Pub Date : 2022-01-01DOI: 10.5220/0011134300003271
Silya Achat, J. Marzat, J. Moras
: This paper presents an approach to take into account semantic information for autonomous robot tasks requiring path planning capabilities. A semantic pointcloud or map serves as input for generating a multi-layered map structure, which can then be exploited to address various navigation goals and constraints. Semantic-aware adaptations of A ∗ , Transition-based RRT and a shortcut algorithm are derived in this framework, and evaluated numerically on an exploration and observation task using a reference dataset with multiple semantic classes as an illustrative test environment.
{"title":"Path Planning Incorporating Semantic Information for Autonomous Robot Navigation","authors":"Silya Achat, J. Marzat, J. Moras","doi":"10.5220/0011134300003271","DOIUrl":"https://doi.org/10.5220/0011134300003271","url":null,"abstract":": This paper presents an approach to take into account semantic information for autonomous robot tasks requiring path planning capabilities. A semantic pointcloud or map serves as input for generating a multi-layered map structure, which can then be exploited to address various navigation goals and constraints. Semantic-aware adaptations of A ∗ , Transition-based RRT and a shortcut algorithm are derived in this framework, and evaluated numerically on an exploration and observation task using a reference dataset with multiple semantic classes as an illustrative test environment.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"132 1","pages":"285-295"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77815425","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 : 2022-01-01DOI: 10.5220/0011356000003271
Riyadh Al Saidi, S. Alirezaee
{"title":"Robust Gain-scheduling LPV Control for a Reconfigurable Robot","authors":"Riyadh Al Saidi, S. Alirezaee","doi":"10.5220/0011356000003271","DOIUrl":"https://doi.org/10.5220/0011356000003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"40 1","pages":"89-96"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77429931","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 : 2022-01-01DOI: 10.5220/0011276600003271
D. Forkel, E. Cervera, Raúl Marín, E. Matheson, M. D. Castro
: In this paper a complete robotic solution is presented, which allows the teleoperation of the radiation survey in the Super Proton Synchrotron (SPS) accelerator at CERN. Firstly, an introduction to radiation protection is given. Subsequently, the execution of the radiation survey in person is described and the potential of robotic solutions for such missions is outlined. After providing a brief state of the art on the subject, the development of the robot base, as well as its component selection and design is shown. Hereafter, the software implementation is explained. The test procedure of this project includes the most important requirements for a correct execution of the survey, as well as the operational steps and data treatment in detail. The results underline the correct execution of the mission, and show the advantages of the teleoperated robotic solution, such as the improved and unified measurement conditions. Thus, this robotic system will allow to significantly reduce the radiation dose of the radiation protection staff. For further development, the automation of this task is planned, which presupposes the gradual autonomization of the robotic system from assisting the user to the self-reliant execution of the survey.
{"title":"Telerobotic Radiation Protection Tasks in the Super Proton Synchrotron using Mobile Robots","authors":"D. Forkel, E. Cervera, Raúl Marín, E. Matheson, M. D. Castro","doi":"10.5220/0011276600003271","DOIUrl":"https://doi.org/10.5220/0011276600003271","url":null,"abstract":": In this paper a complete robotic solution is presented, which allows the teleoperation of the radiation survey in the Super Proton Synchrotron (SPS) accelerator at CERN. Firstly, an introduction to radiation protection is given. Subsequently, the execution of the radiation survey in person is described and the potential of robotic solutions for such missions is outlined. After providing a brief state of the art on the subject, the development of the robot base, as well as its component selection and design is shown. Hereafter, the software implementation is explained. The test procedure of this project includes the most important requirements for a correct execution of the survey, as well as the operational steps and data treatment in detail. The results underline the correct execution of the mission, and show the advantages of the teleoperated robotic solution, such as the improved and unified measurement conditions. Thus, this robotic system will allow to significantly reduce the radiation dose of the radiation protection staff. For further development, the automation of this task is planned, which presupposes the gradual autonomization of the robotic system from assisting the user to the self-reliant execution of the survey.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"os-10 1","pages":"451-458"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87642761","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 : 2022-01-01DOI: 10.5220/0011275500003271
Ž. Majstorović, Leo Tišljarić, E. Ivanjko, T. Carić
: Urban traffic congestion is a significant problem for almost every city, affecting various aspects of life. Besides increasing travel time, congestion also affects air and life quality causing economic losses. The construction of infrastructure to solve congestion problems is not always feasible, and, at the end, attracts only additional traffic demand. Thus, a better approach for solving the problem of city congestion is by optimal management of the existing infrastructure. Timely detection of traffic congestion on the road level can prevent congestion formation and even improve road network capacity when used for appropriate traffic control actions. Detecting congestion is a complex process that depends on available traffic data. In this paper, for traffic state estimation, including congestion level, at the intersection level, a new method based on Speed Transition Matrix and Fuzzy-Based System is presented. The proposed method utilizes the Connected Vehicle environment. It is tested on a model of an isolated intersection made in SUMO simulation software based on real-world traffic data. The validation results confirm the successful detection of traffic state (congestion level) at intersections.
{"title":"Intersection Traffic State Estimation using Speed Transition Matrix and Fuzzy-based Systems","authors":"Ž. Majstorović, Leo Tišljarić, E. Ivanjko, T. Carić","doi":"10.5220/0011275500003271","DOIUrl":"https://doi.org/10.5220/0011275500003271","url":null,"abstract":": Urban traffic congestion is a significant problem for almost every city, affecting various aspects of life. Besides increasing travel time, congestion also affects air and life quality causing economic losses. The construction of infrastructure to solve congestion problems is not always feasible, and, at the end, attracts only additional traffic demand. Thus, a better approach for solving the problem of city congestion is by optimal management of the existing infrastructure. Timely detection of traffic congestion on the road level can prevent congestion formation and even improve road network capacity when used for appropriate traffic control actions. Detecting congestion is a complex process that depends on available traffic data. In this paper, for traffic state estimation, including congestion level, at the intersection level, a new method based on Speed Transition Matrix and Fuzzy-Based System is presented. The proposed method utilizes the Connected Vehicle environment. It is tested on a model of an isolated intersection made in SUMO simulation software based on real-world traffic data. The validation results confirm the successful detection of traffic state (congestion level) at intersections.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"59 1","pages":"193-200"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84535986","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 : 2022-01-01DOI: 10.5220/0011272600003271
Ivan Peinado-Asensi, N. Montés, E. García
: The world’s large factories in all sectors consume a great deal of resources, either raw materials or energy, to develop their products. Saving resources can have a positive impact on the sustainable development of the planet. Automotive manufacturers are a clear example of how to save by investing resources in improving technologies and optimizing processes. This article focuses on one of the most common processes in the automotive sector: the stamping process. For the optimization of this process, previous simulations are usually carried out in order to define the optimal parameters and which should only be applied for a correct operation. The real circumstances of the plant show there is a large discrepancy between the parameters obtained by simulation and the real process because of the difference in material properties, lubrication, press operation, etc. The solution is that the operators must adjust the parameters a posteriori and the only criterion to follow is obtaining the right quality of the part. In many cases, the parameters are well above the ideal. This article presents some algorithms used in order to perform an in situ calibration of the stamping presses to find the press parameters that, guaranteeing the quality of the part, allow to adjust the energy consumption to the minimum. At the end of this article the experimental results from this in-situ calibration process and the energy savings are shown.
{"title":"In Situ Calibration Algorithm to Optimize Energy Consumption in an Automotive Stamping Factory Process","authors":"Ivan Peinado-Asensi, N. Montés, E. García","doi":"10.5220/0011272600003271","DOIUrl":"https://doi.org/10.5220/0011272600003271","url":null,"abstract":": The world’s large factories in all sectors consume a great deal of resources, either raw materials or energy, to develop their products. Saving resources can have a positive impact on the sustainable development of the planet. Automotive manufacturers are a clear example of how to save by investing resources in improving technologies and optimizing processes. This article focuses on one of the most common processes in the automotive sector: the stamping process. For the optimization of this process, previous simulations are usually carried out in order to define the optimal parameters and which should only be applied for a correct operation. The real circumstances of the plant show there is a large discrepancy between the parameters obtained by simulation and the real process because of the difference in material properties, lubrication, press operation, etc. The solution is that the operators must adjust the parameters a posteriori and the only criterion to follow is obtaining the right quality of the part. In many cases, the parameters are well above the ideal. This article presents some algorithms used in order to perform an in situ calibration of the stamping presses to find the press parameters that, guaranteeing the quality of the part, allow to adjust the energy consumption to the minimum. At the end of this article the experimental results from this in-situ calibration process and the energy savings are shown.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"19 1","pages":"169-176"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88247875","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 : 2022-01-01DOI: 10.5220/0011321800003271
P. Kozlov, A. Klimchik
Abstract
摘要
{"title":"Simulation Study on Robot Calibration Approaches","authors":"P. Kozlov, A. Klimchik","doi":"10.5220/0011321800003271","DOIUrl":"https://doi.org/10.5220/0011321800003271","url":null,"abstract":"Abstract","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"41 1","pages":"516-523"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80717636","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 : 2022-01-01DOI: 10.5220/0011141900003271
D. Möller, Lukas Iffländer, M. Nord, Patrik Krause, Bernd Leppla, Kristin Mühl, Nikolai Lensik, Peter Czerkewski
: Emerging technologies and digital transformation are essential indicators in today’s industrial sectors. The railway and public transportation sectors are undergoing a substantial transformation through digitalization and emerging technologies. However, little is known about the manifold of applications in the industrial sectors and progress so far. In this study, we consider various emerging technologies and proposed use-cases. Next, using a two-step survey and a SWOTA analysis, we analyze both sector’s maturity levels regarding these technologies. The analysis indicates technologies currently permeating the analyzed sectors, shows discrepancies between technology application and knowledge, and multiple issues hamper their implementation. Virtualization,SDN,NFV flexibility, pos- sibility ‘digital knowledge
{"title":"Emerging Technologies in the Era of Digital Transformation: State of the Art in the Railway Sector","authors":"D. Möller, Lukas Iffländer, M. Nord, Patrik Krause, Bernd Leppla, Kristin Mühl, Nikolai Lensik, Peter Czerkewski","doi":"10.5220/0011141900003271","DOIUrl":"https://doi.org/10.5220/0011141900003271","url":null,"abstract":": Emerging technologies and digital transformation are essential indicators in today’s industrial sectors. The railway and public transportation sectors are undergoing a substantial transformation through digitalization and emerging technologies. However, little is known about the manifold of applications in the industrial sectors and progress so far. In this study, we consider various emerging technologies and proposed use-cases. Next, using a two-step survey and a SWOTA analysis, we analyze both sector’s maturity levels regarding these technologies. The analysis indicates technologies currently permeating the analyzed sectors, shows discrepancies between technology application and knowledge, and multiple issues hamper their implementation. Virtualization,SDN,NFV flexibility, pos- sibility ‘digital knowledge","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"60 1","pages":"721-728"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83600600","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 : 2022-01-01DOI: 10.5220/0011272200003271
Alessandro Bozzi, R. Sacile, Enrico Zero
: This paper introduces a comparison between a decentralized Proportional Integral Derivative (PID) controller and a centralized Linear Quadratic Tracking (LQT) controller to automatise the exchange of two inner vehicles inside a platoon moving on a straight path. Lomonossoff’s model is used to represent vehicle’s longitudinal dynamics. A case study is presented to demonstrate the effectiveness of both controllers respectively on nonlinear and linearized model.
{"title":"Proportional Integral Derivative Decentralized Control vs Linear Quadratic Tracking Regulator in Vehicle Overtaking within a Platoon","authors":"Alessandro Bozzi, R. Sacile, Enrico Zero","doi":"10.5220/0011272200003271","DOIUrl":"https://doi.org/10.5220/0011272200003271","url":null,"abstract":": This paper introduces a comparison between a decentralized Proportional Integral Derivative (PID) controller and a centralized Linear Quadratic Tracking (LQT) controller to automatise the exchange of two inner vehicles inside a platoon moving on a straight path. Lomonossoff’s model is used to represent vehicle’s longitudinal dynamics. A case study is presented to demonstrate the effectiveness of both controllers respectively on nonlinear and linearized model.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"231 1","pages":"427-433"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76433627","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 : 2022-01-01DOI: 10.5220/0011140900003271
Jane Rotter, Bernardo Wagner
: In search and rescue applications, mobile robots have to be equipped with robust sensors that provide data under rough environmental conditions. One such sensor technology is radar which is robust against low-visibility conditions. As a single sensor modality, radar data is hard to interpret which is why other modalities such as lidar or cameras are used to get a more detailed representation of the environment. A key to successful sensor fusion is an extrinsically and intrinsically calibrated sensor setup. In this paper, a target-less calibration method for scanning radar and lidar using geometric features in the environment is presented. It is shown that this method is well-suited for in-field use in a search and rescue application. The method is evaluated in a variety of use-case relevant test scenarios and it is demonstrated that the calibration results are accurate enough for the target application. To validate the results, the proposed method is compared to a target-based state-of-the-art calibration method showing equivalent performance without the need for specially designed targets.
{"title":"Calibration of a 2D Scanning Radar and a 3D Lidar","authors":"Jane Rotter, Bernardo Wagner","doi":"10.5220/0011140900003271","DOIUrl":"https://doi.org/10.5220/0011140900003271","url":null,"abstract":": In search and rescue applications, mobile robots have to be equipped with robust sensors that provide data under rough environmental conditions. One such sensor technology is radar which is robust against low-visibility conditions. As a single sensor modality, radar data is hard to interpret which is why other modalities such as lidar or cameras are used to get a more detailed representation of the environment. A key to successful sensor fusion is an extrinsically and intrinsically calibrated sensor setup. In this paper, a target-less calibration method for scanning radar and lidar using geometric features in the environment is presented. It is shown that this method is well-suited for in-field use in a search and rescue application. The method is evaluated in a variety of use-case relevant test scenarios and it is demonstrated that the calibration results are accurate enough for the target application. To validate the results, the proposed method is compared to a target-based state-of-the-art calibration method showing equivalent performance without the need for specially designed targets.","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"56 1","pages":"377-384"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78842370","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 : 2022-01-01DOI: 10.5220/0011231200003271
M. Tantau, Torben Jonsky, Zygimantas Ziaukas, Hans-Georg Jacob
{"title":"Control-relevant Model Selection for Multiple-mass Systems","authors":"M. Tantau, Torben Jonsky, Zygimantas Ziaukas, Hans-Georg Jacob","doi":"10.5220/0011231200003271","DOIUrl":"https://doi.org/10.5220/0011231200003271","url":null,"abstract":"","PeriodicalId":6436,"journal":{"name":"2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010)","volume":"35 1","pages":"605-615"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73975159","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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