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author	Tatsuki IHA <e125716@ie.u-ryukyu.ac.jp>
date	Fri, 03 Jun 2016 04:06:43 +0900
parents	f8ef341d5822
children	1c44003cf7cc

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 - in particular, daily life assistance for elderly individuals in hospitals and care facilities is one of the most urgent and promising applications for service robots
 # 1. Introduction
 - for a service robot, information about its surrounding, such as the positions of objects, furniture, humans, and other robots is indispensable for safely performing proper service tasks
 - however, current sensing technology, especially for cases of robots equipped with external sensors, is not good enough to complete these tasks satisfactorily
-- for example, a vision system is susceptible to changes in lighting conditions and the appearances of objects. moreover, the field of vision is rather narrow.
+- for example, a vision system is susceptible to changes in lighting conditions and the appearances of objects. moreover, the field of vision is rather narrow
 # 1. Introduction
-- although occlusions can be partly solved by sensors on a mobile robot, background changes and unfavorable vibrations of a robot body make processes more difficult.
+- although occlusions can be partly solved by sensors on a mobile robot, background changes and unfavorable vibrations of a robot body make processes more difficult
-- in addition, the payload of a robot is not so high and computer resources are also limited.
+- in addition, the payload of a robot is not so high and computer resources are also limited
 # 1. Introduction
-- fixed sensors in an environment are more stable and can more easily gather information about the environment.
+- fixed sensors in an environment are more stable and can more easily gather information about the environment
-- if a sufficient number of sensors can be embedded in the environment in advance, occlusion is no longer a crucial problem.
+- if a sufficient number of sensors can be embedded in the environment in advance, occlusion is no longer a crucial problem
-- information required to perform tasks is acquired by distributed sensors and transmitted to a robot on demand.
+- information required to perform tasks is acquired by distributed sensors and transmitted to a robot on demand
-- the concept of making an environment smarter rather than the robot is referred to as an informationally structured environment.
+- the concept of making an environment smarter rather than the robot is referred to as an informationally structured environment
 # 1. Introduction
 - an informationally structured environment is a feasible solution for introducing service robots into our daily lives using current technology
 - several systems that observe human behavior using distributed sensor systems and provide proper service tasks according to requests from human or emergency detection, which is triggered automatically, have been proposed
 - several service robots that act as companions to elderly people or as assistants to humans who require special care have been developed
 # 1. Introduction
 - we also have been developing an informationally structured environment for assisting in the daily life of elderly people in our research project, i.e., the robot town project
-- the goal of this project is to develop a distributed sensor network system covering a townsize environment consisting of several houses, buildings, and roads, and to manage robot services appropriately by monitoring events that occur in the environment.
+- the goal of this project is to develop a distributed sensor network system covering a townsize environment consisting of several houses, buildings, and roads, and to manage robot services appropriately by monitoring events that occur in the environment
 # 1. Introduction
 - events sensed by an embedded sensor system are recorded in the town management system (TMS)
 - and appropriate information about the surroundings and instructions for proper services are provided to each robot
 # 1. Introduction
-- we also have been developing an informationally structured platform (fig.1. In which distributed sensors (fig.2a) and actuators are installed to support an indoor service robot (fig.2b)
+- we also have been developing an informationally structured platform  in which distributed sensors and actuators are installed to support an indoor service robot
 - objects embedded sensors and rfid tags, and all of the data are stored in the TMS database
-- a service robot performs various service tasks according to the environmental data stored in the TMS database in collaboration with distributed sensors and actuators, for example, installed in a refrigerator to open a door.
+- a service robot performs various service tasks according to the environmental data stored in the TMS database in collaboration with distributed sensors and actuators, for example, installed in a refrigerator to open a door
 # 1. Introduction
-- we herein introduce a new town management system called the ROS-TMS.
+- we herein introduce a new town management system called the ROS-TMS
 - in this system, the robot operating system (ROS) is adopted as a communication framework between various modules, including distributed sensors, actuators, robots, and databases
 # 1. Introduction
 - thanks to the ROS, we were able to develop a highly flexible and scalable system
 - adding or removing modules such as sensors, actuators, and robots, to or from the system is simple and straightforward
-- parallelization is also easily achievable.
+- parallelization is also easily achievable
 # 1. Introduction
 - we herein report the followings
 - introduction of architecture and components of the ROS-TMS
 - object detection using a sensing system of the ROS-TMS
-- fetch-and-give task using the motion planning system of the ROS-TMS.
+- fetch-and-give task using the motion planning system of the ROS-TMS
 # 1. Introduction
-- the remainder of the present paper is organized as follows.
+- the remainder of the present paper is organized as follows
 - section 2 : presenting related research
 - section 3:  we introduce the architecture and components of the ROS-TMS
 - section 4:  we describe the sensing system of the ROS-TMS for processing the data acquired from various sensors
 - section 5:  describes the robot motion planning system of the ROS-TMS used to design the trajectories for moving, gasping, giving, and avoiding obstacles using the information on the environment acquired by the sensing system
 - section 6:  we present the experimental results for service tasks performed by a humanoid robot and the ROS-TMS
-- section 7:  concludes the paper.
+- section 7:  concludes the paper
 # 2. Related research
 - a considerable number of studies have been performed in the area of informationally structured environments/spaces to provide human-centric intelligent services
 - informationally structured environments are referred to variously as home automation systems, smart homes, ubiquitous robotics, kukanchi, and intelligent spaces, depending on the field of research and the professional experience of the researcher
 # 2. Related research
 - Embots can evaluate the current state of the environment using sensors, and convey that information to users
 - Mobots are designed to provide services and explicitly have the ability to manipulate u-space using robotic arms
 - Sobot is a virtual robot that has the ability to move to any location through a network and to communicate with humans
-- The present authors have previously demonstrated the concept of a PIES using Ubibots in a simulated environment and u-space [32,33].
+- The present authors have previously demonstrated the concept of a PIES using Ubibots in a simulated environment and u-space
 # 2. Related research
 - RoboEarth is essentially a World Wide Web for robots, namely, a giant network and database repository in which robots can share information and learn from each other about their behavior and their environment
 - the goal of RoboEarth is to allow robotic systems to benefit from the experience of other robots
 # 2. Related research
-- the informationally structured environment/space (also referred to as Kukanchi, a Japanese word meaning interactive human-space design and intelligence) has received a great deal of attention in robotics research as an alternative approach to the realization of a system of intelligent robots operating in our daily environment.
+- the informationally structured environment/space (also referred to as Kukanchi, a Japanese word meaning interactive human-space design and intelligence) has received a great deal of attention in robotics research as an alternative approach to the realization of a system of intelligent robots operating in our daily environment
-- human-centered systems require, in particular, sophisticated physical and information services, which are based on sensor networks, ubiquitous computing, and intelligent artifacts.
+- human-centered systems require, in particular, sophisticated physical and information services, which are based on sensor networks, ubiquitous computing, and intelligent artifacts
-- information resources and accessibility within an environment are essential for people and robots.
+- information resources and accessibility within an environment are essential for people and robots
-- the environment surrounding people and robots should have a structured platform for gathering, storing, transforming, and providing information.
+- the environment surrounding people and robots should have a structured platform for gathering, storing, transforming, and providing information
 - such an environment is referred to as an informationally structured space
 # 2. Related research
 - in section 5, we present a coordinate motion planning technique for a fetch-and-give including handing over an object to a person
 - the problem of handing over an object between a human and a robot has been studied in HumanRobot Interaction (HRI)
 - the problem of pushing carts using robots has been reported in many studies so far
 - the earlier studies in pushing a cart were reported using a single manipulator mounted on a mobile base
 # 2. Related research
 - the problem of towing a trailer has also been discussed as an application of a mobile manipulator and a cart
-- this work is close to the approach in this paper, however, a pivot point using a cart is placed in front of the robot in our technique.
+- this work is close to the approach in this paper, however, a pivot point using a cart is placed in front of the robot in our technique
 # 2. Related research
-- the work that is closest to ours is the one by Scholz et al.
+- the work that is closest to ours is the one by Scholz et al
 - they provided a solution for real time navigation in a cluttered indoor environment using 3D sensing
 # 2. Related research
-- many previous works focus on the navigation and control problems for movable objects.
+- many previous works focus on the navigation and control problems for movable objects
 - On the other hand, we consider the problem including handing over an object to a human using a wagon, and propose a total motion planning technique for a fetch-and-give task with a wagon
 # 3. Overview of the ROS-TMS
 - in the present paper, we extend the TMS and develop a new Town Management System called the ROS-TMS
 - This system has three primary components
 <div style="text-align: center;">
 <img src="./images/fig3.svg" alt="message" width="600">
 </div>
 # 3. Overview of the ROS-TMS
-- events occurring in the real world, such as user behavior or user requests, and the current situation of the real world are sensed by a distributed sensing system.
+- events occurring in the real world, such as user behavior or user requests, and the current situation of the real world are sensed by a distributed sensing system
 - the gathered information is then stored in the database
 <div style="text-align: center;">
 <img src="./images/fig3.svg" alt="message" width="600">
 </div>
 <img src="./images/fig7.svg" alt="message" width="1200">
 </div>
 # 4.3. Object detection system (ODS)
 - available for detecting objects such as those placed on a desk, the object detection system using a RGB-D camera on a robot is provided in this platform
-- in this system, a newly appeared object or movement of an object is detected as a change in the environment.
+- in this system, a newly appeared object or movement of an object is detected as a change in the environment
 <div style="text-align: center;">
 <img src="./images/fig8.svg" alt="message" width="600">
 </div>
 # 4.3. Object detection system (ODS)
-- the steps of the change detection process are as follows.
+- the steps of the change detection process are as follows
 1. Identification of furniture
 2. Alignment of the furniture model
 3. Object extraction by furniture removal
 4. Segmentation of objects
 5. Comparison with the stored information
 # 4.3.1. Identification of furniture
 - possible to identify furniture based on the position and posture of robots and furniture in the database
-- using this information, robot cameras determine the range of the surrounding environment that is actually being measured.
+- using this information, robot cameras determine the range of the surrounding environment that is actually being measured
 - the system superimposes these results and the position information for furniture to create an updated furniture location model
 # 4.3.1. Identification of furniture
 - the point cloud (Fig. 9a) acquired from the robot is superimposed with the furniture’s point cloud model (Fig. 9b)
 - After merging the point cloud, the system deletes all other points except for the point cloud model for the furniture and limits the processing range from the upcoming steps
 <div style="text-align: center;">
 <img src="./images/fig9.svg" alt="message" width="800">
 </div>
 # 4.3.2. Alignment of the furniture model
-- We scan twice for gathering point cloud datasets of previous and current scene.
+- We scan twice for gathering point cloud datasets of previous and current scene
 - in order to detect the change in the newly acquired information and stored information, it is necessary to align two point cloud datasets obtained at different times because these data are measured from different camera viewpoints
 # 4.3.2. Alignment of the furniture model
 - in this method, we do not try to directly align the point cloud data, but rather to align the data using the point cloud model for the furniture
 - the reason for this is that we could not determine a sufficient number of common areas by simply combining the camera viewpoints from the two point cloud datasets and can also reduce the amount of information that must be stored in memory
 - after alignment, all points corresponding to furniture are removed to extract an object
 - the system removes furniture according to segmentation using color information and three-dimensional positions
 - more precisely, the point cloud is converted to a RGB color space and then segmented using a region-growing method
 # 4.3.3. Object extraction by furniture removal
-- each of the resulting segments is segmented based on the XYZ space.
+- each of the resulting segments is segmented based on the XYZ space
-- system then selects only those segments that overlap with the model and then removes these segments.
+- system then selects only those segments that overlap with the model and then removes these segments
 <div style="text-align: center;">
 <img src="./images/fig10.svg" alt="message" width="800">
 </div>
 # 4.3.5. Comparison with the stored infomation
 - finally, the system associates each segment from the previously stored information with the newly acquired information
 - system finds the unmatched segments and captures the movement of objects that has occurred since the latest data acquisition
 - segments that did not match between the previous dataset and the newly acquired dataset, reflect objects that were moved, assuming that the objects were included in the previously stored dataset
-- segments that appear in the most recent dataset, but not in the previously stored dataset, reflect objects that were recently placed on the furniture.
+- segments that appear in the most recent dataset, but not in the previously stored dataset, reflect objects that were recently placed on the furniture
 # 4.3.5. Comparison with the stored infomation
-- set of segments that are included in the association process are determined according to the center position of segments.
+- set of segments that are included in the association process are determined according to the center position of segments
-- for the segments sets from the previous dataset and the newly acquired dataset, the association is performed based on a threshold distance between their center positions, considering the shape and color of the segments as the arguments for the association.
+- for the segments sets from the previous dataset and the newly acquired dataset, the association is performed based on a threshold distance between their center positions, considering the shape and color of the segments as the arguments for the association
 # 4.3.5. Comparison with the stored infomation
 - use an elevation map that describes the height of furniture above the reference surface level to represent the shape of the object
 - reference surface level of furniture is, more concretely, the top surface of a table or shelf, the seat of a chair
 - elevation map is a grid version of the reference surface level and is a representation of the vertical height of each point with respect to the reference surface level on each grid
 <div style="text-align: center;">
 <img src="./images/fig11.svg" alt="message" width="800">
 </div>
 # 4.3.5. Comparison with the stored infomation
-- comparison is performed on the elevation map for each segment, taking into consideration the variations in size, the different values obtained from each grid, and the average value for the entire map.
+- comparison is performed on the elevation map for each segment, taking into consideration the variations in size, the different values obtained from each grid, and the average value for the entire map
 - the color information used to analyze the correlation between segments is the hue (H) and saturation (S)
 - Using these H-S histograms, the previous data and the newly acquired data are compared, allowing the system to determine whether it is dealing with the same objects
 <div style="text-align: center;">
 <img src="./images/fig11.svg" alt="message" width="800">

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