In order to meet the trend of customers demanding more customised and complex products, human workers and robots need to collaborate in closer proximity. Working in shared environments raises safety concerns of humans getting injured by robots. Current safety systems are mostly vision based and detect movement after it has started. This work proposes the use of an electroencephalography (EEG) which measures the brainwaves in order to detect a worker’s intention to move. This is expected to provide 0.5 seconds gain for the system to react in advance of the actual movement. In this paper the details on how EEG sensors can be integrated to detect intentions and how these can be extrapolated using machine learning techniques, are presented. The ultimate vision is to deliver an early warning system to enhance existing safety systems.
{"title":"Towards Symbiotic Human-Robot Collaboration: Human Movement Intention Recognition with an EEG","authors":"A. Buerkle, N. Lohse, P. Ferreira","doi":"10.31256/UKRAS19.14","DOIUrl":"https://doi.org/10.31256/UKRAS19.14","url":null,"abstract":"In order to meet the trend of customers demanding more customised and complex products, human workers and robots need to collaborate in closer proximity. Working in shared environments raises safety concerns of humans getting injured by robots. Current safety systems are mostly vision based and detect movement after it has started. This work proposes the use of an electroencephalography (EEG) which measures the brainwaves in order to detect a worker’s intention to move. This is expected to provide 0.5 seconds gain for the system to react in advance of the actual movement. In this paper the details on how EEG sensors can be integrated to detect intentions and how these can be extrapolated using machine learning techniques, are presented. The ultimate vision is to deliver an early warning system to enhance existing safety systems.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122292140","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}
An autonomous household robot has to be able to navigate through a variable environment and perform commonhousehold tasks. Additionally, in cluttered and narrow homes movement can become impossible unless obstacles are moved out of the way. Both challenges involve the manipulation of objects and a planning algorithm that can integrate the function of regions and objects to avoid the creation of new safety hazards during robot movement. We present a semantic detection method during path planning using a gridded semantic map to improve navigation among movable obstacles (NAMO) and support for simple household sub-tasks like cleaning a table and moving obstructing objects to another location. In our tests, the spatial planning was completed well within human reaction time, which is important for a natural interaction between a human and a robot.
{"title":"Semantic enhanced navigation among movable obstacles in the home environment","authors":"Nico Sun, Erfu Yang, J. Corney, Yi Chen, Zeli Ma","doi":"10.31256/UKRAS19.18","DOIUrl":"https://doi.org/10.31256/UKRAS19.18","url":null,"abstract":"An autonomous household robot has to be able to navigate through a variable environment and perform commonhousehold tasks. Additionally, in cluttered and narrow homes movement can become impossible unless obstacles are moved out of the way. Both challenges involve the manipulation of objects and a planning algorithm that can integrate the function of regions and objects to avoid the creation of new safety hazards during robot movement. We present a semantic detection method during path planning using a gridded semantic map to improve navigation among movable obstacles (NAMO) and support for simple household sub-tasks like cleaning a table and moving obstructing objects to another location. In our tests, the spatial planning was completed well within human reaction time, which is important for a natural interaction between a human and a robot.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132040132","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}
Gonçalo S. Martins, J. Ferreira, David Portugal, M. Couceiro
{"title":"MoDSeM: Modular Framework for Distributed Semantic Mapping","authors":"Gonçalo S. Martins, J. Ferreira, David Portugal, M. Couceiro","doi":"10.31256/UKRAS19.4","DOIUrl":"https://doi.org/10.31256/UKRAS19.4","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129071353","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}
{"title":"Multi-Cameras based Decision Making at Mini-Roundabouts for Autonomous Vehicles","authors":"Weichao Wang, Q. A. Nguyen, P. Chung, Q. Meng","doi":"10.31256/UKRAS19.20","DOIUrl":"https://doi.org/10.31256/UKRAS19.20","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127149038","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}
Elisabeth Welburn, Thomas Wright, Conor Marsh, S. Lim, A. Gupta, B. Crowther, Simon Watson
Currently, inspection of remote environments poses potential hazards to the human operator. Mixed reality presents the unique opportunity for the human operators & the piloted robots to co-exist within a virtual world that is then spatially mapped to the physical world. This can then act as a platform to conduct remote inspection, where the human operators could potentially possess heightened situational awareness and control.
{"title":"A Mixed Reality Approach to Robotic Inspection of Remote Environments","authors":"Elisabeth Welburn, Thomas Wright, Conor Marsh, S. Lim, A. Gupta, B. Crowther, Simon Watson","doi":"10.31256/UKRAS19.19","DOIUrl":"https://doi.org/10.31256/UKRAS19.19","url":null,"abstract":"Currently, inspection of remote environments poses potential hazards to the human operator. Mixed reality presents the unique opportunity for the human operators & the piloted robots to co-exist within a virtual world that is then spatially mapped to the physical world. This can then act as a platform to conduct remote inspection, where the human operators could potentially possess heightened situational awareness and control.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131496449","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 an agricultural context, having autonomous robots that can work side-by-side with human workers provide a range of productivity benefits. In order for this to be achieved safely and effectively, these autonomous robots require the ability to understand a range of human behaviors in order to facilitate task communication and coordination. The recognition of human actions is a key part of this, and is the focus of this paper. Available datasets for Action Recognition generally feature controlled lighting and framing while recording subjects from the front. They mostly reflect good recording conditions but fail to model the data a robot will have to work with in the field, such as varying distance and lighting conditions. In this work, we propose a set of recording conditions, gestures and behaviors that better reflect the environment an agricultural robot might find itself in and record a dataset with a range of sensors that demonstrate these conditions.
{"title":"Towards a Dataset of Activities for Action Recognition in Open Fields","authors":"Alexander Gabriel, N. Bellotto, Paul E. Baxter","doi":"10.31256/UKRAS19.17","DOIUrl":"https://doi.org/10.31256/UKRAS19.17","url":null,"abstract":"In an agricultural context, having autonomous robots that can work side-by-side with human workers provide a range of productivity benefits. In order for this to be achieved safely and effectively, these autonomous robots require the ability to understand a range of human behaviors in order to facilitate task communication and coordination. The recognition of human actions is a key part of this, and is the focus of this paper. Available datasets for Action Recognition generally feature controlled lighting and framing while recording subjects from the front. They mostly reflect good recording conditions but fail to model the data a robot will have to work with in the field, such as varying distance and lighting conditions. In this work, we propose a set of recording conditions, gestures and behaviors that better reflect the environment an agricultural \u0000robot might find itself in and record a dataset with a range of sensors that demonstrate these conditions.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126433770","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}
{"title":"Movement and Gesture Recognition Using Deep Learning Technology","authors":"Baao Xie, Baihua Li, A. Harland","doi":"10.31256/ukras19.24","DOIUrl":"https://doi.org/10.31256/ukras19.24","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125498744","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}
This paper presents an overview of an ongoing research to incorporate an assistive robotic platform towards improved detection of anomalies in daily living activities of older adults. This involves learning human daily behavioural routine and detecting deviation from the known routine which can constitute an abnormality. Current approaches suffer from high rate of false alarms, therefore, lead to dissatisfaction by clients and carers. This may be connected to behavioural changes of human activities due to seasonal or other physical factors. To address this, a framework for anomaly detection is proposed which incorporates an assistive robotic platform as an intermediary. Instances classified as anomalous will first be confirmed from the monitored individual through the intermediary. The proposed framework has the potential of mitigating the false alarm rate generated by current approaches.
{"title":"A Framework for Anomaly Detection in Activities of Daily Living using an Assistive Robot","authors":"Salisu Wada Yahaya, Ahmad Lotfi, M. Mahmud","doi":"10.31256/UKRAS19.35","DOIUrl":"https://doi.org/10.31256/UKRAS19.35","url":null,"abstract":"This paper presents an overview of an ongoing research to incorporate an assistive robotic platform towards improved detection of anomalies in daily living activities of older adults. This involves learning human daily behavioural routine and detecting deviation from the known routine which can constitute an abnormality. Current approaches suffer from high rate of false alarms, therefore, lead to dissatisfaction by clients and carers. This may be connected to behavioural changes of human activities due to seasonal or other physical factors. To address this, a framework for anomaly detection is proposed which incorporates an assistive robotic platform as an intermediary. Instances classified as anomalous will first be confirmed from the monitored individual through the intermediary. The proposed framework has the potential of mitigating the false alarm rate generated by current approaches.","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133781901","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}
C. West, Wei Cheah, Vijaykumar Rajasekaran, A. West, F. Arvin, S. Watson, M. Giuliani, R. Stolkin, B. Lennox
{"title":"Development of a Debris Clearance Vehicle for Limited Access Environments*","authors":"C. West, Wei Cheah, Vijaykumar Rajasekaran, A. West, F. Arvin, S. Watson, M. Giuliani, R. Stolkin, B. Lennox","doi":"10.31256/UKRAS19.6","DOIUrl":"https://doi.org/10.31256/UKRAS19.6","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134638935","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}
{"title":"A Novel Wireless Measurement While drilling System for Geotechnical and Geophysical Applications *","authors":"M. Khater, W. Al-Nuaimy","doi":"10.31256/UKRAS19.28","DOIUrl":"https://doi.org/10.31256/UKRAS19.28","url":null,"abstract":"","PeriodicalId":424229,"journal":{"name":"UK-RAS19 Conference: \"Embedded Intelligence: Enabling and Supporting RAS Technologies\" Proceedings","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133652114","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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