arXiv subjects

Dzmitry Tsetserukou

Publications and source records attributed to Dzmitry Tsetserukou.

At least 199 records · Page 11Linked to original sources

arXiv2021

DeltaCharger: Charging Robot with Inverted Delta Mechanism and CNN-driven High Fidelity Tactile Perception for Precise 3D Positioning

DeltaCharger is a novel charging robot with an Inverted Delta structure for 3D positioning of electrodes to achieve robust and safe transferring energy between two mobile robots. The embedded high-fidelity tactile sensors allow to estimate the angular, vertical and horizontal misalignments between electrodes on the charger mechanism and electrodes on the target robot using pressure data on the contact surfaces. This is crucial for preventing a short circuit. In this paper, the mechanism of the developed prototype and evaluation study of different machine learning models for misalignment prediction are presented. The experimental results showed that the proposed system can measure the angle, vertical and horizontal values of misalignment from pressure data with an accuracy of 95.46%, 98.2%, and 86.9%, respectively, using a Convolutional Neural Network (CNN). DeltaCharger can potentially bring a new level of charging systems and improve the prevalence of mobile autonomous robots.

cs.RO↗

arXiv2021

SwarmPaint: Human-Swarm Interaction for Trajectory Generation and Formation Control by DNN-based Gesture Interface

Teleoperation tasks with multi-agent systems have a high potential in supporting human-swarm collaborative teams in exploration and rescue operations. However, it requires an intuitive and adaptive control approach to ensure swarm stability in a cluttered and dynamically shifting environment. We propose a novel human-swarm interaction system, allowing the user to control swarm position and formation by either direct hand motion or by trajectory drawing with a hand gesture interface based on the DNN gesture recognition. The key technology of the SwarmPaint is the user's ability to perform various tasks with the swarm without additional devices by switching between interaction modes. Two types of interaction were proposed and developed to adjust a swarm behavior: free-form trajectory generation control and shaped formation control. Two preliminary user studies were conducted to explore user's performance and subjective experience from human-swarm interaction through the developed control modes. The experimental results revealed a sufficient accuracy in the trajectory tracing task (mean error of 5.6 cm by gesture draw and 3.1 cm by mouse draw with the pattern of dimension 1 m by 1 m) over three evaluated trajectory patterns and up to 7.3 cm accuracy in targeting task with two target patterns of 1 m achieved by SwarmPaint interface. Moreover, the participants evaluated the trajectory drawing interface as more intuitive (12.9 %) and requiring less effort to utilize (22.7%) than direct shape and position control by gestures, although its physical workload and failure in performance were presumed as more significant (by 9.1% and 16.3%, respectively).

cs.RO↗

arXiv2020

MaskBot: Real-time Robotic Projection Mapping with Head Motion Tracking

The projection mapping systems on the human face is limited by the latency and the movement of the users. The area of the projection is restricted by the position of the projectors and the cameras. We are introducing MaskBot, a real-time projection mapping system operated by a 6 Degrees of Freedom (DoF) collaborative robot. The collaborative robot locates the projector and camera in normal position to the face of the user to increase the projection area and to reduce the latency of the system. A webcam is used to detect the face and to sense the robot-user distance to modify the projection size and orientation. MaskBot projects different images on the face of the user, such as face modifications, make-up, and logos. In contrast to the existing methods, the presented system is the first that introduces a robotic projection mapping. One of the prospective applications is to acquire a dataset of adversarial images to challenge face detection DNN systems, such as Face ID.

cs.RO↗

arXiv2020

ZoomTouch: Multi-User Remote Robot Control in Zoom by DNN-based Gesture Recognition

We present ZoomTouch - a breakthrough technology for multi-user control of robot from Zoom in real-time by DNN-based gesture recognition. The users from digital world can have a video conferencing and manipulate the robot to make the dexterous manipulations with tangible objects. As the scenario, we proposed the remote COVID-19 test Laboratory to considerably reduce the time to receive the data and substitute medical assistant working in protective gear in close proximity with infected cells. The proposed technology suggests a new type of reality, where multi-users can jointly interact with remote object, e.g. make a new building design, joint cooking in robotic kitchen, etc, and discuss/modify the results at the same time.

cs.RO↗

arXiv2020

LinkRing: A Wearable Haptic Display for Delivering Multi-contact and Multi-modal Stimuli at the Finger Pads

LinkRing is a novel wearable tactile display for providing multi-contact and multi-modal stimuli at the finger. The system of two five-bar linkage mechanisms is designed to operate with two independent contact points, which combined can provide such stimulation as shear force and twist stimuli, slippage, and pressure. The proposed display has a lightweight and easy to wear structure. Two experiments were carried out in order to determine the sensitivity of the finger surface, the first one aimed to determine the location of the contact points, and the other for discrimination the slippage with varying rates. The results of the experiments showed a high level of pattern recognition.

cs.HC↗

arXiv2020

DroneLight: Drone Draws in the Air using Long Exposure Light Painting and ML

We propose a novel human-drone interaction paradigm where a user directly interacts with a drone to light-paint predefined patterns or letters through hand gestures. The user wears a glove which is equipped with an IMU sensor to draw letters or patterns in the midair. The developed ML algorithm detects the drawn pattern and the drone light-paints each pattern in midair in the real time. The proposed classification model correctly predicts all of the input gestures. The DroneLight system can be applied in drone shows, advertisements, distant communication through text or pattern, rescue, and etc. To our knowledge, it would be the world's first human-centric robotic system that people can use to send messages based on light-painting over distant locations (drone-based instant messaging). Another unique application of the system would be the development of vision-driven rescue system that reads light-painting by person who is in distress and triggers rescue alarm.

cs.RO↗

arXiv2020

ElectroAR: Distributed Electro-tactile Stimulation for Tactile Transfer

We present ElectroAR, a visual and tactile sharing system for hand skills training. This system comprises a head-mounted display (HMD), two cameras, tactile sensing glove, and electro-stimulation glove. The trainee wears a tactile sensing glove that gets pressure data from touching different objects. His movements are recorded by two cameras, which are located in front and top side of the workspace. In the remote site, the trainer wears the electro-tactile stimulation glove. This glove transforms the remotely collected pressure data to electro-tactile stimuli. Additionally, the trainer wears an HMD to see and guide the movements of the trainee. The key part of this project is to combine distributed tactile sensor and electro-tactile display to let the trainer understand what the trainee is doing. Results show our system supports a higher user recognition performance.

cs.HC↗

arXiv2020

CobotGear: Interaction with Collaborative Robots using Wearable Optical Motion Capturing Systems

In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the human-robot collaboration, we introduce a system that presents a new method that integrates low-cost wearable mocap, and an improved collision avoidance algorithm based on the artificial potential fields. Wearable optical motion capturing allows to track the human hand position with high accuracy and low latency on large working areas. To increase the efficiency of the proposed algorithm, two obstacle types are discriminated according to their collision probability. A preliminary experiment was performed to analyze the algorithm behavior and to select the best values for the obstacle's threshold angle $θ_{OBS}$, and for the avoidance threshold distance $d_{AT}$. The second experiment was carried out to evaluate the system performance with $d_{AT}$ = 0.2 m and $θ_{OBS}$ = 45 degrees. The third experiment evaluated the system in a real collaborative task. The results demonstrate the robust performance of the robotic arm generating smooth collision-free trajectories. The proposed technology will allow consumer robots to safely collaborate with humans in cluttered environments, e.g., factories, kitchens, living rooms, and restaurants.

cs.RO↗

arXiv2020

Tactile Perception of Objects by the User's Palm for the Development of Multi-contact Wearable Tactile Displays

The user's palm plays an important role in object detection and manipulation. The design of a robust multi-contact tactile display must consider the sensation and perception of of the stimulated area aiming to deliver the right stimuli at the correct location. To the best of our knowledge, there is no study to obtain the human palm data for this purpose. The objective of this work is to introduce the method to investigate the user's palm sensations during the interaction with objects. An array of fifteen Force Sensitive Resistors (FSRs) was located at the user's palm to get the area of interaction, and the normal force delivered to four different convex surfaces. Experimental results showed the active areas at the palm during the interaction with each of the surfaces at different forces. The obtained results can be applied in the development of multi-contact wearable tactile and haptic displays for the palm, and in training a machine-learning algorithm to predict stimuli aiming to achieve a highly immersive experience in Virtual Reality.

cs.HC↗

arXiv2020

Hyper-spectral NIR and MIR data and optimal wavebands for detection of apple tree diseases

Plant diseases can lead to dramatic losses in yield and quality of food, becoming a problem of high priority for farmers. Apple scab, moniliasis, and powdery mildew are the most significant apple tree diseases worldwide and may cause between 50% and 60% in yield losses annually; they are controlled by fungicide use with huge financial and time expenses. This research proposes a modern approach for analyzing the spectral data in Near-Infrared and Mid-Infrared ranges of the apple tree diseases at different stages. Using the obtained spectra, we found optimal spectral bands for detecting particular disease and discriminating it from other diseases and healthy trees. The proposed instrument will provide farmers with accurate, real-time information on different stages of apple tree diseases, enabling more effective timing, and selecting the fungicide application, resulting in better control and increasing yield. The obtained dataset, as well as scripts in Matlab for processing data and finding optimal spectral bands, are available via the link: https://yadi.sk/d/ZqfGaNlYVR3TUA

cs.CV↗

arXiv2020

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact that there is only one onboard IMU sensor which does not provide full information on the system state. To overcome this difficulty, we design a controller motivated by a simplified SAM model. The proposed controller is very simple yet robust to model uncertainties. Moreover, we propose a gain tuning rule by formulating the proposed controller in the form of output feedback linear quadratic regulation problem. Consequently, it is possible to quickly dampen oscillations with minimal energy consumption. The proposed approach is validated through simulations and experiments.

cs.RO↗

arXiv2020

SwarmCloak: Landing of Two Micro-Quadrotors on Human Hands Using Wearable Tactile Interface Driven by Light Intensity

For the human operator, it is often easier and faster to catch a small size quadrotor right in the midair instead of landing it on a surface. However, interaction strategies for such cases have not yet been considered properly, especially when more than one drone has to be landed at the same time. In this paper, we propose a novel interaction strategy to land multiple robots on the human hands using vibrotactile feedback. We developed a wearable tactile display that is activated by the intensity of light emitted from an LED ring on the bottom of the quadcopter. We conducted experiments, where participants were asked to adjust the position of the palm to land one or two vertically-descending drones with different landing speeds, by having only visual feedback, only tactile feedback or visual-tactile feedback. We conducted statistical analysis of the drone landing positions, landing pad and human head trajectories. Two-way ANOVA showed a statistically significant difference between the feedback conditions. Experimental analysis proved that with an increasing number of drones, tactile feedback plays a more important role in accurate hand positioning and operator's convenience. The most precise landing of one and two drones was achieved with the combination of tactile and visual feedback.

cs.RO↗

arXiv2019

SwarmCloak: Landing of a Swarm of Nano-Quadrotors on Human Arms

We propose a novel system SwarmCloak for landing of a fleet of four flying robots on the human arms using light-sensitive landing pads with vibrotactile feedback. We developed two types of wearable tactile displays with vibromotors which are activated by the light emitted from the LED array at the bottom of quadcopters. In a user study, participants were asked to adjust the position of the arms to land up to two drones, having only visual feedback, only tactile feedback or visual-tactile feedback. The experiment revealed that when the number of drones increases, tactile feedback plays a more important role in accurate landing and operator's convenience. An important finding is that the best landing performance is achieved with the combination of tactile and visual feedback. The proposed technology could have a strong impact on the human-swarm interaction, providing a new level of intuitiveness and engagement into the swarm deployment just right from the skin surface.

cs.RO↗

arXiv2019

Development of MirrorShape: High Fidelity Large-Scale Shape Rendering Framework for Virtual Reality

Today there is a high variety of haptic devices capable of providing tactile feedback. Although most of existing designs are aimed at realistic simulation of the surface properties, their capabilities are limited in attempts of displaying shape and position of virtual objects. This paper suggests a new concept of distributed haptic display for realistic interaction with virtual object of complex shape by a collaborative robot with shape display end-effector. MirrorShape renders the 3D object in virtual reality (VR) system by contacting the user hands with the robot end-effector at the calculated point in real-time. Our proposed system makes it possible to synchronously merge the position of contact point in VR and end-effector in real world. This feature provides presentation of different shapes, and at the same time expands the working area comparing to desktop solutions. The preliminary user study revealed that MirrorShape was effective at reducing positional error in VR interactions. Potentially this approach can be used in the virtual systems for rendering versatile VR objects with wide range of sizes with high fidelity large-scaleshape experience.

cs.RO↗

arXiv2019

RecyGlide : A Forearm-worn Multi-modal Haptic Display aimed to Improve User VR Immersion

Haptic devices have been employed to immerse users in VR environments. In particular, hand and finger haptic devices have been deeply developed. However, this type of device occlude the hand detection by some tracking systems, or in other tracking systems, it is uncomfortable for the users to wear two-hand devices (haptic and tracking device). We introduce RecyGlide, which is a novel wearable forearm multimodal display at the forearm. The RecyGlide is composed of inverted five-bar linkages and vibration motors. The device provides multimodal tactile feedback such as slippage, a force vector, pressure, and vibration. We tested the discrimination ability of monomodal and multimodal stimuli patterns in the forearm and confirmed that the multimodal stimuli patterns are more recognizable. This haptic device was used in VR applications, and we proved that it enhances VR experience and makes it more interactive.

cs.HC↗

arXiv2019

SlingDrone: Mixed Reality System for Pointing and Interaction Using a Single Drone

We propose SlingDrone, a novel Mixed Reality interaction paradigm that utilizes a micro-quadrotor as both pointing controller and interactive robot with a slingshot motion type. The drone attempts to hover at a given position while the human pulls it in desired direction using a hand grip and a leash. Based on the displacement, a virtual trajectory is defined. To allow for intuitive and simple control, we use virtual reality (VR) technology to trace the path of the drone based on the displacement input. The user receives force feedback propagated through the leash. Force feedback from SlingDrone coupled with visualized trajectory in VR creates an intuitive and user friendly pointing device. When the drone is released, it follows the trajectory that was shown in VR. Onboard payload (e.g. magnetic gripper) can perform various scenarios for real interaction with the surroundings, e.g. manipulation or sensing. Unlike HTC Vive controller, SlingDrone does not require handheld devices, thus it can be used as a standalone pointing technology in VR.

cs.RO↗

arXiv2019

WiredSwarm: High Resolution Haptic Feedback Provided by a Swarm of Drones to the User's Fingers for VR interaction

We propose a concept of a novel interaction strategy for providing rich haptic feedback in Virtual Reality (VR), when each user's finger is connected to micro-quadrotor with a wire. Described technology represents the first flying wearable haptic interface. The solution potentially is able to deliver high resolution force feedback to each finger during fine motor interaction in VR. The tips of tethers are connected to the centers of quadcopters under their bottom. Therefore, flight stability is increasing and the interaction forces are becoming stronger which allows to use smaller drones.

cs.RO↗

arXiv2019

TouchVR: a Wearable Haptic Interface for VR Aimed at Delivering Multi-modal Stimuli at the User's Palm

TouchVR is a novel wearable haptic interface which can deliver multimodal tactile stimuli on the palm by DeltaTouch haptic display and vibrotactile feedback on the fingertips by vibration motors for the Virtual Reality (VR) user. DeltaTouch display is capable of generating 3D force vector at the contact point and presenting multimodal tactile sensation of weight, slippage, encounter, softness, and texture. The VR system consists of HTC Vive Pro base stations and head-mounted display (HMD), and Leap Motion controller for tracking the user's hands motion in VR. The MatrixTouch, BallFeel, and RoboX applications have been developed to demonstrate the capabilities of the proposed technology. A novel haptic interface can potentially bring a new level of immersion of the user in VR and make it more interactive and tangible.

cs.RO↗