Privacy-preserving Grasp Planning in the Cloud

IEEE International Conference on Automation Science and Engineering

Volumn 2016-November, Issue , 2016, Pages 468-475

  Mahler, Jeffrey ^a   Hou, Brian ^a   Niyaz, Sherdil ^a   Pokorny, Florian T ^a   Chandra, Ramu ^b   Goldberg, Ken ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b SIEMENS AG   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATION; GEOMETRY; MOTION PLANNING;

AUTOMATED ASSEMBLY LINES; INDUSTRIAL AUTOMATION; INDUSTRIAL PARTS; INDUSTRIAL USERS; OBJECT SURFACE; PRIVACY PRESERVING; PRODUCT GEOMETRY; SIMILARITY METRICS;

DATA PRIVACY;

EID: 85000995868     PISSN: 21618070     EISSN: 21618089     Source Type: Conference Proceeding    
DOI: 10.1109/COASE.2016.7743442     Document Type: Conference Paper

References (48)

1. "Autodesk inventor, https://forums. autodesk. com/t5/inventor-general-discussion/defeaturing-function-in-inventor/td-p/5433898, 2016.
2. "Maketbot thingiverse, http://www. thingiverse. com/, 2016.
3. "Solidworks, http://www. solidworks. com/sw/products/3d-cad/defeature. htm, 2016.
4. C. C. Aggarwal, S. Y. Philip, A general survey of privacypreserving data mining models, algorithms. Springer, 2008.
5. P. Brook, M. Ciocarlie, K. Hsiao, Collaborative grasp planning with multiple object representations, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 2011, pp. 2851-2858.
6. M. T. Ciocarlie, P. K. Allen, Hand posture subspaces for dexterous robotic grasping, The International Journal of Robotics Research, vol. 28, no. 7, pp. 851-867, 2009.
7. R. Detry, D. Kraft, O. Kroemer, L. Bodenhagen, J. Peters, N. Krüger, J. Piater, Learning grasp affordance densities, Paladyn, Journal of Behavioral Robotics, vol. 2, no. 1, pp. 1-17, 2011.
8. R. Diankov, J. Kuffner, Openrave: A planning architecture for autonomous robotics, Robotics Institute, Pittsburgh, PA, Tech. Rep. CMU-RI-TR-08-34, vol. 79, 2008.
9. M. Dogar, K. Hsiao, M. Ciocarlie, S. Srinivasa, Physics-based grasp planning through clutter, in Proc. Robotics: Science, Systems (RSS), 2012.
10. S. Gao, W. Zhao, H. Lin, F. Yang, X. Chen, Feature suppression based cad mesh model simplification, Computer-Aided Design, vol. 42, no. 12, pp. 1178-1188, 2010.
11. K. Goldberg, B. V. Mirtich, Y. Zhuang, J. Craig, B. R. Carlisle, J. Canny, Part pose statistics: Estimators, experiments, IEEE Transactions on Robotics, Automation, vol. 15, no. 5, pp. 849-857, 1999.
12. C. Goldfeder, P. K. Allen, Data-driven grasping, Autonomous Robots, vol. 31, no. 1, pp. 1-20, 2011.
13. C. Goldfeder, M. Ciocarlie, H. Dang, P. K. Allen, The columbia grasp database, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 2009, pp. 1710-1716.
14. M. J. Hutchins, R. Bhinge, M. K. Micali, S. L. Robinson, J. W. Sutherland, D. Dornfeld, Framework for identifying cybersecurity risks in manufacturing, Procedia Manufacturing, vol. 1, pp. 47-63, 2015.
15. D. Kappler, J. Bohg, S. Schaal, Leveraging big data for grasp planning, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA), 2015.
16. B. Kehoe, D. Berenson, K. Goldberg, Estimating part tolerance bounds based on adaptive cloud-based grasp planning with slip, in Proc. IEEE Conf. on Automation Science, Engineering (CASE). IEEE, 2012, pp. 1106-1113.
17. B. Kehoe, A. Matsukawa, S. Candido, J. Kuffner, K. Goldberg, Cloud-based robot grasping with the google object recognition engine, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 2013, pp. 4263-4270.
18. B. Kehoe, S. Patil, P. Abbeel, K. Goldberg, A survey of research on cloud robotics, automation, Automation Science, Engineering, IEEE Transactions on, vol. 12, no. 2, pp. 398-409, 2015.
19. A. J. Kerns, D. P. Shepard, J. A. Bhatti, T. E. Humphreys, Unmanned aircraft capture, control via gps spoofing, Journal of Field Robotics, vol. 31, no. 4, pp. 617-636, 2014.
20. H. Khurana, M. Hadley, N. Lu, D. A. Frincke, Smart-grid security issues, IEEE Security, Privacy, no. 1, pp. 81-85, 2010.
21. D. Koller, M. Turitzin, M. Levoy, M. Tarini, G. Croccia, P. Cignoni, R. Scopigno, Protected interactive 3d graphics via remote rendering, in ACM Transactions on Graphics (TOG), vol. 23, no. 3. ACM, 2004, pp. 695-703.
22. J. J. Kuffner, Effective sampling, distance metrics for 3d rigid body path planning, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 2004, pp. 3993-3998.
23. M. Laskey, J. Mahler, Z. McCarthy, F. Pokorny, S. Patil, J. van den Berg, D. Kragic, P. Abbeel, K. Goldberg, Multi-arm bandit models for 2d sample based grasp planning with uncertainty. " in Proc. IEEE Conf. on Automation Science, Engineering (CASE). IEEE, 2015.
24. S. M. LaValle, M. S. Branicky, S. R. Lindemann, On the relationship between classical grid search, probabilistic roadmaps, The International Journal of Robotics Research, vol. 23, no. 7-8, pp. 673-692, 2004.
25. I. Lenz, H. Lee, A. Saxena, Deep learning for detecting robotic grasps, Int. J. Robotics Research (IJRR), vol. 34, no. 4-5, pp. 705-724, 2015.
26. S. Levine, P. Pastor, A. Krizhevsky, D. Quillen, Learning handeye coordination for robotic grasping with deep learning, largescale data collection, arXiv preprint arXiv:1603. 02199, 2016.
27. S. R. Lindemann, S. M. LaValle, Incrementally reducing dispersion by increasing voronoi bias in rrts, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA), vol. 4. IEEE, 2004, pp. 3251-3257.
28. J. Mahler, S. Patil, B. Kehoe, J. van den Berg, M. Ciocarlie, P. Abbeel, K. Goldberg, Gp-gpis-opt: Grasp planning under shape uncertainty using gaussian process implicit surfaces, sequential convex programming, 2015.
29. J. Mahler, F. T. Pokorny, B. Hou, M. Roderick, M. Laskey, M. Aubry, K. Kohlhoff, T. Kroeger, J. Kuffner, K. Goldberg, Dex-net 1. 0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards, 2016.
30. S. Marras, F. Ganovelli, P. Cignoni, R. Scateni, R. Scopigno, Controlled, adaptive mesh zippering. " in GRAPP, 2010, pp. 104-109.
31. R. Mason, E. Rimon, J. Burdick, Stable poses of 3-dimensional objects, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 1997, pp. 391-398.
32. A. T. Miller, P. K. Allen, Graspit! a versatile simulator for robotic grasping, IEEE Robotics, Automation Magazine, vol. 11, no. 4, pp. 110-122, 2004.
33. A. V. Mobley, M. P. Carroll, S. A. Canann, An object oriented approach to geometry defeaturing for finite element meshing. " in IMR, 1998, pp. 547-563.
34. H. Niederreiter, Quasi-monte carlo methods, pseudo-random numbers, Bulletin of the American Mathematical Society, vol. 84, no. 6, pp. 957-1041, 1978.
35. J. Oberlin, S. Tellex, Autonomously acquiring instance-based object models from experience, Int. S. Robotics Research (ISRR), 2015.
36. R. Ohbuchi, S. Takahashi, T. Miyazawa, A. Mukaiyama, Watermarking 3d polygonal meshes in the mesh spectral domain, in Graphics interface, vol. 2001. Citeseer, 2001, pp. 9-17.
37. P. Oswald, P. Schröder, Composite primal/dual 3-subdivision schemes, Computer Aided Geometric Design, vol. 20, no. 3, pp. 135-164, 2003.
38. F. Panahi, M. Davoodi, A. F. van der Stappen, Orienting parts with shape variation, in Algorithmic Foundations of Robotics XI. Springer, 2015, pp. 479-496.
39. L. Pinto, A. Gupta, Supersizing self-supervision: Learning to grasp from 50k tries, 700 robot hours, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 2015.
40. F. T. Pokorny, D. Kragic, Classical grasp quality evaluation: New theory, algorithms, in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots, Systems (IROS), 2013.
41. K. Ren, C. Wang, Q. Wang, Security challenges for the public cloud, IEEE Internet Computing, no. 1, pp. 69-73, 2012.
42. A. Thakur, A. G. Banerjee, S. K. Gupta, A survey of cad model simplification techniques for physics-based simulation applications, Computer-Aided Design, vol. 41, no. 2, pp. 65-80, 2009.
43. G. Turk, M. Levoy, Zippered polygon meshes from range images, in Proc. of the 21st annual conference on Computer graphics, interactive techniques. ACM, 1994, pp. 311-318.
44. M. Vahedi, A. F. van der Stappen, Caging polygons with two, three fingers, Int. J. Robotics Research (IJRR), vol. 27, no. 11-12, pp. 1308-1324, 2008.
45. T. P. Vuong, G. Loukas, D. Gan, Performance evaluation of cyber-physical intrusion detection on a robotic vehicle, in IEEE Intl. Conf. Computer, Information Technology; Ubiquitous Computing, Communications; Dependable, Autonomic, Secure Computing; Pervasive Intelligence, Computing. IEEE, 2015, pp. 2106-2113.
46. J. Weisz, P. K. Allen, Pose error robust grasping from contact wrench space metrics, in Proc. IEEE Int. Conf. Robotics, Automation (ICRA). IEEE, 2012, pp. 557-562.
47. A. Yershova, S. M. LaValle, Deterministic sampling methods for spheres, so (3), in Proc. IEEE Int. Conf. Robotics, Automation (ICRA), vol. 4. IEEE, 2004, pp. 3974-3980.
48. Y. Zheng, W.-H. Qian, Coping with the grasping uncertainties in force-closure analysis, The International Journal of Robotics Research, vol. 24, no. 4, pp. 311-327, 2005.