| 1. |
- Akan, Batu, et al.
(författare)
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Augmented Reality-based Industrial Robot Control
- 2011
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Ingår i: Proceedings of SIGRAD 2011. - : Linköping University Electronic Press. - 9789173930086 ; , s. 113-114
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Konferensbidrag (refereegranskat)abstract
- Most of the interfaces which are designed to control or program industrial robots are complex and require special training for the user. This complexity alongside the changing environment of small medium enterprises (SMEs) has lead to absence of robots from SMEs. The costs of (re)programming the robots and (re)training the robot users exceed initial costs of installation. In order to solve this shortcoming, we propose a new interface which uses augmented reality (AR) and multimodal human-robot interaction. We show that such an approach allows easier manipulation of robots at industrial environments.
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| 2. |
- Akan, Batu, et al.
(författare)
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Intuitive Industrial Robot Programming Through Incremental Multimodal Language and Augmented Reality
- 2011
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Ingår i: 2011 IEEE International Conferance on Robotics and Automation (ICRA 2011). - : IEEE. - 9781612843865 ; , s. 3934-3939
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Konferensbidrag (refereegranskat)abstract
- Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs exceed installation costs by a large margin. In addition, traditional programming methods for industrial robots is too complex for an inexperienced robot programmer, thus external assistance is often needed. In this paper a new incremental multimodal language, which uses augmented reality (AR) environment, is presented. The proposed language architecture makes it possible to manipulate, pick or place the objects in the scene. This approach shifts the focus of industrial robot programming from coordinate based programming paradigm, to object based programming scheme. This makes it possible for non-experts to program the robot in an intuitive way, without going through rigorous training in robot programming.
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| 3. |
- Akan, Batu, 1981-, et al.
(författare)
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Scheduling for Multiple Type Objects Using POPStar Planner
- 2014
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Ingår i: Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'14), Barcelona, Spain, September, 2014. - 9781479948468 ; , s. Article number 7005148-
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Konferensbidrag (refereegranskat)abstract
- In this paper, scheduling of robot cells that produce multiple object types in low volumes are considered. The challenge is to maximize the number of objects produced in a given time window as well as to adopt the schedule for changing object types. Proposed algorithm, POPStar, is based on a partial order planner which is guided by best-first search algorithm and landmarks. The best-first search, uses heuristics to help the planner to create complete plans while minimizing the makespan. The algorithm takes landmarks, which are extracted from user's instructions given in structured English as input. Using different topologies for the landmark graphs, we show that it is possible to create schedules for changing object types, which will be processed in different stages in the robot cell. Results show that the POPStar algorithm can create and adapt schedules for robot cells with changing product types in low volume production.
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| 4. |
- Ameri, Afshin, et al.
(författare)
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Interplay of Human and AI Solvers on a Planning Problem
- 2023
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Ingår i: Conf. Proc. IEEE Int. Conf. Syst. Man Cybern.. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350337020 ; , s. 3166-3173
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Konferensbidrag (refereegranskat)abstract
- With the rapidly growing use of Multi-Agent Systems (MASs), which can exponentially increase the system complexity, the problem of planning a mission for MASs became more intricate. In some MASs, human operators are still involved in various decision-making processes, including manual mission planning, which can be an ineffective approach for any non-trivial problem. Mission planning and re-planning can be represented as a combinatorial optimization problem. Computing a solution to these types of problems is notoriously difficult and not scalable, posing a challenge even to cutting-edge solvers. As time is usually considered an essential resource in MASs, automated solvers have a limited time to provide a solution. The downside of this approach is that it can take a substantial amount of time for the automated solver to provide a sub-optimal solution. In this work, we are interested in the interplay between a human operator and an automated solver and whether it is more efficient to let a human or an automated solver handle the planning and re-planning problems, or if the combination of the two is a better approach. We thus propose an experimental setup to evaluate the effect of having a human operator included in the mission planning and re-planning process. Our tests are performed on a series of instances with gradually increasing complexity and involve a group of human operators and a metaheuristic solver based on a genetic algorithm. We measure the effect of the interplay on both the quality and structure of the output solutions. Our results show that the best setup is to let the operator come up with a few solutions, before letting the solver improve them.
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| 5. |
- Ameri, Afshin, et al.
(författare)
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Planning and Supervising Autonomous Underwater Vehicles through the Mission Management Tool
- 2020
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Ingår i: Global OCEANS 2020 OCEANS. - 9781728154466
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Konferensbidrag (refereegranskat)abstract
- Complex underwater missions involving heterogeneous groups of AUVs and other types of vehicles require a number of steps from defining and planning the mission, orchestration during the mission execution, recovery of the vehicles, and finally post-mission data analysis. In this work the Mission Management Tool (MMT), a software solution for addressing the above-mentioned services is proposed. As demonstrated in the real-world tests the MMT is able to support the mission operators. The MMT hides the complex system consisting of software solutions, hardware, and vehicles from the user, and allows intuitive interaction with the vehicles involved in a mission. The tool can adapt to a wide spectrum of missions assuming different types of robotic systems and mission objectives.
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| 6. |
- Ameri E., Afshin, et al.
(författare)
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A General Framework for Incremental Processing of Multimodal Inputs
- 2011
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Ingår i: Proceedings of the 13th international conference on multimodal interfaces. - New York : ACM Press. - 9781450306416 ; , s. 225-228
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Konferensbidrag (refereegranskat)abstract
- Humans employ different information channels (modalities) such as speech, pictures and gestures in their commu- nication. It is believed that some of these modalities are more error-prone to some specific type of data and therefore multimodality can help to reduce ambiguities in the interaction. There have been numerous efforts in implementing multimodal interfaces for computers and robots. Yet, there is no general standard framework for developing them. In this paper we propose a general framework for implementing multimodal interfaces. It is designed to perform natural language understanding, multi- modal integration and semantic analysis with an incremental pipeline and includes a multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.
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| 7. |
- Ameri E., Afshin, et al.
(författare)
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Incremental Multimodal Interface for Human-Robot Interaction
- 2010
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Ingår i: Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2010. ; , s. Art.nr. 5641234-
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Konferensbidrag (refereegranskat)abstract
- Face-to-face human communication is a multimodal and incremental process. An intelligent robot that operates in close relation with humans should have the ability to communicate with its human colleagues in such manner. The process of understanding and responding to multimodal inputs has been an interesting field of research and resulted in advancements in areas such as syntactic and semantic analysis, modality fusion and dialogue management. Some approaches in syntactic and semantic analysis take incremental nature of human interaction into account. Our goal is to unify syntactic/semantic analysis, modality fusion and dialogue management processes into an incremental multimodal interaction manager. We believe that this approach will lead to a more robust system which can perform faster than today's systems.
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| 8. |
- Ameri E., Afshin, et al.
(författare)
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Towards Full-Scale Ray Tracing in Games
- 2016
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Ingår i: Proceedings of SIGRAD 2016. - Visby, Sweden. - 9789176857311 ; , s. 48-49
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Konferensbidrag (refereegranskat)abstract
- We discuss the current status when it comes to real-time ray tracing of games as a full-scale alternative to renderers based on rasterization. Modern games include massive geometry, beautiful graphics, and advanced rendering effects, and still, they run with a high and steady frame rate at high resolutions. We argue that to make ray tracing a viable option, significant further development is required in terms of improved algorithms and software libraries, as well as hardware innovations that will greatly benefit the average gamer’s hardware equipment.
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| 9. |
- Gu, Rong, et al.
(författare)
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Synthesis and Verification of Mission Plans for Multiple Autonomous Agents under Complex Road Conditions
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- Mission planning for multi-agent autonomous systems aims to generate feasible and optimal mission plans that satisfy the given requirements. In this article, we propose a mission-planning methodology that combines (i) a path-planning algorithm for synthesizing path plans that are safe in environments with complex road conditions, and (ii) a task-scheduling method for synthesizing task plans that schedule the tasks in the right and fastest order, taking into account the planned paths. The task-scheduling method is based on model checking, which provides means of automatically generating task execution orders that satisfy the requirements and ensure the correctness and efficiency of the plans by construction. We implement our approach in a tool named MALTA, which offers a user-friendly GUI for configuring mission requirements, a module for path planning, an integration with the model checker UPPAAL, and functions for automatic generation of formal models, and parsing of the execution traces of models. Experiments with the tool demonstrate its applicability and performance in various configurations of an industrial case study of an autonomous quarry. We also show the adaptability of our tool by employing it on a special case of the industrial case study.
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| 10. |
- Kloibhofer, R., et al.
(författare)
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LoRaWAN with HSM as a Security Improvement for Agriculture Applications - Evaluation
- 2021
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Ingår i: Lect. Notes Comput. Sci.. - Cham : Springer Science and Business Media Deutschland GmbH. - 9783030839055 ; , s. 128-140
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Konferensbidrag (refereegranskat)abstract
- The future of agriculture is digital and the move towards it has already started. Comparable to modern industrial automation control systems (IACS), today’s smart agriculture makes use of smart sensors, sensor networks, intelligent field devices, cloud-based data storage, and intelligent decision-making systems. These agriculture automation control systems (AACS) require equivalent, but adapted, security protection measures. Last year, the agriculture-related security theme was addressed in a presentation [1] on DECSoS '20 workshop of the SAFECOMP 2020 conference. In the workshop a simple soil sensor prototype with wireless communication system was presented. The sensor was used to demonstrate the improvements to operational security of field devices through employing cyber security protection techniques. As a continuation of the last year contribution, this paper presents the evaluation of the technologies presented in real-life deployment of AACS. It also describes operational scenarios and experiences with the implementation of security measures for AACS, e.g.: the implementation of a four-layer cyber security architecture, the signalling concept of alarms and notifications in the event of a cyber-attack, the assessment of security measures, the costs of security, and an outlook of upcoming future security requirements for wireless IoT devices which are specified by the European Commission through the European Radio Equipment Directive (RED).
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| 11. |
- Merz, Mariann, et al.
(författare)
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Autonomous UAS-Based Agriculture Applications : General Overview and Relevant European Case Studies
- 2022
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Ingår i: DRONES. - : MDPI. - 2504-446X. ; 6:5
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Tidskriftsartikel (refereegranskat)abstract
- Emerging precision agriculture techniques rely on the frequent collection of high-quality data which can be acquired efficiently by unmanned aerial systems (UAS). The main obstacle for wider adoption of this technology is related to UAS operational costs. The path forward requires a high degree of autonomy and integration of the UAS and other cyber physical systems on the farm into a common Farm Management System (FMS) to facilitate the use of big data and artificial intelligence (AI) techniques for decision support. Such a solution has been implemented in the EU project AFarCloud (Aggregated Farming in the Cloud). The regulation of UAS operations is another important factor that impacts the adoption rate of agricultural UAS. An analysis of the new European UAS regulations relevant for autonomous operation is included. Autonomous UAS operation through the AFarCloud FMS solution has been demonstrated at several test farms in multiple European countries. Novel applications have been developed, such as the retrieval of data from remote field sensors using UAS and in situ measurements using dedicated UAS payloads designed for physical contact with the environment. The main findings include that (1) autonomous UAS operation in the agricultural sector is feasible once the regulations allow this; (2) the UAS should be integrated with the FMS and include autonomous data processing and charging functionality to offer a practical solution; and (3) several applications beyond just asset monitoring are relevant for the UAS and will help to justify the cost of this equipment.
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