| 1. |
- Ahlberg, Carl, et al.
(författare)
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GIMME - A General Image Multiview Manipulation Engine
- 2011
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Ingår i: Proceedings of the International Conference on ReConFigurable Computing and FPGAs (ReConFig 2011). - Los Alamitos, Calif : IEEE Computer Society. - 9780769545516
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Konferensbidrag (refereegranskat)abstract
- This paper presents GIMME (General Image Multiview Manipulation Engine), a highly flexible reconfigurable stand-alone mobile two-camera vision platform with stereo-vision capability. GIMME relies on reconfigurable hardware (FPGA) to perform application-specific low to medium-level image-processing at video rate. The Qseven-extension enables additional processing power. Thanks to its compact design, low power consumption and standardized interfaces (power and communication), GIMME is an ideal vision platform for autonomous and mobile robot applications.
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| 2. |
- Ahlberg, Carl, et al.
(författare)
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GIMME2 - An embedded system for stereo vision and processing of megapixel images with FPGA-acceleration
- 2015
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Ingår i: 2015 International Conference on ReConFigurable Computing and FPGAs, ReConFig 2015. - 9781467394062
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Konferensbidrag (refereegranskat)abstract
- This paper presents GIMME2, an embedded stereovision system, designed to be compact, power efficient, cost effective, and high performing in the area of image processing. GIMME2 features two 10 megapixel image sensors and a Xilinx Zynq, which combines FPGA-fabric with a dual-core ARM CPU on a single chip. This enables GIMME2 to process video-rate megapixel image streams at real-time, exploiting the benefits of heterogeneous processing.
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| 3. |
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| 4. |
- Akan, Batu, et al.
(författare)
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Object Selection using a Spatial Language for Flexible Assembly
- 2009
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Ingår i: 14th IEEE International Conference on Emerging Technologies and Factory Automation, 2009. (ETFA 2009). - Mallorca, Spain. - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a new simplified natural language that makes use of spatial relations between the objects in scene to navigate an industrial robot for simple pick and place applications. 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 are far higher than installation costs. In order to hide the complexities of robot programming we propose a natural language where the use can control and jog the robot based on reference objects in the scene. We used Gaussian kernels to represent spatial regions, such as left or above. Finally we present some dialogues between the user and robot to demonstrate the usefulness of the proposed system.
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| 5. |
- Akan, Batu, et al.
(författare)
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Towards Robust Human Robot Collaboration in Industrial Environments
- 2010
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Ingår i: 5th ACM/IEEE International Conference on Human-Robot Interaction, HRI 2010. - New York, New York, USA : ACM Press. - 9781424448937 ; , s. 71-72
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Konferensbidrag (refereegranskat)abstract
- In this paper a system, which is driven through natural language, that allows operators to select and manipulate objects in the environment using an industrial robot is proposed. In order to hide the complexities of robot programming we propose a natural language where the user can control and jog the robot based on reference objects in the scene. We used semantic networks to relate different types of objects in the scene
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| 6. |
- Ekstrand, Fredrik, et al.
(författare)
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High-speed segmentation-driven high-resolution matching
- 2015
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Ingår i: Proceedings of SPIE - The International Society for Optical Engineering, vol. 9445. - : SPIE. - 9781628415605 ; , s. Article number 94451Y-
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Konferensbidrag (refereegranskat)abstract
- This paper proposes a segmentation-based approach for matching of high-resolution stereo images in real time. The approach employs direct region matching in a raster scan fashion influenced by scanline approaches, but with pixel decoupling. To enable real-time performance it is implemented as a heterogeneous system of an FPGA and a sequential processor. Additionally, the approach is designed for low resource usage in order to qualify as part of unified image processing in an embedded system.
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| 7. |
- Ekstrand, Fredrik, et al.
(författare)
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Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
- 2011
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Ingår i: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications. - 9781457703287 ; , s. 465-469
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Konferensbidrag (refereegranskat)abstract
- This paper proposes a limited implementation of areabasedstereo matching for minimal resource utilization. It shows that it is possible to achieve an acceptable disparity map without the use of expensive resources. The matching accuracy for the single-row SAD can even outperform that of its full-row counterpart. Additionally, it excels in terms of frame rate and resource utilization, and is highly suitable for real-time stereo-vision systems.
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| 8. |
- Ekstrand, Fredrik, et al.
(författare)
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Towards an Embedded Real-Time High Resolution Vision System
- 2014
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Ingår i: ADVANCES IN VISUAL COMPUTING (ISVC 2014), PT II. - : SPRINGER-VERLAG BERLIN. - 9783319143644 ; , s. 541-550
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Konferensbidrag (refereegranskat)abstract
- This paper proposes an approach to image processing for high performance vision systems. Focus is on achieving a scalable method for real-time disparity estimation which can support high resolution images and large disparity ranges. The presented implementation is a non-local matching approach building on the innate qualities of the processing platform which, through utilization of a heterogeneous system, combines low-complexity approaches into performing a high-complexity task. The complementary platform composition allows for the FPGA to reduce the amount of data to the CPU while at the same time promoting the available informational content, thus both reducing the workload as well as raising the level of abstraction. Together with the low resource utilization, this allows for the approach to be designed to support advanced functionality in order to qualify as part of unified image processing in an embedded system.
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| 9. |
- Ekstrand, Fredrik, et al.
(författare)
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Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
- 2012
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Ingår i: VISAPP 2012 - Proceedings of the International Conference on Computer Vision Theory and Application, vol. 2. - 9789898565044 ; , s. 415-418
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- This paper presents a set of approaches for increasing the accuracy of basic area-based stereo matching methods. It is targeting real-time FPGA systems for dense disparity map estimation. The methods are focused on low resource usage and maximized improvement per cost unit to enable the inclusion of an autonomous system in an FPGA. The approach performs on par with other area-matching implementations, but at substantially lower resource usage. Additionally, the solution removes the requirement for external memory for reconfigurable hardware together with the limitation in image size accompanying standard methods. As a fully piped complete on-chip solution, it is highly suitable for real-time stereo-vision systems, with a frame rate over 100 fps for Megapixel images.
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| 10. |
- Hyttinen, Emil, 1988-
(författare)
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Adaptive Grasping Using Tactile Sensing
- 2017
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Grasping novel objects is challenging because of incomplete object data and because of uncertainties inherent in real world applications. To robustly perform grasps on previously unseen objects, feedback from touch is essential. In our research, we study how information from touch sensors can be used to improve grasping novel objects. Since it is not trivial to extract relevant object properties and deduce appropriate actions from touch sensing, we employ machine learning techniques to learn suitable behaviors. We have shown that grasp stability estimation based on touch can be improved by including an approximate notion of object shape. Further we have devised a method to guide local grasp adaptations based on our stability estimation method. Grasp corrections are found by simulating tactile data for grasps in the vicinity of the current grasp. We present several experiments to demonstrate the applicability of our methods. The thesis is concluded by discussing our results and suggesting potential topics for further research.
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| 11. |
- Khalilzad, Nima, et al.
(författare)
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Bandwidth Adaptation in Hierarchical Scheduling Using Fuzzy Controllers
- 2012
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Ingår i: 7th IEEE International Symposium on Industrial Embedded Systems, SIES 2012 - Conference Proceedings. - : IEEE Press. - 9781467326841 ; , s. 148-157
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Konferensbidrag (refereegranskat)abstract
- In our previous work, we have introduced an adaptive hierarchical scheduling framework as a solution for composing dynamic real-time systems, i.e., systems where the CPU demand of their tasks are subjected to unknown and potentially drastic changes during run-time. The framework uses the PI controller which periodically adapts the system to the current load situation. The conventional PI controller despite simplicity and low CPU overhead, provides acceptable performance. However, increasing the pressure on the controller e.g, with an application consisting of multiple tasks with drastically oscillating execution times, degrades the performance of the PI controller. Therefore, in this paper we modify the structure of our adaptive framework by replacing the PI controller with a fuzzy controller to achieve better performance. Furthermore, we conduct a simulation based case study in which we compose dynamic tasks such as video decoder tasks with a set of static tasks into a single system, and we show that the new fuzzy controller outperforms our previous PI controller.
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| 12. |
- Lager, Anders, et al.
(författare)
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A Scalable Heuristic for Mission Planning of Mobile Robot Teams
- 2023
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Ingår i: IFAC-PapersOnLine. - : Elsevier B.V.. - 9781713872344 ; , s. 7865-7872
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Konferensbidrag (refereegranskat)abstract
- In this work, we investigate a task planning problem for assigning and planning a mobile robot team to jointly perform a kitting application with alternative task locations. To this end, the application is modeled as a Robot Task Scheduling Graph and the planning problem is modeled as a Mixed Integer Linear Program (MILP). We propose a heuristic approach to solve the problem with a practically useful performance in terms of scalability and computation time. The experimental evaluation shows that our heuristic approach is able to find efficient plans, in comparison with both optimal and non-optimal MILP solutions, in a fraction of the planning time.
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| 13. |
- Lager, Anders, et al.
(författare)
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A Task Modelling Formalism for Industrial Mobile Robot Applications
- 2021
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Ingår i: 2021 20th International Conference on Advanced Robotics, ICAR 2021. - : Institute of Electrical and Electronics Engineers Inc.. - 9781665436847 ; , s. 296-303
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Konferensbidrag (refereegranskat)abstract
- Industrial mobile robots are increasingly introduced in factories and warehouses. These environments are becoming more dynamic with human co-workers and other uncertainties that may interfere with the robot's actions. To uphold efficient operation, the robots should be able to autonomously plan and replan the order of their tasks. On the other hand, the robot's actions should be predictable in an industrial process. We believe the deployment and operation of robots become more robust if the experts of the industrial processes are able to understand and modify the robot's behaviour. To this end, we present an intuitive novel task modelling formalism, Robot Task Scheduling Graph (RTSG). RTSG provides building blocks for the explicit definition of alternative task sequences in a compact graph format. We present how such a graph is automatically converted to a task planning problem in two different forms, i.e., a Mixed Integer Linear Program (MILP) and a Planning Domain Definition Language specification (PDDL). Converted RTSG models of a mobile kitting application are used to experimentally compare the performance of one MILP planner and two PDDL planners. Besides providing this comparison, the experiments confirm the equivalence of the converted MILP and PDDL problem formulations. Finally, a simulation experiment verifies the assumed correlation between a cost model, based on path lengths, and the makespan.
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| 14. |
- Lager, Anders, et al.
(författare)
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Task Roadmaps: Speeding up Task Replanning
- 2022
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Ingår i: Frontiers in Robotics and AI. - : Frontiers Media SA. - 2296-9144. ; 9
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Tidskriftsartikel (refereegranskat)abstract
- Modern industrial robots are increasingly deployed in dynamic environments, where unpredictable events are expected to impact the robot's operation. Under these conditions, runtime task replanning is required to avoid failures and unnecessary stops, while keeping up productivity. Task replanning is a long-sighted complement to path replanning, which is mostly concerned with avoiding unexpected obstacles that can lead to potentially unsafe situations. This paper focuses on task replanning as a way to dynamically adjust the robot behaviour to the continuously evolving environment in which it is deployed. Analogously to probabilistic roadmaps used in path planning, we propose the concept of Task roadmaps as a method to replan tasks by leveraging an offline generated search space. A graph-based model of the robot application is converted to a task scheduling problem to be solved by a proposed Branch and Bound (B&B) approach and two benchmark approaches: Mixed Integer Linear Programming (MILP) and Planning Domain Definition Language (PDDL). The B&B approach is proposed to compute the task roadmap, which is then reused to replan for unforeseeable events. The optimality and efficiency of this replanning approach are demonstrated in a simulation-based experiment with a mobile manipulator in a kitting application. In this study, the proposed B&B Task Roadmap replanning approach is significantly faster than a MILP solver and a PDDL based planner.
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| 15. |
- Lager, Anders, et al.
(författare)
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Towards Reactive Robot Applications in Dynamic Environments
- 2019
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Ingår i: The 24th IEEE Conference on Emerging Technologies and Factory Automation ETFA2019. - 9781728103037 ; , s. 1603-1606
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Konferensbidrag (refereegranskat)abstract
- Traditionally, industrial robots have been deployed in fairly static environments, to perform highly dedicated tasks. These robots perform with very high precision and throughput. However, nowadays there is an increasing demand for utilizing robots in more dynamic environments, also performing more flexible and less specialized operations — high mix/low volume. Both traditional industrial robots and force-limited robots are used in collaborative, dynamic environments. Such robot applications introduce new challenges when it comes to efficiency and robustness. In this paper, we propose an architecture for reactive multi-robot applications in the context of dynamic environments, and we analyze the main research challenges that must be tackled for its realization. A logistics use case, with robots picking customer orders from the shelves of a warehouse, is used as a running example to support the description of the key challenges.
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| 16. |
- Lidholm, Jörgen
(författare)
-
Stereo vision algorithms in reconfigurable hardware for robotics applications
- 2011
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis presents image processing solutions in FPGA based embedded vision systems. Image processing is a demanding process but the information that can be extracted from images is very useful and can be used for many tasks like mapping and navigation, object detection and recognition, collision detection and more. Image processing or analysis involves reading images from a camera system, improve an image with respect to colour fidelity and white balance, removing distortion, extracting salient information. The mentioned steps are often referred to as low to medium level image processing and involve large amounts of data and fairly simple algorithms suitable for parallel processing. Medium to high level processing involves a reduced amount of data and more complex algorithms. Object recognition which involves matching image features to information stored in a database is of higher complexity. A vision system can be used in anything from a car to industry processes to mobile robots playing soccer or assisting people in their homes. A vision system often works with video streams that are processed to find pieces that can be handled in an industry process, detect obstacles that may be potential hazards in traffic or to find and track landmarks in the environment that can be used to build and navigate from. This involves large amount of calculations and this is a problem, even though modern computers are fast they may still not be able to execute the desired algorithms with the frequency wanted. Even if there are computers that are fast enough they are bulky and require a lot of power. They are not suitable for incorporating on small mobile robots. In this thesis I will present the image processing sequence to give an understanding of the complexity of the processes involved and I will discuss some processing platforms suitable for image processing. I will also present my work that is focused on image algorithm implementations for reconfigurable hardware suitable for mobile robots with requirements on speed an power consumption.
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| 17. |
- Lidholm, Jörgen, et al.
(författare)
-
Validation of Stereo Matching for Robot Navigation
- 2009
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Ingår i: 14th IEEE International Conference on emerging Technologies and Factory Automation ETFA 2009. - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- In this paper a new method is presented for evaluat- ing visual stereo matching. Features are extracted and stereo paired according to their vertical positions in the image, with constraints on the horizontal position, leaving only sane, possible pairs. From feature pairs landmarks are constructed. The landmarks are evaluated using mo- tion estimation from a complementary relative naviga- tion system like odometry, only landmarks calculated from correctly paired features should survive the motion, thus transferring the problem into three dimensional space.
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| 18. |
- Mehmed, Ayhan, et al.
(författare)
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Improving Dependability of Vision-Based Advanced Driver Assistance Systems Using Navigation Data and Checkpoint Recognition
- 2015
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Ingår i: COMPUTER SAFETY, RELIABILITY, AND SECURITY, SAFECOMP 2015. - Cham : Springer International Publishing. - 9783319242545 ; , s. 59-73
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Konferensbidrag (refereegranskat)abstract
- Advanced Driver Assistance Systems (ADAS), like adaptive cruise control, collision avoidance, and, ultimately, autonomous driving are increasingly evolving into safety-critical systems. These ADAS frequently rely on proper function of Computer-Vision Systems (CVS), which is hard to assess in a timely manner, due to their sensitivity to the variety of illumination conditions (e.g. weather conditions, sun brightness). On the other hand, self-awareness information is available in the vehicle, such as maps and localization data (e.g. GPS).This paper studies how the combination of diverse environmental information can improve the overall vision-based ADAS reliability. To this extent we present a concept of a Computer-Vision Monitor (CVM) that identifies predefined landmarks in the vehicles surrounding, based on digital maps and localization data, and that checks whether the CVS correctly identifies said landmarks. We formalize and assess the reliability improvement of our solution by means of a fault-tree analysis.
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| 19. |
- Reddy Vemula, Bhanoday, et al.
(författare)
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Human-robot impact model: For safety assessment of collaborative robot design
- 2017
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Ingår i: Proceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017. - 9781538613429 ; , s. 236-243
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Konferensbidrag (refereegranskat)abstract
- In this research, a novel impact simulation model based on compliant contact force (CCF) modelling approach is presented. This model can simulate the physical impact between non-homogeneous and layered elastic bodies representing the robot and human body parts. The proposed CCF model is intended to be used by the robot designers to execute safety evaluation tasks during the design and development of collaborative robot systems. The main theoretical contribution from this CCF impact model is related to the formulations, which can account for the contact behavior due to the non-homogeneous nature of the impacting bodies. The relevance of the proposed impact simulation is evaluated based on a comparative analysis with other available relevant models from the literature as well as with Finite element based simulation model. Finally, the influence of various robot design parameters on the impact severity is analyzed for different impact scenarios by adopting the proposed CCF model.
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| 20. |
- Reddy Vemula, Bhanoday, et al.
(författare)
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Structural synthesis of 3DOF Articulated Manipulators based on Kinematic Evaluation
- 2013
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Ingår i: 16th International Conference on Advanced Robotics ICAR 2013. ; , s. Article number 6766460-
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Konferensbidrag (refereegranskat)abstract
- In this study, serial and parallelogram linkage structures are evaluated and compared, on the basis of kinematic performance measures such as workspace and manipulability. Tradeoff relationships between workspace manipulability are established for both the structures, using the configuration of the arm lengths as a design variable. The structures are also analyzed on the basis of their manipulation ability in specific regions of their workspace, providing additional design criteria during the selection of the kinematic structure in the synthesis of industrial articulated robots.
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| 21. |
- Spampinato, Giacomo, et al.
(författare)
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An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping
- 2011
-
Ingår i: Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011. - New York : IEEE Press. - 9781612844558 ; , s. 1626-1631
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Konferensbidrag (refereegranskat)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.
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| 22. |
- Spampinato, Giacomo, et al.
(författare)
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An embedded stereo vision module for industrial vehicles automation
- 2013
-
Ingår i: Proceedings of the IEEE International Conference on Industrial Technology. - : IEEE. - 9781467345699 ; , s. 52-57
-
Konferensbidrag (refereegranskat)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) to perform stereo image processing and 3D mapping of sparse features for autonomous navigation and obstacle detection in industrial settings. We propose an EKF based visual SLAM to achieve a 6D localization of the vehicle even in non flat scenarios. The system uses vision as the only source of information. As a consequence, it operates regardless of the odometry from the vehicle since visual odometry is used. © 2013 IEEE.
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| 23. |
- Spampinato, Giacomo, et al.
(författare)
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Navigation in a box : Stereovision for industry automation
- 2010
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Ingår i: Advances in Theory and Applications of Stereo Vision. - : InTech. - 9789533075167
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- The research presented addresses the emerging topic of AGVs (Automated Guided Vehicles) specifically related to industrial sites. The work presented has been carried out in the frame of the MALTA project (Multiple Autonomous forklifts for Loading and Transportation Applications), a joint research project between industry and university, funded by the European Regional Development and Robotdalen, in partnership with theSwedish Knowledge Foundation. The project objective is to create fully autonomous forklift trucks for paper reel handling. The result is expected to be of general benefit for industries that use forklift trucks in their material handling through higher operating efficiency and better flexibility with reduced risk for accidents and handling damages than if only manual forklift trucks are used. A brief overview of the state of the art in AGVs will be reported in order to better understand the new challenges and technologies. Among the emerging technologies used for vehicle automation, vision is one of the most promising in terms of versatility and efficiency, with a high potential to drastically reduce the costs.
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| 24. |
- Spampinato, Giacomo, et al.
(författare)
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Stereo Vision Based Navigation for Automated Vehicles in Industry
- 2009
-
Ingår i: 14th IEEE International Conference on emerging Technologies and Factory Automation ETFA 2009. - Mallorca, Spain. - 9781424427284
-
Konferensbidrag (refereegranskat)abstract
- This paper proposes a stereo vision based localization and mapping strategy for vehicular navigation within industrial environments using natural landmarks. The work proposed is strictly related to factory automation, since focus is on industrial vehicle autonomous navigation for material handling, in order to increase the operating efficiency with reduced risk for accidents. The stereovision system, proposed as the main sensor, provides the necessary feedback to navigate and simultaneously calibrate the stereocamera parameters (like the camera separation, focal length, camera placement with respect to the robot, etc.). It uses the natural landmarks already present in the environment without additional infrastructures. Some simulation and experimental results are presented in order to explain the proposed method and current status.
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| 25. |
- Vemula, Bhanoday Reddy, et al.
(författare)
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A methodology for comparing the dynamic efficiency of different kinematic robot structures
- 2015
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Ingår i: 2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015. - 9781479970971 ; , s. 1822-1827
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Konferensbidrag (refereegranskat)abstract
- This study proposes a methodology for comparing the dynamic effectiveness of two different kinematic structures based on actuator torque requirement criteria. The objective of this comparison is to find out what type of robot structure is best suited as a lightweight industrial robot in the conceptual design phase. As a proof of concept this method is applied to compare Serial and Parallelogram linkage anthropomorphic kinematic structures with respect to torque requirements. Several directions for future research are discussed to include additional comparison criteria and also to extend the application of the proposed method to compare two versions of same structure in the design phase of light weight industrial robots.
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| 26. |
- Vemula, Bhanoday Reddy, et al.
(författare)
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Stiffness based global indices for structural evaluation of anthropomorphic manipulators
- 2014
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Ingår i: Joint 45th International Symposium on Robotics, ISR 2014 and 8th German Conference on Robotics, ROBOTIK 2014. - 9783800736010 ; , s. 708-715
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Konferensbidrag (refereegranskat)abstract
- Knowledge based on experience and rules of thumb is often used during the concept selection phase of robot design since it could be extremely time consuming to perform the complete robot design process on all the possible structural alternatives. This article proposes an efficient procedure to perform structural evaluation of anthropomorphic manipulators with and without parallel transmission linkages for applicability in new generations of light weight and cost effective industrial robots. In this study the structural evaluation is performed based on the static elasticity behaviour of the two manipulator structures with emphasis on improving the structural rigidity without jeopardizing the control characteristics with respect to static deflection and natural frequencies.
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