ETPL EMB -001
A CIRCUIT MODEL OF REAL TIME HUMAN BODY HYDRATION
Changes in human body hydration leading to excess fluid losses or overload affects the body fluid's ability to provide the necessary support for healthy living. We propose a time-dependent circuit model of real-time human body hydration, which models the human body tissue as a signal transmission medium. The circuit model predicts the attenuation of a propagating electrical signal. Hydration rates are modeled by a time constant τ, which characterizes the individual specific metabolic function of the body part measured. We define a surrogate human body anthropometric parameter Θ by the musclefat ratio and comparing it with the body mass index (BMI), we find theoretically, the rate of hydration varying from 1.73 dB/min, for high Θ and low r to 0.05 dB/min for low Θ and high τ. We compare these theoretical values with empirical measurements and show that real-time changes in human body hydration can be observed by measuring signal attenuation. We took empirical measurements using a vector network analyzer and obtained different hydration rates for various BMI, ranging from 0.6 dB/min for 22.7 kg/m2 down to 0.04 dB/min for 41.2 kg/m2. We conclude that the galvanic coupling circuit model can predict changes in the volume of the body fluid, which are essential in diagnosing and monitoring treatment of body fluid disorder. Individuals with high BMI would have higher timedependent biological characteristic, lower metabolic rate, and lower rate of hydration.
ETPL EMB - 002
BRAIN-COMPUTER INTERFACE AND ARDUINO MICROCONTROLLER FAMILY SOFTWARE INTERCONNECTION SOLUTION
Brain-Computer Interface (BCI) is the modern approach to the construction of the Human-Machine Interface (HMI) that interconnects human brain and the machine and allows to send commands to the machine directly from the central nervous system (CNS) and especially the brain. Great popularity of the Arduino microcontroller board family and integration of its members into many projects including amateur, professional, industrial and scientific solutions impelled us to design software solution, that helps integrate Brain Computer Interface comprising Emotiv EPOC Neuroheadset with Arduino microcontroller boards. The paper introduces concept of the Brain-Computer Interface in its first section and possibilities of its use. Next section of the paper describes Emotiv EPOC Neuroheadset, which is the part of the BCI, with function of the electroencephalograph (EEG) that non-invasively monitors the electromagnetic manifestations of neural activity of the human central nervous system (CNS), mainly the brain. Using the proprietary software installed on the host computer software transforms acquired signals into the commands that are then executed via third party software. Another part of the paper introduces Arduino microcontroller board family and the last part describes proposed software solution that provides software interface between Emotiv EPOC Neuroheadset software and Arduino microcontroller boards.
ETPL EMB -003
DEVELOPMENT OF A BRAIN-COMPUTER INTERFACE BASED ON VISUAL STIMULI FOR THE MOVEMENT OF ROBOT JOINTS
This paper presents a brain computer interface (BCI) to control a robotic arm by brain signals from visual stimuli. The following signal processing steps were established; acquisition of brain signals by electroencephalography (EEG) electrodes; noise reduction; extraction of signal characteristics and signal classification. Reliable brain signals were obtained by the use of the Emotiv EPOC® commercial hardware. The OpenViBE® commercial software was used to program the signal processing algorithms. By using Matlab® together with an Arduino® electronic board, two servo motors were controlled to drive two joints of a 5 degrees-of-freedom robot commanded by P300-type evoked potential brain signals from visual stimulation when a subject concentrates on particular images from an image matrix displayed in the computer screen. The experiments were conducted with and without auditive and visual noise (artifacts) to find out the noise influence in the signal classification outcome. The obtained experimental results presented an efficiency in the identification stage up to 100% with and without hearing noise conditions. However, under visual noise conditions a maximum efficiency of 50% was reached. The experiments for the servomotors control were carried out without noise, reaching an efficiency of 100% in the identification stage.
ETPL EMB - 004
SECURE MANAGEMENT OF LOW POWER FITNESS TRACKERS
The increasing popular interest in personal telemetry, also called the Quantified Self or “lifelogging”, has induced a popularity surge for wearable personal fitness trackers. Fitness trackers automatically collect sensor data about the user throughout the day, and integrate it into social network accounts. Solution providers have to strike a balance between many constraints, leading to a design process that often puts security in the back seat. Case in point, we reverse engineered and identified security vulnerabilities in Fitbit Ultra and Gammon Forerunner 610, two popular and representative fitness tracker products. We introduce FitBite and GarMax, tools to launch efficient attacks against Fitbit and Garmin. We devise SensCrypt, a protocol for secure data storage and communication, for use by makers of affordable and lightweight personal trackers. SensCrypt thwarts not only the attacks we introduced, but also defends against powerful JTAG Read attacks. We have built Sens.io, an Arduino Uno based tracker platform, of similar capabilities but at a fraction of the cost of current solutions. On Sens.io, SensCrypt imposes a negligible write overhead and significantly reduces the end-to-end sync overhead of Fitbit and Garmin.
ETPL EMB -005
EXPERIMENTAL VALIDATION OF HIGH-VOLTAGE-RATIO LOW-INPUTCURRENT-RIPPLE DC-DC CONVERTERS FOR FUEL CELL APPLICATIONS
This work describes the practical implementation of a Floating-Interleaving Boost Converter (FIBC) for fuel cell applications. The paper aims to validate the concept of digitally-controlled from fourphases-FIBC for fuel cell applications. FIBC exhibits interesting performance in terms of magnetics, input, and output current ripple, part count and distributed power losses. A potential field of application is indeed medium and higher power fuel cell front-end converters, where minimizing input current ripple is significant but also redundancy and reliability are crucial. Actually, this approach covers all these aspects since provide module and device redundancy with real-time and flexible digital control reconfiguration. Relevant aspects related to design; modeling, simulation and experimental verification of 100W, Arduinocontrolled, 4-phases-FIBC are treated in this paper.
ETPL EMB - 006
TOWARD OPEN-SOURCE PORTABLE HAPTIC DISPLAYS WITH VISUALFORCE-TACTILE FEEDBACK COLOCATION
Platforms capable of generating rich haptic feedback are usually quite expensive and under strict proprietary protection. In addition, most of them are not portable and do not deliver a fully integrated force, tactile and visual user experience. In an attempt to break through these limitations, we have created the Haplet: an open-source, portable and affordable haptic device with colocated visual, force and tactile feedback. The triple colocated user experience is delivered by a small-form parallel robotic mechanism that features a simple vibrotactile actuator at the end-effector. The robotic arm is optically transparent and is motorized at the base where it clips on a tablet or computer screen. All the electronic components are encapsulated into a custom designed board based on the Arduino Due microcontroller. This board interfaces computer software to the Haplet's hardware with a capacity of up to four motors and encoders and two vibrotactile actuators. This paper describes our ongoing research on developing the Haplet; and, reports our initial experimental studies on quantifying the effect of visual-force-tactile feedback colocation on the user's experience and performance.
ETPL EMB -007
SMART REAL-TIME HEALTH CARE MONITORING AND TRACKING SYSTEM USING GSM/GPS TECHNOLOGIES
Health monitoring systems have rapidly evolved recently, and smart systems have been proposed to monitor patient current health conditions, in our proposed and implemented system, we focus on monitoring the patient's blood pressure, and his body temperature. Based on last decade statistics of medical records, death rates due to hypertensive heart disease, shows that the blood pressure is a crucial risk factor for atherosclerosis and ischemic heart diseases; thus, preventive measures should be taken against high blood pressure which provide the ability to track, trace and save patient's life at appropriate time is an essential need for mankind. Nowadays, Globalization demands Smart cities, which involves many attributes and services, such as government services, Intelligent Transportation Systems (ITS), energy, health care, water and waste. This paper proposes a system architecture for smart healthcare based on GSM and GPS technologies. The objective of this work is providing an effective application for Real Time Health Monitoring and Tracking. The system will track, trace, monitor patients and facilitate taking care of their health; so efficient medical services could be provided at appropriate time. By using specific sensors, the data will be captured and compared with a configurable threshold via microcontroller which is defined by a specialized doctor who follows the patient; in any case of emergency a short message service (SMS) will be sent to the Doctor's mobile number along with the measured values through GSM module. Furthermore, the GPS provides the position information of the monitored person who is under surveillance all the time. Moreover, the paper demonstrates the feasibility of realizing a complete end-to-end smart health system responding to the real health system design requirements by taking in consideration wider vital human health parameters such as respiration rate, nerves signs ... etc. The system will be able to bridge the gap between pat- ents - in dramatic health change occasions- and health entities who response and take actions in real time fashion.
ETPL EMB - 008
VISION BASED BOTTLE CLASSIFICATION AND AUTOMATIC BOTTLE FILLING SYSTEM
A method is proposed in which the camera captures the logo of the bottles continuously to fill the bottles with different liquids on a single conveyor based on logo of the bottles. We have used cross correlation image classification method to classify the logo image of the bottle. Accordingly, we have filled the liquids in the bottle. In this system, we interface the result of image in MATLAB R2013 with PLC using Arduino.
ETPL EMB - 009
FLEXIBLE TECHNOLOGIES FOR SMART CAMPUS
The article considers an example of the advertisement network based on the BLE 4.0, and its facilities for creating the infrastructure for a Smart Campus, where dynamic information is provided for the target audience. The authors provide an analysis of the characteristics and experimental implementation of this system. Moreover, the practical usage of a popular vendor and the needed backend to provide dynamic usages of the network, both in appearance and content is described. In the paper different wireless technologies are compared in regards to their main feature and field of application. In general the characteristics of a Blue Tooth Low Energy, BLE, are highlighted. This is elaborated upon in the Smart Campus example. The Smart Campus is an indoor wireless network to deliver location and user based dynamic information to the different visitors, teacher or students of a university campus, both for day-to-day use as for specific events. To keep the system interesting and to augment ease-of-use for all kind of users and content providers, a dedicated content management system is developed within the Smart Campus case. The complete system consists of a set of beacons, an application on a smartphone, a database with the related CMS. All is developed in an international cooperation between different universities.
ETPL EMB - 010
BSN-CARE: A SECURE IOT-BASED MODERN HEALTHCARE SYSTEM USING BODY CARE NETWORK
Advances in information and communication technologies have led to the emergence of Internet of Things (IoT). In the modern health care environment, the usage of IoT technologies brings convenience of physicians and patients, since they are applied to various medical areas (such as real-time monitoring, patient information management, and healthcare management). The body sensor network (BSN) technology is one of the core technologies of IoT developments in healthcare system, where a patient can be monitored using a collection of tiny-powered and lightweight wireless sensor nodes. However, the development of this new technology in healthcare applications without considering security makes patient privacy vulnerable. In this paper, at first, we highlight the major security requirements in BSN-based modern healthcare system. Subsequently, we propose a secure IoT-based healthcare system using BSN, called BSN-Care, which can efficiently accomplish those requirements.
ETPL EMB - 011
DEVELOPING AN OPEN ACCESS MONITORING DEVICE FOR OFF-GRID RENEWABLES
Electricity access is a key driver for developing a modern society. The use of locally generated renewable energy can overcome limitations of expensive grid infrastructure. However, there are still barriers to access particularly for the rural poor in the global south. When individuals or communities invest in electricity provision it is important to know how well the system is performing. Commercial monitoring systems have been developed for large scale renewable energy systems. The cost of these can outweigh the cost of a small decentralised renewable energy system. This paper describes the development of a low cost data logger that is going to be used to monitor the system performance of small photovoltaic nano-grids in Kenya and Bangladesh. The device performs within the expected range for the current, voltage, temperature and irradiance sensors. Data from the data logger device is sent via GPRS to a Website where it can be accessed as real time graphical displays and data files.
ETPL EMB - 012
DESIGN AND IMPLEMENTATION OF INTEROPERABLE IOT HEALTHCARE SYSTEM BASED ON INTERNATIONAL STANDARDS
In Internet of Things (IoT) environment, IoT devices are limited to power supply, CPU capacity, memory, etc. and have a constrained network performance such as bandwidth, wireless channel, throughput, payload, etc., the resources of IoT devices however can be shared by other IoT devices. Specially, in IoT healthcare service, the way of management and interoperability of patient-related and device information are very important. In this paper, we propose the design and implementation of an IoT healthcare system using ISO/IEEE 11073 PHD (Personal Healthcare Device) and CoAP (Constrained Application Protocol) standards in order to enhance the interoperability and reduce the data loss between the devices and measured information while in transmission. To demonstrate the proposed architecture, we implement comparative performance evaluation between HTTP and CoAP in terms of the number of packets in one transaction, the number of packets by data loss rate in during transmission and a syntax usage between XML and JSON.
ETPL EMB - 013
IMPACT OF VLC ON LIGHT EMISSION QUALITY OF WHITE LEDS
This paper reports the effect of data modulation on the emitted light quality of phosphor converted white LEDs. The results showed that provided the expected average current driving the LEDs remains unchanged then the emitted light quality will stay the same. For a dc-balanced modulating signal, with a nonvarying average value, any fluctuations in the instantaneous driving current due to data modulation do not have any significant impact on the measured light quality metrics. For visible light communication applications therefore, a dc-balanced signalling becomes a prerequisite if the expected quality of light emitted by the LEDs is to be preserved. The findings are premised on adequate thermal management for the LEDs under test.
ETPL EMB - 014
STEREO AUDIO STREAMING VIA VISIBLE LIGHT
Visible Light Communication (VLC) is emerging as a next generation data transmission method for short-range communication applications. In this paper we implement and characterize two prototype stereo audio streaming methods utilizing VLC. A software architecture is developed to process and stream data. The software architecture is bridged with a hardware section, which facilitates free-space VLC channel, over a Universal Serial Bus (USB) to serial interface. A particularly attractive feature of our system is that it uses commonly available, low-cost components which enables its implementation in everyday applications.
ETPL EMB - 015
UNCOORDINATED MULTIPLE ACCESS SCHEMES FOR VLC SYSTEMS WITH POSITIONING CAPABILITY
Visible light communication (VLC) has attracted a lot of attention in past several years. VLC systems can be used for both communications and indoor positioning. Several designs of VLC systems have been proposed and most of them require central units to control the light emitting diodes (LEDs) in the transmitters to avoid interference at the receiver side. In this paper, we propose a novel multiple access scheme for VLC systems that does not require central unit. The transmitters simultaneously broadcast different information. The receiver can extract the information from the superposition of the received signals from the transmitters. The received power from individual transmitters can also be determined at the receiver so that positioning algorithms can be applied. Simulation results show that our proposed scheme outperforms existing multiple access schemes for VLC systems without central unit.
ETPL EMB - 016
COEXISTENCE OF WIFI AND LIFI OPPORTUNITIES, AND CHALLENGES
TOWARDS
5G:
CONCEPTS,
Smart phones, tablets, and the rise of the Internet of Things are driving an insatiable demand for wireless capacity. This demand requires networking and Internet infrastructures to evolve to meet the needs of current and future multimedia applications. Wireless HetNets will play an important role toward the goal of using a diverse spectrum to provide high quality-of-service, especially in indoor environments where most data are consumed. An additional tier in the wireless HetNets concept is envisioned using indoor gigabit small-cells to offer additional wireless capacity where it is needed the most. The use of light as a new mobile access medium is considered promising. In this article, we describe the general characteristics of WiFi and VLC (or LiFi) and demonstrate a practical framework for both technologies to coexist. We explore the existing research activity in this area and articulate current and future research challenges based on our experience in building a proof-of-concept prototype VLC HetNet.
ETPL EMB - 017
IMPROVED PERFORMANCE LOW COST INCREMENTAL CONDUCTANCE PV MPPT TECHNIQUE
Variable-step incremental conductance (Inc.Cond.) technique, for photovoltaic (PV) maximum power point tracking, has merits of good tracking accuracy and fast convergence speed. Yet, it lacks simplicity in its implementation due to the mathematical division computations involved in its algorithm structure. Furthermore, the conventional variable step-size, based on the division of the PV module power change by the PV voltage change, encounters steady-state power oscillations and dynamic problems especially under sudden environmental changes. In this study, an enhancement is introduced to Inc.Cond. Algorithm in order to entirely eliminate the division calculations involved in its structure. Hence, algorithm implementation complexity is minimised enabling the utilisation of low-cost microcontrollers to cut down system cost. Moreover, the required real processing time is reduced, thus sampling rate can be improved to fasten system response during sudden changes. Regarding the applied step-size, a modified variable-step size, which depends solely on PV power, is proposed. The latter achieves enhanced transient performance with minimal steady-state power oscillations around the MPP even under partial shading. For proposed technique's validation, simulation work is carried out and an experimental set up is implemented in which ARDUINO Uno board, based on low-cost Atmega328 microcontroller, is employed.
ETPL EMB - 018
INTER-BUILDING PLC-VLC INTEGRATION BASED ON PSK AND CSK TECHNIQUES
This paper presents the implementation of an integration technique used to combine power line communications (PLC) and visible light communications (VLC) channels in inter-building scenarios. It considers the narrow band PLC (NBPLC). Phase-shift keying (PSK) is used to convey the information over the PLC link and colour shift keying (CSK) technique is used on the VLC link. The colour wheel method is exploited to map PSK symbols to colours. We define a parameter x, which represents different magnitudes of the PSK complex symbol observed over the PLC channel. x is adjusted to an optimal value to meet the requirement of the CSK design. The bit error rate (BER) is analysed and the performance of the system is presented for multiple values of the modulus of the detected PSK symbol. A practical implementation is performed to verify the PSK-CSK mapping method. The impact of the sun's rays on the red-green-blue (RGB) symbols is analysed and the interference source is highlighted.
ETPL EMB - 019
TURNING THE INTERNET OF (MY) THINGS INTO A REMOTE CONTROLLED LABORATORY
In this paper we use a locally developed adaptive watering system as an example of a remote controlled laboratory (RCL) developed with standard open hardware and using libraries taken from the e-lab. This experiment is a particular case that could benefit from a large number of RCLs proposing different water budget strategies, allowing the studies of the best controller algorithm to save water. The water consumption log can be monitored in real-time and served to any user as a distributed remote laboratory with support of a Raspberry PI and a web connection, using an open source Arduino board and custom made shield. The ultimate goal of RCLs will be achieved when anyone can easily publish their own experiment in the WWW.
ETPL EMB - 020
REAL-TIME ELECTRICALLY CONTROLLED ACTIVE MATCHING CIRCUIT UTILIZING GENETIC ALGORITHMS FOR WIRELESS POWER TRANSFER TO BIOMEDICAL IMPLANTS
This paper discusses the feasibility of a real-time active matching circuit (MC) for wireless power transfer applications, especially for biomedical systems. One prototype of low-cost real-time automatic MC, utilizing a variable circuit topology, including discrete passives and p-i-n diodes, has been implemented and the principle has been verified by measurements. One genetic algorithm was introduced to optimize the design over a wide range of impedances to match. As a result of preliminary operation verification tests, the proposed real-time MC system results in improving the transfer coefficient in the range of 10-16-cm coil separation distance a maximum of 3.2 dB automatically in about 64 ms. Similar performance improvement results were observed in additional tests under misaligned conditions, as well as for nonsymmetrical Tx-Rx coil configurations further verifying the potential applicability of the proposed system to practical biomedical devices.
ETPL EMB - 021
VIRTUAL TOUCH SCREENS “VIRTOS”: IMPLEMENTING VIRTUAL TOUCH BUTTONS AND VIRTUAL SLIDERS USING A PROJECTOR AND A CAMERA
We propose a large interactive display with virtual touch buttons and sliders on a pale-colored flat wall. Our easy-to-install system consists of a front projector and a single commodity camera. A button touch is detected based on the area of the shadow cast by the user's hand; this shadow becomes very small when the button is touched. The shadow area is segmented by a brief change of the button to a different color when a large foreground (i.e., the hand and its shadow) covers the button region. Therefore, no time consuming operations, such as morphing or shape analysis, are required. Background subtraction is used to extract the foreground region. The reference image for the background is continuously adjusted to match the ambient light. Our virtual slider is based on this touch-button mechanism. When tested, our scheme proved robust to differences in illumination. The response time for touch detection was about 150 ms. Our virtual slider has a quick response and proved suitable as a controller for a Breakout-style game.
ETPL EMB – 022
SEPIA: SECURE-PIN-AUTHENTICATION-AS-A-SERVICE FOR ATM USING MOBILE AND WEARABLE DEVICES
Credit card fraud is a common problem in today's world. Financial institutions have registered major loses till today due to users being exposed of their credit card information. Shoulder-surfing or observation attacks, including card skimming and video recording with hidden cameras while users perform PIN-based authentication at ATM terminals is one of the common threats for common users. Researchers have struggled to come up with secure solutions for secure PIN authentication. However, modern day ubiquitous wearable devices, such as the Google Glass have presented us with newer opportunities in this research area. In this paper, we propose Secure-PIN-Authentication-as-a-Service (SEPIA), a secure obfuscated PIN authentication protocol for ATM and other point-of-service terminals using cloud-connected personal mobile and wearable devices. Our approach protects the user from shoulder-surfers and partial observation attacks, and is also resistant to relay, replay, and intermediate transaction attacks. A SEPIA user utilizes a Google Glass or a mobile device for scanning a QR code on the terminal screen to prove co-location to the cloud-based server and obtain a secure PIN template for point-of-service authentication. SEPIA ensures minimal task overhead on the user's device with maximal computation offloaded to the cloud. We have implemented a proof-of-concept prototype to perform experimental analysis and a usability study for the SEPIA architecture.
ETPL EMB - 023
FALL DETECTION AND PREVENTION CONTROL USING WALKING-AID CANE ROBOT
An intelligent walking-aid cane robot is developed for assisting the elderly and the physically challenged with walking. A motion control method is proposed for the cane robot based on human walking intention estimation. Moreover, the safety is investigated for both the cane robot and the elderly. The fall detection and prevention concepts are proposed to guarantee the safety of the elderly while walking with the cane robot. However, the deficiency of the cane robot is that it can be overturned easily because of its small size and light weight. Therefore, a controllable universal joint is designed for adjusting the tilted angle of its stick. The stability of the cane robot during the fall prevention procedure can then be enhanced by controlling the tilted angle of stick to an optimal position. A center of pressure (COP)-based fall detection (COP-FD) method is used to detect the risk of falling. In this method, the user's COP is calculated in real time using an integrated force sensory system, which comprises a six-axis force/torque sensor and an inshoe load sensor. When the COP reaches the boundary of the specified safety area, i.e., the support polygon, it is assessed that the user is going to fall down. The COP-FD method can be used in various cases of falling. However, for cases of stumbling, a rapid fall detection method is proposed based on leg motion detection, and Dubois' fuzzy possibility theory is applied to adapt to different users. When the risk of falling has been detected, a fall prevention impedance control is executed considering both the interaction compliance and system stability. In the study, a control simulation platform was established to obtain the optimal controller parameters, and all the proposed methods were finally verified through simulations and experiments.
ETPL EMB - 024
AN EFFICIENT DETECTION METHOD FOR UNKNOWN WIRELESS DEVICES USING SDR RECEIVERS
In this paper, we describe an efficient detection method for unknown wireless devices using software defined radio (SDR) receivers, which is to estimate the position of unknown devices and their transmission power by sensing carrier frequency and measuring the received signal strengths (RSSs). RSS based positioning techniques are attractive for their low implementation complexity, but they are very sensitive to the path loss exponent in field environment. Most RSS based techniques calculate the position and transmission power of unknown devices assuming that the value of the path loss exponent is known before. However, the position estimation accuracy largely depends on the discrepancy of the path loss exponent. To improve the accuracy, the proposed method introduces a new process for the path loss exponent estimation when calculating the position and transmission power of unknown devices. The simulation results show that the proposed method has better position estimation accuracy compared with existing ones.
ETPL EMB - 025
OPTIMIZED ASSISTIVE HUMAN-ROBOT REINFORCEMENT LEARNING
INTERACTION
USING
An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops. First, a robot-specific neuroadaptive controller is designed in the inner loop to make the unknown nonlinear robot behave like a prescribed robot impedance model as perceived by a human operator. In contrast to existing neural network and adaptive impedance-based control methods, no information of the task performance or the prescribed robot impedance model parameters is required in the inner loop. Then, a task-specific outer-loop controller is designed to find the optimal parameters of the prescribed robot impedance model to adjust the robot's dynamics to the operator skills and minimize the tracking error. The outer loop includes the human operator, the robot, and the task performance details. The problem of finding the optimal parameters of the prescribed robot impedance model is transformed into a linear quadratic regulator (LQR) problem which minimizes the human effort and optimizes the closed-loop behavior of the HRI system for a given task. To obviate the requirement of the knowledge of the human model, integral reinforcement learning is used to solve the given LQR problem. Simulation results on an x-y table and a robot arm, and experimental implementation results on a PR2 robot confirm the suitability of the proposed method.