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ICAR 2019
19th IEEE International Conference on Advanced Robotics

Conference Digest

December 2nd-6th, 2019

Universidade Federal de Minas Gerais
Belo Horizonte, Brazil

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Table of Contents

Welcome Message 5

Registration 6
On-Site Registration Fees 6
On-Site Workshops and Tutorials Registration Fees* 6

ICAR 2019 Committees 7

Paper Review Board 8

UFMG Map 10

Program at a Glance 11

Technical Program 12

Social Events 14
Welcome Reception 14
Coffee Breaks 14
Visit to the Inhotim Museum 14
Conference Banquet 15

ICAR 2019 Sponsors 16

Plenaries 17
Plenary I 17
Plenary II 18
Plenary III 19

Conference Digest 20

Detailed Technical Program 47

Technical Program for Monday December 2, 2019 48
Technical Program for Tuesday December 3, 2019 55
Technical Program for Wednesday December 4, 2019 57

Workshops 64
Key Technologies For Autonomous Robotic Surgery 65
Human Movement Understanding 66
Robotics for Occupational Safety & Health in Industrial Environments (ROSHIE) 67
Physical Robot Interaction 69
Applications of Dual Quaternion Algebra to Robotics 71
Deep Learning for Robotic Image Perception in GPUs: an Introductory Hands-on Tutorial 72

Author Index 73

Notes 88

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Welcome Message

On behalf of the Organizing Committee, it is our great pleasure to welcome you to Belo Horizonte,
Brazil for the ICAR 2019 - 19th International Conference on Advanced Robotics!

As one of the oldest and more prestigious robotics conference, ICAR was idealized by the late
Professors Hanafusa and Umetani to be an event focused on research-oriented advances in
robotics. Its first edition was held in the early summer of 1983 in Tokyo, Japan inspiring and
preceding ICRA - the International Conference on Robotics and Automation by just one year.

This edition of ICAR has a special meaning as memory takes us almost 30 years ago to 1991 in
Pisa, Italy, when at the 5th ICAR the co-chairs of this edition first met, and they hope that beyond
an excellent technical meeting, this may also be an opportunity to foster lasting friendships.

ICAR 2019 would not be possible without the earnest and diligent efforts of the Organizing Chairs:
Luiz Chaimowicz, Douglas Macharet, Armando Neto, the Program Chair: Guilherme Pereira and
co-chairs: Leonardo Mattos, Paulo Drews, Denis Wolf, and the Publication Chair: Erickson
Nascimento, Tutorial/Workshops Chairs: Bruno Adorno, Luciano Pimenta, Vítor A. M. Jorge.

We are also most thankful to IEEE and RAS for the technical co-sponsorship and our sponsors for
their gracious support.

Finally, we warmly thank you, the conference participants, for making ICAR 2019 a success and
expect that your time at Belo Horizonte, will be a most enjoyable and memorable one.

Mario Campos Paolo Fiorini

Universidade Federal de Minas Gerais University of Verona
ICAR 2019 General Chair ICAR 2019 General Co-chair

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Registration

The registration desk, located on the first level of the Center for Didactic Activities 3 (CAD 3) -
Federal University of Minas Gerais, will be open for general information, picking up your
registration materials, and on-site registrations. Registration hours are as follows:

Day Time

Mon - Dec 02, 2019 08:00 am - 06:00 pm

Tue - Dec 03, 2019 08:00 am - 12:30 pm

Wed - Dec 04, 2019 08:30 am - 05:00 pm

Thu - Dec 05, 2019 08:00 am - 05:00 pm

Fri - Dec 06, 2019 08:00 am - 05:00 pm

On-Site Registration Fees

Category On-site

Full – Members (IEEE, SBC, SBA) USD 550.00

Full – Non-members USD 650.00

Students – Members (IEEE, SBC, SBA) USD 200.00

Students – Non-members USD 400.00

IEEE Life Member Free

On-Site Workshops and Tutorials Registration Fees*

Category On-site

Professionals USD 30.00

Students USD 15.00

IEEE Life Member Free

* limited number of 50 registrations

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ICAR 2019 Committees

General Chair
Mario Campos (UFMG-Brazil)

General Co-chair
Paolo Fiorini (UNIVR-Italy)

Organizing Chairs
Luiz Chaimowicz (UFMG-Brazil)
Douglas G. Macharet (UFMG-Brazil)
Armando Alves Neto (UFMG-Brazil)

Publication Chair
Erickson R. Nascimento (UFMG-Brazil)

Program Chair
Guilherme Pereira (WVU-USA)

Program Co-chairs
Leonardo Mattos (IIT-Italy)
Paulo Drews (FURG-Brazil)
Denis Wolf (ICMC/USP-Brazil)

Local Arrangements Committee

Gustavo Medeiros (UFMG-Brazil)
Guilherme Vianna Raffo (UFMG-Brazil)

Finance Chair
Alessandro Victorino (UFMG-Brazil)

Tutorial/Workshops Chairs
Bruno Adorno (UFMG-Brazil)
Luciano Pimenta (UFMG-Brazil)
Vítor A. M. Jorge (PUCRS-Brazil)

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Paper Review Board

Program Chair
Guilherme Pereira (WVU-USA)

Program Co-chairs
Leonardo Mattos (IIT-Italy)
Paulo Drews (FURG-Brazil)
Denis Wolf (ICMC/USP-Brazil)

Associate Editors
Adorno, Bruno Vilhena (UFMG-Brazil)
Aroca, Rafael (UFSCar/Brazil)
Baltes, Jacky (Hansjoerg) (NTNU-Taiwan)
Bastos, Teodiano (UFES-Brazil)
Borges, Paulo (CSIRO/Australia)
Botelho, Silvia (FURG-Brazil)
Carvalho, José Reginaldo Hughes (UFAM-Brazil)
Caurin, Glauco Augusto de Paula (USP-Brazil)
Cruz, Nuno (INESC-Portugal)
da Silva Guerra, Rodrigo (UFSM-Brazil)
Dagnino, Giulio (Imperial College London-UK)
Dall’Alba, Diego (UNIVR-Italy)
De Momi, Elena (POLIMI-Italy)
Demircan, Emel (California State University-USA)
Freitas, Gustavo (UFMG-Brazil)
Grant, Edward (NCSU-USA)
Grassi Junior, Valdir (USP-Brazil)
Gross, Jason (WVU-USA)
Gu, Yu (WVU-USA)
Macharet, Douglas Guimarães (UFMG-Brazil)
Kanoulas, Dimitrios (IIT-Italy)
Kwon, Dong-Soo (KAIST-South Korea)
Mizuuchi, Ikuo (UTOKYO-Japan)
Muradore, Riccardo (UNIVR-Italy)
Nascimento, Tiago (UFPB-Brazil)
Núñez, Pedro (UNEX-Spain)
Pilania, Vinay (Mercedes-Benz Research & Development North America – USA)
Premebida, Cristiano (LBORO-UK)
Raffo, Guilherme V. (UFMG-Brazil)
Ren, Hongliang (NUS-Singapore)
Rocha, Rui P. (UC-Portugal)
Scolari Conceição, André Gustavo (UFBA-Brazil)
Semini, Claudio (IIT-Italy)

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Silveira, Geraldo (CTI-Brazil)
Tahri, Omar (INSA-France)
Tejera López, Gonzalo Daniel (Universidad de la Republica-Uruguay)
Ugurlu, Barkan (Özyeğin University-Turkey)
Vander Poorten, Emmanuel (KUL-Belgium)
Verma, Vandi (JPL-USA)
Victorino, Alessandro (UFMG-Brazil)
Vivaldini, Kelen Cristiane Teixeira (UFSCar-Brazil)
U-Xuan TAN (SUTD)
Zhang, Jun (UNR/USA)

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UFMG Map

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Program at a Glance

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Technical Program

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Social Events

Welcome Reception
Monday December 2, 18:00 - 20:00

ICAR 2019 will welcome its participants with a two-hour reception, on Monday December 2, in the
Foyer and the Terrace section on Meeting Level 1 of the Center for Didactic Activities 3 (CAD 3) of
the Universidade Federal de Minas Gerais. The participants will take in the spectacular view of the
Governor Magalhães Pinto Stadium (Minerão), reconnect with old friends and meet new
colleagues. The standing reception will serve a variety of food choices as well as alcoholic and
non-alcoholic beverages to fully registered ICAR delegates.

Coffee Breaks
Coffee Breaks will be provided throughout the five days of the conference, twice a day. Serving
stations will be located conveniently outside the Session Rooms, Ballrooms, and the Exhibit Hall.

Visit to the Inhotim Museum

Tuesday December 3, 12:30 - 17:30

The Inhotim (Inhotim Institute)

is home to one of the largest
foundations of contemporary
art in Brazil and one of the
largest outdoor art centers in
Latin America. It was founded
by the former mining magnate
Bernardo Paz in 2004 to house
his personal art collection, but
opened to the public a couple
of years later. In 2014, the
open-air museum was one of
TripAdvisor's top 25
best-ranked museums in the
world.

Located in Brumadinho (Minas Gerais), just 60 km away from Belo Horizonte, the institute has a
total area of 1942.25 acres, mostly located in the biome of the Atlantic Forest. Of the total area,
1087.26 acres are marked as preservation areas, of which 359 acres are part of the Reserva
Particular do Patrimônio Natural RPPN, which makes it a natural heritage site. These geographic

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features made it possible for Inhotim to house a botanical garden, which has been developing
since it was opened.

Conference Banquet
Tuesday December 3, 19:00 - 23:00

ICAR 2019 Conference Banquet

will be held on Tuesday, December
3, in the Xapuri Restaurant. The
place was officially opened on
August 22, 1987, however, as the
story of Dona Nelsa shows, it all
started well before. In single
meeting friends over the weekend,
Dona Nelsa saw a potential
investment opportunity. With his
entrepreneurial vision, Dona Nelsa
says proudly that the Xapuri
Restaurant is the result of a life of
struggle and dedication, and today
is the gastronomic reference
STYLE BE MINER!

The Xapuri Restaurant with your MINER STYLE BE offers a rustic environment, rich in natural
flora, equestrian and attractions for children, candy factory, own linguiçário, a handicraft shop
around Brazil, and of course the delicious served local food for a la carte dishes and sweets buffet.

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ICAR 2019 Sponsors

Diamond Gold

https://www.abdi.com.br https://www2.eesc.usp.br/insac/

Silver Bronze

https://www.google.com/
https://dtidigital.com.br/

Technical Co-sponsors Support

Special support

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Plenaries

Plenary I
The Era of Human-Robot Collaboration

Oussama Khatib, Stanford University

Monday 2 December, 17:00, 18:00

Abstract
Robotics is undergoing a major transformation in scope and dimension with accelerating impact on
the economy, production, and culture of our global society. The generations of robots now being
developed will increasingly touch people and their lives. They will explore, work, and interact with
humans in their homes, workplaces, in new production systems, and in challenging field domains.
The emerging robots will provide increased support in mining, underwater, hostile environments, as
well as in domestic, health, industry, and service applications. Combining the experience and
cognitive abilities of the human with the strength, dependability, reach, and endurance of robots
will fuel a wide range of new robotic applications. This approach is illustrated in the context of
Ocean One, a bimanual humanoid robotic diver that brings intuitive haptic physical interaction to
oceanic environments. The new robots allow humans to be physically distanced from dangerous
and unreachable spaces while connecting their skills, intuition, and experience to the task promises
to fundamentally alter remote work. These robots will search for and acquire materials, build
infrastructure, and perform disaster prevention and recovery operations – be it deep in oceans and
mines, at mountain tops, or in space.

Biography
Oussama Khatib received his PhD from Sup’Aero, Toulouse, France, in 1980. He is Professor of
Computer Science and Director of the Robotics Laboratory at Stanford University. His research
focuses on methodologies and technologies in human-centered robotics, haptic interactions,
artificial intelligence, human motion synthesis and animation. He is President of the International
Foundation of Robotics Research (IFRR) and a Fellow of the Institute of Electrical and Electronic
Engineers (IEEE). He is Editor of Springer Tracts in Advanced Robotics (STAR) series, and the
Springer Handbook of Robotics, awarded the American Publishers Award for Excellence in
Physical Sciences and Mathematics. He is recipient of the IEEE Robotics and Automation
(IEEE/RAS) Pioneering Award (for his fundamental contributions in robotics research, visionary
leadership and life-long commitment to the field), the IEEE/RAS George Saridis Leadership Award,
the Distinguished Service Award, the Japan Robot Association (JARA) Award, the Rudolf Kalman
Award, and the IEEE Technical Field Award. In 2018, Professor Khatib was elected to the National
Academy of Engineering.

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Plenary II
Creating robots that see

Peter Corke, Queensland University of Technology

Tuesday 3 December, 11:10, 12:10

Abstract
This talk will define and motivate the problem of robotic vision, the challenges as well as recent
progress at the Australian Centre for Robotic Vision. This includes component technologies such
as novel cameras, deep learning for computer vision, transfer learning for manipulation, evaluation
methodologies, and also end-to-end systems for applications such as logistics, agriculture,
environmental remediation and asset inspection.

Biography
Peter Corke is a robotics researcher and educator. He is the distinguished professor of robotic
vision at Queensland University of Technology, director of the ARC Centre of Excellence for
Robotic Vision and Chief Scientist of Dorabot. His research is concerned with enabling robots to
see, and the application of robots to mining, agriculture and environmental monitoring. He created
widely used open-source software for teaching and research, wrote the best selling textbook
“Robotics, Vision, and Control”, created several MOOCs and the Robot Academy, and has won
national and international recognition for teaching including 2017 Australian University Teacher of
the Year. He is a fellow of the IEEE, the Australian Academy of Technology and Engineering, the
Australian Academy of Science; founding editor of the Journal of Field Robotics; founding
multi-media editor of the International Journal of Robotics Research; member of the editorial
advisory board of the Springer Tracts on Advanced Robotics series; former editor-in-chief of the
IEEE Robotics & Automation magazine and member of the executive editorial board member of the
International Journal of Robotics Research; the recipient of the Qantas/Rolls-Royce and Australian
Engineering Excellence awards; and has held visiting positions at Oxford, University of Illinois,
Carnegie-Mellon University and University of Pennsylvania. He received his undergraduate and
masters degrees in electrical engineering and a PhD from the University of Melbourne.

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Plenary III
Introducing Autonomy in robotic surgery: technologies and first
implementations

Paolo Fiorini, University of Verona

Wednesday 4 December, 11:10, 12:10

Abstract
It is rather unlikely that, in our lifetime, we will see a fully autonomous robot performing an
unassisted surgery. However, it is very possible that some form of autonomous assistance to the
surgical process will be introduced to robotic surgery in the near future. Thus, we need to analyze
the ethical, legal and practical implications of autonomous surgical robots, discuss what parts of
autonomy are feasible with realistic technologies, and what could be their real benefits to patients
and surgeons. In this talk I will present our current research in cognitive architectures for
autonomous task execution and show the results of learning and executing simple training task,
environment modelling and developing novel sensorized instruments.

Biography
Paolo Fiorini, received the Laurea degree in Electronic Engineering from the University of Padova
(Italy), the MSEE from the University of California at Irvine (USA), and the Ph.D. in ME from UCLA
(USA). From 1985 to 2000, he was with NASA Jet Propulsion Laboratory, California Institute of
Technology. In 2001 returned to Italy at the School of Science of the University of Verona (Italy)
where is a Full Professor of Computer Science. His research focuses on teleoperation for surgery,
space, service and exploration robotics, and autonomous navigation of robots and vehicles.

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Detailed Technical Program

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Technical Program for Monday December 2, 2019

Mo1T1 Room 106

Mobile Robots I​ (Regular Session)

09:00-09:20 Mo1T1.1

Resilient Autonomous Exploration and Mapping of Underground Mines Using Aerial Robots​, pp. 1-8.
Alexis, Kostas (University of Nevada, Reno)

09:20-09:40 Mo1T1.2

Explore Locally, Plan Globally: A Path Planning Framework for Autonomous Robotic Exploration in Subterranean
Environments​, pp. 9-16.
Dang, Tung (University of Nevada, Reno), Khattak, Shehryar (University of Nevada, Reno), Mascarich, Frank (University of
Nevada, Reno), Alexis, Kostas (University of Nevada, Reno)

09:40-10:00 Mo1T1.3

EspeleoRobo - a Robotic Device to Inspect Confined Environments​, pp. 17-23.

Azpúrua, Héctor Ignacio (Universidade Federal De Minas Gerais), SANTOS ROCHA, FILIPE AUGUSTO (Instituto Tecnologico
Vale), Garcia, Gabriel (Federal University of Ouro Preto), Souza Santos, Alexandre (Instituto Tecnológico Vale (ITV)), Cota,
Eduardo (Universidade Federal De Ouro Preto), Barros, Luiz Guilherme (Instituto Tecnológico Vale), S Thiago, Filho, Alexandre
Magno (Federal University of Ouro Preto), Pessin, Gustavo (Instituto Tecnológico Vale), Freitas, Gustavo (Federal University of
Minas Gerais)

10:00-10:20 Mo1T1.4

Towards Sound-Source Position Estimation Using Mutual Information for Next Best View Motion Planning​, pp. 24-29.
Fattahi Sani, Mohammad (Istituto Italiano Di Tecnologia (iit)), Emery, Brendan Michael (University of Technology Sydney),
Caldwell, Darwin G. (Istituto Italiano Di Tecnologia), Mattos, Leonardo (Istituto Italiano Di Tecnologia), Deshpande, Nikhil (Istituto
Italiano Di Tecnologia)

10:20-10:40 Mo1T1.5

Predicting Unobserved Space for Planning Via Depth Map Augmentation​, pp. 30-36.
Fehr, Marius (ETH Zürich), Taubner, Tim Adelhart Jieli (ETH Zürich), Liu, Yang (ETH Zurich), Siegwart, Roland (ETH Zurich),
Cadena Lerma, Cesar (ETH Zurich)

Mo1T2 Room 107

Cognitive Robotics​ (Regular Session)

09:00-09:20 Mo1T2.1

A Knowledge-Based Framework for Task Automation in Surgery​, pp. 37-42.

Ginesi, Michele (University of Verona), Meli, Daniele (University of Verona), Nakawala, Hirenkumar Chandrakant (University of
Verona), Roberti, Andrea (University of Verona), Fiorini, Paolo (University of Verona)

09:20-09:40 Mo1T2.2

Importance Sampling for Deep System Identification​, pp. 43-48.

Mahé, Antoine (CentraleSupelec), Richard, Antoine (Georgia Institute of Technology), Mouscadet, Benjamin (CentraleSupelec),
Pradalier, Cedric (GeorgiaTech Lorraine), Geist, Matthieu (Université De Lorraine)

09:40-10:00 Mo1T2.3

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Fast Convolutional Neural Network for Real-Time Robotic Grasp Detection​, pp. 49-54.
Ribeiro, Eduardo (University of São Paulo), Grassi Junior, Valdir (University of São Paulo)

10:00-10:20 Mo1T2.4

Towards Beauty: Robot Following Aesthetics Gradients​, pp. 61-66.

Franzius, Mathias (Honda Research Institute (HRI))

Mo1T3 Room 301

Rehabilitation Technologies​ (Regular Session)

09:00-09:20 Mo1T3.1

A Lightweight Transradial Hand Prosthesis with a Variable Position Thumb and Thermoregulation​, pp. 67-74.
Vazhapilli Sureshbabu, Anand (Technische Universität München), Rass, David (Technical University of Munich), Zimmermann,
Markus (Technical University of Munich)

09:20-09:40 Mo1T3.2

A Low-Cost, Compliant, Underactuated Prosthetic Hand with Custom Flex Sensors for Finger Bending Estimation​, pp.
75-80.
Pozzobon, Luiza (Federal University of Santa Maria), da Silva Guerra, Rodrigo (Universidade Federal De Santa Maria), Librelotto,
Giovani Rubert (Universidade Federal De Santa Maria)

09:40-10:00 Mo1T3.3

Evaluating Energy Consumption of an Active Magnetorheological Knee Prosthesis​, pp. 81-86.

Milanezi de Andrade, Rafhael (Universidade Federal Do Espírito Santo), Bento Filho, Antônio (Universidade Federal Do Espírito
Santo), Santos Vimieiro, Claysson Bruno (Universidade Federal De Minas Gerais), Pinotti, Marcos (Federal University of Minas
Gerais)

10:00-10:20 Mo1T3.4

Simulation and Analysis of a Full-Active Electro-Hydrostatic Powered Ankle Prosthesis​, pp. 87-92.
Liu, Huajian (Harbin Institute of Technology), Huang, QT (Harbin Institute of Technology), TONG, Zhi-Zhong (Harbin Institute of
Technology)

10:20-10:40 Mo1T3.5

Neural Adaptive Integral-Sliding-Mode Controller with a SSVEP-Based BCI for Exoskeletons​, pp. 93-98.
Jebri, Ayoub (UPEC), Madani, Tarek (University of Paris Est Créteil), Djouani, Karim (University Paris EST/LISSI/FSATI)

Mo1T4 Room 302

Dynamics and Control I​ (Regular Session)

09:00-09:20 Mo1T4.1

Flux Regulation for Torque-Controlled Robotics Actuators​, pp. 99-104.

Mohammadnia, Mobin (Istituto Italiano Di Technologia), Kashiri, Navvab (Istituto Italiano Di Tecnologia), Braghin, Francesco
(Politecnico Di Milano), Tsagarakis, Nikos (Istituto Italiano Di Tecnologia)

09:20-09:40 Mo1T4.2

Adaptive Control of an Unbalanced Two-Axis Gimbal for Application to Inertially Stabilized Platforms​, pp. 105-110.
Battistel, Andrei (State University of Rio De Janeiro (UERJ)), Oliveira, Tiago Roux (State University of Rio De Janeiro), Rodrigues,
Victor Hugo Pereira (State University of Rio De Janeiro (UERJ))

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09:40-10:00 Mo1T4.3

Maximizing Robot Manipulability Along Paths in Collision-Free Motion Planning​, pp. 111-116.
Kaden, Sascha (Chemnitz University of Technology), Thomas, Ulrike (Chemnitz University of Technology)

10:00-10:20 Mo1T4.4

An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix​, pp.
117-122.
de Paula Assis Fonseca, Mariana (Universidade Federal De Minas Gerais), Adorno, Bruno Vilhena (Federal University of Minas
Gerais (UFMG)), Fraisse, Philippe (LIRMM)

10:20-10:40 Mo1T4.5

A Novel Approach for Parameter Extraction of an NMPC-Based Visual Follower Model​, pp. 123-128.
Trindade Ribeiro, Tiago (Federal University of Bahia), Pattas Bastos Franco, Iago Jose (UFBA), Scolari Conceicao, Andre
Gustavo (Federal University of Bahia)

Mo2T1 Room 106

Localization and Mapping I​ (Regular Session)

11:00-11:20 Mo2T1.1

Model-Based Dynamic Pose Graph SLAM in Unstructured Dynamic Environments​, pp. 129-134.
Deeb, Amy (Dalhousie University), Seto, Mae (Defence R&D Canada), Pan, Ya-Jun (Dalhousie University)

11:20-11:40 Mo2T1.2

Map Point Optimization in Keyframe-Based SLAM Using Covisibility Graph and Information Fusion​, pp. 135-140.
Ttito Concha, Edison Kleiber (Federal University of Rio Grande Do Sul), Pittol, Diego (Federal University of Rio Grande Do Sul),
Westhauser, Ricardo (Federal University of Rio Grande Do Sul), Kolberg, Mariana (UFRGS), Maffei, Renan (Universidade Federal
Do Rio Grande Do Sul), Prestes, Edson (UFRGS)

11:40-12:00 Mo2T1.3

Visual SLAM in Human Populated Environments: Exploring the Trade-Off between Accuracy and Speed of YOLO and
Mask R-CNN​, pp. 141-146.
Virgolino Soares, João Carlos (Pontifical Catholic University of Rio De Janeiro), Gattass, MARCELO (PUC-Rio), Meggiolaro,
Marco Antonio (Pontifical Catholic University of Rio De Janeiro)

12:00-12:20 Mo2T1.4

SimSLAM 2D: A Simulation Framework for Testing and Benchmarking of Two-Dimensional Visual-SLAM Methods​, pp.
147-152.
Rodriguez, Juan F. (EAFIT), CASTANO CANO, Davinson (CEA)

12:20-12:40 Mo2T1.5

Real-Time RGB-D Semantic Keyframe SLAM Based on Image Segmentation Learning from Industrial CAD Models​, pp.
153-160.
Mahé, Howard (Airbus Defence and Space), MARRAUD, DENIS (Airbus Defence and Space), Comport, Andrew Ian
(CNRS-I3S/UNS)

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Mo2T2 Room 107

Aerial Robots I​ (Regular Session)

11:00-11:20 Mo2T2.1

Nonlinear Model Predictive Control on SE(3) for Quadrotor Trajectory Tracking and Obstacle Avoidance​, pp. 161-166.
Pereira, Jean Carlos (CEFET-MG), Leite, Valter Junior de Souza (CEFET-MG), Raffo, Guilherme V. (Universidade Federal De
Minas Gerais)

11:20-11:40 Mo2T2.2

Mathematical Modeling and Control of a Quadrotor Aerial Vehicle with Tiltrotors Aimed for Interaction Tasks​, pp.
167-172.
VENDRICHOSKI, JULIO CEZAR (Ufsc (universidade Federal De Santa Catarina)), Costa, Thamiris Lima (Federal University of
Santa Catarina), S. El'Youssef, Ebrahim (Federal University of Santa Catarina (UFSC)), De Pieri, Edson Roberto (Universidade
Federal De Santa Catarina)

11:40-12:00 Mo2T2.3

Modeling and Control of an Unmanned Aerial Vehicle with Tilt Rotors Equipped with a Camera​, pp. 173-178.
Costa, Thamiris Lima (Federal University of Santa Catarina), VENDRICHOSKI, JULIO CEZAR (Ufsc (universidade Federal De
Santa Catarina)), S. El'Youssef, Ebrahim (Federal University of Santa Catarina (UFSC)), De Pieri, Edson Roberto (Universidade
Federal De Santa Catarina)

12:00-12:20 Mo2T2.4

A Study on Configuration of Propellers for Multirotor-Like Hybrid Aerial-Aquatic Vehicles​, pp. 179-184.
de Campos Horn, Alexandre (Federal University of Rio Grande), Alves Neto, Armando (Universidade Federal De Minas Gerais),
Pinheiro, Pedro M. (Federal University of Rio Grande - FURG), Bastos, César (Federal University of Rio Grande - FURG),
Drews-Jr, Paulo (Federal University of Rio Grande (FURG))

12:20-12:40 Mo2T2.5

NMPC Strategy for a Quadrotor UAV in a 3D Unknown Environment​, pp. 185-190.

Baptista Pereira Nascimento, Iuro (Federal University of Minas Gerais), Ferramosca, Antonio (Conicet - Utn), Pimenta, Luciano
(Universidade Federal De Minas Gerais), Raffo, Guilherme V. (Universidade Federal De Minas Gerais)

Mo2T3 Room 301

Human-Robot Interaction​ (Regular Session)

11:00-11:20 Mo2T3.1

Physical Human-Robot Interaction under Joint and Cartesian Constraints​, pp. 191-197.
Muñoz Osorio, Juan David (Leibniz University, KUKA Germany GmbH), Allmendinger, Felix (KUKA Deutschland GmbH), Fiore,
Mario Daniele (KUKA Deutschland GmbH), Zimmermann, Uwe E. (KUKA Deutschland GmbH), Ortmaier, Tobias (Leibniz
University Hanover)

11:20-11:40 Mo2T3.2

Hand-Guidance of a Mobile Manipulator Using Online Effective Mass Optimization​, pp. 198-203.
Ritter, Christian (Technical University Munich), Sharma, Shashank (KUKA Laboratories GmbH)

11:40-12:00 Mo2T3.3

Admittance Control for Collaborative Dual-Arm Manipulation​, pp. 204-210.

Tarbouriech, Sonny (Tecnalia), Navarro, Benjamin (University of Montpellier), Fraisse, Philippe (LIRMM), Crosnier, André
(LIRMM), Cherubini, Andrea (LIRMM - Universite De Montpellier CNRS), salle, damien (Tecnalia Research and Innovation)

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12:00-12:20 Mo2T3.4

Extended Calculation of the Dynamic Separation Distance for Robot Speed Adaption in the Human-Robot Interaction​,
pp. 211-218.
Glogowski, Paul (Chair of Production Systems, Ruhr-University Bochum), Lemmerz, Kai (Chair of Production Systems,
Ruhr-University Bochum), Hypki, Alfred (Ruhr-Universität Bochum), Kuhlenkötter, Bernd (Ruhr-Universität Bochum, Chair of
Production Systems)

12:20-12:40 Mo2T3.5

Advanced Usability through Constrained Multi Modal Interactive Strategies: The CookieBot​, pp. 219-225.
Bolano, Gabriele (FZI Forschungszentrum Informatik), Becker, Pascal (FZI Forschungszentrum Informatik), Kaiser, Jacques (FZI
Forschungszentrum Informatik), Roennau, Arne (FZI Forschungszentrum Informatik, Karlsruhe), Dillmann, Rüdiger (FZI -
Forschungszentrum Informatik - Karlsruhe)

Mo2T4 Room 302

Estimation and Adaptation​ (Regular Session)

11:00-11:20 Mo2T4.1

Nonlinear Disturbance Observer for External Force Estimation in a Cooperative Robot​, pp. 226-232.
Yousefizadeh, Shirin (Aalborg University), Bak, Thomas (Aalborg University)

11:20-11:40 Mo2T4.2

Estimating and Localizing External Forces Applied on Flexible Instruments by Shape Sensing,​ pp. 233-239.
Qiao, Qiao (KU Leuven), Willems, Dries (KUL), Borghesan, Gianni (KU Leuven), OURAK, Mouloud (University of Leuven), De
Schutter, Joris (KU Leuven), Vander Poorten, Emmanuel B (KU Leuven)

11:40-12:00 Mo2T4.3

Dynamic Movement Primitives: Volumetric Obstacle Avoidance​, pp. 240-245.

Ginesi, Michele (University of Verona), Meli, Daniele (University of Verona), Calanca, Andrea (University of Verona), Dall'Alba,
Diego (University of Verona), Sansonetto, Nicola (University of Verona), Fiorini, Paolo (University of Verona)

12:00-12:20 Mo2T4.4

Towards the Usage of Synthetic Data for Marker-Less Pose Estimation of Articulated Robots in RGB Images​, pp.
246-253.
Lambrecht, Jens (Technische Universität Berlin), Kästner, Linh (Technische Universität Berlin)

12:20-12:40 Mo2T4.5

Voting Based System for Robust 3D Hand Pose Estimation and Tracking​, pp. 254-259.
Asif, Mohammad (Iav GmbH), Daasch, Andreas (Iav GmbH), Unger, Hendrik (TU Chemnitz), Schultalbers, Matthias (Iav GmbH)

Mo3T1 Room 106

Mobile Robots II​ (Regular Session)

14:10-14:30 Mo3T1.1

Obstacle Avoiding Path Following Based on Nonlinear Model Predictive Control Using Artificial Variables​, pp. 260-265.
Sanchez, Ignacio J (IMAL-CONICET), Ferramosca, Antonio (Conicet - Utn), Raffo, Guilherme V. (Universidade Federal De Minas
Gerais), Gonzalez, Alejandro H (INTEC-CONICET), D'Jorge, Agustina (INTEC-CONICET)

14:30-14:50 Mo3T1.2

52
A Health Monitoring System with Hybrid Bayesian Network for Autonomous Vehicle​, pp. 266-271.
Gomes, Iago Pachêco (University of São Paulo), Wolf, Denis Fernando (University of Sao Paulo)

14:50-15:10 Mo3T1.3

Null Space-Based Formation Control with Leader Change Possibility​, pp. 272-277.
Ernandes-Neto, Valentim (Universidade Federal De Viçosa), Sarcinelli-Filho, Mario (Federal University of Espirito Santo),
Brandao, Alexandre Santos (Federal University of Viçosa)

15:10-15:30 Mo3T1.4

Fast and Parallel Wireless Communication Backbone Deployment with Networked Robots​, pp. 278-283.
Da Silva Santos, Elerson Rubens (Universidade Federal De Minas Gerais), Vieira, Marcos (Universidade Federal De Minas
Gerais)

15:30-15:50 Mo3T1.5

A Visual Method to Study the Error Function of ICP Algorithms​, pp. 284-289.
Dingler, Sebastian (Daimler AG), Burrichter, Hannes (TUM)

Mo3T2 Room 107

Simulation, Visualization and Interfaces​ (Regular Session)

14:10-14:30 Mo3T2.1

Towards a Virtual Reality Interface for Remote Robotic Teleoperation,​ pp. 290-295.
Naceri, Abdeldjallil (Italian Institute of Technology IIT), Mazzanti, Dario (Fondazione Istituto Italiano Di Tecnologia), Bimbo, Joao
(Istituto Italiano Di Tecnologia), Prattichizzo, Domenico (University of Siena), Caldwell, Darwin G. (Istituto Italiano Di Tecnologia),
Mattos, Leonardo (Istituto Italiano Di Tecnologia), Deshpande, Nikhil (Istituto Italiano Di Tecnologia)

14:30-14:50 Mo3T2.2

Real-Time Systems Evaluation for Robotics Using the Hart-ROS Benchmark​, pp. 296-301.
Leitzke Pinto, Matheus (Santa Catarina Federal Institute of Education, Science and Techn), de Oliveira, Andre Schneider (Federal
University of Technology - Parana), Wehrmeister, Marco Aurélio (Federal Technological University - Paraná)

14:50-15:10 Mo3T2.3

Robotito: Programming Robots from Preschool to Undergraduate School Level,​ pp. 302-307.
Tejera López, Gonzalo Daniel (Universidad De La Republica, Facultad De Ingeniería, Instituto De), Amorin, Guillermo (Facultad
De Ingeniería, Universidad De La República, Montevideo), Seré, Andrés (Facultad De Ingeniería, Universidad De La República,
Montevideo), Capricho Marocci, Martin Nicolás (Udelar), Margenat, Pablo (Facultad De Ingeniería), Visca, Jorge (Facultad De
Ingeniería, Universidad De La República, Montevideo)

15:10-15:30 Mo3T2.4

A Quantitative Study of Tuning ROS Adaptive Monte Carlo Localization Parameters and Their Effect on an AGV
Localization​, pp. 308-313.
dos Reis, Wallace Pereira Neves (Federal Institute of Education, Science, and Technology of Rio D), Morandin Junior, Orides
(Federal University of São Carlos), Vivaldini, Kelen Cristiane Teixeira (DC - UFSCar)

15:30-15:50 Mo3T2.5

Analysis of Energy Consumption in a Two-Arm Vertical Planar Robot by Varying a Dimensionless Design Construction
Parameter*​, pp. 314-317.
Ungaretti Borges, Matheus (Universidade Federal De Minas Gerais (UFMG)), Pinto, Fernando Augusto Araujo (Universidade
Federal De Minas Gerais), Lima II, Eduardo José (Universidade Federal De Minas Gerais)

53
Mo3T3 Room 301

Applications​ (Regular Session)

14:10-14:30 Mo3T3.1

Automatic Configuration of the Structure and Parameterization of Perception Pipelines​, pp. 318-325.
Dietrich, Vincent (Siemens Corporate Technology), Kast, Bernd (Siemens Corporate Technology), Fiegert, Michael (Siemens AG),
Albrecht, Sebastian (Siemens Corporate Technology), Beetz, Michael (University of Bremen)

14:30-14:50 Mo3T3.2

On the Robust Longitudinal Trajectory Tracking for Load Transportation Vehicles on Uneven Terrains​, pp. 332-337.
Miranda, Victor Ricardo (Universidade Federal De Minas Gerais (UFMG)), Mozelli, Leonardo (Universidade Federal De Minas
Gerais), Alves Neto, Armando (Universidade Federal De Minas Gerais), Freitas, Gustavo (Federal University of Minas Gerais)

14:50-15:10 Mo3T3.3

ROSI: A Novel Robotic Method for Belt Conveyor Structures Inspection​, pp. 326-331.
Garcia, Gabriel (Federal University of Ouro Preto), SANTOS ROCHA, FILIPE AUGUSTO (Instituto Tecnologico Vale), Torre,
Marcos Paulo (Vale Institute of Technology), Serrantola, Wenderson Gustavo (Vale Institute of Technology), Lizarralde, Fernando
(Federal University of Rio De Janeiro), Franca, André (Vale S.A), Pessin, Gustavo (Instituto Tecnológico Vale), Freitas, Gustavo
(Federal University of Minas Gerais)

15:10-15:30 Mo3T3.4

Wiring of Control Cabinets Using a Distributed Control within a Robot-Based Production Cell​, pp. 338-343.
Spies, Stefanie (Ruhr-Universität Bochum), Bartelt, Matthias (Ruhr-Universität Bochum), Kuhlenkötter, Bernd (Ruhr-Universität
Bochum, Chair of Production Systems)

15:30-15:50 Mo3T3.5

Real-Time Sensor Fusion and Compensation for Wide-Bandwidth Micro Vibration Using Gyroscope and Camera​, pp.
344-349.
He, Yichang (SUTD), Fan, Yunfeng (Singapore University of Technology and Design), Tan, U-Xuan (Singapore University of
Techonlogy and Design)

Mo3T4 Room 302

Control Learning and Optimization​ (Regular Session)

14:10-14:30 Mo3T4.1

Incremental Policy Refinement by Recursive Regression and Kinesthetic Guidance​, pp. 350-355.
Nemec, Bojan (Jozef Stefan Institute), Simonič, Mihael (Jožef Stefan Institute), Petric, Tadej (Jozef Stefan Institute), Ude, Ales
(Jozef Stefan Institute)

14:30-14:50 Mo3T4.2

Neural Network Position and Orientation Control of an Inverted Pendulum on Wheels​, pp. 356-361.
Dengler, Christian (Technical University of Munich), Lohmann, Boris (Technische Universität München)

14:50-15:10 Mo3T4.3

Eco-Cruise NMPC Control for Autonomous Vehicles​, pp. 362-367.

Caldas, Kenny Anderson Queiroz (University of São Paulo), Grassi Junior, Valdir (University of São Paulo)

15:10-15:30 Mo3T4.4

Deep Deterministic Policy Gradient for Navigation of Mobile Robots in Simulated Environments​, pp. 368-373.

54
 Costa de Jesus, Junior (Universidade Federal De Santa Maria), Bottega, Jair Augusto (UFSM), De Souza Leite Cuadros, Marco
Antonio (IFES), Tello Gamarra, Daniel Fernando (Scuola Superiore Sant'Anna)

15:30-15:50 Mo3T4.5

Deep Reinforcement Learning Control of an Autonomous Wheeled Robot in a Challenge Task: Combined Visual and
Dynamics Sensoring​, pp. 374-379.
Marão, Luiz Afonso (University of São Paulo), Casteluci, Larissa (University of Sao Paulo), de Godoy, Ricardo (Universidade De
São Paulo), Garcia, Henrique Borges (University of Sao Paulo), Varela Magalhaes, Daniel (Universidade De Sao Paulo, Escola
De Engenharia De Sao Carlos), Caurin, Glauco Augusto de Paula (Eesc - Usp)

Technical Program for Tuesday December 3, 2019

Tu1T1 Room 106

Motion Planning and Navigation​ (Regular Session)

09:00-09:20 Tu1T1.1

Computing Multiple Guiding Paths for Sampling-Based Motion Planning​, pp. 380-387.
Vonasek, Vojtech (Czech Technical University in Prague), Pěnička, Robert (Czech Technical University in Prague), Kozlikova,
Barbora (Masaryk University)

09:20-09:40 Tu1T1.2

Continuous Deep Maximum Entropy Inverse Reinforcement Learning Using Online POMDP​, pp. 396-401.
Rodrigues da Silva, Junior Anderson (University of São Paulo), Grassi Junior, Valdir (University of São Paulo), Wolf, Denis
Fernando (University of Sao Paulo)

09:40-10:00 Tu1T1.3

Augmented Vector Field Navigation Cost Mapping Using Inertial Sensors​, pp. 402-407.
Gomes de Oliveira, Felipe (Federal University of Minas Gerais), Alves Neto, Armando (Universidade Federal De Minas Gerais),
Borges, Paulo Vinicius Koerich (CSIRO), Campos, Mario Montenegro (Universidade Federal De Minas Gerais), Guimarães
Macharet, Douglas (Universidade Federal De Minas Gerais)

10:00-10:20 Tu1T1.4

Trajectory Planning for a Dual-Arm Planar Free-Floating Manipulator Using RRTControl,​ pp. 408-413.
Serrantola, Wenderson Gustavo (Vale Institute of Technology), Grassi Junior, Valdir (University of São Paulo)

10:20-10:40 Tu1T1.5

Lazy Steering RRT*: An Optimal Constrained Kinodynamic Neural Network Based Planner with No In-Exploration
Steering​, pp. 388-395.
Yavari, Mohammad Reza (School of Engineering Science, SFU), Gupta, Kamal (Simon Fraser University), mehrandezh, mehran
(University of Regina)

55
Tu1T2 Room 107

Robotics Vision​ (Regular Session)

09:00-09:20 Tu1T2.1

Non-Stop Handover of Parcel to Airborne UAV Based on High-Speed Visual Object Tracking​, pp. 414-419.
Tanaka, Satoshi (The University of Tokyo), Senoo, Taku (University of Tokyo), Ishikawa, Masatoshi (University of Tokyo)

09:20-09:40 Tu1T2.2

Monocular Vision Navigation for Aerial Surveillance of Power Lines Based on Deep Neural Networks and Hough
Transform​, pp. 420-425.
Souza, Victor Cesar de (UNICAMP), Tavares, Alan Ferreira Pinheiro (UNICAMP, Universidade Estadual De Campinas), Quiroz,
Cesar Henrique Cordova (State University of Campinas), Kurka, paulo (Universidade Estadual De Campinas)

09:40-10:00 Tu1T2.3

Convolutional Neural Network Based Object Detection for Additive Manufacturing​, pp. 426-431.
Lemos, Cézar (Federal University of Bahia), Farias, Paulo (Prof), Scolari Conceicao, Andre Gustavo (Federal University of Bahia),
Simas Filho, Eduardo (Electrical Engineering Program - Federal University of Bahia)

10:00-10:20 Tu1T2.4

Combined Visual and Touch-Based Sensing for the Autonomous Registration of Objects with Circular Features​, pp.
432-439.
Sachtler, Arne (German Aerospace Center (DLR)), Nottensteiner, Korbinian (German Aerospace Center (DLR)), Kaßecker,
Michael (German Aerospace Center (DLR)), Albu-Schäffer, Alin (DLR - German Aerospace Center)

10:20-10:40 Tu1T2.5

Visual Attention System Based on Fuzzy Classifier to Define Priority of Traffic Signs for Intelligent Robotic Vehicle
Navigation Purposes​, pp. 440-446.
Bruno, Diego Renan (São Paulo State University (USP)), Osório, Fernando (University of Sao Paulo)

Tu1T3 Room 301

Humanoid Robots​ (Regular Session)

09:00-09:20 Tu1T3.1

Memory Focused Proximal Policy Method for Biped Adaptive Locomotion​, pp. 447-454.
Ma, Lu (Tongji University), Xu, BinChen (Tongji University), Liu, Chengju (Tongji University), Liu, Ming (Hong Kong University of
Science and Technology), Chen, Qijun (Tongji University)

09:20-09:40 Tu1T3.2

Walking in the 2-Step Capture Region; Pushes, Ramps and Speed Modulation​, pp. 455-461.
Fischman Ekman Simões, Ivan (University of São Paulo), Forner-Cordero, Arturo (Escola Politécnica. University of Sao Paulo)

09:40-10:00 Tu1T3.3

Motion Generation Interface of ROS to PODO Software Framework for Wheeled Humanoid Robot​, pp. 462-467.
Lee, Moonyoung (Korea Advanced Institute of Science and Technology), Heo, Yujin (KAIST), Cho, Saihim (Korea Advanced
Institute of Science and Technology), Park, Hyunsub (KAIST), Oh, Jun Ho (Korea Advanced Inst. of Sci. and Tech)

10:00-10:20 Tu1T3.4

Evaluation of Exercise Motivation Competence of a Humanoid Robot: A Case Study in Brazil​, pp. 468-473.

56
 da Silva Garcia, Guilherme (UFSM), Christmann, Guilherme Henrique Galelli (National Taiwan Normal University), da Silva
Guerra, Rodrigo (Universidade Federal De Santa Maria), Librelotto, Giovani Rubert (Universidade Federal De Santa Maria), HIRT,
EDUARDO RAFAEL (Universidade Federal De Santa Maria), Rübenich Fumagalli, Marinara (Universidade Federal De Santa
Maria)

Tu1T4 Room 302

Learning and Adaptation​ (Regular Session)

09:00-09:20 Tu1T4.1

Neural Control for Gait Generation and Adaptation of a Gecko Robot​, pp. 474-479.
Srisuchinnawong, Arthicha (King Mongkut's University of Technology Thonburi), Shao, Donghao (Nanjing University of
Aeronautics and Astronautics), Ngamkajornwiwat, Potiwat (King Mongkut's University of Technology Thonburi), Teerakittikul,
Pitiwut (King Mongkut's University of Technology Thonburi), Dai, Zhendong (Nanjing University of Aeronautics and Astronautics),
Ji, Aihong (Nanjing University of Aeronautics Ans Astronautics), Manoonpong, Poramate (Bio-Inspired Robotics and Neural
Engineering Lab)

09:20-09:40 Tu1T4.2

A Cognitive Urban Collision Avoidance Framework Based on Agents Priority Using Recurrent Neural Network,​ pp.
480-486.
Jiang, Shenghao (Harvard University), Shen, Macheng (Massachusetts Institute of Technology)

09:40-10:00 Tu1T4.3

Evaluation of Domain Randomization Techniques for Transfer Learning​, pp. 487-492.

Grün, Silas (Karlsruhe Institute of Technology), Höninger, Simon (Karlsruhe Institute of Technology), Scheikl, Paul Maria
(Karlsruhe Institute of Technology), Hein, Björn (Karlsruhe University of Applied Science), Kroeger, Torsten (Karlsruher Institut Für
Technologie (KIT))

10:00-10:20 Tu1T4.4

ANDA: A Novel Data Augmentation Technique Applied to Salient Object Detection​, pp. 493-498.
Ruiz, Daniel Vitor (UFPR - Universidade Federal Do Paraná), Krinski, Bruno (UFPR - Universidade Federal Do Paraná), Todt,
Eduardo (Universidade Federal Do Parana - UFPR)

10:20-10:40 Tu1T4.5

Experimental Study on Model vs. Learning-Based Slip Detection​, pp. 499-506.

Menasce Rosset, Luciano (Optionline Editora), Florek-Jasinska, Monica (Roboception GmbH), Suppa, Michael (Roboception
GmbH), Roa, Maximo A. (DLR - German Aerospace Center)

Technical Program for Wednesday December 4, 2019

We1T1 Room 106

Localization and Mapping II​ (Regular Session)

09:20-09:40 We1T1.1

Multi-View 3D Reconstruction with Self-Organizing Maps on Event-Based Data​, pp. 507-514.

Steffen, Lea (FZI Research Center for Information Technology, 76131 Karlsruhe,), Ulbrich, Stefan (FZI Forschungszentrum
Informatik), Roennau, Arne (FZI Forschungszentrum Informatik, Karlsruhe), Dillmann, Rüdiger (FZI - Forschungszentrum
Informatik - Karlsruhe)

57
09:40-10:00 We1T1.2

Area Graph: Generation of Topological Maps Using the Voronoi Diagram​, pp. 515-521.
Hou, Jiawei (ShanghaiTech University), Yuan, Yijun (ShanghaiTech University), Schwertfeger, Sören (ShanghaiTech University)

10:00-10:20 We1T1.3

BooM-VIO: Bootstrapped Monocular Visual-Inertial Odometry with Absolute Trajectory Estimation through
Unsupervised Deep Learning​, pp. 522-528.
Lindgren, Kyle (University of Washington), Leung, Sarah (GTS/Army Research Laboratory), Nothwang, William (Army Research
Laboratory), Shamwell, Earl Jared (University of Maryland, College Park; Army Research Laboratory)

10:20-10:40 We1T1.4

Tightly Coupled Semantic RGB-D Inertial Odometry for Accurate Long-Term Localization and Mapping,​ pp. 584-589.
Patel, Naman (New York University Tandon School of Engineering), Khorrami, Farshad (New York University Tandon School of
Engineering), Krishnamurthy, Prashanth (New York University Tandon School of Engineering), Tzes, Anthony (New York
University Abu Dhabi)

We1T2 Room 107

Aerial Robots II​ (Regular Session)

09:20-09:40 We1T2.1

Safer UAV Piloting: A Robust Sense-And-Avoid Solution for Remotely Piloted Quadrotor UAVs in Complex
Environments​, pp. 535-540.
WANG, Min (University of Luxembourg), Voos, Holger (University of Luxembourg)

09:40-10:00 We1T2.2

Path-Following and Attitude Control of a Payload Using Multiple Quadrotors,​ pp. 541-546.
VILLA, DANIEL KHEDE DOURADO (Federal University of Espirito Santo), Brandao, Alexandre Santos (Federal University of
Viçosa), Sarcinelli-Filho, Mario (Federal University of Espirito Santo)

10:00-10:20 We1T2.3

Vision-Based Autonomous Landing for Micro Aerial Vehicles on Targets Moving in 3D Space​, pp. 547-552.
de Santana,, Robson Olegário (Universidade Federal De Minas Gerais), Mozelli, Leonardo (Universidade Federal De Minas
Gerais), Alves Neto, Armando (Universidade Federal De Minas Gerais)

10:20-10:40 We1T2.4

Autonomous System for a Racing Quadcopter​, pp. 553-558.

Rezende, Adriano (Universidade Federal De Minas Gerais), Miranda, Victor Ricardo (Universidade Federal De Minas Gerais
(UFMG)), Machado, Henrique N. (Universidade Federal De Minas Gerais), Chiella, Antonio Carlos Bana (Federal University of
Minas Gerais), Gonçalves, Vinicius Mariano (UFMG), Freitas, Gustavo (Federal University of Minas Gerais)

We1T3 Room 301

Medical Robotics​ (Regular Session)

09:20-09:40 We1T3.1

Assistive Method That Controls Joint Stiffness and Antagonized Angle Based on Human Joint Stiffness
Characteristics and Its Application to an Exoskeleton,​ pp. 559-565.

58
 Kimura, Seigo (Chuo University), Suzuki, Ryuji (Chuo University), Kashima, Masashi (Chuo University), Okui, Manabu (Chuo
University), Nishihama, Rie (Chuo University), Nakamura, Taro (Chuo University)

09:40-10:00 We1T3.2

Step Modeling and Safe Path Planning for a Lower Limb Exoskeleton,​ pp. 566-571.
Santos, Vitor Gaboardi dos (Federal University of Rio Grande Do Norte), Nascimento, Luís Bruno (Federal University of Rio
Grande Do Norte), Fernandes, Daniel Henrique (Federal University of Rio Grande Do Norte), Pereira, Diego (Federal University
of Rio Grande Do Norte), Alsina, Pablo Javier (Universidade Federal Do Rio Grande Do Norte), ARAÚJO, MÁRCIO (Federal
University of Rio Grande Do Norte)

10:00-10:20 We1T3.3

Evaluating the Potential Benefit of Autostereoscopy in Laparoscopic Sacrocolpopexy through VR Simulation​, pp.
572-577.
De Smet, Jef (KU Leuven), Poliakov, Vladimir (KU Leuven), Niu, Kenan (KU Leuven), Chesterman, Frédérique (Barco NV),
Fornier, Johan (Barco NV), Ahmad, Awais (Katholieke University Leuven), OURAK, Mouloud (University of Leuven), Vörös, Viktor
(KU Leuven), Deprest, Jan (University Hospital Leuven), Vander Poorten, Emmanuel B (KU Leuven)

10:20-10:40 We1T3.4

Pre-Diagnosis of Pelvic Floor Disorders-Based Image Registration and Clustering​, pp. 578-583.
Costa, Cícero (Universidade Federal De Uberl ndia), Tulio, Macedo (Universidade Federal De Uberl ndia), Zorzo Barcelos, Celia
Aparecida (Federal University of Uberlandia)

We2T1 Room 106

Localization and Mapping III​ (Regular Session)

14:00-14:20 We2T1.1

Underwater Sonar and Aerial Images Data Fusion for Robot Localization​, pp. 529-534.
Machado dos Santos, Matheus (FURG), Giacomo, Giovanni (FURG), Drews-Jr, Paulo (Federal University of Rio Grande
(FURG)), Botelho, Silvia (University Federal of Rio Grande (FURG))

14:20-14:40 We2T1.2

Efficient Traversability Mapping for Service Robots Using a Point-Cloud Fast Filter​, pp. 590-595.
Medina Sanchez, Carlos (Duisburg Essen University), Zella, Matteo (University of Duisburg-Essen), Capitan, Jesus (University of
Seville), Marron, Pedro Jose (University of Duisburg-Essen)

14:40-15:00 We2T1.3

Outdoor Particle Filter Localization with Sparse Observation​, pp. 596-603.

Einecke, Nils (Honda Research Institute Europe), Robert, Andrej (Frankfurt University of Applied Sciences)

15:00-15:20 We2T1.4

Object-Based Differential Localization of Mobile Robots Using Sparse 2D Lidar Data​, pp. 604-609.
Forstenhäusler, Marc (Ulm University), Karl, Matthias (Carl Zeiss AG), Dietmayer, Klaus (University of Ulm)

15:20-15:40 We2T1.5

Outdoor Localization System with Augmented State Extended Kalman Filter and Radio-Frequency Received Signal
Strength,​ pp. 610-615.
Maidana, Renan (Pontifical Catholic University of Rio Grande Do Sul), de Morais Amory, Alexandre (PUCRS), Salton, Aurelio
Tergolina (Pontifícia Universidade Católica Do Rio Grande Do Sul (PUCRS))

59
We2T2 Room 107

Multi-Robot and Intelligent Systems​ (Regular Session)

14:00-14:20 We2T2.1

Exploiting Heterogeneity in Teams of Robotic Agents Using Hybrid Communications​, pp. 721-727.
West, Jonathan (University of New Mexico), Fierro, Rafael (University of New Mexico)

14:20-14:40 We2T2.2

Multi-Robot On-Line Sampling Scheduler for Persistent Monitoring​, pp. 728-733.

Alves Neto, Armando (Universidade Federal De Minas Gerais), Guimarães Macharet, Douglas (Universidade Federal De Minas
Gerais)

14:40-15:00 We2T2.3

Automated Conflict Resolution of Lane Change Utilizing Probability Collectives​, pp. 734-739.
Santos, Tiago Cesar (University of Sao Paulo), Wolf, Denis Fernando (University of Sao Paulo)

15:00-15:20 We2T2.4

Bargaining Game Approach for Lane Change Maneuvers,​ pp. 740-745.

Santos, Tiago Cesar (University of Sao Paulo), Wolf, Denis Fernando (University of Sao Paulo)

15:20-15:40 We2T2.5

Task-Oriented Function Detection Based on Operational Tasks,​ pp. 55-60.

Ishikawa, Yuchi (Keio University), Ishikawa, Haruya (Keio University), Akizuki, Shuichi (Chukyo University), Yamazaki, Masaki
(Honda R&D Co., Ltd), Taniguchi, Yasuhiro (Honda R&D Co., Ltd), Aoki, Yoshimitsu (Keio University)

We2T3 Room 301

Surgical Robotics​ (Regular Session)

14:00-14:20 We2T3.1

The CALM System: New Generation Computer-Assisted Laser Microsurgery​, pp. 647-652.
Acemoglu, Alperen (Istituto Italiano Di Tecnologia), Deshpande, Nikhil (Istituto Italiano Di Tecnologia), Lee, Jinoh (Fondazione
Istituto Italiano Di Tecnologia (IIT)), Caldwell, Darwin G. (Istituto Italiano Di Tecnologia), Mattos, Leonardo (Istituto Italiano Di
Tecnologia)

14:20-14:40 We2T3.2

Design and Shared Control of a Flexible Endoscope with Autonomous Distal Tip Alignment​, pp. 653-659.
Ahmad, Awais (Katholieke University Leuven), OURAK, Mouloud (University of Leuven), Gruijthuijsen, Caspar (KU Leuven),
Legrand, Julie (KULeuven), Vercauteren, Tom (King's College London), Deprest, Jan (University Hospital Leuven), Ourselin,
Sebastien (University College London), Vander Poorten, Emmanuel B (KU Leuven)

14:40-15:00 We2T3.3

Closed-Loop Control of a Magnetically Actuated Fiber-Coupled Laser for Computer-Assisted Laser Microsurgery​, pp.
660-665.
mohammadbagherpoor, hamed (North Carolina State University), Acemoglu, Alperen (Istituto Italiano Di Tecnologia), Mattos,
Leonardo (Istituto Italiano Di Tecnologia), Caldwell, Darwin G. (Istituto Italiano Di Tecnologia), Johnson, James (Wake Forest
University School of Medicine), Muth, John (North Carolina State University), Grant, Edward (North Carolina State University)

15:00-15:20 We2T3.4

60
An Auto-Focusing System for Endoscopic Laser Surgery Based on a Hydraulic MEMS Varifocal Mirror​, pp. 666-671.
Geraldes, André (Istituto Italiano Di Tecnologia), Fiorini, Paolo (University of Verona), Mattos, Leonardo (Istituto Italiano Di
Tecnologia)

15:20-15:40 We2T3.5

Towards Real-Time Estimation of a Spherical Eye Model Based on a Single Fiber OCT,​ pp. 672-678.
Cornelissen, Philip (KU Leuven), OURAK, Mouloud (University of Leuven), Borghesan, Gianni (KU Leuven), Reynaerts, Dominiek
(Dept. Mechanical Engineering, K.U.Leuven), Vander Poorten, Emmanuel B (KU Leuven)

We2T4 Room 302

Dynamics and Control II​ (Regular Session)

14:00-14:20 We2T4.1

Applying the Popov-Vereshchagin Hybrid Dynamics Solver for Teleoperation under Instantaneous Constraints​, pp.
679-686.
Kulkarni, Padmaja (Hochschule Bonn-Rhein-Sieg), Schneider, Sven (Bonn-Rhein-Sieg University), Bennewitz, Maren (University
of Bonn), Schulz, Dirk (FKIE), Plöger, Paul G. (Hochschule Bonn Rhein Sieg)

14:20-14:40 We2T4.2

Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion Tracking​, pp. 687-693.
Scherzinger, Stefan (FZI Research Center for Information Technology), Roennau, Arne (FZI Forschungszentrum Informatik,
Karlsruhe), Dillmann, Rüdiger (Karlsruhe Institute of Technology (KIT))

14:40-15:00 We2T4.3

Multi-Surface Admittance Control Approach Applied on Robotic Assembly of Large-Scale Parts in Aerospace
Manufacturing​, pp. 694-700.
Rendon Fernandez, Sebastian (Arts Et Métiers, KUKA Systems Aerospace), OLABI, Adel (Ecole Nationale Supérieure d'Arts Et
Métiers Lille), GIBARU, Olivier (Arts Et Métiers ParisTech)

15:00-15:20 We2T4.4

Multi-DoF Time Domain Passivity Approach Based Drift Compensation for Telemanipulation​, pp. 701-707.
Coelho, Andre (Institute of Robotics and Mechatronics - German Aerospace Center), Ott, Christian (German Aerospace Center
(DLR)), Singh, Harsimran (DLR German Aerospace Center), Lizarralde, Fernando (Federal University of Rio De Janeiro), Kondak,
Konstantin (German Aerospace Center)

15:20-15:40 We2T4.5

Auto-Tuning of GPC Weights Based on Particle Swarm Optimization Applied to a Manipulator End-Effector Trajectory
Tracking​, pp. 708-713.
Vasconcelos, Felipe José de Sousa (Federal University of Ceará), Amorim, Iury (Federal University of Ceará), Correia, Wilkley
Bezerra (Federal University of Ceará)

We7T1 Room 106

Robot Swarms​ (Regular Session)

16:10-16:30 We7T1.1

Stochastic Cellular Automata Ant Memory Model for Swarm Robots Performing Efficiently the Garbage Collection
Task,​ pp. 616-621.
Lima, Danielli (Instituto Federal Do Tri ngulo Mineiro), Oliveira, Gina M B (Universidade Federal De Uberlandia)

61
16:30-16:50 We7T1.2

Hybrid Model for a Priori Performance Prediction of Multi-Job Type Swarm Search and Service Missions​, pp. 628-633.
Chandarana, Meghan (Carnegie Mellon University), Hughes, Dana (Carnegie Mellon University), Lewis, Michael (University of
Pittsburgh), Sycara, Katia (Carnegie Mellon University), Scherer, Sebastian (Carnegie Mellon University)

16:50-17:10 We7T1.3

Adaptable Platform for Interactive Swarm Robotics (APIS): A Human-Swarm Interaction Research Testbed​, pp.
634-640.
Dhanaraj, Neel (Worcester Polytechnic Institute), Hewitt, Nathan (University of North Carolina at Charlotte), Edmonds-Estes,
Casey (Bowdoin College), Jarman, Rachel (Loyola University Maryland), Seo, Jeongwoo (Vanderbilt University), Gunner, Henry
(Centre College), Hatfield, Alexandra (Concord University), Johnson, Tucker (WVU), Yifru, Lunet (West Virginia University),
Maffeo, Julietta (West Virginia University), Pereira, Guilherme (West Virginia University), Gross, Jason (West Virginia University),
Gu, Yu (West Virginia University)

17:10-17:30 We7T1.4

SwarMap: Occupancy Grid Mapping with a Robotic Swarm​, pp. 641-646.

Chaves, Rodrigo Agostinho (Universidade Federal De Minas Gerais), Frota Rezeck, Paulo Alfredo (Federal University of Minas
Gerais), Chaimowicz, Luiz (Federal University of Minas Gerais)

17:30-17:50 We7T1.5

SPRINTER: A Discrete Locomotion Robot for Precision Swarm Printing​, pp. 622-627.
Karpe, Kedar (SRM Institute of Science and Technology), Chatterjee, Ayon (SRM Institute of Science and Technology), Srinivas,
Pranav (SRM Institute of Science and Technology), Samiappan, Dhanalakshmi (SRM Institute of Science and Technology),
Ramamoorthy, Kumar (SRM Institute of Science and Technology), Sabattini, Lorenzo (University of Modena and Reggio Emilia)

We7T2 Room 107

Aerial Robots III​ (Regular Session)

16:10-16:30 We7T2.1

Visual-Inertial SLAM Aided Estimation of Anchor Poses and Sensor Error Model Parameters of UWB Radio Modules​,
pp. 746-753.
Lutz, Philipp (German Aerospace Center (DLR)), Schuster, Martin J. (German Aerospace Center (DLR)), Steidle, Florian (German
Aerospace Center)

16:30-16:50 We7T2.2

Control of Flying Robotic Insects: A Perspective and Unifying Approach​, pp. 754-761.
Calderon, Ariel, A (University of Southern California), Chen, Ying (University of Southern California), Yang, Xiufeng (University of
Southern California), Chang, Longlong (University of Southern California), Nguyen, Xuan-Truc (University of Southern California),
Singer, Emma (University of Southern California), Perez-Arancibia, Nestor O (University of Southern California (USC))

16:50-17:10 We7T2.3

GPS Emulation Via Visual-Inertial Odometry for Inspection Drones​, pp. 762-767.
Dornellas, Duarte (Instituto Superior Técnico), Rosa, Filipe (Tekever), Bernardino, Alexandre (IST - Técnico Lisboa), Ribeiro,
Ricardo (Instituto Superior Técnico), Santos-Victor, José (Instituto Superior Técnico - Lisbon)

17:10-17:30 We7T2.4

A Comparative Study of Sensor Fault Detection Approaches Applied to an Autonomous Solar-Powered Aircraft​, pp.
768-773.
Padrao, Paulo (Federal University of Rio De Janeiro), Hsu, Liu (COPPE-UFRJ), Vilzmann, Michael (German Aerospace Center
(DLR))

17:30-17:50 We7T2.5

62
AeroVR: Virtual Reality-Based Teleoperation with Tactile Feedback for Aerial Manipulation​, pp. 774-779.
Yashin, Grigoriy (Skolkovo Institute of Science and Technology), Trinitatova, Daria (Skolkovo Institute of Science and
Technology), Agishev, Ruslan (Skolkovo Institute of Science and Technology), Ibrahimov, Roman (Skolkovo Institute of
Technology and Science), Tsetserukou, Dzmitry (Skolkovo Institute of Science and Technology)

We7T3 Room 301

Perception​ (Regular Session)

16:10-16:30 We7T3.1

Visual Saliency with Foveated Images for Fast Object Detection and Recognition in Mobile Robots Using Low-Power
Embedded GPUs​, pp. 780-785.
Jaramillo Avila, Uziel (University of Sheffield), Aitken, Jonathan Maxwell (University of Sheffield), Anderson, Sean (University of
Sheffield)

16:30-16:50 We7T3.2

Pedestrian Flow Estimation Using Sparse Observation for Autonomous Vehicles​, pp. 786-791.
Bezerra, Ranulfo (Tohoku University), Ohno, Kazunori (Tohoku University), Westfechtel, Thomas (Tohoku University), Tadokoro,
Satoshi (Tohoku University)

16:50-17:10 We7T3.3

Detection and Localization of Pallets on Shelves Using a Wide-Angle Camera​, pp. 792-799.
Kita, Yasuyo (Inst. of Advanced Industrial Sci. & Tech), Takase, Ryuichi (National Institute of Advanced Industrial Science and
Technology), Komuro, Tatsuya (Advanced Industrial Science and Technology), KATO, Norihiko (National Institute of Advanced
Industrial Science and Technology), Kita, Nobuyuki (National Institute of AdvancedIndustrialScienceandTechnology)

17:10-17:30 We7T3.4

Sparse-To-Continuous: Enhancing Monocular Depth Estimation Using Occupancy Maps​, pp. 800-807.
dos Santos Rosa, Nícolas (University of São Paulo), Guizilini, Vitor (Toyota Research Institute), Grassi Junior, Valdir (University of
São Paulo)

17:30-17:50 We7T3.5

Laser-Supported Monocular Visual Tracking for Natural Environments​, pp. 808-813.

Chahine, Georges (Georgia Institute of Technology), Pradalier, Cedric (GeorgiaTech Lorraine)

63
Workshops

64
Key Technologies For Autonomous Robotic Surgery
Thursday December 5, 09:00-17:00 - Room 106

This tutorial / workshop aims at introducing the main concepts of robotic surgery and to discuss
the emerging field of autonomous robotic surgery (ARS). The addition of autonomy to robotic
surgery involves the integration of complex mechatronic systems with advanced perceptual and
reasoning capabilities that require detailed models and accurate control. Examples of cognitive
features are surgical task analysis, situation awareness, and automatic task execution. This
tutorial will be organized in five sections: (i) basic concepts of design and (ii) control of a surgical
robot, (iii) advanced surgical robotic systems, (iv) surgeon-robot interfaces, and (v) issues related
to task modeling and integration of perception and reasoning into the robot control loop.
Advances in these areas have been pursued during recent European projects such as ISUR
(Intelligent Surgical Robot), ARS and CASCADE (Cognitive AutonomouS CAtheter operating in
Dynamic Environments) and ATLAS (Joint doctoral program in autonomous intraluminal surgery).
Specific solutions will be presented during the tutorial and put in the broader ARS context. The
main advantages and challenges of using cognition in such difficult application will be highlighted.
During the workshop contributions from interested parties will be presented and analysed. The
discussion will help shape the future research directions in this promising field.

Organizers:​ Paolo Fiorini, Leonardo Mattos, Emmanuel Vander Poorten

Agenda

Time Talk
P. Fiorini - A brief history of surgical robotics: early steps, current situation,
9.00 - 9.15
future trends.
9.15 - 10.00 E. Vander Poorten - Key technology in design and control of surgical robots:
actuation, sensing, flexible systems, haptics and shared control.
10.00 - 10.45 L. Mattos - Perception and actuation in the surgical field: sensors, vision,
augmented reality, teleoperation and task autonomy.
10.45 - 11.30 P. Fiorini - Control of cognitive robots: knowledge engineering, task
modeling, hybrid task control.
11.30 - 12.30 Poster Teasers
12.30 - 13.30 Lunch break and Interactive Poster Session
13.30 - 15.30 Presentation and Talks
15.30 - 16.00 Break & Best Poster Award
16.00 - 17.00 Interactive Session, Position Statement

65
Human Movement Understanding
Thursday December 5, 09:00-12:30 - Room 107

The purpose of this half-day workshop is to provide an environment to share some recent exciting
advances on human motion analysis and synthesis developed by the very eminent and new
scientists in the field. The workshop will include invited talks and poster demonstrations/demos
pertaining to many aspects of human biomechanics and robotics, including dynamics, control and
simulation of musculoskeletal systems, rehabilitation robotics and assistive technologies,
human-robot interaction, human motor control, human motion synthesis, virtual environments and
dynamic simulation. Topics of interest include musculoskeletal dynamics, simulation, and control;
Motion reconstruction and tracking techniques; Human motion analysis; Whole-body dynamics
identification; Optimal control techniques for predicting efficient movement patterns; Motion
recognition; Computer animation/graphics; Neuromuscular control; Machine learning in
biomechanics; Design and simulation of assistive devices; Understanding and manipulating
neuromuscular function with electrical stimulation; Virtual reality and character animation.

Organizers​: Emel Demircan, Mechanical and Aerospace Engineering / Biomedical Engineering

Professor - California State University, Long Beach, ​Emel.Demircan@csulb.edu

Agenda

Time Talk Topic/Comments

8:45 - 9:00 Introduction

Invited speaker from Seoul National University,

9:00 - 9:20 Talk #1
humanoids and whole-body control

Invited speaker from UFMG Department of

9:20 - 9:40 Talk #2
Physiotherapy

Invited speaker from INSAC, human-robot

9:40 - 10:00 Talk #3
cooperation

10:00 - 10:30 Student Spotlight Talks 5 min spotlight talk

Coffee Break & Poster

10:30 - 11:00
Presentations

11:00 - 11:20 Talk #4 Human movement understanding and biomechanics

UFMG, Physiotherapy, Occupational Therapy,

11:20 - 11:40 Talk #5
Sports Biomechanics

Past, present, and future of human movement

11:40 - 12:00 Talk #6
understanding

12:00 - 12:30 Panel Discussion

66
Robotics for Occupational Safety & Health in Industrial
Environments (ROSHIE)
Thursday December 5, 13:30-17:00 - Room 107

At ICAR 2019, the 1st ROSHIE workshop will capture and highlight recent trends in the field of
robotics for occupational safety and health (OSH). The OSH paradigm recognizes the direct and
indirect consequences, both human and economic, of work-related accidents and disorders.
Successful OSH practices, especially in labour-intensive and hazardous work environments,
address issues ranging from industrial hygiene, engineering safety, ergonomics, exposure to
toxicity, radiation, and explosions, among others. As two separate issues, efforts in OSH have to
address “health” and “safety” both individually and concurrently.

From the occupational health perspective, the most frequent threat to workers is musculoskeletal
disorders (MSDs) due to material handling (> 30% of the worker population in the EU), repetitive
movements (63%) and awkward body postures (46%). In the last years, wearable assistive robotic
devices have shown their potential benefit in the reduction of the muscular efforts of the operator
during manual handling tasks. For instance, lifting and lowering operations could benefit from an
assistive device for the lower back of the user. Some other industrial applications would require
postural support, where the operator is forced to adopt awkward positions. In an industrial setting,
wearable robots could become a daily use equipment. Therefore, its acceptability by the operators
is a key design motivation.

From the occupational safety perspective, even routine tasks in certain work environments expose
workers to extreme risks, such as disaster response and recovery, nuclear decommissioning,
industry (chemical, petro-chemical, and iron & steel), marine and underwater operations, etc. After
the Fukushima disaster and following the DARPA Robotics Challenge (2015), the scientific
community has seen renewed interest in advanced robotic locomotion and manipulation
technologies, focused on substituting human operators in hazardous environments. In recent
years, humanoids and quadruped robots have seen advanced trials in real-world environments,
providing important learnings in tackling the challenges in autonomous navigation, remote robotic
teleoperation in bilateral haptic control, 3D visualization and environment perception, collaborative
control, communication bandwidth and latencies, etc. The invited speakers will share their
experiences in developing and testing robotic technologies for occupational safety and health. The
workshop provides a forum to discuss new strategies that can be adopted towards real-world
deployments of robotics systems for OSH.

Organizers: ​Nikhil Deshpande (Primary contact), Jesús Ortiz​, ​Abdeldjallil Naceri, Stefano Toxiri,
Daegeun Park. ​Organizers' Email:​ ​firstname.lastname@iit.it

Agenda

Time Speaker Agenda

13:30 - 13:40 -- Welcome Remarks

67
 Paolo Fiorini, University of Autonomous Aids for Teleoperation in High
13:40 – 14:10
Verona, Italy Risk, High Complexity Tasks

Kenjiro Tadakuma, Tohoku

14:10 – 14:40 TBD
University, Japan

A collaborative bi-manipulation mobile

14:40 – 15:10 Navvab Kashiri, IIT, Italy
platform in human work environment

15:10 – 15:25 -- Snack / Coffee Break

"Workplace Safety" - Smart technologies for a

15:25 – 15:55 Carlo De Petris, INAIL, Italy safe and secure industrial environment: the
Italian Experience

Marcos Raymundo Loest, EXY

15:55 – 16:25 TBD
Innovation Company, Brazil

Loco-manipulation strategies for legged

16:25 – 16:55 Michele Focchi, IIT, Italy
robotics in search-n-rescue operations

16:55 – 17:20 Round-table Session "Robotics: Benefits to OSH practices"

17:20 - 17:30 -- Closing Remarks and Conclusion

68
Physical Robot Interaction
Thursday December 5, 09:00-12:30 - Room 301

Robots are more and more among humans in different scenarios and contexts, such as industries,
houses, restaurants, and construction sites. Either working directly with humans as direct contact
handlers or assembling different parts, robots often need to perform tasks that require physical
interaction with objects, other robots or people.
And as the amount of robots grow in our midst, physical robot interaction requirements will also be
more demanding and challenging, which might call for different controller designs and paradigms.
To properly control physical interaction is critical in both manipulation and collaborative tasks in
unstructured environments where contact forces exist. However, most of the industrial robots in
industry do not have interaction controllers available at hand. Therefore, they are not suitable for
collaborative tasks, which is a trend in this field. Also, wearable robotic devices, as exoskeletons
and rehabilitation, are also motivators for a deeper comprehension of physical robot interaction.
This half-day workshop will bring together key researchers of academia and industry to discuss the
potential, the implementation, and limitations of physical robot interaction applications and
controllers.

Organizers: Prof. Glauco A. P. Caurin, University of São Paulo - E-mail: ​gcaurin@sc.usp.br​,

Prof. Thiago Boaventura, University of São Paulo -E-mail: ​tboaventura@usp.br​, Prof. Neville
Hogan, Massachusetts Institute of Technology - E-mail: ​neville@mit.edu​, Eng. José Otávio
Savazzi, EMBRAER - E-mail: ​jose.savazzi@embraer.com.br​, MSc. Gustavo Lahr, University of
São Paulo - E-mail: ​gustavo.lahr@usp.br

Agenda

Time Talk
9:00 – 9:10 Opening by the organizers
9:10 – 9:35 TBD
9:35 – 10:00 TBD
10:00 – 10:25 TBD
10:25 – 10:55 Poster session + industrial spotlight + Coffee break
10:55 – 11:20 TBD
11:20 – 11:45 TBD
11:45 – 12:10 TBD
12:10 – 12:30 Discussion Panel

69
Speakers

● Adriano Siqueira, University of São Paulo (Brazil), lower limbs rehabilitation devices; status:
confirmed
● Thiago Boaventura, hydraulic torque actuators for interaction control, University of São
Paulo (Brazil); status: confirmed
● Michele Focchi, Italian Institute of Technology (Italy), legged robotics; status: confirmed.
● Emilia Villani, Aeronautics Institute of Technology (Brazil), aircraft manufacturing systems;
status: to be confirmed.
● Neville Hogan, Massachusetts Institute of Technology (USA); bio-robotics in rehabilitation;
status: to be confirmed.
● Oseias Ferreira, EMBRAER S.A., systems automation and control; status: confirmed.

Support:​ The organizers would like to thank FAPESP, CAPES and CNPq as technical sponsors.

70
Applications of Dual Quaternion Algebra to Robotics
Thursday December 5, 13:30-17:00 - Room 301

Dual quaternion algebra has proven to be a very powerful mathematical tool to represent both
physical phenomena, such as rigid motions, twists, and wrenches, in addition to several
mathematical objects such as Plücker lines, planes, points, spheres, cylinders, etc. in a
straightforward way, which is useful when describing geometrical tasks directly in the task-space.
Thanks to those advantages, there has been an increasing interest in the study of kinematic and
dynamic representations of robotic systems using dual quaternion algebra. Those works comprise
rigid motion stabilization, tracking, and multiple body coordination, kinematic control of
manipulators with single and multiple arms, algorithms for inverse dynamics analysis and, also,
applications to human-robot interaction and surgical robotics. This workshop has three main
objectives: (i) to consolidate such contributions through talks from academic leaders across
different fields of applications; (ii) introduce novel theories and applications in such emerging field
through talks from applicants and (iii) provide a proper forum for discussion of benefits, drawbacks
and ongoing works with respect to dual quaternion algebra within the robotics community.

Speakers
● Bruno V. Adorno - Federal University of Minas Gerais
● Fernando Lizarralde - Federal University of Rio de Janeiro (pending)
● Henrique M. Menegaz - University of Brasilia (confirmed)
● Luis F. C. Figueredo - University of Leeds (confirmed)

Organizers
● Luis F. C. Figueredo - University of Leeds - lfc.figueredo@gmail.com
● Bruno V. Adorno - Federal University of Minas Gerais - adorno@ufmg.br
● João Y. Ishihara - University of Brasilia - ishihara@ene.unb.br
● Hugo T. Kussaba - University of Brasilia - hugo.kussaba@unb.br

71
Deep Learning for Robotic Image Perception in GPUs: an
Introductory Hands-on Tutorial
Friday December 6, 09:00-17:00 - Room 106

What is it? ​Deep Learning methods are currently the state-of-the-art in many image-related
problems. This 6-hour tutorial explores Deep Learning for Robotics Image Perception in vector
processors through a hands-on approach. Participants will have the opportunity to apply deep
neural networks (DNNs) to image classification problems through a simplified set of tools,
frameworks and data pipelines commonly used to train and deploy DNN in customised GPUs.

Audience: ​Undergraduate and graduate students, university lecturers and researchers interested
in the field of deep learning for robotic image perception. Level: Elementary 70% up to Intermediate
30% Skills: Basics of programming. No previous experience is required in any of the machine
learning tools and libraries explored in this tutorial: Caffe, TensorFlow, DIGITS e Python Jupyter
Notebook.

Learning goals: ​The expected outcome for each participant is that they gather an understanding
of the fundamentals of deep learning in parallel processors (e.g., GPUs):
● To explore deep machine learning in vector processors in the cloud and embedded in
real-world applications;
● To implement a pipeline of commonly used deep learning tasks;
● To experiment with datasets, fine-tune neural net training parameters, structure the inner
layers of a network, and understand other strategies to improve the performance of a neural
network;
● To integrate and deploy neural nets in the participant own technical field in order to solve
real-world problems.

72
Author Index
Acemoglu, Alperen............................................................................................................................................ We2T3.1

........................................................................................................................................................................... We2T3.3

Adorno, Bruno Vilhena..................................................................................................................................... Mo1T4.4

Agishev, Ruslan................................................................................................................................................. We7T2.5

Ahmad, Awais.................................................................................................................................................... We1T3.3

........................................................................................................................................................................... We2T3.2

Aitken, Jonathan Maxwell................................................................................................................................. We7T3.1

Akizuki, Shuichi.................................................................................................................................................. We2T2.5

Albrecht, Sebastian............................................................................................................................................ Mo3T3.1

Albu-Schäffer, Alin............................................................................................................................................. Tu1T2.4

Alexis, Kostas.................................................................................................................................................... Mo1T1.1

........................................................................................................................................................................... Mo1T1.2

Allmendinger, Felix........................................................................................................................................... Mo2T3.1

Alsina, Pablo Javier........................................................................................................................................... We1T3.2

Alves Neto, Armando......................................................................................................................................... Mo2T2.4

........................................................................................................................................................................... Mo3T3.2

........................................................................................................................................................................... Tu1T1.3

........................................................................................................................................................................... We1T2.3

........................................................................................................................................................................... We2T2.2

Amorim, Iury....................................................................................................................................................... We2T4.5

Amorin, Guillermo.............................................................................................................................................. Mo3T2.3

Anderson, Sean................................................................................................................................................. We7T3.1

Aoki, Yoshimitsu................................................................................................................................................ We2T2.5

ARAÚJO, MÁRCIO............................................................................................................................................ We1T3.2

Asif, Mohammad................................................................................................................................................ Mo2T4.5

Azpúrua, Héctor Ignacio.................................................................................................................................... Mo1T1.3

Bak, Thomas...................................................................................................................................................... Mo2T4.1

Baptista Pereira Nascimento, Iuro.................................................................................................................... Mo2T2.5

Barros, Luiz Guilherme...................................................................................................................................... Mo1T1.3

Bartelt, Matthias................................................................................................................................................. Mo3T3.4

Bastos, César..................................................................................................................................................... Mo2T2.4

Battistel, Andrei.................................................................................................................................................. Mo1T4.2

73
 Becker, Pascal................................................................................................................................................... Mo2T3.5

Beetz, Michael................................................................................................................................................... Mo3T3.1

Bennewitz, Maren.............................................................................................................................................. We2T4.1

Bento Filho, Antônio......................................................................................................................................... Mo1T3.3

Bernardino, Alexandre...................................................................................................................................... We7T2.3

Bezerra, Ranulfo................................................................................................................................................ We7T3.2

Bimbo, Joao....................................................................................................................................................... Mo3T2.1

Bolano, Gabriele................................................................................................................................................ Mo2T3.5

Borges, Paulo Vinicius Koerich........................................................................................................................ Tu1T1.3

Borghesan, Gianni............................................................................................................................................ Mo2T4.2

........................................................................................................................................................................... We2T3.5

Botelho, Silvia.................................................................................................................................................... We2T1.1

Bottega, Jair Augusto........................................................................................................................................ Mo3T4.4

Braghin, Francesco........................................................................................................................................... Mo1T4.1

Brandao, Alexandre Santos.............................................................................................................................. Mo3T1.3

........................................................................................................................................................................... We1T2.2

Bruno, Diego Renan.......................................................................................................................................... Tu1T2.5

Burrichter, Hannes............................................................................................................................................. Mo3T1.5

Cadena Lerma, Cesar........................................................................................................................................ Mo1T1.5

Calanca, Andrea................................................................................................................................................ Mo2T4.3

Caldas, Kenny Anderson Queiroz................................................................................................................... Mo3T4.3

Calderon, Ariel, A............................................................................................................................................... We7T2.2

Caldwell, Darwin G............................................................................................................................................ Mo1T1.4

........................................................................................................................................................................... Mo3T2.1

........................................................................................................................................................................... We2T3.1

........................................................................................................................................................................... We2T3.3

Campos, Mario Montenegro............................................................................................................................. Tu1T1.3

Capitan, Jesus................................................................................................................................................... We2T1.2

Capricho Marocci, Martin Nicolás................................................................................................................... Mo3T2.3

CASTANO CANO, Davinson............................................................................................................................. Mo2T1.4

Casteluci, Larissa............................................................................................................................................... Mo3T4.5

Caurin, Glauco Augusto de Paula.................................................................................................................... Mo3T4.5

Chahine, Georges............................................................................................................................................. We7T3.5

Chaimowicz, Luiz............................................................................................................................................... We7T1.4

Chandarana, Meghan....................................................................................................................................... We7T1.2

74
Chang, Longlong.............................................................................................................................................. We7T2.2

Chatterjee, Ayon................................................................................................................................................ We7T1.5

Chaves, Rodrigo Agostinho............................................................................................................................ We7T1.4

Chen, Qijun........................................................................................................................................................ Tu1T3.1

Chen, Ying......................................................................................................................................................... We7T2.2

Cherubini, Andrea.............................................................................................................................................. Mo2T3.3

Chesterman, Frédérique................................................................................................................................... We1T3.3

Chiella, Antonio Carlos Bana........................................................................................................................... We1T2.4

Cho, Saihim....................................................................................................................................................... Tu1T3.3

Christmann, Guilherme Henrique Galelli........................................................................................................ Tu1T3.4

Coelho, Andre.................................................................................................................................................... We2T4.4

Comport, Andrew Ian........................................................................................................................................ Mo2T1.5

Cornelissen, Philip............................................................................................................................................ We2T3.5

Correia, Wilkley Bezerra.................................................................................................................................... We2T4.5

Costa, Cícero..................................................................................................................................................... We1T3.4

Costa, Thamiris Lima......................................................................................................................................... Mo2T2.2

........................................................................................................................................................................... Mo2T2.3

Costa de Jesus, Junior..................................................................................................................................... Mo3T4.4

Cota, Eduardo.................................................................................................................................................... Mo1T1.3

Crosnier, André................................................................................................................................................. Mo2T3.3

D'Jorge, Agustina.............................................................................................................................................. Mo3T1.1

da Silva Garcia, Guilherme............................................................................................................................... Tu1T3.4

da Silva Guerra, Rodrigo.................................................................................................................................. Mo1T3.2

........................................................................................................................................................................... Tu1T3.4

Da Silva Santos, Elerson Rubens.................................................................................................................... Mo3T1.4

Daasch, Andreas............................................................................................................................................... Mo2T4.5

Dai, Zhendong................................................................................................................................................... Tu1T4.1

Dall'Alba, Diego................................................................................................................................................. Mo2T4.3

Dang, Tung........................................................................................................................................................ Mo1T1.2

de Campos Horn, Alexandre............................................................................................................................ Mo2T2.4

de Godoy, Ricardo............................................................................................................................................ Mo3T4.5

de Morais Amory, Alexandre............................................................................................................................ We2T1.5

de Oliveira, Andre Schneider........................................................................................................................... Mo3T2.2

de Paula Assis Fonseca, Mariana.................................................................................................................... Mo1T4.4

De Pieri, Edson Roberto................................................................................................................................... Mo2T2.2

75
 ........................................................................................................................................................................... Mo2T2.3

de Santana,, Robson Olegário......................................................................................................................... We1T2.3

De Schutter, Joris.............................................................................................................................................. Mo2T4.2

De Smet, Jef...................................................................................................................................................... We1T3.3

De Souza Leite Cuadros, Marco Antonio......................................................................................................... Mo3T4.4

Deeb, Amy......................................................................................................................................................... Mo2T1.1

Dengler, Christian............................................................................................................................................. Mo3T4.2

Deprest, Jan....................................................................................................................................................... We1T3.3

........................................................................................................................................................................... We2T3.2

Deshpande, Nikhil............................................................................................................................................. Mo1T1.4

........................................................................................................................................................................... Mo3T2.1

........................................................................................................................................................................... We2T3.1

Dhanaraj, Neel................................................................................................................................................... We7T1.3

Dietmayer, Klaus................................................................................................................................................ We2T1.4

Dietrich, Vincent................................................................................................................................................ Mo3T3.1

Dillmann, Rüdiger.............................................................................................................................................. Mo2T3.5

........................................................................................................................................................................... We1T1.1

Dillmann, Rüdiger.............................................................................................................................................. We2T4.2

Dingler, Sebastian............................................................................................................................................. Mo3T1.5

Djouani, Karim................................................................................................................................................... Mo1T3.5

Dornellas, Duarte............................................................................................................................................... We7T2.3

dos Reis, Wallace Pereira Neves..................................................................................................................... Mo3T2.4

dos Santos Rosa, Nícolas................................................................................................................................ We7T3.4

Drews-Jr, Paulo.................................................................................................................................................. Mo2T2.4

........................................................................................................................................................................... We2T1.1

Edmonds-Estes, Casey..................................................................................................................................... We7T1.3

Einecke, Nils...................................................................................................................................................... We2T1.3

Emery, Brendan Michael................................................................................................................................... Mo1T1.4

Ernandes-Neto, Valentim.................................................................................................................................. Mo3T1.3

Fan, Yunfeng...................................................................................................................................................... Mo3T3.5

Farias, Paulo...................................................................................................................................................... Tu1T2.3

Fattahi Sani, Mohammad.................................................................................................................................. Mo1T1.4

Fehr, Marius....................................................................................................................................................... Mo1T1.5

Fernandes, Daniel Henrique............................................................................................................................ We1T3.2

Ferramosca, Antonio......................................................................................................................................... Mo2T2.5

76
........................................................................................................................................................................... Mo3T1.1

Fiegert, Michael................................................................................................................................................. Mo3T3.1

Fierro, Rafael..................................................................................................................................................... We2T2.1

Fiore, Mario Daniele.......................................................................................................................................... Mo2T3.1

Fiorini, Paolo..................................................................................................................................................... Mo1T2.1

........................................................................................................................................................................... Mo2T4.3

........................................................................................................................................................................... We2T3.4

Fischman Ekman Simões, Ivan........................................................................................................................ Tu1T3.2

Florek-Jasinska, Monica.................................................................................................................................. Tu1T4.5

Forner-Cordero, Arturo..................................................................................................................................... Tu1T3.2

Fornier, Johan................................................................................................................................................... We1T3.3

Forstenhäusler, Marc........................................................................................................................................ We2T1.4

Fraisse, Philippe................................................................................................................................................ Mo1T4.4

........................................................................................................................................................................... Mo2T3.3

Franca, André.................................................................................................................................................... Mo3T3.3

Franzius, Mathias............................................................................................................................................... Mo1T2.4

Freitas, Gustavo................................................................................................................................................. Mo1T1.3

........................................................................................................................................................................... Mo3T3.2

........................................................................................................................................................................... Mo3T3.3

........................................................................................................................................................................... We1T2.4

Frota Rezeck, Paulo Alfredo............................................................................................................................. We7T1.4

Garcia, Gabriel................................................................................................................................................... Mo1T1.3

........................................................................................................................................................................... Mo3T3.3

Garcia, Henrique Borges.................................................................................................................................. Mo3T4.5

Gattass, MARCELO........................................................................................................................................... Mo2T1.3

Geist, Matthieu................................................................................................................................................... Mo1T2.2

Geraldes, André................................................................................................................................................. We2T3.4

Giacomo, Giovanni........................................................................................................................................... We2T1.1

GIBARU, Olivier................................................................................................................................................. We2T4.3

Ginesi, Michele.................................................................................................................................................. Mo1T2.1

........................................................................................................................................................................... Mo2T4.3

Glogowski, Paul................................................................................................................................................. Mo2T3.4

Gomes, Iago Pachêco....................................................................................................................................... Mo3T1.2

Gomes de Oliveira, Felipe................................................................................................................................ Tu1T1.3

Gonçalves, Vinicius Mariano........................................................................................................................... We1T2.4

77
 Gonzalez, Alejandro H...................................................................................................................................... Mo3T1.1

Grant, Edward.................................................................................................................................................... We2T3.3

Grassi Junior, Valdir......................................................................................................................................... Mo1T2.3

........................................................................................................................................................................... Mo3T4.3

........................................................................................................................................................................... Tu1T1.2

........................................................................................................................................................................... Tu1T1.4

........................................................................................................................................................................... We7T3.4

Gross, Jason..................................................................................................................................................... We7T1.3

Gruijthuijsen, Caspar........................................................................................................................................ We2T3.2

Grün, Silas......................................................................................................................................................... Tu1T4.3

Gu, Yu................................................................................................................................................................ We7T1.3

Guimarães Macharet, Douglas......................................................................................................................... Tu1T1.3

........................................................................................................................................................................... We2T2.2

Guizilini, Vitor..................................................................................................................................................... We7T3.4

Gunner, Henry................................................................................................................................................... We7T1.3

Gupta, Kamal..................................................................................................................................................... Tu1T1.5

Hatfield, Alexandra............................................................................................................................................ We7T1.3

He, Yichang........................................................................................................................................................ Mo3T3.5

Hein, Björn......................................................................................................................................................... Tu1T4.3

Heo, Yujin........................................................................................................................................................... Tu1T3.3

Hewitt, Nathan................................................................................................................................................... We7T1.3

HIRT, EDUARDO RAFAEL................................................................................................................................ Tu1T3.4

Höninger, Simon............................................................................................................................................... Tu1T4.3

Hou, Jiawei........................................................................................................................................................ We1T1.2

Hsu, Liu.............................................................................................................................................................. We7T2.4

Huang, QT.......................................................................................................................................................... Mo1T3.4

Hughes, Dana.................................................................................................................................................... We7T1.2

Hypki, Alfred....................................................................................................................................................... Mo2T3.4

Ibrahimov, Roman............................................................................................................................................. We7T2.5

Ishikawa, Haruya............................................................................................................................................... We2T2.5

Ishikawa, Masatoshi.......................................................................................................................................... Tu1T2.1

Ishikawa, Yuchi.................................................................................................................................................. We2T2.5

Jaramillo Avila, Uziel......................................................................................................................................... We7T3.1

Jarman, Rachel.................................................................................................................................................. We7T1.3

Jebri, Ayoub....................................................................................................................................................... Mo1T3.5

78
Ji, Aihong........................................................................................................................................................... Tu1T4.1

Jiang, Shenghao............................................................................................................................................... Tu1T4.2

Johnson, James................................................................................................................................................ We2T3.3

Johnson, Tucker............................................................................................................................................... We7T1.3

Kaden, Sascha................................................................................................................................................... Mo1T4.3

Kaiser, Jacques.................................................................................................................................................. Mo2T3.5

Karl, Matthias..................................................................................................................................................... We2T1.4

Karpe, Kedar...................................................................................................................................................... We7T1.5

Kaßecker, Michael............................................................................................................................................. Tu1T2.4

Kashima, Masashi.............................................................................................................................................. We1T3.1

Kashiri, Navvab.................................................................................................................................................. Mo1T4.1

Kast, Bernd........................................................................................................................................................ Mo3T3.1

Kästner, Linh...................................................................................................................................................... Mo2T4.4

KATO, Norihiko.................................................................................................................................................. We7T3.3

Khattak, Shehryar.............................................................................................................................................. Mo1T1.2

Khorrami, Farshad............................................................................................................................................. We1T1.4

Kimura, Seigo.................................................................................................................................................... We1T3.1

Kita, Nobuyuki.................................................................................................................................................... We7T3.3

Kita, Yasuyo....................................................................................................................................................... We7T3.3

Kolberg, Mariana................................................................................................................................................ Mo2T1.2

Komuro, Tatsuya................................................................................................................................................ We7T3.3

Kondak, Konstantin........................................................................................................................................... We2T4.4

Kozlikova, Barbora............................................................................................................................................. Tu1T1.1

Krinski, Bruno.................................................................................................................................................... Tu1T4.4

Krishnamurthy, Prashanth................................................................................................................................ We1T1.4

Kroeger, Torsten................................................................................................................................................ Tu1T4.3

Kuhlenkötter, Bernd........................................................................................................................................... Mo2T3.4

........................................................................................................................................................................... Mo3T3.4

Kulkarni, Padmaja.............................................................................................................................................. We2T4.1

Kurka, paulo....................................................................................................................................................... Tu1T2.2

Lambrecht, Jens................................................................................................................................................ Mo2T4.4

Lee, Jinoh.......................................................................................................................................................... We2T3.1

Lee, Moonyoung................................................................................................................................................ Tu1T3.3

Legrand, Julie.................................................................................................................................................... We2T3.2

Leite, Valter Junior de Souza............................................................................................................................ Mo2T2.1

79
 Leitzke Pinto, Matheus....................................................................................................................................... Mo3T2.2

Lemmerz, Kai..................................................................................................................................................... Mo2T3.4

Lemos, Cézar..................................................................................................................................................... Tu1T2.3

Leung, Sarah..................................................................................................................................................... We1T1.3

Lewis, Michael................................................................................................................................................... We7T1.2

Librelotto, Giovani Rubert................................................................................................................................. Mo1T3.2

........................................................................................................................................................................... Tu1T3.4

Lima, Danielli..................................................................................................................................................... We7T1.1

Lima II, Eduardo José........................................................................................................................................ Mo3T2.5

Lindgren, Kyle.................................................................................................................................................... We1T1.3

Liu, Chengju....................................................................................................................................................... Tu1T3.1

Liu, Huajian........................................................................................................................................................ Mo1T3.4

Liu, Ming............................................................................................................................................................ Tu1T3.1

Liu, Yang............................................................................................................................................................ Mo1T1.5

Lizarralde, Fernando......................................................................................................................................... Mo3T3.3

........................................................................................................................................................................... We2T4.4

Lohmann, Boris................................................................................................................................................. Mo3T4.2

Lutz, Philipp....................................................................................................................................................... We7T2.1

Ma, Lu................................................................................................................................................................ Tu1T3.1

Machado, Henrique N....................................................................................................................................... We1T2.4

Machado dos Santos, Matheus........................................................................................................................ We2T1.1

Madani, Tarek.................................................................................................................................................... Mo1T3.5

Maffei, Renan..................................................................................................................................................... Mo2T1.2

Maffeo, Julietta................................................................................................................................................... We7T1.3

Mahé, Antoine.................................................................................................................................................... Mo1T2.2

Mahé, Howard.................................................................................................................................................... Mo2T1.5

Maidana, Renan................................................................................................................................................. We2T1.5

Manoonpong, Poramate................................................................................................................................... Tu1T4.1

Marão, Luiz Afonso............................................................................................................................................ Mo3T4.5

Margenat, Pablo................................................................................................................................................. Mo3T2.3

MARRAUD, DENIS............................................................................................................................................ Mo2T1.5

Marron, Pedro Jose........................................................................................................................................... We2T1.2

Mascarich, Frank............................................................................................................................................... Mo1T1.2

Mattos, Leonardo............................................................................................................................................... Mo1T1.4

........................................................................................................................................................................... Mo3T2.1

80
........................................................................................................................................................................... We2T3.1

........................................................................................................................................................................... We2T3.3

Mattos, Leonardo............................................................................................................................................... We2T3.4

Mazzanti, Dario.................................................................................................................................................. Mo3T2.1

Medina Sanchez, Carlos................................................................................................................................... We2T1.2

Meggiolaro, Marco Antonio.............................................................................................................................. Mo2T1.3

mehrandezh, mehran........................................................................................................................................ Tu1T1.5

Meli, Daniele...................................................................................................................................................... Mo1T2.1

........................................................................................................................................................................... Mo2T4.3

Menasce Rosset, Luciano................................................................................................................................. Tu1T4.5

Milanezi de Andrade, Rafhael........................................................................................................................... Mo1T3.3

Miranda, Victor Ricardo.................................................................................................................................... Mo3T3.2

........................................................................................................................................................................... We1T2.4

mohammadbagherpoor, hamed....................................................................................................................... We2T3.3

Mohammadnia, Mobin....................................................................................................................................... Mo1T4.1

Morandin Junior, Orides.................................................................................................................................. Mo3T2.4

Mouscadet, Benjamin........................................................................................................................................ Mo1T2.2

Mozelli, Leonardo.............................................................................................................................................. Mo3T3.2

........................................................................................................................................................................... We1T2.3

Muñoz Osorio, Juan David............................................................................................................................... Mo2T3.1

Muth, John......................................................................................................................................................... We2T3.3

Naceri, Abdeldjallil............................................................................................................................................. Mo3T2.1

Nakamura, Taro................................................................................................................................................. We1T3.1

Nakawala, Hirenkumar Chandrakant............................................................................................................... Mo1T2.1

Nascimento, Luís Bruno.................................................................................................................................... We1T3.2

Navarro, Benjamin............................................................................................................................................. Mo2T3.3

Nemec, Bojan.................................................................................................................................................... Mo3T4.1

Ngamkajornwiwat, Potiwat................................................................................................................................ Tu1T4.1

Nguyen, Xuan-Truc............................................................................................................................................ We7T2.2

Nishihama, Rie................................................................................................................................................... We1T3.1

Niu, Kenan......................................................................................................................................................... We1T3.3

Nothwang, William............................................................................................................................................ We1T1.3

Nottensteiner, Korbinian................................................................................................................................... Tu1T2.4

Oh, Jun Ho......................................................................................................................................................... Tu1T3.3

Ohno, Kazunori.................................................................................................................................................. We7T3.2

81
 Okui, Manabu..................................................................................................................................................... We1T3.1

OLABI, Adel....................................................................................................................................................... We2T4.3

Oliveira, Gina M B.............................................................................................................................................. We7T1.1

Oliveira, Tiago Roux......................................................................................................................................... Mo1T4.2

Ortmaier, Tobias................................................................................................................................................ Mo2T3.1

Osório, Fernando.............................................................................................................................................. Tu1T2.5

Ott, Christian...................................................................................................................................................... We2T4.4

OURAK, Mouloud.............................................................................................................................................. Mo2T4.2

........................................................................................................................................................................... We1T3.3

........................................................................................................................................................................... We2T3.2

........................................................................................................................................................................... We2T3.5

Ourselin, Sebastien........................................................................................................................................... We2T3.2

Pěnička, Robert................................................................................................................................................. Tu1T1.1

Padrao, Paulo.................................................................................................................................................... We7T2.4

Pan, Ya-Jun....................................................................................................................................................... Mo2T1.1

Park, Hyunsub................................................................................................................................................... Tu1T3.3

Patel, Naman..................................................................................................................................................... We1T1.4

Pattas Bastos Franco, Iago Jose..................................................................................................................... Mo1T4.5

Pereira, Diego.................................................................................................................................................... We1T3.2

Pereira, Guilherme............................................................................................................................................. We7T1.3

Pereira, Jean Carlos.......................................................................................................................................... Mo2T2.1

Perez-Arancibia, Nestor O................................................................................................................................. We7T2.2

Pessin, Gustavo................................................................................................................................................. Mo1T1.3

........................................................................................................................................................................... Mo3T3.3

Petric, Tadej....................................................................................................................................................... Mo3T4.1

Pimenta, Luciano............................................................................................................................................... Mo2T2.5

Pinheiro, Pedro M.............................................................................................................................................. Mo2T2.4

Pinotti, Marcos................................................................................................................................................... Mo1T3.3

Pinto, Fernando Augusto Araujo...................................................................................................................... Mo3T2.5

Pittol, Diego........................................................................................................................................................ Mo2T1.2

Plöger, Paul G.................................................................................................................................................... We2T4.1

Poliakov, Vladimir.............................................................................................................................................. We1T3.3

Pozzobon, Luiza................................................................................................................................................ Mo1T3.2

Pradalier, Cedric................................................................................................................................................ Mo1T2.2

........................................................................................................................................................................... We7T3.5

82
Prattichizzo, Domenico..................................................................................................................................... Mo3T2.1

Prestes, Edson................................................................................................................................................... Mo2T1.2

Qiao, Qiao.......................................................................................................................................................... Mo2T4.2

Quiroz, Cesar Henrique Cordova..................................................................................................................... Tu1T2.2

Raffo, Guilherme V............................................................................................................................................. Mo2T2.1

........................................................................................................................................................................... Mo2T2.5

........................................................................................................................................................................... Mo3T1.1

Ramamoorthy, Kumar........................................................................................................................................ We7T1.5

Rass, David........................................................................................................................................................ Mo1T3.1

Rendon Fernandez, Sebastian......................................................................................................................... We2T4.3

Reynaerts, Dominiek......................................................................................................................................... We2T3.5

Rezende, Adriano.............................................................................................................................................. We1T2.4

Ribeiro, Eduardo................................................................................................................................................ Mo1T2.3

Ribeiro, Ricardo................................................................................................................................................. We7T2.3

Richard, Antoine................................................................................................................................................ Mo1T2.2

Ritter, Christian.................................................................................................................................................. Mo2T3.2

Roa, Maximo A.................................................................................................................................................. Tu1T4.5

Robert, Andrej.................................................................................................................................................... We2T1.3

Roberti, Andrea.................................................................................................................................................. Mo1T2.1

Rodrigues, Victor Hugo Pereira....................................................................................................................... Mo1T4.2

Rodrigues da Silva, Junior Anderson............................................................................................................. Tu1T1.2

Rodriguez, Juan F............................................................................................................................................. Mo2T1.4

Roennau, Arne................................................................................................................................................... Mo2T3.5

........................................................................................................................................................................... We1T1.1

........................................................................................................................................................................... We2T4.2

Rosa, Filipe........................................................................................................................................................ We7T2.3

Rübenich Fumagalli, Marinara.......................................................................................................................... Tu1T3.4

Ruiz, Daniel Vitor............................................................................................................................................... Tu1T4.4

S Thiago, Filho, Alexandre Magno.................................................................................................................. Mo1T1.3

S. El'Youssef, Ebrahim....................................................................................................................................... Mo2T2.2

........................................................................................................................................................................... Mo2T2.3

Sabattini, Lorenzo.............................................................................................................................................. We7T1.5

Sachtler, Arne.................................................................................................................................................... Tu1T2.4

salle, damien...................................................................................................................................................... Mo2T3.3

Salton, Aurelio Tergolina.................................................................................................................................. We2T1.5

83
 Samiappan, Dhanalakshmi............................................................................................................................... We7T1.5

Sanchez, Ignacio J............................................................................................................................................ Mo3T1.1

Sansonetto, Nicola............................................................................................................................................ Mo2T4.3

Santos, Tiago Cesar.......................................................................................................................................... We2T2.3

........................................................................................................................................................................... We2T2.4

Santos, Vitor Gaboardi dos.............................................................................................................................. We1T3.2

SANTOS ROCHA, FILIPE AUGUSTO............................................................................................................... Mo1T1.3

........................................................................................................................................................................... Mo3T3.3

Santos Vimieiro, Claysson Bruno...................................................................................................................... Mo1T3.3

Santos-Victor, José........................................................................................................................................... We7T2.3

Sarcinelli-Filho, Mario........................................................................................................................................ Mo3T1.3

........................................................................................................................................................................... We1T2.2

Scheikl, Paul Maria............................................................................................................................................ Tu1T4.3

Scherer, Sebastian............................................................................................................................................. We7T1.2

Scherzinger, Stefan........................................................................................................................................... We2T4.2

Schneider, Sven................................................................................................................................................ We2T4.1

Schultalbers, Matthias....................................................................................................................................... Mo2T4.5

Schulz, Dirk........................................................................................................................................................ We2T4.1

Schuster, Martin J.............................................................................................................................................. We7T2.1

Schwertfeger, Sören.......................................................................................................................................... We1T1.2

Scolari Conceicao, Andre Gustavo.................................................................................................................... Mo1T4.5

........................................................................................................................................................................... Tu1T2.3

Senoo, Taku....................................................................................................................................................... Tu1T2.1

Seo, Jeongwoo.................................................................................................................................................. We7T1.3

Seré, Andrés...................................................................................................................................................... Mo3T2.3

Serrantola, Wenderson Gustavo..................................................................................................................... Mo3T3.3

........................................................................................................................................................................... Tu1T1.4

Seto, Mae........................................................................................................................................................... Mo2T1.1

Shamwell, Earl Jared......................................................................................................................................... We1T1.3

Shao, Donghao................................................................................................................................................. Tu1T4.1

Sharma, Shashank............................................................................................................................................ Mo2T3.2

Shen, Macheng.................................................................................................................................................. Tu1T4.2

Siegwart, Roland............................................................................................................................................... Mo1T1.5

Simas Filho, Eduardo........................................................................................................................................ Tu1T2.3

Simonič, Mihael................................................................................................................................................. Mo3T4.1

84
Singer, Emma.................................................................................................................................................... We7T2.2

Singh, Harsimran............................................................................................................................................... We2T4.4

Souza, Victor Cesar de...................................................................................................................................... Tu1T2.2

Souza Santos, Alexandre.................................................................................................................................. Mo1T1.3

Spies, Stefanie................................................................................................................................................... Mo3T3.4

Srinivas, Pranav................................................................................................................................................. We7T1.5

Srisuchinnawong, Arthicha.............................................................................................................................. Tu1T4.1

Steffen, Lea........................................................................................................................................................ We1T1.1

Steidle, Florian................................................................................................................................................... We7T2.1

Suppa, Michael.................................................................................................................................................. Tu1T4.5

Suzuki, Ryuji...................................................................................................................................................... We1T3.1

Sycara, Katia...................................................................................................................................................... We7T1.2

Tadokoro, Satoshi............................................................................................................................................. We7T3.2

Takase, Ryuichi................................................................................................................................................. We7T3.3

Tan, U-Xuan....................................................................................................................................................... Mo3T3.5

Tanaka, Satoshi................................................................................................................................................. Tu1T2.1

Taniguchi, Yasuhiro.......................................................................................................................................... We2T2.5

Tarbouriech, Sonny........................................................................................................................................... Mo2T3.3

Taubner, Tim Adelhart Jieli............................................................................................................................... Mo1T1.5

Tavares, Alan Ferreira Pinheiro....................................................................................................................... Tu1T2.2

Teerakittikul, Pitiwut........................................................................................................................................... Tu1T4.1

Tejera López, Gonzalo Daniel.......................................................................................................................... Mo3T2.3

Tello Gamarra, Daniel Fernando..................................................................................................................... Mo3T4.4

Thomas, Ulrike................................................................................................................................................... Mo1T4.3

Todt, Eduardo.................................................................................................................................................... Tu1T4.4

TONG, Zhi-Zhong............................................................................................................................................. Mo1T3.4

Torre, Marcos Paulo.......................................................................................................................................... Mo3T3.3

Trindade Ribeiro, Tiago.................................................................................................................................... Mo1T4.5

Trinitatova, Daria............................................................................................................................................... We7T2.5

Tsagarakis, Nikos.............................................................................................................................................. Mo1T4.1

Tsetserukou, Dzmitry......................................................................................................................................... We7T2.5

Ttito Concha, Edison Kleiber........................................................................................................................... Mo2T1.2

Tulio, Macedo.................................................................................................................................................... We1T3.4

Tzes, Anthony.................................................................................................................................................... We1T1.4

Ude, Ales.......................................................................................................................................................... Mo3T4.1

85
 Ulbrich, Stefan................................................................................................................................................... We1T1.1

Ungaretti Borges, Matheus............................................................................................................................... Mo3T2.5

Unger, Hendrik.................................................................................................................................................. Mo2T4.5

Vander Poorten, Emmanuel B........................................................................................................................... Mo2T4.2

........................................................................................................................................................................... We1T3.3

........................................................................................................................................................................... We2T3.2

........................................................................................................................................................................... We2T3.5

Varela Magalhaes, Daniel................................................................................................................................. Mo3T4.5

Vasconcelos, Felipe José de Sousa............................................................................................................... We2T4.5

Vazhapilli Sureshbabu, Anand.......................................................................................................................... Mo1T3.1

VENDRICHOSKI, JULIO CEZAR...................................................................................................................... Mo2T2.2

........................................................................................................................................................................... Mo2T2.3

Vercauteren, Tom............................................................................................................................................... We2T3.2

Vieira, Marcos.................................................................................................................................................... Mo3T1.4

VILLA, DANIEL KHEDE DOURADO................................................................................................................. We1T2.2

Vilzmann, Michael.............................................................................................................................................. We7T2.4

Virgolino Soares, João Carlos......................................................................................................................... Mo2T1.3

Visca, Jorge....................................................................................................................................................... Mo3T2.3

Vivaldini, Kelen Cristiane Teixeira................................................................................................................... Mo3T2.4

Vonasek, Vojtech............................................................................................................................................... Tu1T1.1

Voos, Holger...................................................................................................................................................... We1T2.1

Vörös, Viktor...................................................................................................................................................... We1T3.3

WANG, Min........................................................................................................................................................ We1T2.1

Wehrmeister, Marco Aurélio............................................................................................................................. Mo3T2.2

West, Jonathan.................................................................................................................................................. We2T2.1

Westfechtel, Thomas......................................................................................................................................... We7T3.2

Westhauser, Ricardo......................................................................................................................................... Mo2T1.2

Willems, Dries.................................................................................................................................................... Mo2T4.2

Wolf, Denis Fernando....................................................................................................................................... Mo3T1.2

........................................................................................................................................................................... Tu1T1.2

........................................................................................................................................................................... We2T2.3

........................................................................................................................................................................... We2T2.4

Xu, BinChen....................................................................................................................................................... Tu1T3.1

Yamazaki, Masaki.............................................................................................................................................. We2T2.5

Yang, Xiufeng..................................................................................................................................................... We7T2.2

86
Yashin, Grigoriy................................................................................................................................................ We7T2.5

Yavari, Mohammad Reza................................................................................................................................... Tu1T1.5

Yifru, Lunet......................................................................................................................................................... We7T1.3

Yousefizadeh, Shirin......................................................................................................................................... Mo2T4.1

Yuan, Yijun......................................................................................................................................................... We1T1.2

Zella, Matteo...................................................................................................................................................... We2T1.2

Zimmermann, Markus........................................................................................................................................ Mo1T3.1

Zimmermann, Uwe E......................................................................................................................................... Mo2T3.1

Zorzo Barcelos, Celia Aparecida...................................................................................................................... We1T3.4

87
Notes

88
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