Robot 2023: Sixth Iberian Robotics Conference

Name: Robot 2023: Sixth Iberian Robotics Conference | Advances in Robotics, Volume 2
Brand: Springer
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Advances in Robotics, Volume 2

Lino Marques Cristina Santos José Luís Lima Danilo Tardioli Manuel Ferre(Editor)

Springer (Publisher)

1st Edition

Published on 26. April 2024

XVII, 565 pages

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978-3-031-59167-9 (ISBN)

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Content

Intro
Preface
Organization
Contents
Aerial Robotics
Control Framework for Take-Off of UAVs with Suspended Load in Pipeline Inspection
1 Introduction
2 Problem Statement
3 Dynamics
3.1 Tethered UAV
3.2 UAV with Suspended Crawler
4 Control
4.1 Tethered UAV
4.2 UAV with Suspended Crawler
5 Simulations
6 Conclusion
References
Control Barrier Functions in Multirotors: A Safety Filter for Obstacle Avoidance
1 Introduction
2 System Modeling
2.1 Single Integrator Model
2.2 First-Order Model of the Velocity Control Loop
3 Control Barrier Functions
3.1 Theoretical Framework
3.2 CBF for the Single Integrator Model
3.3 CBF for the First Order Model
4 Validation
4.1 System Description
4.2 Experimental Identification
4.3 Simulations
4.4 Experiments
5 Conclusion
References
A Comparison of PID Controller Architectures Applied in Autonomous UAV Follow up of UGV
1 Introduction
2 Background and Related Works
3 Materials and Methods
3.1 Proposed Controller Approaches
3.2 Definition of Controller's Gain
4 Results and Discussion
5 Conclusions and Future Work
References
Moving Horizon Estimation SLAM for Agile Vehicles in 3-D Environments
1 Introduction
2 System Dynamics
2.1 Notation
2.2 Motion Model
2.3 Observation Model
3 Moving Horizon Estimation SLAM Filter
3.1 Simulation
4 Comparative Results and Discussion
5 Conclusion
References
Advance Reconnaissance of UGV Path Planning Using Unmanned Aerial Vehicle to Carry Our Mission in Unknown Environment
1 Introduction
2 Description of Unmanned Platforms
2.1 Manned-Unmanned TAERO Vehicle
2.2 Unmanned Reconnaissance Aerial Vehicle
3 Cooperation Structure UGV-UAV
4 Analysis of Operational Environment Data
4.1 Route Planning
4.2 Search and Reconnaissance
4.3 Target Geolocation
4.4 Formation of Robotics Agents
4.5 Precision Landing
5 Conclusions and Future Work
References
Data-Driven Control Strategies for Rotary Wing Aerial Vehicles
1 Introduction
2 Theoretical Background
2.1 Quadrotor Model
2.2 Linear Quadratic Regulator
2.3 Model Predictive Control
3 Data-Enabled Predictive Control
3.1 Algorithm
3.2 Regularised Algorithm
3.3 Data Collection
4 Implementation and Results
4.1 Influence of Hyperparameters
4.2 Comparison of the Performance of Control Methods
5 Conclusions
References
Non-cooperative Model Predictive Control for Capturing a Remotely Piloted Target Drone
1 Introduction
2 Vehicles Models
3 NMPC for Drone Capture
3.1 Single Vehicle NMPC
3.2 Differential Game for Drone Capture
4 Results and Analysis
5 Conclusion
References
UAV-Assisted Navigation for Insect Traps in Olive Groves
1 Introduction
2 Related Works
3 Materials and Methods
3.1 Experimental Setup in an Outdoor Environment
4 Results and Discussion
4.1 Correction in Position Measurements
4.2 Analysis of the Routes Covered by the UAV
5 Conclusions and Future Work
References
Flapping-Wing Aerial Manipulation Robot with Perching-Launching Capabilities: Integrated Modeling and Control
1 Introduction
2 System Description
2.1 Flapping Wing Aerial Manipulator with Perching Mechanism
2.2 Kinematics
3 Dynamic Model
3.1 Gliding
3.2 Perching
3.3 Manipulation
3.4 Launching
4 System Control
5 Simulation Results
5.1 Flapping-Gliding
5.2 Perching
5.3 Manipulation
6 Conclusion
References
Adaptive Control for a Quadrotor with Ceiling Effect Estimate
1 Introduction
2 Problem Statement
3 Control
4 Controller Stability
5 Simulation Results
6 Conclusion
References
Coordinated Tracking of a Stationary Target in the Presence of Wind with Collision Avoidance Guarantees
1 Introduction
2 Preliminaries
3 Problem Formulation
4 Main Results
4.1 Convergence of the Path of a UA to the Stand-off Radius
4.2 Maintaining Constant Phase Difference Between Two UA
4.3 Collision Avoidance Between Two UA Using CBF Approach
4.4 Periodic and Event-Based Communication Between Two UA
5 Numerical Simulation
6 Conclusion
References
Marine Robotics
Ocean Relief-Based Heuristic for Robotic Mapping
1 Introduction
2 Background
3 The Ocean Relief-Based Heuristic
4 Evaluation
4.1 Comparison with Potential Fields
4.2 Comparison with A*
5 Conclusions
References
Artificial Intelligence for Automated Marine Growth Segmentation
1 Introduction
2 Related Work
2.1 Learning-Based Architectures for Image Segmentation
2.2 Overcoming Underwater Vision Challenges
3 Image Segmentation for Marine Growth Prediction
3.1 Analyzing the Underwater Dataset
3.2 Mitigating the Impacts of Underwater Challenges
3.3 Learning-Based Architecture for Marine Growth Segmentation
4 Results and Discussion
4.1 Experimental Setup
4.2 Initial Dataset Experiments
4.3 Expanded Dataset Experiments
4.4 Testing Generalization Capabilities
5 Conclusion
References
Enhancing Underwater Inspection Capabilities: A Learning-Based Approach for Automated Pipeline Visibility Assessment
1 Introduction
2 Related Work
2.1 Underwater Environment Scenes
2.2 Image Classification
3 Enhancing Underwater Inspection Capabilities
3.1 Evaluating Pipeline Visibility
3.2 Deep Learning Approach to Classify Underwater Visibility
3.3 Collecting Data from a Real Underwater Inspection Mission
4 Results and Discussion
4.1 Experimental Setup
4.2 Experimental Results
5 Conclusion
References
Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles
1 Introduction
2 Robot Dynamics and Kinematics
3 Proposed Method: Adaptive Finite-Time Control
4 Stability Analysis
5 Simulation Study
6 Conclusion
References
Development of an Autonomous Surface System for Permanent and Persistent Monitoring of Vehicles in the Water Column
1 Introduction
2 Specifications Definition and Sizing
2.1 Requirements
3 Design and Simulation
3.1 Systems and Sensors
3.2 Propulsion and Production of Energy
3.3 Electric Schematics
3.4 Command and Control (C2)
3.5 Internal Structure
3.6 Hull
4 Conclusion
References
Robotics in Defense
Automatic People Detection Based on RGB and Thermal Imagery for Military Applications
1 Introduction
2 Data and Experimental Setup
2.1 Dataset
2.2 Environment Context and Testing Scenarios
3 People Detector
4 Experiments
4.1 Performance Metrics
4.2 Baseline (RGB Model)
4.3 Training and Validation (Thermal Model)
4.4 Results Evaluation
5 Final Remarks
References
The Automatic Seaman: From Speech2text to Text2Task
1 Introduction
2 Autonomous System Components
2.1 Speech-to-Text
2.2 Intent Detection
2.3 Action Control
3 Experimental Setup
3.1 System Implementation
3.2 Evaluation and Discussion
4 Conclusion
References
Man-Machine Symbiosis UAV Integration for Military Search and Rescue Operations
1 Introduction
2 Man-Machine Symbiosis Concept and Architecture
2.1 Concept
2.2 Conceptual Man-Machine Symbiosis Architecture
3 Implementation
3.1 Vital Kit
3.2 Android App and Fall Detection Algorithm
3.3 Network Architecture
3.4 UAV STORK for Search and Rescue Military Operations
4 Results
5 Conclusions
References
Cybersecurity Threats in Military Robotic and Autonomous Systems
1 Introduction
2 Military Robotic and Autonomous Systems
2.1 Use Cases
2.2 Trends
3 Cybersecurity in Military Robotic and Autonomous Systems
3.1 Military RAS and Cyberspace
3.2 Cyber Threats to RAS
4 Discussion
5 Conclusions
References
U-Net/ResNet-50 Network with Transfer Learning for Semantic Segmentation in Search and Rescue
1 Introduction
2 Methodology
2.1 Model Description
2.2 Implementation Details
2.3 Datasets
2.4 Evaluation Metric
2.5 SAR Model Training
3 U-Net/ResNet-50 Model Validation
4 SAR Results
4.1 Adaptation of Urban Scenarios to SAR-Related Classes
4.2 Model Performance in SAR Scenarios
5 Conclusions
References
APH-YOLOv7t: A YOLO Attention Prediction Head for Search and Rescue with Drones
1 Introduction
2 Related Work
3 Methodology
3.1 Preprocessing the Data and YOLOv7
3.2 APH-YOLOv7t with CBAM
4 Experimental Results
4.1 YOLOv7 on Heridal Data - Results
4.2 YOLOv7 on Mobdrone and SeaDronesSee Data - Results
5 Discussion
6 Conclusion
References
ISR Missions in Maritime Environment Using UAS - Contributions of the Portuguese Air Force Academy Research Centre
1 Introduction
2 Portuguese Air Force Research Centre
3 UAS Airframe Design
3.1 Class I Fixed Wing UAS
3.2 Tactical Fixed Wing, VTOL UAS
4 Hardware Architecture
5 ISR Sensors and Applications
5.1 Computer Vision
5.2 Other Sensors
6 Control System Architecture
6.1 Motion Control Modes Overview
6.2 Target Searching
6.3 Target Tracking
6.4 Control Architecture Framework
7 Conclusions
References
An Integrated Method for Landing Site Selection and Autonomous Reactive Landing for Multirotors
1 Introduction
2 Background
2.1 Terrain Features
2.2 Reference Frames
3 Autonomous Landing
4 Landing Site Selection
5 Landing Controller
6 Results
6.1 Landing Site Selection
6.2 Autonomous Landing
7 Conclusions and Future Work
References
Robotics in Agriculture
Assessing Soil Ripping Depth for Precision Forestry with a Cost-Effective Contactless Sensing System
1 Introduction
2 Materials and Methods
2.1 Cost-Effective Contactless Sensing System
2.2 Data Acquisition Methodology
2.3 Ripping Depth Estimation
2.4 Experiments
3 Results and Discussion
3.1 Laboratory Experiments
3.2 Field Experiments
4 Conclusions and Future Work
References
Multispectral Image Segmentation in Agriculture: A Comprehensive Study on Fusion Approaches
1 Introduction
2 Related Work
3 Materials and Methods
3.1 Study Site and Materials
3.2 Problem Formulation
3.3 Image Fusion
4 Experimental Evaluation
4.1 Datasets
4.2 Implementation Details
4.3 Evaluation Metrics
4.4 Results and Discussion
5 Conclusions
References
Vision-Based Smart Sprayer for Precision Farming
1 Introduction
2 Background Work
3 GraDeS Precision Sprayer
3.1 GraDeS Perception System
3.2 GraDeS Controller
4 Dataset and Deep Learning Models Training
5 Results
5.1 Training and Inference Results
5.2 GraDeS Prototype Validation
6 Conclusions
References
Real-Time Drowsiness Detection and Health Status System in Agricultural Vehicles Using Artificial Intelligence
1 Introduction
2 Related Work
2.1 Physiological Signals
2.2 Driver Behavior
2.3 Vehicle Features
2.4 Hybrid Systems
2.5 Challenges of Agricultural Vehicles
3 Methodology
3.1 System Description
3.2 Communication Bracelet - Embedded PC
3.3 Health Stage Monitoring
3.4 Drowsiness Monitoring
3.5 Video Stabilization
3.6 Implementation
4 Experiments
4.1 Protocol
5 Results
6 Conclusions and Future Work
References
A Perception Skill for Herding with a 4-Legged Robot
1 Introduction
2 Vision-Based Component
2.1 Dataset
2.2 Architecture of the Vision Model
3 Control Architecture
4 Experimental Results
4.1 Perception Skill
4.2 Control Flow
5 Conclusions
References
A Mission Planner for Autonomous Tasks in Farms
1 Introduction
2 Materials and Methods
2.1 Types of Maps
2.2 Mobile Platform
2.3 Communication Architecture
2.4 Map Representation
2.5 Agricultural Mission
2.6 Trajectory Planners
3 Results
4 Conclusions
References
Pest Management in Olive Cultivation Through Computer Vision: A Comparative Study of Detection Methods for Yellow Sticky Traps
1 Introduction
2 Related Works
3 Method and Materials
3.1 Dataset
3.2 Methods and Evaluation Metrics
3.3 Methodology
4 Results and Discussion
4.1 Results
4.2 Discussion
5 Conclusion and Future Works
References
A Multisensor Factor-Graph SLAM Framework for Steep Slope Vineyards
1 Introduction
2 Related Work
3 System Architecture
3.1 Feature Extraction
3.2 Odometry Estimation
3.3 Pose-Graph Building and Optimization
4 Experimental Methodology
5 Results and Discussion
6 Conclusion
References
Mission Supervisor for Food Factories Robots
1 Introduction
1.1 Motivation
1.2 Problem Definition
1.3 Structure
2 Fundamental Aspects
3 PixelCropRobot
3.1 Body
3.2 Localisation
3.3 Greenhouse Structure
4 Mission Supervisor System
4.1 Mission Definition
4.2 Task Definition
4.3 Prescription Map
4.4 State Machines
4.5 ROS: Nodes and Topics
4.6 Path Optimization
5 Tests and Results
6 Conclusions
References
Robotics in Healthcare
pHRI Gripper with Pressure Sensing
1 Introduction
2 Related Works
3 Mechanical Design
4 Tactile Sensing Architecture
4.1 Tactile Sensors
4.2 Data Processing
5 Experiments and Results
5.1 Grasping Experiments
5.2 Measurement of Normal Pressures
5.3 Measurement of Tangential Pressures
6 Conclusions
References
Correlation of Spatiotemporal and EMG Measures with Lower Extremity Fugl-Meyer Assessment Score in Post-Stroke Walking
1 Introduction
2 Methods
2.1 Participants
2.2 Procedures
2.3 Clinical Measures: Lower Fugl-Meyer Assessment
2.4 Sensor-Based Measures and Data Processing
2.5 Statistical Analysis
3 Results
3.1 Spatiotemporal Measures Correlated with Lower Fugl-Meyer Assessment Scores
3.2 EMG Measures Correlated with Lower Fugl-Meyer Assessment Scores
4 Discussion
5 Conclusions
References
Design and Usability Assessment of Multimodal Augmented Reality System for Gait Training
1 Introduction
2 Methods
2.1 Requirements
2.2 System Overview
2.3 Components and Interfaces
2.4 Biofeedback Control Strategies
2.5 Usability Assessment
3 Results
4 Discussion
5 Conclusions
References
Real-Time Torque Estimation Using Human and Sensor Data Fusion for Exoskeleton Assistance
1 Introduction
2 Materials and Methods
2.1 SmartOs Architecture
2.2 EMG Delsys System Integration
2.3 Development of DL Regression Model
2.4 Integration of DL Regression Model into SmartOs
2.5 Model Evaluation
3 Results
3.1 Regression Models Evaluation
3.2 Real-Time Performance of Regression Models
4 Discussion
5 Conclusions
References
Grasper-Needle Coordination in Robotic Laparoscopic Surgery: Potential Fields Approach
1 Introduction
2 Materials and Methods
2.1 Experimental Setup
2.2 General Scenario Overview
2.3 Potential Fields Guidance
2.4 Suture Stages
2.5 Stage 0: Resting
2.6 Stage 1: Approach and Stitch
2.7 Stage 2: Grasper Pressure on Healthy Tissue
2.8 Stage 3: Needle Retraction
3 Results
3.1 Stage 0
3.2 Stage 1
3.3 Stage 2
3.4 Stage 3
4 Discussion and Conclusions
References
Human-Robot Interaction Applied to Robotized Laparoscopic Suture
1 Introduction
2 Problem Statement
3 Surgical Gestures Recognition System
4 Force-Positioning Control
5 Implementation and Experiments
5.1 Implementation Use Case
5.2 Surgical Gesture Recognition System
5.3 Force-Position Control Results
6 Conclusions and Future Work
References
Decoupled Kinematics for Non-spherical Wrist Manipulators
1 Introduction
2 Mathematical Formulation
2.1 Position and Orientation General Formulation
2.2 Velocities General Formulation
3 Study Case: UR10e Type Kinematics
4 Discussion and Evaluation
5 Conclusion
References
Robotics in Education
Vulcano: Using the Volcano Metaphor as a Challenge to Educational Robotics
1 Introduction
2 The Vulcano Competition
2.1 Challenge Rules
2.2 The Robot Prototype
2.3 Data Collection
3 Discussion
4 Conclusion
References
An Educational Kit for Simulated Robot Learning in ROS 2
1 Introduction
2 Literature Review
2.1 Teaching Robotics with ROS
2.2 Teaching Robotics with a Simulation
3 Learning Kit
3.1 Kit Framework Overview
3.2 Tutorial 1 - Teleop Keys
3.3 Tutorial 2 - Reinforcement Learning
4 Results and Discussion
4.1 Prior and Gained Knowledge Comparison
4.2 Learning Outcomes
4.3 Quiz Results
5 Conclusions
References
Teaching Reinforcement Learning Fundamentals in Vocational Education and Training with RoboboSim
1 Introduction
2 Resource Description
2.1 The Robobo Robot
2.2 Target Age Group and Pre-requisites
2.3 Temporal Organization and Required Resources
2.4 AI Concepts Addressed
2.5 Challenge Description
3 Autonomous Patrolling in an Industrial-Like Setup
3.1 Autonomous Safety: Avoiding Obstacles and Falls with IR Sensors
3.2 Evaluating the State of the Robot: Using the Light Sensor to Define Orientation Towards the Light
3.3 Autonomous Navigation: Executing Actions Using the Q-table
3.4 Autonomous Learning: Reward Calculation and Q-table Update
4 Results
5 Conclusions
References
An Open-Source, Low-Cost UAV Testbench for Educational Purposes
1 Introduction
2 System Description
2.1 Specifications and List of Materials
2.2 UAV Platform
2.3 Graphical User Interface
2.4 UAV Matlab-Simulink Model
3 Hardware Architecture
4 Software Architecture
5 Experimental Validation
5.1 PID Controller
5.2 Cascade PID Controller
5.3 Anti-windup Control
6 Conclusion
References
Design and Development of a Differential Drive Platform for Dragster Competition
1 Introduction
2 Category Description
3 State of Art
4 Methodology and Development
4.1 The Circuit
4.2 Printed Parts
4.3 The Battery
4.4 Motor Control
4.5 Dead Zone Compensation
4.6 Follow Line Control
4.7 Android App
5 Results
6 Conclusion
References
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Robot 2023: Sixth Iberian Robotics Conference

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