plans determines the success rate of the disassembly and the degree of autonomy. In this paper, PCBs and PCB cover in various model LCD screens were used as a case-study.
{"title":"General plans for removing main components in cognitive robotic disassembly automation","authors":"S. Vongbunyong, S. Kara, M. Pagnucco","doi":"10.1109/ICARA.2015.7081199","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081199","url":null,"abstract":"A principle of cognitive robotics has been introduced to resolve the problems associated with the uncertainties and variations found in the automated disassembly process. The general plans are used to compensate the inaccurate information perceived by the sensors. They are used in the trial-and-error phase to remove particular types of main components according to cognitive behaviours. Statistical information is used to identify the operation plans and the parameters for (semi-)destructive disassembly. The effectiveness of these plans determines the success rate of the disassembly and the degree of autonomy. In this paper, PCBs and PCB cover in various model LCD screens were used as a case-study.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129280135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081163
D. Pamungkas, K. Ward
Tactile or touch sensing can enable an object's surface texture and other properties to be perceived which can facilitate grasping and manipulating various objects. Prosthetic hand users and operators of tele-operated robot arms also need to perceive these tactile properties by some means to effectively manipulate objects and performed skilled work. This paper introduces a tactile sensing and feedback system that is based on detecting surface vibrations in an artificial finger, when contact or friction with a surface is made, and appropriately stimulating nerves in the user's skin with electro-tactile feedback. This feedback system has benefits over existing systems because it can deliver a wide variety of sensations to the user and is compact, non-mechanical, wireless and comfortable for the user to wear. Experimental results are provided which show the potential of our system at achieving remote tactile sensing and feedback of textured surfaces.
{"title":"Tactile sensing system using electro-tactile feedback","authors":"D. Pamungkas, K. Ward","doi":"10.1109/ICARA.2015.7081163","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081163","url":null,"abstract":"Tactile or touch sensing can enable an object's surface texture and other properties to be perceived which can facilitate grasping and manipulating various objects. Prosthetic hand users and operators of tele-operated robot arms also need to perceive these tactile properties by some means to effectively manipulate objects and performed skilled work. This paper introduces a tactile sensing and feedback system that is based on detecting surface vibrations in an artificial finger, when contact or friction with a surface is made, and appropriately stimulating nerves in the user's skin with electro-tactile feedback. This feedback system has benefits over existing systems because it can deliver a wide variety of sensations to the user and is compact, non-mechanical, wireless and comfortable for the user to wear. Experimental results are provided which show the potential of our system at achieving remote tactile sensing and feedback of textured surfaces.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121228948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-02-01DOI: 10.1109/ICARA.2015.7081193
Feng Su, G. Fang
Colour identification is a common task for many applications in computer vision. Many existing colour identification methods are application dependent. Therefore, they could only operate in certain environments and their performances are highly dependent on the lighting condition and quality of the images. In this paper, a novel colour identification method is introduced using an adaptive hue based colour model. The proposed method firstly analyses the image by collecting a variety of information from the given image. It is then followed by a colour space selection scheme in which the most suitable hue based colour space is selected based on properties obtained through image analysis. Finally, the image is filtered through the channels of the selected colour model to identify the target colour. Tests on various images from different datasets have shown that this method is capable of extracting the required colour effectively from images with varying qualities.
{"title":"Colour identification using an adaptive colour model","authors":"Feng Su, G. Fang","doi":"10.1109/ICARA.2015.7081193","DOIUrl":"https://doi.org/10.1109/ICARA.2015.7081193","url":null,"abstract":"Colour identification is a common task for many applications in computer vision. Many existing colour identification methods are application dependent. Therefore, they could only operate in certain environments and their performances are highly dependent on the lighting condition and quality of the images. In this paper, a novel colour identification method is introduced using an adaptive hue based colour model. The proposed method firstly analyses the image by collecting a variety of information from the given image. It is then followed by a colour space selection scheme in which the most suitable hue based colour space is selected based on properties obtained through image analysis. Finally, the image is filtered through the channels of the selected colour model to identify the target colour. Tests on various images from different datasets have shown that this method is capable of extracting the required colour effectively from images with varying qualities.","PeriodicalId":176657,"journal":{"name":"2015 6th International Conference on Automation, Robotics and Applications (ICARA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115156962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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