Pub Date : 2015-07-01DOI: 10.1109/ARSO.2015.7428199
Pierre Merdrignac, Evangeline Pollard, F. Nashashibi
Vehicle and pedestrian collisions often result in fatality to the vulnerable road users (VRU), indicating a strong need of technologies to protect such persons. Laser sensors have been extensively used for moving obstacles detection and tracking. Laser impacts are produced by reflection on these obstacles which suggests that more information is available for their classification. This paper proposes a new system to address this issue. We introduce the design of our system that is divided in three parts : definition of geometric features describing road obstacles, multiclass object classification from an Adaboost trained classifier and track class assignment by integrating consecutive classification decision values. During this study, we show how specific features adapted to urban obstacles enhance the state of the art method for person detection in 2D laser data. Hence, in this paper, we evaluate usefulness of each feature and list the best ones. Moreover, we investigate the influence of laser height for each class showing that classification performance depends on the sensor position. Finally, we tested our system on some laser sequences and showed that it can estimate the class of some road obstacles around the vehicle with an accuracy of 87.4%.
{"title":"2D laser based road obstacle classification for road safety improvement","authors":"Pierre Merdrignac, Evangeline Pollard, F. Nashashibi","doi":"10.1109/ARSO.2015.7428199","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428199","url":null,"abstract":"Vehicle and pedestrian collisions often result in fatality to the vulnerable road users (VRU), indicating a strong need of technologies to protect such persons. Laser sensors have been extensively used for moving obstacles detection and tracking. Laser impacts are produced by reflection on these obstacles which suggests that more information is available for their classification. This paper proposes a new system to address this issue. We introduce the design of our system that is divided in three parts : definition of geometric features describing road obstacles, multiclass object classification from an Adaboost trained classifier and track class assignment by integrating consecutive classification decision values. During this study, we show how specific features adapted to urban obstacles enhance the state of the art method for person detection in 2D laser data. Hence, in this paper, we evaluate usefulness of each feature and list the best ones. Moreover, we investigate the influence of laser height for each class showing that classification performance depends on the sensor position. Finally, we tested our system on some laser sequences and showed that it can estimate the class of some road obstacles around the vehicle with an accuracy of 87.4%.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"82 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128156573","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 : 2015-07-01DOI: 10.1109/ARSO.2015.7428216
Jacques Saraydaryan, F. Jumel, Olivier Simonin
In this paper, we address the problem of serving people by a set of mobile robots. As people move we model this problem as a dynamic patrolling task, that we call the robotwaiters problem. We propose different criteria and metrics suitable to this problem, by considering not only the time to patrol all the people but also the equity of the delivery. We propose and compare four algorithms, two are based on standard solutions to the static patrolling and two are defined according the specificity of patrolling moving entities. The last one introduces a clustering heuristic to identify groups among the people, in order to limit the robots traveled distances. We present a simulator combining a pedestrian model and a robotic model. Experimental results show the efficiency of the specific new approaches. We also discuss the influence of the number of robots on the performances.
{"title":"Robots delivering services to moving people: Individual vs. group patrolling strategies","authors":"Jacques Saraydaryan, F. Jumel, Olivier Simonin","doi":"10.1109/ARSO.2015.7428216","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428216","url":null,"abstract":"In this paper, we address the problem of serving people by a set of mobile robots. As people move we model this problem as a dynamic patrolling task, that we call the robotwaiters problem. We propose different criteria and metrics suitable to this problem, by considering not only the time to patrol all the people but also the equity of the delivery. We propose and compare four algorithms, two are based on standard solutions to the static patrolling and two are defined according the specificity of patrolling moving entities. The last one introduces a clustering heuristic to identify groups among the people, in order to limit the robots traveled distances. We present a simulator combining a pedestrian model and a robotic model. Experimental results show the efficiency of the specific new approaches. We also discuss the influence of the number of robots on the performances.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132310238","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 : 2015-07-01DOI: 10.1109/ARSO.2015.7428213
Marie Babel, François Pasteau, S. Guégan, P. Gallien, B. Nicolas, B. Fraudet, S. Achille-Fauveau, D. Guillard
Autonomy and independence in daily life, whatever the impairment of mobility, constitute fundamental needs that participate to the self-esteem and the well-being of disabled people. In this context, assistive technologies are a relevant answer. To address the driving assistance issue, we propose in this paper a unified shared control framework able to smoothly correct the trajectory of the electrical wheelchair. The system integrates the manual control with sensor-based constraints by means of a dedicated optimization strategy. The resulting low-complex and low-cost embedded system is easily plugged onto on-the-shelf wheelchairs. The robotic solution has been then validated through clinical trials that have been conducted within the Rehabilitation Center of Pôle Saint Hélier (France) with 25 volunteering patients presenting different disabling neuro-pathologies. This assistive tool is shown to be intuitive and robust as it respects the user intention, it does not alter perception while reducing the number of collisions in case of hazardous maneuvers or in crowded environment.
无论行动能力受到何种损害，日常生活中的自主和独立都是涉及残疾人自尊和福祉的基本需要。在这种情况下，辅助技术是一个相关的答案。为了解决电动轮椅的驾驶辅助问题，本文提出了一个统一的共享控制框架，能够平滑地纠正电动轮椅的轨迹。该系统通过专门的优化策略将手动控制与基于传感器的约束相结合。由此产生的低复杂性和低成本嵌入式系统很容易插入到货架上的轮椅。随后，机器人解决方案通过临床试验得到了验证，该临床试验在法国Pôle Saint hsamier康复中心进行，有25名志愿患者表现出不同的致残神经病变。这种辅助工具被证明是直观和强大的，因为它尊重用户的意图，它不会改变感知，同时减少碰撞的次数，在危险的机动或拥挤的环境下。
{"title":"HandiViz project: Clinical validation of a driving assistance for electrical wheelchair","authors":"Marie Babel, François Pasteau, S. Guégan, P. Gallien, B. Nicolas, B. Fraudet, S. Achille-Fauveau, D. Guillard","doi":"10.1109/ARSO.2015.7428213","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428213","url":null,"abstract":"Autonomy and independence in daily life, whatever the impairment of mobility, constitute fundamental needs that participate to the self-esteem and the well-being of disabled people. In this context, assistive technologies are a relevant answer. To address the driving assistance issue, we propose in this paper a unified shared control framework able to smoothly correct the trajectory of the electrical wheelchair. The system integrates the manual control with sensor-based constraints by means of a dedicated optimization strategy. The resulting low-complex and low-cost embedded system is easily plugged onto on-the-shelf wheelchairs. The robotic solution has been then validated through clinical trials that have been conducted within the Rehabilitation Center of Pôle Saint Hélier (France) with 25 volunteering patients presenting different disabling neuro-pathologies. This assistive tool is shown to be intuitive and robust as it respects the user intention, it does not alter perception while reducing the number of collisions in case of hazardous maneuvers or in crowded environment.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128777768","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428198
C. Pan, Y. B. Wang, H. Pan
Artificial flowers are mainly static objects. If we can make them movable with actuating mechanisms, sensors and controllers, this will make them more lively and entertaining. The aim of this paper is to develop artificial flower ornaments with dynamic, modular, programmable and green-energy characteristics. The dynamically artificial flower ornaments show the performances: bending of stems, blooming of petals, spreading of fragrance and flapping of butterflies. Besides, solar power to simulate photosynthesis (it is just an analogy to actual photosynthesis) will be used to energize the dynamically artificial flower ornaments. Instead of using conventional mechanisms and electromagnetic motor to actuate the flower ornaments, we use shape memory alloy (SMA) as actuators and pulse width modulation (PWM) as drive circuit to avoid complication, lager volume and noise generation of the components. Four types of the SMA actuators are made of SMA wire (Ti50%-Ni45%-Cu5%) with one way shape memory effect and 0.6mm in diameter. The performance of each SMA actuator is evaluated. By using PWM, the SMA actuators have high response time and low energy consumption in acting cycle.
{"title":"Development of dynamically artificial flowers driven by shape memory alloy and pulse width modulation","authors":"C. Pan, Y. B. Wang, H. Pan","doi":"10.1109/ARSO.2015.7428198","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428198","url":null,"abstract":"Artificial flowers are mainly static objects. If we can make them movable with actuating mechanisms, sensors and controllers, this will make them more lively and entertaining. The aim of this paper is to develop artificial flower ornaments with dynamic, modular, programmable and green-energy characteristics. The dynamically artificial flower ornaments show the performances: bending of stems, blooming of petals, spreading of fragrance and flapping of butterflies. Besides, solar power to simulate photosynthesis (it is just an analogy to actual photosynthesis) will be used to energize the dynamically artificial flower ornaments. Instead of using conventional mechanisms and electromagnetic motor to actuate the flower ornaments, we use shape memory alloy (SMA) as actuators and pulse width modulation (PWM) as drive circuit to avoid complication, lager volume and noise generation of the components. Four types of the SMA actuators are made of SMA wire (Ti50%-Ni45%-Cu5%) with one way shape memory effect and 0.6mm in diameter. The performance of each SMA actuator is evaluated. By using PWM, the SMA actuators have high response time and low energy consumption in acting cycle.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116865578","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428212
Jae-Yun Jun, V. Padois, F. Benamar
The problem of improving the stability of a mobile manipulator over a sloped terrain is addressed in the present work. Such an improvement is achieved by finding the location of the manipulator's center of mass that maximizes the overall quasi-static stability, defined here as the force-angle stability, using a stochastic optimization approach known as the Covariance Matrix Adaptation. The tracking of both trajectories for the robot base and for the manipulator is achieved by using an inverse-kinematics controller in simulation.
{"title":"Stability-based planning and trajectory tracking of a mobile manipulator over uneven terrains","authors":"Jae-Yun Jun, V. Padois, F. Benamar","doi":"10.1109/ARSO.2015.7428212","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428212","url":null,"abstract":"The problem of improving the stability of a mobile manipulator over a sloped terrain is addressed in the present work. Such an improvement is achieved by finding the location of the manipulator's center of mass that maximizes the overall quasi-static stability, defined here as the force-angle stability, using a stochastic optimization approach known as the Covariance Matrix Adaptation. The tracking of both trajectories for the robot base and for the manipulator is achieved by using an inverse-kinematics controller in simulation.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125481585","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428220
Julien Baumeyer, P. Vieyres, S. Miossec, C. Novales, G. Poisson, Samuel Pinault
The paper focuses on controlling by hand a robot carrying a patient lying down on a “couch top” located at the extremity of the end-effector. The Orion prototype, is a six Degree-of-Freedom (DoF) robotic system. The control of the robot is achieved through a home-made co-manipulated haptic device located under the couch top and operated by a paramedical assistant. This device enables the operator to move the couch top, on which the patient lies down, and within an identified operational safety space. The 6 DoF admittance control algorithm is implemented on this new robotic platform. An experimental validation has been carried out to validate the co-manipulation control of the robot. The adaptable admittance parameters have been tuned on several experiments in order to observe the mass-spring-damper equivalent behaviour and demonstrate the validity of the implemented admittance algorithm.
{"title":"Robotic co-manipulation with 6 DoF admittance control: Application to patient positioning in proton-therapy","authors":"Julien Baumeyer, P. Vieyres, S. Miossec, C. Novales, G. Poisson, Samuel Pinault","doi":"10.1109/ARSO.2015.7428220","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428220","url":null,"abstract":"The paper focuses on controlling by hand a robot carrying a patient lying down on a “couch top” located at the extremity of the end-effector. The Orion prototype, is a six Degree-of-Freedom (DoF) robotic system. The control of the robot is achieved through a home-made co-manipulated haptic device located under the couch top and operated by a paramedical assistant. This device enables the operator to move the couch top, on which the patient lies down, and within an identified operational safety space. The 6 DoF admittance control algorithm is implemented on this new robotic platform. An experimental validation has been carried out to validate the co-manipulation control of the robot. The adaptable admittance parameters have been tuned on several experiments in order to observe the mass-spring-damper equivalent behaviour and demonstrate the validity of the implemented admittance algorithm.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132848057","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428194
E. Harik, F. Guérin, F. Guinand, J. Brethé, Hervé Pelvillain, Adel Zentout
We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles).
{"title":"Vision based target tracking using an unmanned aerial vehicle","authors":"E. Harik, F. Guérin, F. Guinand, J. Brethé, Hervé Pelvillain, Adel Zentout","doi":"10.1109/ARSO.2015.7428194","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428194","url":null,"abstract":"We present in this paper a backstepping controller for vision based target tracking with an Unmanned Aerial Vehicle. A down facing camera is used with a pose estimation algorithm to extract the position of the target (an Unmanned Ground Vehicle). The output is then fed into the developed controller to generate the necessary movements (pitch and roll) of the Unmanned Aerial Vehicle in order to keep the target in the coverage view of the camera (following it constantly). The developed scheme is used to help the Unmanned Ground Vehicle to navigate among obstacles, and the overall system is designed in order to help human operator to supervise the Aerial and Ground vehicles for area inspection or object transportation in industrial areas (when using multiple Unmanned Ground Vehicles).","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117110325","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428210
Lars Grimstad, Cong Dung Pham, Huynh Nhat Trinh Phan, P. From
This paper describes the development and the main considerations for designing the Thorvald platform, a versatile robot for operation in agricultural fields. The main objective is to develop a robot that can perform all operations, from seeding, to weeding and harvesting. This requires the robot to be able to carry a wide variety of tools. In addition, we require the robot to be lightweight so that it can operate during wet periods without getting stuck or damaging the soil structure. We focus on keeping the overall costs of the robot at a level which makes it economically viable compared to conventional solutions. We obtain this by constructing the frame so that it flexes, which reduces complexity and makes the frame cheap to build, but at the same time guarantees that all wheels are in contact with the ground. We also describe the development of tools to be attached to the platform, and discuss the implications of the flexible design on the robot and tool control.
{"title":"On the design of a low-cost, light-weight, and highly versatile agricultural robot","authors":"Lars Grimstad, Cong Dung Pham, Huynh Nhat Trinh Phan, P. From","doi":"10.1109/ARSO.2015.7428210","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428210","url":null,"abstract":"This paper describes the development and the main considerations for designing the Thorvald platform, a versatile robot for operation in agricultural fields. The main objective is to develop a robot that can perform all operations, from seeding, to weeding and harvesting. This requires the robot to be able to carry a wide variety of tools. In addition, we require the robot to be lightweight so that it can operate during wet periods without getting stuck or damaging the soil structure. We focus on keeping the overall costs of the robot at a level which makes it economically viable compared to conventional solutions. We obtain this by constructing the frame so that it flexes, which reduces complexity and makes the frame cheap to build, but at the same time guarantees that all wheels are in contact with the ground. We also describe the development of tools to be attached to the platform, and discuss the implications of the flexible design on the robot and tool control.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"148 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123397427","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428211
T. Rakotovao, Julien Mottin, D. Puschini, C. Laugier
Safe Autonomous Vehicles (AVs) will emerge when comprehensive perception systems will be successfully integrated into vehicles. Advanced perception algorithms based on occupancy grids were developed for AV prototypes. These algorithms estimate the position and speed of every obstacle in the environment by using data fusion from multiple sensors. Computational requirements of such fusion prevent their integration into AVs on current low-power embedded hardware. However, recent emerging many-core architectures offer opportunities to fulfill the automotive market constraints and efficiently support advanced perception applications. This paper explores the integration of the occupancy grid multi-sensor fusion algorithm into low power many-core architectures. The parallel properties of this function are used to achieve realtime performance with a power consumption less than 1W. The proposed implementation produces an occupancy grid of 500×300 cells within 6.26ms. The execution time is 6x faster than typical sensor output rates and 9x faster than previous embedded prototypes.
{"title":"Real-time power-efficient integration of multi-sensor occupancy grid on many-core","authors":"T. Rakotovao, Julien Mottin, D. Puschini, C. Laugier","doi":"10.1109/ARSO.2015.7428211","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428211","url":null,"abstract":"Safe Autonomous Vehicles (AVs) will emerge when comprehensive perception systems will be successfully integrated into vehicles. Advanced perception algorithms based on occupancy grids were developed for AV prototypes. These algorithms estimate the position and speed of every obstacle in the environment by using data fusion from multiple sensors. Computational requirements of such fusion prevent their integration into AVs on current low-power embedded hardware. However, recent emerging many-core architectures offer opportunities to fulfill the automotive market constraints and efficiently support advanced perception applications. This paper explores the integration of the occupancy grid multi-sensor fusion algorithm into low power many-core architectures. The parallel properties of this function are used to achieve realtime performance with a power consumption less than 1W. The proposed implementation produces an occupancy grid of 500×300 cells within 6.26ms. The execution time is 6x faster than typical sensor output rates and 9x faster than previous embedded prototypes.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"304 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121475771","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 : 2015-06-01DOI: 10.1109/ARSO.2015.7428205
Daiki Nomiyama, N. Matsuhira, M. Sano, Toru Yamaguchi
To cope with various needs of a rapidly aging society, common RT middleware and RSNP network protocol are incorporated in an interface robot. In this manner, a reception service application that is required in facilities for the elderly, has been developed for an interface robot. The robot counts the number of people who enter and exit a facility and greets them according to the position and velocity of each person as a reception service. Furthermore, robots located in several facilities are networked through the Internet, and their information data are transmitted to a server computer and are shared using RSNP. Such a system is expandable to aid in developing the required functions. Here, the developed system and results of basic experiments are described.
{"title":"Enhancement of interface robot using RT middleware and RSNP network protocol","authors":"Daiki Nomiyama, N. Matsuhira, M. Sano, Toru Yamaguchi","doi":"10.1109/ARSO.2015.7428205","DOIUrl":"https://doi.org/10.1109/ARSO.2015.7428205","url":null,"abstract":"To cope with various needs of a rapidly aging society, common RT middleware and RSNP network protocol are incorporated in an interface robot. In this manner, a reception service application that is required in facilities for the elderly, has been developed for an interface robot. The robot counts the number of people who enter and exit a facility and greets them according to the position and velocity of each person as a reception service. Furthermore, robots located in several facilities are networked through the Internet, and their information data are transmitted to a server computer and are shared using RSNP. Such a system is expandable to aid in developing the required functions. Here, the developed system and results of basic experiments are described.","PeriodicalId":211781,"journal":{"name":"2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122753094","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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