担当区分：筆頭著者,　責任著者   掲載種別：研究論文（学術雑誌）   出版者・発行元：ROBOMECH Journal  

This study proposes a new software platform, called ROS2-TMS, for an informationally structured environment. An informationally structured environment is vital for developing intelligent service robots by embedding various sensors in the environment to enhance the sensing capability and intelligence of robots. Thus far, we have been developing a software platform, named ROS-TMS, for an informationally structured environment, which connects various sensors and robots using ROS architecture. In recent years, ROS2, a next-generation version of ROS, has been released. ROS2 has many advantages, such as enhanced security, QoS control, and support for various platforms. ROS2-TMS, a new version of ROS-TMS, is developed not only by porting existing modules in ROS-TMS, such as the control system for a communication robot, but also by adding useful functions utilizing new features in ROS2. For instance, we added a voice user interface to control robots and various devices in the environment, such as lights or a bed. In addition, we implemented a new task scheduler that provides a cancelation function to stop running tasks and improve the security of the platform.

DOI： 10.1186/s40648-021-00216-2

Web of Science

Scopus

開催年月日： 2024年

In recent years, labor accidents and a shortage of skilled workers due to an aging population have become significant issues at construction sites in Japan. To address these challenges, we are developing a Cyber-Physical System (CPS) platform called ROS2-TMS for Construction, which aims to improve both the efficiency and safety of earthwork operations. In this study, we propose a task management system for construction machinery using an open platform named OPERA as an additional function of ROS2-TMS for Construction. This task management system controls construction machinery using environmental information stored in a database, which collects and stores data from sensors deployed throughout the construction site, and an extended Behavior Tree. At the end of this study, the results of the initial validation tests of autonomous earthwork operations using an OPERA-compatible backhoe ZX200 are presented.

DOI： 10.1109/RO-MAN60168.2024.10731421

Web of Science

Scopus

開催年月日： 2024年

Indoor robot localization is important for the realization of autonomous service robots. Various studies have been conducted on "indoor GPS"measurements using wireless distance sensors such as ultrasonic beacons. However, when these beacons encounter non-line-of-sight (NLoS) conditions due to obstacles, accurate distance measurements become challenging because of multipath and other effects. In this study, we propose a method for simultaneously estimating a robot's position and distance to reflective surfaces in an environment using wireless distance sensors. The proposed method can estimate not only the robot's position but also the reflection of the beacon signal. First, the wheel odometry of the robot is assumed to be the initial value, and the measured distance from the beacon to the robot is used as a factor to construct the factor graph. Second, the distance to the reflective surface of the beacon signal, which is parallel to the robot's movement plane, was estimated from the robot position sequence using the GMM and used as a noise model in the factor graph. Finally, the method is evaluated by acquiring data in a real environment with obstacles. Compared with a method that does not consider reflection paths, this method demonstrated improved accuracy and effectiveness.

DOI： 10.1109/IROS58592.2024.10802063

Web of Science

Scopus

開催年月日： 2024年

In this study, we propose distributed sensor ter-minals named 'Sensor Pods' and 'Petit-Sensor Pods', and a Cyber-Physical System (CPS) platform named 'ROS2-TMS for Construction' that aims to improve both the efficiency and safety of earthwork operations. The proposed system collects on-site environmental information, stores it in a database, and visualizes it using virtual reality (VR). To evaluate the system's performance in environments simulating real-world earthwork operations, two types of experiments were conducted. In the first experiment, the integrated system of the Sensor Pods and ROS2-TMS for Construction successfully demonstrated the collection of environmental information, its storage, and visualization through VR. The results indicate that the proposed system has significant potential to provide a comprehensive understanding of on-site conditions. In the second experiment, the performance of the Petit-Sensor Pods was verified, confirming its proper functionality and suggesting expanded possibilities for the future use of ROS2- TMS for Construction. This paper presents the developed system and the experiments conducted to assess its performance. A demonstration video is available at: https: / /youtu. be/u4Jo-dU4ewo/.

DOI： 10.1109/SSRR62954.2024.10770031

Web of Science

Scopus

開催年月日： 2023年

This paper proposes a method for non-line-of-sight (NLoS) position estimation utilizing wireless distance sensors. Recently, the accuracy of wireless distance sensors that use ultra-wideband (UWB) or ultrasonic technologies to measure the distance between two sensor devices has increased significantly. By placing these sensors in the environment, it is possible to precisely determine the position of mobile robots in indoor environments. Owing to reflections in the environment, these sensors have a large measurement error in NLoS conditions, limiting their applicability to environments that satisfy the line-of-sight (LoS) condition. This study aims to develop a stable method for estimating the position of mobile robots in indoor environments, including NLoS conditions, using wireless distance sensors. Experiments were conducted in two real environments: one with obstacles in front of the beacon and one with dynamic obstacles. In both cases, the combining 2D-LiDAR and wireless distance sensors using the proposed method considering NLOS was more accurate than the method considering LoS only.

DOI： 10.1109/SII55687.2023.10039195

Web of Science

Scopus

記述言語：日本語   会議種別：ポスター発表  

<p>We develop an indoor robot localization method using wireless distance sensors. To take into account the case where the distance sensor measures the reflected path due to obstacles, we propose a method to estimate the reflected path at the same time and use it for position estimation.</p>

DOI： 10.1299/jsmermd.2024.1p1-n04

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