This paper proposed an algorithm to solve major challenges in the domain of autonomous transportation systems. These challenges are trajectory planning and collision avoidance. Generally, in a shared infrastructure where several agents aim to use limited capacity resources, finding a set of optimal and conflict-free paths for each single agent is the most critical part. In such a dynamic environment where continual planning and scheduling are required, we have adopted a coupled (centralized) technique and face the problem by breaking it into two distinct phases: path planning and collision avoidance. In the first phase, the lowest cost path is planned for each agent by a modified version of Dijkstra algorithm. Following that, in the second phase, the head-on collisions can be foreseen and avoided by detecting the agents' common segments of the path choices. Finally, based on the capacity of each resource and the feasibility of each path, the task assignment and scheduling algorithm allocates different tasks between agents.
{"title":"Optimal Trajectory and Schedule Planning for Autonomous Guided Vehicles in Flexible Manufacturing System","authors":"Atefeh Mahdavi, M. Carvalho","doi":"10.1109/IRC.2018.00034","DOIUrl":"https://doi.org/10.1109/IRC.2018.00034","url":null,"abstract":"This paper proposed an algorithm to solve major challenges in the domain of autonomous transportation systems. These challenges are trajectory planning and collision avoidance. Generally, in a shared infrastructure where several agents aim to use limited capacity resources, finding a set of optimal and conflict-free paths for each single agent is the most critical part. In such a dynamic environment where continual planning and scheduling are required, we have adopted a coupled (centralized) technique and face the problem by breaking it into two distinct phases: path planning and collision avoidance. In the first phase, the lowest cost path is planned for each agent by a modified version of Dijkstra algorithm. Following that, in the second phase, the head-on collisions can be foreseen and avoided by detecting the agents' common segments of the path choices. Finally, based on the capacity of each resource and the feasibility of each path, the task assignment and scheduling algorithm allocates different tasks between agents.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131171939","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}
Shunsuke Ota, T. Yasuda, M. Jindai, Yoshihiro Sejima
Robots are expected to work in fields involving direct interaction with human. However, in order to work in these fields, the robot has to be accepted favorably by humans. Therefore, these robots need to start communication smoothly. In the previous research, hand-up response motion of robot has been discussed. The effectiveness of this model was demonstrated by experiments using a hand-up robot system that employed the developed model. On the other hand, robots should also be able to generate active hand-up motion in order to promote its embodied interaction with humans. However, request side of hand-up greeting interaction of robot has not been discussed. Therefore, in this paper, a hand-up request motion model was proposed for generation of hand-up greeting with voice greeting with human. Initially, hand-up greeting between mutual human is measured and analyzed. Based on the motion characteristics obtained from the analysis result, a hand-up request motion model in which a robot requests hand-up greeting with voice greeting from human is proposed. The effectiveness of the developed request motion model is demonstrated through sensory evaluation experiments.
{"title":"Development of a Hand-Up Request Motion Model Based on Analysis of Hand-Up Motion Between Humans","authors":"Shunsuke Ota, T. Yasuda, M. Jindai, Yoshihiro Sejima","doi":"10.1109/IRC.2018.00048","DOIUrl":"https://doi.org/10.1109/IRC.2018.00048","url":null,"abstract":"Robots are expected to work in fields involving direct interaction with human. However, in order to work in these fields, the robot has to be accepted favorably by humans. Therefore, these robots need to start communication smoothly. In the previous research, hand-up response motion of robot has been discussed. The effectiveness of this model was demonstrated by experiments using a hand-up robot system that employed the developed model. On the other hand, robots should also be able to generate active hand-up motion in order to promote its embodied interaction with humans. However, request side of hand-up greeting interaction of robot has not been discussed. Therefore, in this paper, a hand-up request motion model was proposed for generation of hand-up greeting with voice greeting with human. Initially, hand-up greeting between mutual human is measured and analyzed. Based on the motion characteristics obtained from the analysis result, a hand-up request motion model in which a robot requests hand-up greeting with voice greeting from human is proposed. The effectiveness of the developed request motion model is demonstrated through sensory evaluation experiments.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114793967","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}
Harikumar Kandath, Titas Bera, Rajarshi Bardhan, S. Sundaram
The problem of obstacle avoidance for an unmanned ground vehicle (UGV) under the event of sensor failure is addressed in this paper. An unmanned air vehicle (UAV) equipped with a vision sensor act similar to a convoy protection agent to UGV in the event of a sensor failure. The UAV plans its trajectory according to the UGV's expected future trajectory. The UGV replans its trajectory after obtaining the information about geographic constraints like obstacles from UAV. The proposed obstacle avoidance method is experimentally validated in the outdoor environment with an autonomous UAV equipped with a camera and an autonomous UGV navigating based on GPS localization and environment information from the UAV.
{"title":"Autonomous Navigation and Sensorless Obstacle Avoidance for UGV with Environment Information from UAV","authors":"Harikumar Kandath, Titas Bera, Rajarshi Bardhan, S. Sundaram","doi":"10.1109/IRC.2018.00056","DOIUrl":"https://doi.org/10.1109/IRC.2018.00056","url":null,"abstract":"The problem of obstacle avoidance for an unmanned ground vehicle (UGV) under the event of sensor failure is addressed in this paper. An unmanned air vehicle (UAV) equipped with a vision sensor act similar to a convoy protection agent to UGV in the event of a sensor failure. The UAV plans its trajectory according to the UGV's expected future trajectory. The UGV replans its trajectory after obtaining the information about geographic constraints like obstacles from UAV. The proposed obstacle avoidance method is experimentally validated in the outdoor environment with an autonomous UAV equipped with a camera and an autonomous UGV navigating based on GPS localization and environment information from the UAV.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133550459","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}
In recent years, social media platforms like Twitter and Facebook have become one of the crucial sources of information for a wide spectrum of users. As a result, these platforms have also become great resources to provide support for emergency management. During any crisis, it is necessary to sieve through a huge amount of social media texts within a short span of time to extract meaningful information from them. Extraction of topic keywords from these unstructured social media texts play a significant role in building any application for emergency management. Topic models have the ability to discover latent topics and latent feature representations of words in a document collection and can be used for this purpose. The main aim of this paper is twofold: to explore topic model implementations and look at its effectiveness on short messages (as short as 140 characters); and to perform an exploratory data analysis on short texts related to crises collected from Twitter, and look at different visualizations to understand the commonality and differences between topics and different crisis related data.
{"title":"Exploring Topic Models on Short Texts: A Case Study with Crisis Data","authors":"S. Manna, Oras Phongpanangam","doi":"10.1109/IRC.2018.00078","DOIUrl":"https://doi.org/10.1109/IRC.2018.00078","url":null,"abstract":"In recent years, social media platforms like Twitter and Facebook have become one of the crucial sources of information for a wide spectrum of users. As a result, these platforms have also become great resources to provide support for emergency management. During any crisis, it is necessary to sieve through a huge amount of social media texts within a short span of time to extract meaningful information from them. Extraction of topic keywords from these unstructured social media texts play a significant role in building any application for emergency management. Topic models have the ability to discover latent topics and latent feature representations of words in a document collection and can be used for this purpose. The main aim of this paper is twofold: to explore topic model implementations and look at its effectiveness on short messages (as short as 140 characters); and to perform an exploratory data analysis on short texts related to crises collected from Twitter, and look at different visualizations to understand the commonality and differences between topics and different crisis related data.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123302961","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}
The modern stock market is a popular place to increase wealth and generate income, but the fundamental problem of when to buy or sell shares, or which stocks to buy has not been solved. It is very common among investors to have professional financial advisers, but what is the best resource to support the decisions these people make? Investment banks, such as Goldman Sachs, Lehman Brothers, and Salomon Brothers have dominated the world of financial advice for decades. However, due to the popularity of the Internet and financial social networks, such as StockTwits and Seeking Alpha, investors around the world have a new opportunity to gather and share their experiences. This raises new questions: is the information these users provide trustworthy? How can we find the experts? In this paper, we seek to determine if neural network models can help us find the experts in a set of StockTwits tweets. We applied two neural network models - doc2vec and convolutional neural networks - to find top authors in StockTwits based on their messages. Our results showed that a convolutional neural network is the best model to predict such top authors in this data set.
{"title":"Finding Expert Authors in Financial Forum Using Deep Learning Methods","authors":"Sahar Sohangir, Dingding Wang","doi":"10.1109/IRC.2018.00082","DOIUrl":"https://doi.org/10.1109/IRC.2018.00082","url":null,"abstract":"The modern stock market is a popular place to increase wealth and generate income, but the fundamental problem of when to buy or sell shares, or which stocks to buy has not been solved. It is very common among investors to have professional financial advisers, but what is the best resource to support the decisions these people make? Investment banks, such as Goldman Sachs, Lehman Brothers, and Salomon Brothers have dominated the world of financial advice for decades. However, due to the popularity of the Internet and financial social networks, such as StockTwits and Seeking Alpha, investors around the world have a new opportunity to gather and share their experiences. This raises new questions: is the information these users provide trustworthy? How can we find the experts? In this paper, we seek to determine if neural network models can help us find the experts in a set of StockTwits tweets. We applied two neural network models - doc2vec and convolutional neural networks - to find top authors in StockTwits based on their messages. Our results showed that a convolutional neural network is the best model to predict such top authors in this data set.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123173083","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}
G. F. Rigano, L. Muratore, Arturo Laurenzi, E. Hoffman, N. Tsagarakis
In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.
{"title":"Towards a Robot Hardware Abstraction Layer (R-Hal) Leveraging the XBot Software Framework","authors":"G. F. Rigano, L. Muratore, Arturo Laurenzi, E. Hoffman, N. Tsagarakis","doi":"10.1109/IRC.2018.00036","DOIUrl":"https://doi.org/10.1109/IRC.2018.00036","url":null,"abstract":"In this paper we present a new Robot Hardware Abstraction Layer (R-HAL) that permits to seamlessly program and control any robotic platform powered by the XBot control software framework. The implementation details of the R-HAL are introduced. The R-HAL is extensively validated through simulation trials and experiments with a wide range of dissimilar robotic platforms, among them the COMAN and WALK-MAN humanoids, the KUKA LWR and the CENTAURO upper body. The results attained demonstrate in practise the gained benefits in terms of code compatibility, reuse and portability, and finally unified application programming even for robots with significantly diverse hardware. Furthermore, it is shown that the implementation and integration of the R-HAL within the XBot framework does not generate additional computational overheads for the robot computational units.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"156 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128719505","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}
In this research contribution, authors advocate a new relational means for intelligent robot and robot teams control and navigation. The main underlying theory is that of mereology and its extension rough mereology augmented with new concepts transferred from geometry viz. betweenness, rendered in the mereological framework. Along with the theoretical proposition, we give results of experiments showing the usefulness of the method. The proposed method allows the user to switch among teams of robot configurations which opens the way to humancoordinated steering of team configurations depending on the environment and desired work aim.
{"title":"Robot Navigation and Path Planning by Means of Rough Mereology","authors":"L. Polkowski, Lukasz Zmudzinski, Piotr Artiemjew","doi":"10.1109/IRC.2018.00076","DOIUrl":"https://doi.org/10.1109/IRC.2018.00076","url":null,"abstract":"In this research contribution, authors advocate a new relational means for intelligent robot and robot teams control and navigation. The main underlying theory is that of mereology and its extension rough mereology augmented with new concepts transferred from geometry viz. betweenness, rendered in the mereological framework. Along with the theoretical proposition, we give results of experiments showing the usefulness of the method. The proposed method allows the user to switch among teams of robot configurations which opens the way to humancoordinated steering of team configurations depending on the environment and desired work aim.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127322779","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}
Charles C. N. Wang, I-Seng Chang, P. Sheu, J. Tsai
There have been an enormous number of publications on cancer research. These integrated but unstructured cancer-related articles are of great value for cancer diagnosis, treatment and prevention. In this study, we use the basic concepts underlying text mining and semantic computing to discuss the current state-of-the-art text mining applications in cancer research. Using the abstract of literature extracted from PubMed between 2008 and 2016, a total 925,648 articles are used for subsequent text mining. Among the 925,648 articles, the top 5 most studied cancer types were breast cancer (23.82%), lung cancer (10.54%), prostate cancer (9.90%), rectal cancer (8.44%), and ovarian cancer (4.44%). The top 3 most frequently occurred keywords in the abstracts of the 925,648 articles are patients, cancer, and cell where each appear 1,445,688, 1,284,140, and 676,924 times, respectively. Analysis of the key concepts indicate that the most common concepts are patients, cancer, cell and tumor. Our results suggest that while the risk factors of cancer, treatment of cancer, and survival of cancer patients were popular research topics, end-of-life cancer care issues are less studied. Further studies should explore these areas since they are as important as treatment of the disease itself for many patients.
{"title":"Application of Semantic Computing in Cancer on Secondary Data Analysis","authors":"Charles C. N. Wang, I-Seng Chang, P. Sheu, J. Tsai","doi":"10.1109/IRC.2018.00084","DOIUrl":"https://doi.org/10.1109/IRC.2018.00084","url":null,"abstract":"There have been an enormous number of publications on cancer research. These integrated but unstructured cancer-related articles are of great value for cancer diagnosis, treatment and prevention. In this study, we use the basic concepts underlying text mining and semantic computing to discuss the current state-of-the-art text mining applications in cancer research. Using the abstract of literature extracted from PubMed between 2008 and 2016, a total 925,648 articles are used for subsequent text mining. Among the 925,648 articles, the top 5 most studied cancer types were breast cancer (23.82%), lung cancer (10.54%), prostate cancer (9.90%), rectal cancer (8.44%), and ovarian cancer (4.44%). The top 3 most frequently occurred keywords in the abstracts of the 925,648 articles are patients, cancer, and cell where each appear 1,445,688, 1,284,140, and 676,924 times, respectively. Analysis of the key concepts indicate that the most common concepts are patients, cancer, cell and tumor. Our results suggest that while the risk factors of cancer, treatment of cancer, and survival of cancer patients were popular research topics, end-of-life cancer care issues are less studied. Further studies should explore these areas since they are as important as treatment of the disease itself for many patients.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116792050","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}
Due to the continuous growing spread of the usage of cyber-physical systems in the daily life of humanity, systems with resilience properties enhanced or enforced are needed to fulfill that accomplishment. Within those systems are the Ambient Assisted Living Systems (AALs) which given their nature, survivability feature must be insured. In this work, it is briefly outlined a scheme where a survivable outcome can be reached as a result of the interaction of the variety of agents interacting in a Multi-agent system (MAS) setting such as HARMS.
{"title":"Survivability of MAS Through Collective Intelligence","authors":"Mauricio A. Gomez, E. Matson","doi":"10.1109/IRC.2018.00067","DOIUrl":"https://doi.org/10.1109/IRC.2018.00067","url":null,"abstract":"Due to the continuous growing spread of the usage of cyber-physical systems in the daily life of humanity, systems with resilience properties enhanced or enforced are needed to fulfill that accomplishment. Within those systems are the Ambient Assisted Living Systems (AALs) which given their nature, survivability feature must be insured. In this work, it is briefly outlined a scheme where a survivable outcome can be reached as a result of the interaction of the variety of agents interacting in a Multi-agent system (MAS) setting such as HARMS.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116093339","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}
D. Brugali, Rafael Capilla, R. Mirandola, Catia Trubiani
Complex software systems need to be dynamically reconfigured due to run-time variabilities, such as environmental conditions, workload fluctuation and resources availability. To analyze these autonomous systems it is necessary to put in place methodologies suitable to deal with the diversity of runtime changes during the system evolution. This paper proposes a methodology for modeling the variability and the associated Quality-of-Service (QoS) characteristics of reconfigurable software systems. As a case study, we present the development of a navigation system for autonomous robots that perform logistics tasks.
{"title":"Model-Based Development of QoS-Aware Reconfigurable Autonomous Robotic Systems","authors":"D. Brugali, Rafael Capilla, R. Mirandola, Catia Trubiani","doi":"10.1109/IRC.2018.00027","DOIUrl":"https://doi.org/10.1109/IRC.2018.00027","url":null,"abstract":"Complex software systems need to be dynamically reconfigured due to run-time variabilities, such as environmental conditions, workload fluctuation and resources availability. To analyze these autonomous systems it is necessary to put in place methodologies suitable to deal with the diversity of runtime changes during the system evolution. This paper proposes a methodology for modeling the variability and the associated Quality-of-Service (QoS) characteristics of reconfigurable software systems. As a case study, we present the development of a navigation system for autonomous robots that perform logistics tasks.","PeriodicalId":416113,"journal":{"name":"2018 Second IEEE International Conference on Robotic Computing (IRC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126746077","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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