ROSE2021SYMPOSIUMPROGRAM

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2021ROBOTIC AND SENSORS ENVIRONMENTSOctober 28-29, 2021 | Virtual Conference

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Table of Contents

_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

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Message 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.

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Finally, 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

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IEEE 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

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IEEE ROSE 2021 Sponsors

Conference Sponsors

Technical Co-Sponsors

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IEEE 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

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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.

IEEE ROSE 2021 Keynote Speakers (Continued)

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Technical 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)

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12:10 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)

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Technical 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)

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12:35 – 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 – 16:25Closing Remarks Wail Gueaieb (University of Ottawa, Canada)