The near future has been envisioned as a collaboration of humans with mobile robots to help in the day-to-day tasks.In this paper,we present a viable approach for a real-time computer vision based object detection and...The near future has been envisioned as a collaboration of humans with mobile robots to help in the day-to-day tasks.In this paper,we present a viable approach for a real-time computer vision based object detection and recognition for efficient indoor navigation of a mobile robot.The mobile robotic systems are utilized mainly for home assistance,emergency services and surveillance,in which critical action needs to be taken within a fraction of second or real-time.The object detection and recognition is enhanced with utilization of the proposed algorithm based on the modification of You Look Only Once(YOLO)algorithm,with lesser computational requirements and relatively smaller weight size of the network structure.The proposed computer-vision based algorithm has been compared with the other conventional object detection/recognition algorithms,in terms of mean Average Precision(mAP)score,mean inference time,weight size and false positive percentage.The presented framework also makes use of the result of efficient object detection/recognition,to aid the mobile robot navigate in an indoor environment with the utilization of the results produced by the proposed algorithm.The presented framework can be further utilized for a wide variety of applications involving indoor navigation robots for different services.展开更多
The simultaneous advances in the Internet of Things(IoT),Artificial intelligence(AI)and Robotics is going to revolutionize our world in the near future.In recent years,LoRa(Long Range)wireless powered by LoRaWAN(LoRa ...The simultaneous advances in the Internet of Things(IoT),Artificial intelligence(AI)and Robotics is going to revolutionize our world in the near future.In recent years,LoRa(Long Range)wireless powered by LoRaWAN(LoRa Wide Area Network)protocol has attracted the attention of researchers for numerous applications in the IoT domain.LoRa is a low power,unlicensed Industrial,Scientific,and Medical(ISM)bandequipped wireless technology that utilizes a wide area network protocol,i.e.,LoRaWAN,to incorporate itself into the network infrastructure.In this paper,we have evaluated the LoRaWAN communication protocol for the implementation of the IoT(Internet of Things)nodes’communication in a forest scenario.The outdoor performance of LoRa wireless in LoRaWAN,i.e.,the physical layer,has been evaluated in the forest area of Kashirampur Uttarakhand,India.Hence,the present paper aims towards analyzing the performance level of the LoRaWAN technology by observing the changes in Signal to Noise Ratio(SNR),Packet Reception Ratio(PRR)and Received Signal Strength Indicator(RSSI),with respect to the distance between IoT nodes.The article focuses on estimating network lifetime for a specific set of LoRa configuration parameters,hardware selection and power constraints.From the experimental results,it has been observed that transmissions can propagate to a distance of 300 m in the forest environment,while consuming approx.63%less energy for spreading factor 7 at 2 dBm,without incurring significant packet loss with PRR greater than 80%.展开更多
Navigation is an essential skill for robots.It becomes a cumbersome task for the robot in a human-populated environment,and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots.R...Navigation is an essential skill for robots.It becomes a cumbersome task for the robot in a human-populated environment,and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots.Robot behavior in a social setting is the key to human acceptance while ensuring human comfort and safety.With the advancement in robotics technology,the true use cases of robots in the tourism and hospitality industry are expanding in number.There are very few experimental studies focusing on how people perceive the navigation behavior of a delivery robot.A robotic platform named“PI”has been designed,which incorporates proximity and vision sensors.The robot utilizes a real-time object recognition algorithm based on the You Only Look Once(YOLO)algorithm to detect objects and humans during navigation.This study is aimed towards evaluating human experience,for which we conducted a study among 36 participants to explore the perceived social presence,role,and perception of a delivery robot exhibiting different behavior conditions while navigating in a hotel corridor.The participants’responses were collected and compared for different behavior conditions demonstrated by the robot and results show that humans prefer an assistant role of a robot enabled with audio and visual aids exhibiting social behavior.Further,this study can be useful for developers to gain insight into the expected behavior of a delivery robot.展开更多
文摘The near future has been envisioned as a collaboration of humans with mobile robots to help in the day-to-day tasks.In this paper,we present a viable approach for a real-time computer vision based object detection and recognition for efficient indoor navigation of a mobile robot.The mobile robotic systems are utilized mainly for home assistance,emergency services and surveillance,in which critical action needs to be taken within a fraction of second or real-time.The object detection and recognition is enhanced with utilization of the proposed algorithm based on the modification of You Look Only Once(YOLO)algorithm,with lesser computational requirements and relatively smaller weight size of the network structure.The proposed computer-vision based algorithm has been compared with the other conventional object detection/recognition algorithms,in terms of mean Average Precision(mAP)score,mean inference time,weight size and false positive percentage.The presented framework also makes use of the result of efficient object detection/recognition,to aid the mobile robot navigate in an indoor environment with the utilization of the results produced by the proposed algorithm.The presented framework can be further utilized for a wide variety of applications involving indoor navigation robots for different services.
文摘The simultaneous advances in the Internet of Things(IoT),Artificial intelligence(AI)and Robotics is going to revolutionize our world in the near future.In recent years,LoRa(Long Range)wireless powered by LoRaWAN(LoRa Wide Area Network)protocol has attracted the attention of researchers for numerous applications in the IoT domain.LoRa is a low power,unlicensed Industrial,Scientific,and Medical(ISM)bandequipped wireless technology that utilizes a wide area network protocol,i.e.,LoRaWAN,to incorporate itself into the network infrastructure.In this paper,we have evaluated the LoRaWAN communication protocol for the implementation of the IoT(Internet of Things)nodes’communication in a forest scenario.The outdoor performance of LoRa wireless in LoRaWAN,i.e.,the physical layer,has been evaluated in the forest area of Kashirampur Uttarakhand,India.Hence,the present paper aims towards analyzing the performance level of the LoRaWAN technology by observing the changes in Signal to Noise Ratio(SNR),Packet Reception Ratio(PRR)and Received Signal Strength Indicator(RSSI),with respect to the distance between IoT nodes.The article focuses on estimating network lifetime for a specific set of LoRa configuration parameters,hardware selection and power constraints.From the experimental results,it has been observed that transmissions can propagate to a distance of 300 m in the forest environment,while consuming approx.63%less energy for spreading factor 7 at 2 dBm,without incurring significant packet loss with PRR greater than 80%.
基金supported by Taif University Researchers Supporting Projects(TURSP).Under number(TURSP-2020/211),Taif University,Taif,Saudi Arabia.
文摘Navigation is an essential skill for robots.It becomes a cumbersome task for the robot in a human-populated environment,and Industry 5.0 is an emerging trend that focuses on the interaction between humans and robots.Robot behavior in a social setting is the key to human acceptance while ensuring human comfort and safety.With the advancement in robotics technology,the true use cases of robots in the tourism and hospitality industry are expanding in number.There are very few experimental studies focusing on how people perceive the navigation behavior of a delivery robot.A robotic platform named“PI”has been designed,which incorporates proximity and vision sensors.The robot utilizes a real-time object recognition algorithm based on the You Only Look Once(YOLO)algorithm to detect objects and humans during navigation.This study is aimed towards evaluating human experience,for which we conducted a study among 36 participants to explore the perceived social presence,role,and perception of a delivery robot exhibiting different behavior conditions while navigating in a hotel corridor.The participants’responses were collected and compared for different behavior conditions demonstrated by the robot and results show that humans prefer an assistant role of a robot enabled with audio and visual aids exhibiting social behavior.Further,this study can be useful for developers to gain insight into the expected behavior of a delivery robot.
