ROSE2021 PROGRAM 2021 - 2021 IEEE International Symposium on Robotics ...
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2021
ROBOTIC AND SENSORS ENVIRONMENTS
October 28-29, 2021 | Virtual Conference
ROSE
2021
SYMPOSIUM
PROGRAM
SPONSORS AND ORGANIZERS
Please visit website for
more information!
rose2021.ieee-ims.org
Table of Contents
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Message from the Chairpersons ......................................................................................... 2
IEEE ROSE 2021 Organizers ............................................................................................. 4
IEEE ROSE 2021 Sponsors ............................................................................................... 5
IEEE ROSE 2021 Keynote Speakers ................................................................................. 6
Technical Program: Thursday, October 28, 2021 ................................................................ 8
Technical Program: Friday, October 29, 2021................................................................... 10
1Message from the Chairpersons
On behalf of the organizing committee, it is our great pleasure to welcome all the participants
to the 2021 IEEE International Symposium on Robotic and Sensors Environments (ROSE),
held online as a Virtual Conference, on October 28-29, 2021.
ROSE 2021 is the 14th edition of this international symposium. Over the years, it has been
organized in several European and North American cities. This year, we are delighted to host
the ROSE Symposium virtually to get our scientific community together despite the
continuing travel restrictions worldwide. Nonetheless, we will have the pleasure to virtually
welcome participants from around the globe and presenters from Japan, Vietnam, China,
Canada, the U.S.A., South Korea, Israel, Italy, the U.K., Germany, Kuwait, and Australia.
The IEEE ROSE Symposium is sponsored by the Institute of Electrical and Electronic
Engineers (IEEE) Instrumentation and Measurement Society (IMS). The symposium is also
technically co-sponsored by the IEEE Ottawa Chapters for Robotics and Automation Society
(RAS), Control Systems Society (CSS), Computational Intelligence Society (CIS), and
Systems, Man & Cybernetics Society (SMCS).
The symposium covers a wide spectrum of sensing systems and technologies for robotics
and industrial automation, as well as their impact on autonomous robotics and intelligent
systems development and applications. For this edition, a session dedicated to “Learning
Systems” has been included. This is to acknowledge the sharp increase in interest in deep
learning and reinforcement learning applied to sensing and robotic systems. Over two days,
participants will have plenty of opportunities to present their research, exchange technical
insights with their peers, network, and explore new research directions as well as future
collaborations with researchers around the world.
For this first virtual edition, over 30 manuscripts originating from 14 different countries were
submitted and carefully peer-reviewed by a diversified committee of experts in all areas of
robotic and sensor technologies. At the symposium, 20 papers of top quality will be presented
orally and synchronously, providing optimal opportunities to initiate discussion among the
participants. The technical program nicely articulates around dominant areas of interest in
the field, from robotic systems, sensor systems, learning systems with associated
applications. To further explore the potential of robots in everyday life, the symposium will
open with the presentation from our first guest speaker, Dr. Robert Fitch, Head of the School,
Mechanical and Mechatronic Engineering at the Faculty of Engineering & Information
Technology, University of Technology Sydney, Australia, who is a leading research scientist
in the area of autonomous field robotics. In his much-awaited presentation, he will expose
his views about decentralized active perception in the field robotics. Continuing with the
exploration of the potential of robots in everyday life, we will also be fortunate to welcome a
second guest speaker, Dr. Takayuki Kanda, Professor at the Department of Social
Information, Kyoto University, Japan, who is a world authority in Social Robotics. Dr. Kanda
will share his insight on enabling social robots to effectively interact with humans in public
spaces.
The organizing committee wants to acknowledge and emphasize the efforts of numerous
contributors to the success of the conference. In particular, we would like to thank the
technical program committee members who volunteered their time to carefully review the
manuscripts and provide constructive comments to authors. We would like to extend our
gratitude to our sponsors and technical sponsors for their support and generosity. We are
immensely grateful to the volunteers whose tireless efforts have made the conference
possible. Special thanks also go to the IEEE Instrumentation and Measurement Society
which constantly provides its support and sponsorship to the ROSE conference series, and
to Conference Catalysts for their consistent and thorough assistance to the organization.
2Finally, we would like to also thank all the authors and participants who submitted
manuscripts of excellent quality to ROSE and directly contributed to the success of this
conference. We wish all the participants a pleasant and fruitful experience, and we hope that
you enjoy joining your scientific community virtually from the comfort of your place!
General Chair Wail Gueaieb, University of Ottawa, Canada
Technical Program Roland Bouffanais, University of Ottawa, Canada
Co-Chairs Trung Dung Ngo, University of Prince Edward Island, Canada
3IEEE ROSE 2021 Organizers
General Chair
Wail Gueaieb
University of Ottawa, Canada
Technical Program Co-Chairs
Roland Bouffanais
University of Ottawa
Trung Dung Ngo
University of Prince Edward Island
Conference Management
Conference Catalysts, LLC
4IEEE ROSE 2021 Sponsors
Conference Sponsors
Technical Co-Sponsors
5IEEE ROSE 2021 Keynote Speakers
Robert Fitch
University of Technology Sydney
Decentralised Active Perception in Field Robotics
Abstract: Field robots are already at work in areas such as
mining, agriculture, and environmental monitoring. Future
applications will require larger-scale systems with multiple
robots that can work autonomously in difficult conditions that
push the limits of sensing, perception, planning, and
communication. This talk will focus on coordinated object
perception in outdoor environments and discuss how occlusions and sensor characteristics
limit detection and classification accuracy, how to reduce uncertainty by combining
observations from carefully chosen viewpoints, and how motion planning and mobility can
play a major role in addressing these challenges through an active perception approach. The
talk will give an overview of our research in developing new methods for active perception in
decentralised teams that integrates ideas from perception and planning, information theory,
and game AI to allow robots to coordinate their behaviour in real time. We have implemented
our methods in physical systems with wireless communication, and the talk will describe
several examples of multi-robot systems that search realistic environments to detect and
classify objects. The talk will also look towards future systems and discuss key open
challenges at the frontier of mobility, sensing, and communication.
Biography: Robert Fitch is Professor and Head of School of Mechanical and Mechatronic
Engineering at the University of Technology Sydney. From 2007 to 2016 he was with the
Australian Centre for Field Robotics (ACFR) at The University of Sydney. Prof Fitch has led
the development and delivery of real-world systems for commercial flight planning (with
Qantas), broad-acre agriculture (with SwarmFarm Robotics), and autonomous localisation of
radio-tagged wildlife (with Wildlife Drones). He is co-founder of the International Symposium
on Multi-Robot and Multi-Agent Systems (MRS) and co-chair of the IEEE RAS Technical
Committee on Multi-Robot Systems, which received the IEEE RAS Most Active Technical
Committee Award in 2018. Awards also include Best Paper in Service Robotics and finalist
for Best Paper in Robot Vision in IEEE ICRA 2019. His research interests include active
perception, information-based motion planning, communication-aware algorithms, and
coordinated decision making in field robotics
6IEEE ROSE 2021 Keynote Speakers (Continued)
Takayuki Kanda
Kyoto University, Japan
Social Robots in Public Space
Abstract: Social robots are coming to appear in our daily lives. Yet,
it is not as easy as one might imagine. We developed a human-like
social robot, Robovie, and studied the way to make it serve for
people in public space, such as a shopping mall. On the technical
side, we developed a human-tracking sensor network, which
enables us to robustly identify locations of pedestrians. Given that
the robot was able to understand pedestrian behaviors, we studied
various human-robot interaction. We faced many of difficulties along the way. For instance,
the robot failed to initiate interaction with a person, and failed to coordinate with
environments, like causing a congestion around it. Toward solving these problems, we have
developed various human interaction models. Such models enabled the robot to better serve
individuals, and also helped us to understand people’s crowd behavior, such as congestion
around the robot. I plan to talk about a couple of studies along this line, and some of the
successful services provided by the social robot in the shopping mall, hoping to provide an
insight about how social robots in public space will look like in the near future.
Biography: Takayuki Kanda is a professor in Informatics at Kyoto University, Japan. He is
also a Visiting Group Leader at ATR Intelligent Robotics and Communication Laboratories,
Kyoto, Japan. He received his B. Eng, M. Eng, and Ph. D. degrees in computer science from
Kyoto University, Kyoto, Japan, in 1998, 2000, and 2003, respectively. He is one of the
starting members of Communication Robots project at ATR. He has developed a
communication robot, Robovie, and applied it in daily situations, such as peer-tutor at
elementary school and a museum exhibit guide. His research interests include human-robot
interaction, interactive humanoid robots, and field trials.
7Technical Program: Thursday, October 28, 2021
9:00 - 9:10
Opening Remarks
Wail Gueaieb. University of Ottawa
9:10 - 10:15
Keynote: Decentralised Active Perception in Field Robotics
Robert Fitch, University of Technology Sydney, Australia
Session Chair: Wail Gueaieb (University of Ottawa, Canada)
10:15 – 10:30
Break
10:30 - 12:35
Session – Robotic Systems
Session Chair: Trung Dung Ngo (University of Prince Edward Island, Canada)
10:30
A Variant of Boids Rules: Reducing Jerky Motion through Eliminating Heading
Disturbance
Hung Pham (VNU-University of Engineering and Technology, Vietnam)
Trung Dung Ngo (University of Prince Edward Island, Canada)
10:55
Efficient Local and Global Sensing for Human Robot Collaboration with Heavy-duty
Robots
Aquib Rashid (Fraunhofer IWU, Germany)
Mohamad Bdiwi (Fraunhofer Institute for Machine Tools and Forming Technology IWU,
Germany)
Matthias Putz (Fraunhofer IWU, Germany)
Steffen Ihlenfeldt (Fraunhofer IWU, Germany)
Wolfram Hardt (TU Chemnitz, Germany)
11:20
A Smart Robotic Cart Prototype using RF Signal Strength
Md Suruz (Bradley University, USA)
Jason Braker (Bradley University, USA)
Darrah Beebe (Bradley University, USA)
Kallistah Allen (Bradley University, USA)
Prasad Shastry (Bradley University, USA)
11:45
Recycling of printed circuit boards by robot manipulator: A Deep Learning
Approach
Kohei Naito (Hosei University, Japan)
Aya Shirai (Hosei University, Japan)
Shin-ichiro Kaneko (National Institute of Technology, Toyama College, Japan)
Genci Capi (Hosei University, Japan)
812:10
Direct Georeferencing 3D Points Cloud Map Based on SLAM and Robot Operating
System
Fraj Hariz (University of Moncton, Canada)
Haïfa Souifi (University of Moncton, Canada)
Ryan LeBlanc (University of Moncton, Canada)
Yassine Bouslimani (University of Moncton, Canada)
Mohsen Ghribi (University of Moncton, Canada)
Eric Langin (Eagle Telecom, Canada)
Dan Mccarthy (Eagle Telecom, Canada)
12:35 – 14:00
Lunch Break
14:00 - 16:05
Session – Learning Systems
Session Chair: Mohammed Abouheaf (Bowling Green State University, USA)
14:00
A Policy Iteration Approach for Flock Motion Control
Shuzheng Qu (University of Ottawa, Canada)
Mohammad Abouheaf (Bowling Green State University, USA)
Wail Gueaieb (University of Ottawa, Canada)
Davide Spinello (University of Ottawa, Canada)
14:25
Compensating for Partial DVL Outages by using Deep-Learning Approaches
Mor Yona (University of Haifa, Israel)
Itzik Klein (University of Haifa, Israel)
14:50
A Data-Driven Model-Reference Adaptive Control Approach Based on Reinforcement
Learning
Mohammad Abouheaf (Bowling Green State University, USA)
Wail Gueaieb (University of Ottawa, Canada)
Davide Spinello (University of Ottawa, Canada)
Salah Al-Sharhan (Gulf University of Science and Technology, Kuwait)
15:15
Localizing Radio Frequency Targets Using Reinforcement Learning
Lucas Tindall (University of California, San Diego, USA)
Zigfried Hampel-Arias (In-Q-Tel Labs, USA)
Joseph Goldfrank (Stanford University, USA)
Eric Mair (In-Q-Tel Labs, USA)
Truong Nguyen (University of California, San Diego, USA)
15:40
Automating Predictive Maintenance Using State-Based Transfer Learning and
Ensemble Methods
Justin Larocque-Villiers (University of Ottawa, Canada)
Patrick Dumond (University of Ottawa, Canada)
9Technical Program: Friday, October 29, 2021
9:00 - 9:10
Opening Remarks
Roland Bouffanais (University of Ottawa, Canada) and
Trung Dung Ngo (University of Prince Edward Island, Canada)
9:10 – 10:15
Keynote: Social Robots in Public Space
Takayuki Kanda, Kyoto University, Japan
Session Chair: Trung Dung Ngo (University of Prince Edward Island, Canada)
10:15 – 10:30
Break
10:30 – 12:35
Session – Sensors and Systems
Session Chair: Luca Santoro (University of Trento, Italy)
10:30
Wearable Sensing System to perform Realtime 3D posture estimation for lower back
healthcare
Avishkar Seth (Macquarie University, Australia)
Alice James (Macquarie University, Australia)
Subhas Mukhopadhyay (Macquarie University, Australia)
10:55
Realtime Hand Landmark Tracking to Aid Development of a Prosthetic Arm for
Reach and Grasp Motions
Alice James (Macquarie University, Australia)
Avishkar Seth (Macquarie University, Australia)
Subhas Mukhopadhyay (Macquarie University, Australia)
11:20
Scale up to infinity: The UWB Indoor Global Positioning System
Luca Santoro (University of Trento, Italy)
Matteo Nardello (University of Trento, Italy)
Davide Brunelli (University of Trento, Italy)
Daniele Fontanelli (University of Trento, Italy)
11:45
Lobster detection using an Embedded 2D Vision System with a FANUC industrual
robot
Nawai Chelouati (University of Moncton, Canada)
Fakherddine Fares (University of Moncton, Canada)
Yassine Bouslimani (University of Moncton, Canada)
Mohsen Ghribi (University of Moncton, Canada)
12:10
Tool Center Point Calibration Method for an Industrial Robots based on Spheres
Fitting Method
Fakherddine Fares (University of Moncton, Canada)
Haïfa Souifi (University of Moncton, Canada)
Yassine Bouslimani (University of Moncton, Canada)
Mohsen Ghribi (University of Moncton, Canada)
1012:35 – 14:00
Lunch Break
14:00 – 16:05
Session – Sensors and Applications
Session Chair: Philip Ferguson (University of Manitoba, Canada)
14:00
Compensation of Assembly Eccentricity Error of Micro Hemispherical Resonator
Gyroscope
Zhihu Ruan (Southeast University, China)
Xukai Ding (Southeast University, China)
Zhengcheng Qin (Southeast University, China)
Hongsheng Li (Southeast University, China)
14:25
Ray Tracing 3D Source Modelling for Optical Reflectance Sensing with Wireless
Ranging Application
Vlad Marsic (University of Warwick, Great Britain)
Erik Kampert (University of Warwick, Great Britain)
Matthew Higgins (University of Warwick, Great Britain)
14:50
Electromagnetic and inertial motion sensor fusion
Remi Cormier (University of Moncton, Canada)
Yassine Bouslimani (University of Moncton, Canada)
15:15
Tracking and Estimation of a Swaying Payload Using a LiDAR and an Extended
Kalman Filter
Mitesh S Patel (University of Manitoba, Canada)
Philip A Ferguson (University of Manitoba, Canada)
15:40
Detection and Location of Sheet Metal Parts for Industrial Robots
Eya Affes (University of Moncton, Canada)
Yassine Bouslimani (University of Moncton, Canada)
Mohsen Ghribi (University of Moncton, Canada)
Azeddine Kaddouri (University of Moncton, Canada
16:05 – 16:15
Best Paper Award
Session Chair: Roland Bouffanais (University of Ottawa, Canada) and
Trung Dung Ngo (University of Prince Edward Island, Canada)
16:15 – 16:25
Closing Remarks
Wail Gueaieb (University of Ottawa, Canada)
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