arXiv subjects

Dzmitry Tsetserukou

Publications and source records attributed to Dzmitry Tsetserukou.

208 records · Page 12Linked to original sources

arXiv2019

AeroVR: Virtual Reality-based Teleoperation with Tactile Feedback for Aerial Manipulation

Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred images caused by drone dynamics can lead the UAV to crash. The paper focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). The controlled system consists of UAV with a 4-DoF robotic arm and embedded sensors. VR application presents the digital twin of drone and remote environment to the user through a head-mounted display (HMD). The operator controls the position of the robotic arm and gripper with VR trackers worn on the arm and tracking glove with vibrotactile feedback. Control data is translated directly from VR to the real robot in real-time. The experimental results showed a stable and robust teleoperation mediated by the VR scene. The proposed system can considerably improve the quality of aerial manipulations.

cs.RO↗

arXiv2019

Asynchronous Behavior Trees with Memory aimed at Aerial Vehicles with Redundancy in Flight Controller

Complex aircraft systems are becoming a target for automation. For successful operation, they require both efficient and readable mission execution system. Flight control computer (FCC) units, as well as all important subsystems, are often duplicated. Discrete nature of mission execution systems does not allow small differences in data flow among redundant FCCs which are acceptable for continuous control algorithms. Therefore, mission state consistency has to be specifically maintained. We present a novel mission execution system which includes FCC state synchronization. To achieve this result we developed a new concept of Asynchronous Behavior Tree with Memory and proposed a state synchronization algorithm. The implemented system was tested and proven to work in a real-time simulation of High Altitude Pseudo Satellite (HAPS) mission.

cs.RO↗

arXiv2019

Recognition of Russian traffic signs in winter conditions. Solutions of the "Ice Vision" competition winners

With the advancements of various autonomous car projects aiming to achieve SAE Level 5, real-time detection of traffic signs in real-life scenarios has become a highly relevant problem for the industry. Even though a great progress has been achieved in this field, there is still no clear consensus on what the state-of-the-art in this field is. Moreover, it is important to develop and test systems in various regions and conditions. This is why the "Ice Vision" competition has focused on the detection of Russian traffic signs in winter conditions. The IceVisionSet dataset used for this competition features real-world collection of lossless frame sequences with traffic sign annotations. The sequences were collected in varying conditions, including: different weather, camera exposure, illumination and moving speeds. In this work we describe the competition and present the solutions of the 3 top teams.

cs.CV↗

arXiv2019

SwarmTouch: Tactile Interaction of Human with Impedance Controlled Swarm of Nano-Quadrotors

We propose a novel interaction strategy for a human-swarm communication when a human operator guides a formation of quadrotors with impedance control and receives vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a life-like swarm behavior. Experimental results with Crazyflie 2.0 quadrotor platform validate the proposed control algorithm. The tactile patterns representing dynamics of the swarm (extension or contraction) are proposed. The user feels the state of the swarm at his fingertips and receives valuable information to improve the controllability of the complex life-like formation. The user study revealed the patterns with high recognition rates. Subjects stated that tactile sensation improves the ability to guide the drone formation and makes the human-swarm communication much more interactive. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a new level of intuitiveness and immersion into the swarm navigation.

cs.RO↗

arXiv2019

SwarmTouch: Guiding a Swarm of Micro-Quadrotors with Impedance Control using a Wearable Tactile Interface

To achieve a smooth and safe guiding of a drone formation by a human operator, we propose a novel interaction strategy for a human-swarm communication which combines impedance control and vibrotactile feedback. The presented approach takes into account the human hand velocity and changes the formation shape and dynamics accordingly using impedance interlinks simulated between quadrotors, which helps to achieve a natural swarm behavior. Several tactile patterns representing static and dynamic parameters of the swarm are proposed. The user feels the state of the swarm at the fingertips and receives valuable information to improve the controllability of the complex formation. A user study revealed the patterns with high recognition rates. A flight experiment demonstrated the possibility to accurately navigate the formation in a cluttered environment using only tactile feedback. Subjects stated that tactile sensation allows guiding the drone formation through obstacles and makes the human-swarm communication more interactive. The proposed technology can potentially have a strong impact on the human-swarm interaction, providing a higher level of awareness during the swarm navigation.

cs.RO↗

arXiv2019

DronePick: Object Picking and Delivery Teleoperation with the Drone Controlled by a Wearable Tactile Display

We report on the teleoperation system DronePick which provides remote object picking and delivery by a human-controlled quadcopter. The main novelty of the proposed system is that the human user continuously gets the visual and haptic feedback for accurate teleoperation. DronePick consists of a quadcopter equipped with a magnetic grabber, a tactile glove with finger motion tracking sensor, hand tracking system, and the Virtual Reality (VR) application. The human operator teleoperates the quadcopter by changing the position of the hand. The proposed vibrotactile patterns representing the location of the remote object relative to the quadcopter are delivered to the glove. It helps the operator to determine when the quadcopter is right above the object. When the "pick" command is sent by clasping the hand in the glove, the quadcopter decreases its altitude and the magnetic grabber attaches the target object. The whole scenario is in parallel simulated in VR. The air flow from the quadcopter and the relative positions of VR objects help the operator to determine the exact position of the delivered object to be picked. The experiments showed that the vibrotactile patterns were recognized by the users at the high recognition rates: the average 99% recognition rate and the average 2.36s recognition time. The real-life implementation of DronePick featuring object picking and delivering to the human was developed and tested.

cs.RO↗

arXiv2019

Development of SAM: cable-Suspended Aerial Manipulator

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.

cs.RO↗

arXiv2018

Finger Grip Force Estimation from Video using Two Stream Approach

Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information which can be used for guided robot teaching. Typically to assess this problem instrumented approach is used, which requires hand or object mounted devices and poses an inconvenience for an operator or limits the scope of addressable objects. The work demonstrates that contact force may be estimated using a noninvasive contactless method with the help of vision system alone. We propose a two-stream approach for video processing, which utilizes both spatial information of each frame and dynamic information of frame change. In this work, image processing and machine learning techniques are used along with dense optical flow for frame change tracking and Kalman filter is used for stream fusion. Our studies show that the proposed method can successfully estimate contact grip force with RMSE < 10% of sensor range (RMSE $\approx 0.2$ N), the performances of each stream and overall method performance are reported. The proposed method has a wide range of applications, including robot teaching through demonstration, haptic force feedback, and validation of human- performed operations.

cs.RO↗

arXiv2018

Haptics of Screwing and Unscrewing for its Application in Smart Factories for Disassembly

Reconstruction of skilled humans sensation and control system often leads to a development of robust control for the robots. We are developing an unscrewing robot for the automated disassembly which requires a comprehensive control system, but unscrewing experiments with robots are often limited to several conditions. On the contrary, humans typically have a broad range of screwing experiences and sensations throughout their lives, and we conducted an experiment to find these haptic patterns. Results show that people apply axial force to the screws to avoid screwdriver slippage (cam-outs), which is one of the key problems during screwing and unscrewing, and this axial force is proportional to the torque which is required for screwing. We have found that type of the screw head influences the amount of axial force applied. Using this knowledge an unscrewing robot for the smart disassembly factory RecyBot is developed, and experiments confirm the optimality of the strategy, used by humans. Finally, a methodology for robust unscrewing algorithm design is presented as a generalization of the findings. It can seriously speed up the development of the screwing and unscrewing robots and tools.

cs.RO↗

arXiv2017

Semi-Automatic Control of Telepresence Robots

Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This interface is familiar to many people who play computer games but it causes difficulties for the older generation and disabled people. We present here a novel interface to control telepresence robots where the operator only specifies the destination point on the video frame and the robot moves there automatically and avoids collisions. Users of the robots learn how to perform tasks 7-28% faster and make 17-49% fewer mistakes. The approach can be easily applied for any commercial telepresence robot and for development of telepresence robots for disabled people.

cs.RO↗