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3 results for “Collaborative Anomaly Detection”
RoHuCAD: Robots and Humans Collaborative Anomaly Detection
<h1>RoHuCAD: Robots and Humans Collaborative Anomaly Detection</h1> <p>RoHuCAD is a dataset of human-robot collaboration in a robotic workshop (check <code>workshop_layout.png</code>). Two robots (collaborative manipulator - cobot, autonomous mobile robot - AMR) assist three human operators in assembly of electronic devices.</p> <p>There are two 8-min long recordings in the dataset. They mostly follow the same scenario, with slightly different anomalies. The data is in ROS Noetic rosbag format.</p> <h2>Included data </h2> <ul> <li>RGBD camera data (color + depth) <ul> <li>3 cameras: <a href="https://www.intelrealsense.com/depth-camera-d435i/">Intel Realsense D435i</a></li> <li>color and depth data at 6 frames per second</li> <li>Intrinsic calibration data</li> <li>Extrinsic calibration data (positions and orientations)</li> </ul> </li> <li>Information about positions of robots <ul> <li>AMR: <a href="https://www.ez-wheel.com/en/development-kit-for-agv-and-amr">Ez-Wheel SWD® Starter Kit</a></li> <li>Cobot: <a href="https://www.universal-robots.com/products/ur10-robot/">Universal Robots UR10e</a></li> </ul> </li> </ul> <h2>Annotations</h2> <p>Annotations of specific anomalies are included (CSV file with columns: event_id, tstart, tend, event_type, person_id, camera_id)</p> <ul> <li>Gestures / poses <ul> <li>BENT</li> <li>T-POSE (hands horizontally to the sides)</li> <li>L+R-UP (both hands up)</li> <li>RH-UP (right hand up)</li> <li>LH-UP (left hand up)</li> <li>SQUAT</li> <li>HI-POSE (waving)</li> </ul> </li> <li>Unsafe behaviour <ul> <li>Human in robot working area</li> <li>Standing back to (moving) robot</li> <li>Looking at phone</li> <li>Human in the way of AMR</li> </ul> </li> <li>Normal activities <ul> <li>Assembling/Working</li> <li>Loading/unloading AMR</li> </ul> </li> </ul> <h2>ROS topics</h2> <ul> <li><code>/tf </code></li> <li><code>/tf_static</code></li> <li><code>/joint_states</code></li> <li>cam_ws2_box <ul> <li><code>/cam_ws2_box/color/camera_info</code></li> <li><code>/cam_ws2_box/color/image_raw/compressed</code></li> <li><code>/cam_ws2_box/depth_registered/camera_info</code></li> <li><code>/cam_ws2_box/depth_registered/image_rect_raw</code></li> </ul> </li> <li>cam_ta2_ws2 <ul> <li><code>/cam_ta2_ws2/color/camera_info</code></li> <li><code>/cam_ta2_ws2/color/image_raw/compressed</code></li> <li><code>/cam_ta2_ws2/depth_registered/camera_info</code></li> <li><code>/cam_ta2_ws2/depth_registered/image_rect_raw</code></li> </ul> </li> <li>cam_ta1_ws2 <ul> <li><code>/cam_ta1_ws2/color/camera_info</code></li> <li><code>/cam_ta1_ws2/color/image_raw/compressed</code></li> <li><code>/cam_ta1_ws2/aligned_depth_to_color/camera_info</code></li> <li><code>/cam_ta1_ws2/aligned_depth_to_color/image_raw</code></li> </ul> </li> </ul> <h2>Acknowledgement</h2> <p>The work leading to these results has received funding from the European Union’s Horizon Europe research and innovation programme within the ULTIMATE project under the Grant Agreement no 101070162.</p>
Dataset for: An experimental comparison of anomaly detection methods for collaborative robot manipulators
<p>The dataset contains data recordings from a UR5e robot during normal and anomalous operation and is recorded to support the authors Master thesis project and the associated Paper: <em>"An Experimental Comparison of Anomaly Detection Methods for Collaborative Robot Manipulators" </em>(inProceeding).</p> <p>An in-depth description of the dataset can be found in the pdf uploaded with the dataset and an example of a data loader is also provided.</p>
CADeSH Dataset: Collaborative Anomaly Detection for Smart Homes
<p>Dataset used for quantitative evaluation in the paper:</p> <p>Y. Meidan, D. Avraham, H. Libhaber and A. Shabtai, "CADeSH: Collaborative Anomaly Detection for Smart Homes," in IEEE Internet of Things Journal, 2022, doi: 10.1109/JIOT.2022.3194813.</p> <p> </p> <p>This is a table of flow-level traffic data which was continuously captured during a period of 21 days from five real home networks which were subscribed to a smart home security service, and from our lab at Ben-Gurion University of The Negev. This security service provider shared with us these network traffic flows, plus the related DNS requests and responses, and reputation intelligence of the destination IP addresses. Each instance in this dataset represents an outbound network traffic flow (in the form of an IPFIX) which emanated from an instance of the IoT model streamer.Amazon.Fire_TV_Gen_3.</p> <p>In our lab, we infected our streamer.Amazon.Fire_TV_Gen_3 with a cryptominer and executed cryptomining from this device. To imitate a scanning activity typically performed by some botnets, we also scanned the network using Nmap. In accordance, we labeled these malicious activities as (1) `is executing cryptomining,' or (2) `being scanned by Nmap.' All of the remaining IPFIXs captured in our lab or on the home networks were labeled as `assumed benign'.</p> <p>The multitude of real home networks, and the multitude of identical source devices, enable using this dataset for quantitative evaluation of (collaborative) anomaly/attack detection methods, especially for the IoT.</p>
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