Download or read book A Method for Anomaly Detection in Robotics Using ROS written by Matan Sar-Israel and published by . This book was released on 2018 with total page 64 pages. Available in PDF, EPUB and Kindle. Book excerpt: "The goal of building robots that posses a large degree of autonomy and are able to act in a dynamic environment while interacting with humans drives much of the modern research in the area of robotics in general, and service robots in particular. Given the diverse settings such robots are expected to operate in,their designers are unlikely to foresee all situations they could face. In addition, they may suffer from unknown software bugs, from mechanical faults, or might be infected by malicious software. All these issues could lead to unexpected, and potentially harmful behavior that could cause considerable damage to the robot and its environment. This calls for software that can alert the user or operator of anomalous situations that require its intervention. Like similar work in cyber-security, work on anomaly detection in robotics uses machine learning techniques to learn classifiers that can detect bad behaviors from data obtained from the robot at run-time. Often, the type of learning used is 1-class learning, where only positive examples are supplied. This type of learning is motivated by the fact that we assume that the robot designer has addressed all known issues prior to deployment, hence she can train the robot with positive examplesonly. This thesis continues this line of work and describes a new method that uses positive instances only and has two main properties: it is effective, and it is generic and requires little domain and robotics expertise. During training, messages exchanged between different software components are recorded. From these messages, a set of vectors is generated. Each vector summarizes information collected during a particular time window. Each feature of this vector computes some statistical property of messages sent during this time window, such as the number of messages of a particular type, their timing, their size, etc., as well as information on resource use (e.g., CPU, memory, threads) during this time window. There is no attempt to understand the meaning of the messages or no deep analysis of their content. From this set of vectors, we learn a set of rules. The rules generated a reimperfect-they sometimes classify vectors generated during normal runs as negative. Our next step is to characterize the frequency of such negative values in normal runs. Here we compute the largest sequence k of consecutive vectors classified negatively. Now, during run-time, we alert the user when a sequence of length greater than k is observed. In our experiments so far, this leads to perfect behavior. Our system is implemented on top of ROS - the Robot Operating System, recording messages sent to different topics. We provide a configurable tool for generating multiple training instances and transforming them to sets of feature vectors that can be used as input to our (as well as other) learning algorithm. We evaluate our method in simulation on a navigation task using different office like environments and an environment based on the IAEA Challenge, and on a pick-and-place task on a physical robot, demonstrating good performance. In these experiments, our method was able to perfectly classify runs as normal or anomalous." -- abstract.
Download or read book Anomaly Detection Methods in Autonomous Robotic Missions written by Shivoh Chirayil Nandakumar and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Since 2015, there has been an increase in articles on anomaly detection in robotic systems, reflecting its growing importance in improving the robustness and reliability of the increasingly utilized autonomous robots. This review paper investigates the literature on the detection of anomalies in Autonomous Robotic Missions (ARMs). It reveals different perspectives on “anomaly” and juxtaposition to fault detection. To reach a consensus, we infer a unified understanding of anomalies that encapsulates their various characteristics observed in ARMs and propose a classification of anomalies in terms of spatial, temporal, and spatiotemporal elements based on their fundamental features. Further, the paper discusses the implications of the proposed unified understanding and classification in ARMs and provides future directions. We envisage a study surrounding the specific use of the term anomaly and their detection methods could contribute to and accelerate the research and development of a universal anomaly detection system for ARMs.
Download or read book Collision Detection for Robot Manipulators Methods and Algorithms written by Kyu Min Park and published by Springer Nature. This book was released on 2023-05-19 with total page 133 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a concise survey and description of recent collision detection methods for robot manipulators. Beginning with a review of robot kinodynamic models and preliminaries on basic statistical learning methods, the book covers fundamental aspects of the collision detection problem, from collision types and collision detection performance criteria to model-free versus model-based methods, and the more recent data-driven learning-based approaches to collision detection. Special effort has been given to describing and evaluating existing methods with a unified set of notation, systematically categorizing these methods according to a basic set of criteria, and summarizing the advantages and disadvantages of each method. This book is the first to comprehensively organize the growing body of learning-based collision detection methods, ranging from basic supervised learning methods to more advanced approaches based on unsupervised learning and transfer learning techniques. Step-by-step implementation details and pseudocode descriptions are provided for key algorithms. Collision detection performance is measured with respect to both conventional criteria such as detection delay and the number of false alarms, as well as criteria that measure generalization capability for learning-based methods. Whether it be for research or commercial applications, in settings ranging from industrial factories to physical human–robot interaction experiments, this book can help the reader choose and successfully implement the most appropriate detection method that suits their robot system and application.
Download or read book Nonparametric Bayesian Learning for Collaborative Robot Multimodal Introspection written by Xuefeng Zhou and published by Springer Nature. This book was released on 2020-01-01 with total page 149 pages. Available in PDF, EPUB and Kindle. Book excerpt: This open access book focuses on robot introspection, which has a direct impact on physical human-robot interaction and long-term autonomy, and which can benefit from autonomous anomaly monitoring and diagnosis, as well as anomaly recovery strategies. In robotics, the ability to reason, solve their own anomalies and proactively enrich owned knowledge is a direct way to improve autonomous behaviors. To this end, the authors start by considering the underlying pattern of multimodal observation during robot manipulation, which can effectively be modeled as a parametric hidden Markov model (HMM). They then adopt a nonparametric Bayesian approach in defining a prior using the hierarchical Dirichlet process (HDP) on the standard HMM parameters, known as the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM). The HDP-HMM can examine an HMM with an unbounded number of possible states and allows flexibility in the complexity of the learned model and the development of reliable and scalable variational inference methods. This book is a valuable reference resource for researchers and designers in the field of robot learning and multimodal perception, as well as for senior undergraduate and graduate university students.
Download or read book Towards Autonomous Robotic Systems written by Fumiya Iida and published by Springer Nature. This book was released on 2023-09-07 with total page 506 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 24th Annual Conference Towards Autonomous Robotic Systems, TAROS 2023, held in Cambridge, UK, during September 13–15, 2023. The 40 full papers presented in this book were carefully reviewed and selected from 70 submissions. They cover a wide range of different topics such as: agri-food robotics; autonomy; collaborative and service robotics; locomotion and manipulation; machine vision; multi-robot systems; soft robotics; tactile sensing; and teleoperation.
Download or read book Robotics written by Fernando S. Osório and published by Springer. This book was released on 2015-11-30 with total page 186 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the Joint Conference on Robotics, LARS, SBR, Robocontrol 2014, held in São Carlos, Brazil, in October 2014. The 8 revised full papers presented were carefully reviewed and selected from 76 submissions. The selected papers present a complete and solid reference of the state-of-the-art of intelligent robotics and automation research, covering the following areas: autonomous mobile robots, tele-operated and telepresence robots, human-robot interaction, trajectory control for mobile robots, autonomous vehicles, service-oriented robotic systems, semantic mapping, environment mapping, visual odometry, applications of RGB-D sensors, humanoid and biped robots, Robocup soccer robots, robot control, path planning, multiple vehicles and teams of robots.
Download or read book Foundations and Practice of Security written by Guy-Vincent Jourdan and published by Springer Nature. This book was released on 2023-03-31 with total page 478 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 15th International Symposium on Foundations and Practice of Security, FPS 2022, held in Ottawa, ON, Canada, during December 12–14, 2022. The 26 regular and 3 short papers presented in this book were carefully reviewed and selected from 83 submissions. The papers have been organized in the following topical sections: Cryptography; Machine Learning; Cybercrime and Privacy; Physical-layer Security; Blockchain; IoT and Security Protocols; and Short Papers.
Download or read book Synergetic Cooperation between Robots and Humans written by Ebrahim Samer El Youssef and published by Springer Nature. This book was released on 2024-01-03 with total page 443 pages. Available in PDF, EPUB and Kindle. Book excerpt: CLAWAR 2023 is the 26th International Conference Series on Climbing and Walking Robots and Mobile Machine Support Technologies. The conference is organized by CLAWAR Association in collaboration with the Federal University of Santa Catarina, Florianópolis, Brazil, during October 2–4, 2023. This book provides the latest research and development findings and state-of-the-art insights into the mobile robotics and associated technologies in a diverse range of application scenarios, within the framework of “Synergetic Cooperation Between Robots and Humans”. The topics covered include climbing and inspection robots, education in robotics and robotics in education, hybrid and convertible UAVs, legged robots, multibody systems and mechanism design in robotics, planning and control, robotic navigation, robotics and neurotechnologies for healthcare improvements, and simulation and digital twins in robotic applications. The intended readership includes participants of CLAWAR 2023 conference, worldwide researchers, scientists, and educators in the areas of robotics and related topics. The book is also a good source for courses in robotics and automation, control engineering, mechanical engineering, and mechatronics.
Download or read book New Technologies Development and Application IV written by Isak Karabegović and published by Springer Nature. This book was released on 2021-05-11 with total page 1233 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features papers focusing on the implementation of new and future technologies, which were presented at the International Conference on New Technologies, Development, and Application, held at the Academy of Science and Arts of Bosnia and Herzegovina in Sarajevo on June 24–26, 2021. It covers a wide range of future technologies and technical disciplines, including complex systems such as Industry 4.0; patents in industry 4.0; robotics; mechatronics systems; automation; manufacturing; cyber-physical and autonomous systems; sensors; networks; control, energy, renewable energy sources; automotive and biological systems; vehicular networking and connected vehicles; effectiveness and logistics systems; smart grids; nonlinear systems; power, social and economic systems; education; and IoT. The book New Technologies, Development and Application III is oriented toward Fourth Industrial Revolution “Industry 4.0, ”implementation which improves many aspects of human life in all segments and leads to changes in business paradigms and production models. Further, new business methods are emerging and transforming production systems, transport, delivery, and consumption, which need to be monitored and implemented by every company involved in the global market.
Download or read book ROBOT2022 Fifth Iberian Robotics Conference written by Danilo Tardioli and published by Springer Nature. This book was released on 2022-11-18 with total page 634 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society for Research and Development in Robotics, and SPR—Sociedade Portuguesa de Robótica/Portuguese Society for Robotic. ROBOT 2022 builds upon several previous successful events, including three biennial workshops and the four previous editions of the Iberian Robotics Conference, and is focused on presenting the research and development of new applications, on the field of Robotics, in the Iberian Peninsula, although open to research and delegates from other countries. ROBOT 2022 featured four plenary talks on state-of-the-art subjects on robotics and 15 special sessions, plus a main/general robotics track. In total, after a careful review process, 98 high-quality papers were selected for publication, with a total of 219 unique authors, from 22 countries.
Download or read book Intelligent Information and Database Systems written by Ngoc Thanh Nguyen and published by Springer Nature. This book was released on with total page 446 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Anomaly Detection written by Saira Banu and published by Nova Science Publishers. This book was released on 2021 with total page 177 pages. Available in PDF, EPUB and Kindle. Book excerpt: When information in the data warehouse is processed, it follows a definite pattern. An unexpected deviation in the data pattern from the usual behavior is called an anomaly. The anomaly in the data is also referred to as noise, outlier, spammer, deviations, novelties and exceptions. Identification of the rare items, events, observations, patterns which raise suspension by differing significantly from the majority of data is called anomaly detection. With progress in the technologies and the widespread use of data for the purpose for business the increase in the spams faced by the individuals and the companies are increasing day by day. This noisy data has boomed as a major problem in various areas such as Internet of Things, web service, Machine Learning, Artificial Intelligence, Deep learning, Image Processing, Cloud Computing, Audio processing, Video Processing, VoIP, Data Science, Wireless Sensor etc. Identifying the anomaly data and filtering them before processing is a major challenge for the data analyst. This anomaly is unavoidable in all areas of research. This book covers the techniques and algorithms for detecting the deviated data. This book will mainly target researchers and higher graduate learners in computer science and data science.
Download or read book Bio inspired Systems and Applications from Robotics to Ambient Intelligence written by José Manuel Ferrández Vicente and published by Springer Nature. This book was released on 2022-05-24 with total page 620 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volume set LNCS 13258 and 13259 constitutes the proceedings of the International Work-Conference on the Interplay Between Natural and Artificial Computation, IWINAC 2022, held in Puerto de la Cruz, Tenerife, Spain in May – June 2022. The total of 121 contributions was carefully reviewed and selected from 203 submissions. The papers are organized in two volumes, with the following topical sub-headings: Part I: Machine Learning in Neuroscience; Neuromotor and Cognitive Disorders; Affective Analysis; Health Applications Part II: Affective Computing in Ambient Intelligence; Bioinspired Computing Approaches; Machine Learning in Computer Vision and Robot; Deep Learning; Artificial Intelligence Applications.
Download or read book Medical Robotics and AI Assisted Diagnostics for a High Tech Healthcare Industry written by Khang, Alex and published by IGI Global. This book was released on 2024-03-04 with total page 479 pages. Available in PDF, EPUB and Kindle. Book excerpt: While ultra-high field strength diagnosis technologies and artificial intelligence have propelled medicine imaging towards microstructure analysis and precise medicine, persistent challenges remain. These range from long scanning times to motion sensitivity and issues with imaging quality for certain types of tissue. Medical Robotics and AI-Assisted Diagnostics for a High-Tech Healthcare Industry summarizes emerging techniques, outlines clinical applications, and confronts the challenges head-on, proposing avenues for further research. It explores emerging techniques such as human-like robotics, medical Internet of Things (IoT), low-cost CT scanners, portable MRI devices, and breakthroughs in diagnosis technologies like zero echo time (ZTM) and compressed sensing volume interpolation breath-holding test sequences (CS-VIBE). This book provides an overview of the current state of medical imaging and clinical diagnosis applications, then expands into a roadmap for the future, envisioning the seamless integration of medical robotics and AI-assisted applications in the high-tech healthcare industry. As the influence of artificial intelligence continues to grow, the book serves as a clarion call for collaborative efforts, increased research, and unified strategies to navigate the challenges and harness the opportunities presented by the high-tech medical industry. This book is ideal for medical analysts, healthcare scientists, biotechnology analysts, scholars, researchers, academics, professionals, engineers, and students worldwide.
Download or read book Leveraging Applications of Formal Methods Verification and Validation Verification Principles written by Tiziana Margaria and published by Springer Nature. This book was released on 2022-10-19 with total page 608 pages. Available in PDF, EPUB and Kindle. Book excerpt: This four-volume set LNCS 13701-13704 constitutes contributions of the associated events held at the 11th International Symposium on Leveraging Applications of Formal Methods, ISoLA 2022, which took place in Rhodes, Greece, in October/November 2022. The contributions in the four-volume set are organized according to the following topical sections: specify this - bridging gaps between program specification paradigms; x-by-construction meets runtime verification; verification and validation of concurrent and distributed heterogeneous systems; programming - what is next: the role of documentation; automated software re-engineering; DIME day; rigorous engineering of collective adaptive systems; formal methods meet machine learning; digital twin engineering; digital thread in smart manufacturing; formal methods for distributed computing in future railway systems; industrial day.
Download or read book Cognitive Internet of Things Frameworks Tools and Applications written by Huimin Lu and published by Springer. This book was released on 2019-02-18 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides insights into the research in the fields of artificial intelligence in combination with Internet of Things (IoT) technologies. Today, the integration of artificial intelligence and IoT technologies is attracting considerable interest from both researchers and developers from academic fields and industries around the globe. It is foreseeable that the next generation of IoT research will focus on artificial intelligence/beyond artificial intelligence approaches. The rapidly growing numbers of artificial intelligence algorithms and big data solutions have significantly increased the number of potential applications for IoT technologies, but they have also created new challenges for the artificial intelligence community. This book shares the latest scientific advances in this area.
Download or read book Interdisciplinary Approaches to the Structure and Performance of Interdependent Autonomous Human Machine Teams and Systems A HMT S written by William Frere Lawless and published by Frontiers Media SA. This book was released on 2023-03-30 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt:
