The Experts below are selected from a list of 4440 Experts worldwide ranked by ideXlab platform

Paolo Paoletti - One of the best experts on this subject based on the ideXlab platform.

  • a robust polyurethane depositing system for overcoming obstacles in Disaster Scenario robotics
    Conference on Automation Science and Engineering, 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges faced by ground robots operating in the aftermath of a Disaster is the presence of uneven and unstable terrains; in these environments traditional locomotive systems struggle. In this work, a Polyurethane foam depositing system is proposed to enable ground robots to overcome obstacles and navigate challenging substrates with relative ease. The proposed system is inexpensive, can be added onto existing platforms and enables autonomy via simple control systems. The final mechanical properties of the foam can be tuned in real-time and on board to adapt to different situational requirements. Four deposit foam types have been fully characterized, with volumetric expansion ratios ranging from $20 \times$ to $33 \times$, compressive strengths from $0.16 MPa$ to 2MPa and full expansion and set times below 6 minutes in all cases. To show that real-time operations are possible, the system has been implemented on a two-tracked rover which was then able to accurately control the amount of deposited foam to form structures such as single and multilayered ramps and blocks. Thanks to this, the vehicle was able to autonomously overcome large objects and chasms that would have otherwise prevented operation.

  • TAROS (2) - A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics
    Towards Autonomous Robotic Systems, 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges for terrestrial robotic platforms in Disaster Scenarios is their inability to traverse highly irregular terrain. Many different robotic architectures have been proposed over recent years, each with benefits and shortfalls. In this work, we propose a Polyurethane Foam depositing system, which can be applied to any such platform and increase its ability to overcome obstacles significantly. The system proposed is inexpensive, and the way in which it overcomes obstacles allows very simple control systems for autonomy. The deposited foam has a potential expansion ratio of over 33\(\times \) its constituent parts and a final compressive strength exceeding 2 MPa, final mechanical properties can be tuned on board. The system has been implemented on a two-tracked rover and its autonomous responses tested against significant objects and chasms. The results show that the amount of foam deposited can be well controlled and multiple layers can be stacked on top of each other to significantly increase altitude.

  • a robust polyurethane depositing system for overcoming obstacles in Disaster Scenario robotics
    Conference Towards Autonomous Robotic Systems, 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges for terrestrial robotic platforms in Disaster Scenarios is their inability to traverse highly irregular terrain. Many different robotic architectures have been proposed over recent years, each with benefits and shortfalls. In this work, we propose a Polyurethane Foam depositing system, which can be applied to any such platform and increase its ability to overcome obstacles significantly. The system proposed is inexpensive, and the way in which it overcomes obstacles allows very simple control systems for autonomy. The deposited foam has a potential expansion ratio of over 33\(\times \) its constituent parts and a final compressive strength exceeding 2 MPa, final mechanical properties can be tuned on board. The system has been implemented on a two-tracked rover and its autonomous responses tested against significant objects and chasms. The results show that the amount of foam deposited can be well controlled and multiple layers can be stacked on top of each other to significantly increase altitude.

  • A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics
    2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges faced by ground robots operating in the aftermath of a Disaster is the presence of uneven and unstable terrains; in these environments traditional locomotive systems struggle. In this work, a Polyurethane foam depositing system is proposed to enable ground robots to overcome obstacles and navigate challenging substrates with relative ease. The proposed system is inexpensive, can be added onto existing platforms and enables autonomy via simple control systems. The final mechanical properties of the foam can be tuned in real-time and on board to adapt to different situational requirements. Four deposit foam types have been fully characterized, with volumetric expansion ratios ranging from 20× to 33×, compressive strengths from 0.16MPa to 2MPa and full expansion and set times below 6 minutes in all cases. To show that real-time operations are possible, the system has been implemented on a twotracked rover which was then able to accurately control the amount of deposited foam to form structures such as single and multilayered ramps and blocks. Thanks to this, the vehicle was able to autonomously overcome large objects and chasms that would have otherwise prevented operation.

Indrajit Bhattacharya - One of the best experts on this subject based on the ideXlab platform.

  • sensor node assisted dtn for a post Disaster Scenario
    International Conference of Distributed Computing and Networking, 2019
    Co-Authors: Amit Kumar Gupta, J K Mandal, Indrajit Bhattacharya
    Abstract:

    A Delay Tolerant Network being a facilitator of communication establishment in heterogeneous networking environments may present an efficient solution of communication in a Wireless Sensor Network that may exist within the ambit of the DTN. WSNs may be found easily in a DTN like those temporarily created using sensor-deployment over drowned places or villages, etc. Collecting information from those cut-off areas is of utmost importance to provide efficient rescue and relief operation. Current work suggests distributing Delsar Life Detection Sensors for probing such cut-off areas for tracing of struck or trapped life. Localization techniques have been used to locate the exact positions of the victims so that appropriate help could be administered to them with efficiency. At the time of distributing the sensors, one or two tag sensors with high power are positioned strategically in the cut-off areas that collect data from the sensors and from where data is further collected using some data mules. The results have been obtained both over simulation in the NS2 simulator and over a practical field implementation. Results suggest that the proposed architecture is able to predict presence of life with more than 70 percent accuracy. This shows that the proposed novel solution to WSN assisted DTN is practicable and efficient for implementation during Disasters to communicate with cut-off and far-off remote areas.

  • analysis and early detection of rumors in a post Disaster Scenario
    Information Systems Frontiers, 2018
    Co-Authors: Tamal Mondal, Indrajit Bhattacharya, Prithviraj Pramanik, Naiwrita Boral, Saptarshi Ghosh
    Abstract:

    Abstract The use of online social media for post-Disaster situation analysis has recently become popular. However, utilizing information posted on social media has some potential hazards, one of which is rumor. For instance, on Twitter, thousands of verified and non-verified users post tweets to convey information, and not all information posted on Twitter is genuine. Some of them contain fraudulent and unverified information about different facts/incidents - such information are termed as rumors. Identification of such rumor tweets at early stage in the aftermath of a Disaster is the main focus of the current work. To this end, a probabilistic model is adopted by combining prominent features of rumor propagation. Each feature has been coded individually in order to extract tweets that have at least one rumor propagation feature. In addition, content-based analysis has been performed to ensure the contribution of the extracted tweets in terms of probability of being a rumor. The proposed model has been tested over a large set of tweets posted during the 2015 Chennai Floods. The proposed model and other four popular baseline rumor detection techniques have been compared with human annotated real rumor data, to check the efficiency of the models in terms of (i) detection of belief rumors and (ii) accuracy at early stage. It has been observed that around 70% of the total endorsed belief rumors have been detected by proposed model, which is superior to other techniques. Finally, in terms of accuracy, the proposed technique also achieved 0.9904 for the considered Disaster Scenario, which is better than the other methods.

  • CTMR-collaborative time-stamp based multicast routing for delay tolerant networks in post Disaster Scenario
    Peer-to-Peer Networking and Applications, 2018
    Co-Authors: Amit Kumar Gupta, Tamal Mondal, Indrajit Bhattacharya, Jyotsna Kumar Mandal, Sourav Sanu Shaw
    Abstract:

    Due to high chances of loss in connectivity, a Delay Tolerant Network (DTN) can be used to communicate between nodes without having any fixed connection between the source and destination. A Post Disaster Scenario presents a very challenging environment to communicate in and to analyze those situations is even a harder task to accomplish. It necessitates very efficient co-ordination to successfully accomplish situation analysis and resource management. Efficient co-ordination between relief and rescue teams in such situations can be achieved through multicasting, since it allows sending single packet to multiple destinations. Though multicasting in MANET has been studied extensively, but the implementation of efficient multicasting in DTN is a very challenging task due to its frequent partitioning characteristic. In this work a Collaborative Time-Stamp based Multicast Routing (CTMR) Protocol has been proposed. The messages have been implemented using customized bundles, where the destination of a multicast bundle consists of a group of nodes. Node grouping mechanism has been adopted to suit a post Disaster condition. Collaborative bundle creation and selection mechanism has been utilized so that localized redundant information flow is minimized. Suitable time and space limits have been selected to further reduce redundancy. The group forwarding strategy is based on probabilistic measures calculated using historical encounter records, and on a multiple parameter priority queue. This protocol has been implemented in the ONE simulator and is compared with other existing unicast and multicast routing protocols on important routing parameters like delivery ratio and delivery delay. Comparison results show that CTMR can be a novel efficient solution to multicasting in a DTN.

  • use of infrastructure less network architecture for crowd sourcing and periodic report generation in post Disaster Scenario
    Computational Intelligence, 2017
    Co-Authors: Tamal Mondal, Indrajit Bhattacharya, Mrinmoy Maity
    Abstract:

    Due to the damage of existing network infrastructure (Internet, GSM, etc.) in any post-Disaster Scenario, it is difficult to assess the damage as well as the demands of the victims trapped at various regions. Due to the crisis of real time communication, victims as well as the rescue team could not fulfill the actual requirement and therefore unable to decide their functionality at any particular point of time. Due to lack of timely genuine situational information, it is quite challenging for any relief or rescue team to assess the exact requirement/damages of affected regions. Many times it has been observed that the distribution of relief materials at different sites did not match with the actual demands, due to adhoc distribution of recourses. As a consequence, in some areas limited amount of relief materials had been sent irrespective of assessing the actual damage. To dealt with these issues, using a subset of existing network architecture an adhoc multi-hop communication system has been designed. A set of applications have been developed on top of it, where victims (mobile nodes) can generate situational information of any affected region regarding to the casualty or need at any particular point of time through a light weight android application. The generated messages will be transferred seamlessly to other mobile nodes on contact. Finally, those messages would be dumped in a master storage box (MSB). As a result, in MSB the information is processed using background applications to wipe out redundancy and inconsistencies. A number of reports could be generated regarding the resource needs of different sites for effective need assessment and resource allocation by the relief organizations at the early stage of any Disaster. The proposed group of applications have been tested for a large volume of dummy crowd-sourced data for quality evaluation.

  • Towards development of FOPL based tweet summarization technique in a post Disaster Scenario: From survey to solution
    2017 51st Annual Conference on Information Sciences and Systems (CISS), 2017
    Co-Authors: Tamal Mondal, Indrajit Bhattacharya, Prithviraj Pramanik, Arka Saha, Naiwrita Boral
    Abstract:

    In post Disaster situation, the existing network infrastructure might be partly or fully damaged. In that case, a very popular online social network like twitter can be an effective tool, where people can share their views and knowledge about what is actually happening in the affected areas. It is a very challenging task to analyze the situation during the golden hours of any large scale Disaster due to the absence of any renowned news media. All the tweets posted related to Disaster are not genuine. Hence, some filtration must be performed to discard rumor tweets. After eliminating rumors, it has been observed that the volume of genuine tweets obtained is also very large. Thus, it is non-trivial for relief or rescue teams to analyze that large number of tweets and to take any decision regarding the relief and rescue as manual processing of those large numbers of tweets take significant amount of time. It is necessary to devise a summarization technique for efficient processing and analysis of genuine information at any point of time. In this work, an FOPL based summarization technique has been adopted to summarize the genuine tweets. From results it has been analyzed that the proposed technique has achieved better ROUGH-1 variant score compared to some other existing popular baseline techniques. The generated summary achieves an average precision, recall and F-measure score of 0.79, 0.39 and 0.55 respectively.

Michael P. Mcloughlin - One of the best experts on this subject based on the ideXlab platform.

  • IROS - Approaches to robotic teleoperation in a Disaster Scenario: From supervised autonomy to direct control
    2014 IEEE RSJ International Conference on Intelligent Robots and Systems, 2014
    Co-Authors: Kapil D. Katyal, Steven A. Hechtman, Matthew P. Para, Timothy G. Mcgee, Kevin C. Wolfe, Ryan J. Murphy, Michael D.m. Kutzer, Edward W. Tunstel, Chris Brown, Michael P. Mcloughlin
    Abstract:

    The ability of robotic systems to effectively address Disaster Scenarios that are potentially dangerous for human operators is continuing to grow as a research and development field. This leverages research from areas such as bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees of autonomy, and operator control/feedback. This paper describes the development of a semi-autonomous bimanual dexterous robotic system that comes to the aid of a mannequin simulating an injured victim by operating a fire extinguisher, affixing a cervical collar, cooperatively placing the victim on a spineboard with another bimanual robot, and relocating the victim. This system accomplishes these tasks through a series of control modalities that range from supervised autonomy to full teleoperation and allows the control model to be chosen and optimized for a specific subtask. We present a description of the hardware platform, the software control architecture, a human-in-the-loop computer vision algorithm, and an infrastructure to use a variety of user input devices in combination with autonomous control to compete several dexterous tasks. The effectiveness of the system was demonstrated in both laboratory and live outdoor demonstrations.

  • Approaches to robotic teleoperation in a Disaster Scenario: From supervised autonomy to direct control
    2014 IEEE RSJ International Conference on Intelligent Robots and Systems, 2014
    Co-Authors: Kapil D. Katyal, Christopher Y. Brown, Steven A. Hechtman, Matthew P. Para, Timothy G. Mcgee, Kevin C. Wolfe, Ryan J. Murphy, Michael D.m. Kutzer, Edward W. Tunstel, Michael P. Mcloughlin
    Abstract:

    The ability of robotic systems to effectively address Disaster Scenarios that are potentially dangerous for human operators is continuing to grow as a research and development field. This leverages research from areas such as bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees of autonomy, and operator control/feedback. This paper describes the development of a semi-autonomous bimanual dexterous robotic system that comes to the aid of a mannequin simulating an injured victim by operating a fire extinguisher, affixing a cervical collar, cooperatively placing the victim on a spineboard with another bimanual robot, and relocating the victim. This system accomplishes these tasks through a series of control modalities that range from supervised autonomy to full teleoperation and allows the control model to be chosen and optimized for a specific subtask. We present a description of the hardware platform, the software control architecture, a human-in-the-loop computer vision algorithm, and an infrastructure to use a variety of user input devices in combination with autonomous control to compete several dexterous tasks. The effectiveness of the system was demonstrated in both laboratory and live outdoor demonstrations.

Alec John Burns - One of the best experts on this subject based on the ideXlab platform.

  • a robust polyurethane depositing system for overcoming obstacles in Disaster Scenario robotics
    Conference on Automation Science and Engineering, 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges faced by ground robots operating in the aftermath of a Disaster is the presence of uneven and unstable terrains; in these environments traditional locomotive systems struggle. In this work, a Polyurethane foam depositing system is proposed to enable ground robots to overcome obstacles and navigate challenging substrates with relative ease. The proposed system is inexpensive, can be added onto existing platforms and enables autonomy via simple control systems. The final mechanical properties of the foam can be tuned in real-time and on board to adapt to different situational requirements. Four deposit foam types have been fully characterized, with volumetric expansion ratios ranging from $20 \times$ to $33 \times$, compressive strengths from $0.16 MPa$ to 2MPa and full expansion and set times below 6 minutes in all cases. To show that real-time operations are possible, the system has been implemented on a two-tracked rover which was then able to accurately control the amount of deposited foam to form structures such as single and multilayered ramps and blocks. Thanks to this, the vehicle was able to autonomously overcome large objects and chasms that would have otherwise prevented operation.

  • TAROS (2) - A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics
    Towards Autonomous Robotic Systems, 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges for terrestrial robotic platforms in Disaster Scenarios is their inability to traverse highly irregular terrain. Many different robotic architectures have been proposed over recent years, each with benefits and shortfalls. In this work, we propose a Polyurethane Foam depositing system, which can be applied to any such platform and increase its ability to overcome obstacles significantly. The system proposed is inexpensive, and the way in which it overcomes obstacles allows very simple control systems for autonomy. The deposited foam has a potential expansion ratio of over 33\(\times \) its constituent parts and a final compressive strength exceeding 2 MPa, final mechanical properties can be tuned on board. The system has been implemented on a two-tracked rover and its autonomous responses tested against significant objects and chasms. The results show that the amount of foam deposited can be well controlled and multiple layers can be stacked on top of each other to significantly increase altitude.

  • a robust polyurethane depositing system for overcoming obstacles in Disaster Scenario robotics
    Conference Towards Autonomous Robotic Systems, 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges for terrestrial robotic platforms in Disaster Scenarios is their inability to traverse highly irregular terrain. Many different robotic architectures have been proposed over recent years, each with benefits and shortfalls. In this work, we propose a Polyurethane Foam depositing system, which can be applied to any such platform and increase its ability to overcome obstacles significantly. The system proposed is inexpensive, and the way in which it overcomes obstacles allows very simple control systems for autonomy. The deposited foam has a potential expansion ratio of over 33\(\times \) its constituent parts and a final compressive strength exceeding 2 MPa, final mechanical properties can be tuned on board. The system has been implemented on a two-tracked rover and its autonomous responses tested against significant objects and chasms. The results show that the amount of foam deposited can be well controlled and multiple layers can be stacked on top of each other to significantly increase altitude.

  • A Robust Polyurethane Depositing System for Overcoming Obstacles in Disaster Scenario Robotics
    2019 IEEE 15th International Conference on Automation Science and Engineering (CASE), 2019
    Co-Authors: Alec John Burns, Sebastiano Fichera, Paolo Paoletti
    Abstract:

    One of the most difficult challenges faced by ground robots operating in the aftermath of a Disaster is the presence of uneven and unstable terrains; in these environments traditional locomotive systems struggle. In this work, a Polyurethane foam depositing system is proposed to enable ground robots to overcome obstacles and navigate challenging substrates with relative ease. The proposed system is inexpensive, can be added onto existing platforms and enables autonomy via simple control systems. The final mechanical properties of the foam can be tuned in real-time and on board to adapt to different situational requirements. Four deposit foam types have been fully characterized, with volumetric expansion ratios ranging from 20× to 33×, compressive strengths from 0.16MPa to 2MPa and full expansion and set times below 6 minutes in all cases. To show that real-time operations are possible, the system has been implemented on a twotracked rover which was then able to accurately control the amount of deposited foam to form structures such as single and multilayered ramps and blocks. Thanks to this, the vehicle was able to autonomously overcome large objects and chasms that would have otherwise prevented operation.

Kapil D. Katyal - One of the best experts on this subject based on the ideXlab platform.

  • IROS - Approaches to robotic teleoperation in a Disaster Scenario: From supervised autonomy to direct control
    2014 IEEE RSJ International Conference on Intelligent Robots and Systems, 2014
    Co-Authors: Kapil D. Katyal, Steven A. Hechtman, Matthew P. Para, Timothy G. Mcgee, Kevin C. Wolfe, Ryan J. Murphy, Michael D.m. Kutzer, Edward W. Tunstel, Chris Brown, Michael P. Mcloughlin
    Abstract:

    The ability of robotic systems to effectively address Disaster Scenarios that are potentially dangerous for human operators is continuing to grow as a research and development field. This leverages research from areas such as bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees of autonomy, and operator control/feedback. This paper describes the development of a semi-autonomous bimanual dexterous robotic system that comes to the aid of a mannequin simulating an injured victim by operating a fire extinguisher, affixing a cervical collar, cooperatively placing the victim on a spineboard with another bimanual robot, and relocating the victim. This system accomplishes these tasks through a series of control modalities that range from supervised autonomy to full teleoperation and allows the control model to be chosen and optimized for a specific subtask. We present a description of the hardware platform, the software control architecture, a human-in-the-loop computer vision algorithm, and an infrastructure to use a variety of user input devices in combination with autonomous control to compete several dexterous tasks. The effectiveness of the system was demonstrated in both laboratory and live outdoor demonstrations.

  • Approaches to robotic teleoperation in a Disaster Scenario: From supervised autonomy to direct control
    2014 IEEE RSJ International Conference on Intelligent Robots and Systems, 2014
    Co-Authors: Kapil D. Katyal, Christopher Y. Brown, Steven A. Hechtman, Matthew P. Para, Timothy G. Mcgee, Kevin C. Wolfe, Ryan J. Murphy, Michael D.m. Kutzer, Edward W. Tunstel, Michael P. Mcloughlin
    Abstract:

    The ability of robotic systems to effectively address Disaster Scenarios that are potentially dangerous for human operators is continuing to grow as a research and development field. This leverages research from areas such as bimanual manipulation, dexterous grasping, bipedal locomotion, computer vision, sensing, object segmentation, varying degrees of autonomy, and operator control/feedback. This paper describes the development of a semi-autonomous bimanual dexterous robotic system that comes to the aid of a mannequin simulating an injured victim by operating a fire extinguisher, affixing a cervical collar, cooperatively placing the victim on a spineboard with another bimanual robot, and relocating the victim. This system accomplishes these tasks through a series of control modalities that range from supervised autonomy to full teleoperation and allows the control model to be chosen and optimized for a specific subtask. We present a description of the hardware platform, the software control architecture, a human-in-the-loop computer vision algorithm, and an infrastructure to use a variety of user input devices in combination with autonomous control to compete several dexterous tasks. The effectiveness of the system was demonstrated in both laboratory and live outdoor demonstrations.