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检索条件"任意字段=3rd International Conference on Informatics in Control, Automation and Robotics"

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A New Non-Linear Algorithm for 3D Reconstruction from Straight-line Optical Flow

A New Non-Linear Algorithm for 3D Reconstruction from Straig...

引用

international Asia conference on informatics in control, automation and robotics, CAR

作者： Zhen Chen Ming Li Shao-feng Jiang Shui-gen Wei Yu Wang Lab of Computer Vision College of Automation Nanchang Hangkong University Nanchang China

This paper presents a new mathematical definition of straight-line optical flow. By using 21 straight-line optical flows in 3 consecutive image frames, a set of equations about 3D motion parameters are established to obtain 12 motion parameters of 3D object and coordinates of the 3D straight line. Usually, it is difficult to find the 21 straight lines on correspondence. In this paper, a minimum of 6 straight-line optical flows in 3 consecutive image frames is required to obtain 12 motion parameters of 3D object and coordinates of the 3D straight line, by solving non-linear equations. With the parameters and coordinates a 3D scene can be reconstructed.

关键词： Nonlinear optics Image motion analysis Image reconstruction Spatiotemporal phenomena robotics and automation Computer vision Nonlinear equations Layout Motion estimation Asia

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A Method for Robust Nose Tip Location across Pose Variety in 3D Face Data

A Method for Robust Nose Tip Location across Pose Variety in...

引用

international Asia conference on informatics in control, automation and robotics, CAR

作者： Jun Yang Zhi-Wu Liao Li Xiao-Ning Zhen-Dong Wu College of Computer Sichuan University Chengdu China College of Computer Science Sichuan Normal University Chengdu China

3D face data have the potential to improve the face recognition performance at disadvantageous conditions, such as uncontrolled illuminations, pose and expression. 3D nose tip location is the crucial step for registration and recognition of 3D face data. An automatic nose tip location and pose estimation method robust for pose changing at 3D face scans is proposed in this paper. We firstly gain some tip candidates by directional maximum and normalize the 3D scan data to front by hypothetical nose tips. Two filters respectively based on local structure of curves and PCA reconstruction curves errors are utilized to discard false tip candidates. The results of nose tip position and face recognition at BJUT 3D Database show the proposed method is efficient and robust for pose angle variety.

关键词： Robustness Nose Face recognition Educational institutions Computer science Automatic control robotics and automation Lighting Principal component analysis Image reconstruction

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Concept and design of the intellwheels platform for developing intelligent wheelchairs

Concept and design of the intellwheels platform for developi...

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Braga, Rodrigo A. M. Petry, Marcelo Moreira, Antonio Paulo Reis, Luis Paulo LIACC - Artificial Intelligence Computer Science Lab University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal Informatics Engineering Department FEUP-DEI - Faculty of Engineering University of Porto Rua Dr. Roberto Frias s/n Porto 4200-465 Portugal

ISBN: (纸本)9783642002700

Many people with severe disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling these electrical devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform, including the hardware and software, multimodal input interface and the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also described showing the autonomous movement capabilities of the prototype. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Wheelchairs

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Brain-robot interface for controlling a remote robot arm

Brain-robot interface for controlling a remote robot arm

引用

3rd international Work-conference on the Interplay Between Natural and Artificial Computation, IWINAC 2009

作者： Iáñez, Eduardo Furió, M. Clara Azorín, José M. Huizzi, José Alejandro Fernández, Eduardo Virtual Reality and Robotics Lab Universidad Miguel Hernández de Elche 03202 Elche Spain Bioengineering Institute Universidad Miguel Hernández de Elche 03202 Elche Spain Hospital General Universitario de Alicante Spain

ISBN: (纸本)3642022669

This paper describes a technique based on electroencephalography (EEG) to control a robot arm. This technology could eventually allow people with severe disabilities to control robots that can help them in daily living activities. The EEG-based Brain Computer Interface (BCI) developed consists in register the brain rhythmic activity through a electrodes situated on the scalp in order to differentiate one cognitive process from rest state and use it to control one degree of freedom of the robot arm. In the paper the processing and classifier algorithm are described and an analysis of their parameters has been made with the objective of find the optimum configuration that allow obtaining the best results. © 2009 Springer Berlin Heidelberg.

关键词： Electroencephalography

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Mobile robot teleoperation via wireless multihop networks - Parameter tuning of protocols and real world application scenarios

Mobile robot teleoperation via wireless multihop networks - ...

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： Zeiger, Florian Krämer, Nikolaus Sauer, Markus Schilling, Klaus University of Wuerzburg Department of Robotics and Telematics Am Hubland Wuerzburg Germany

ISBN: (纸本)9783642002700

Currently, the use of wireless networks is very common in the field of networked robotics and can be considered as a key issue for capable multi robot systems with a high grade of mobility. Nevertheless, this mobility requests for special features of the communication infrastructure, which leads to the integration of mobile robots into wireless ad-hoc networks. Since the late nineties, more than 80 ad-hoc routing protocols were developed and nowadays some of them are implemented and ready to use in real world applications. A comparison of four ad-hoc routing protocols (AODV, DSR, OLSR, and BATMAN) showed shortfalls of the default parameter settings not allowing a reliable teleoperation of mobile robots while using AODV, OLSR, or BATMAN. This work is focused on the parameter tuning of the routing protocols to use them in wireless ad-hoc networks of mobile robots. The time required for route reestablishing, as well as the packet loss during rerouting is investigated in hardware tests of a network with dynamic network topology consisting of mobile robots. It could be demonstrated, that an appropriate parameter setting of OLSR and BATMAN allow the teleoperation of mobile robots in outdoor environments via a wireless ad-hoc network. Finally a small application is presented to show the interaction of the different protocol layers in order to provide a communication network for services and applications to increase the capabilities of networked mobile robots. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Mobile robots

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Path planning for cooperating unmanned vehicles over 3-d terrain

Path planning for cooperating unmanned vehicles over 3-d ter...

引用

international conference on informatics in control automation and robotics, ICINCO 2007

作者： Nikolos, Ioannis K. Tsourveloudis, Nikos C. Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete 73100 Chania Greece

ISBN: (纸本)9783540856399

In this paper we suggest an off-line/on-line path planner for cooperating unmanned vehicles that takes into account the mission objectives and constraints through an optimization procedure. The cooperating vehicles can be either Unmanned Aerial Vehicles (UAVs) or Autonomous Underwater Vehicles (AUVs);these two categories of vehicles share common features as far as path planning is concerned and these features are used in this work for the development of a unified approach to the path planning problem over 3-D terrains. A number of unmanned vehicles of the same category are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories (represented by 3-D B-Spline curves) that ensure a collision free path, respect the mission objectives and constraints, and guide the vehicles to a common final destination. The off-line planner is designed for known environments. The on-line one generates paths in unknown static environments, by exchanging acquired information from the cooperating vehicles' on-board sensors. For each vehicle a near optimum path is generated that guides it safely to an intermediate position within the already scanned area. The process is repeated for each vehicle until the final destination is reached by one or more members of the team. Then, each one of the remaining vehicles can either turn into the off-line mode to reach the target, moving through the already scanned area, or continue with the on-line mode. Both off-line and on-line path planning problems are formulated as optimization problems, and a Differential Evolution algorithm is used as the optimizer.

关键词： Autonomous underwater vehicles

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Adaptive fuzzy controller for output power maximization of induction generators

Adaptive fuzzy controller for output power maximization of i...

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5th international conference on informatics in control automation and robotics, ICINCO 2008

作者： De A. Souza, Durval Navarro, José A. Dominguez Arasanz, Jesús Sallán Federal Center for Technology Education of Bahia CEFET-BA UE de Vitória da Conquista 3150 Zabelê Vitória da Conquista Bahia 45030-220 Brazil Department of Electrical Engineering University of Zaragoza Campus Del Actur Calle Maria de Luna 3 Zaragoza 50018 Spain

ISBN: (纸本)9783642002700

This note presents a new technique for efficiency optimization of induction generators working at variable speed and load. The technique combines two distinct control methods, namely, on-line search of the optimal operating point and a model based efficiency control. For a given operating condition, characterized by a given turbine speed (ωT) and electric torque (Te), the search control is implemented via the " Rosenbrock" method, which determines the flux level that results in maximum output power. Once the optimal flux level has been found, this information is used to update the rule base of a fuzzy controller, which plays the role of an implicit mathematical model of the system. Initially, for any load condition, the rule base yields the rated flux value. As the optimum points associated with the different operating conditions are identified, the rule base is progressively updated, so that the fuzzy controller learns to model the optimal operating conditions for the entire torque-speed plane. After every rule base update, the Rosenbrock controller output is reset, but it is kept active to track possible minor deviations of the optimum point. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Asynchronous generators

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Fuzzy modelling in the emerging field of knowledge management systems

Fuzzy modelling in the emerging field of knowledge managemen...

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作者： Mazilescu, Vasile Minzu, Viorel Nistor, Costel Department of Economic Informatics DunǍrea de Jos University Galati Romania Department of Automatic DunǍrea de Jos University 47 Domneasca Street Galati Romania

ISBN: (纸本)9789604741465

Knowledge Management Systems (KMSs) is a new development paradigm of intelligent systems which has resulted from a synergy between fuzzy sets, artificial neural networks, evolutionary computation, machine learning, etc., broadening computer science, physics, economics, engineering, mathematics. This paper presents, after a synergic new paradigm of intelligent systems, as a practical case study the fuzzy and temporal properties of knowledge formalism embedded in an Intelligent control System (ICS), based on FT-algorithm. We are not dealing high with level reasoning methods, because we think that real-time problems can only be solved by rather low-level reasoning. For this, we use a fuzzy compiled structure of knowledge. Solving the match-time predictability problem would allow us to built much more powerful reasoning techniques.

关键词： Intelligent control

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Laser-based navigation enhanced with 3D time-of-flight data

Laser-based navigation enhanced with 3D time-of-flight data

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IEEE international conference on robotics and automation (ICRA)

作者： Fang Yuan Agnes Swadzba Roland Philippsen Orhan Engin Marc Hanheide Sven Wachsmuth Applied Informatics Bielefeld University Bielefeld Germany Robotics and Artificial Intelligence Laboratory University of Stanford Stanford USA

Navigation and obstacle avoidance in robotics using planar laser scans has matured over the last decades. They basically enable robots to penetrate highly dynamic and populated spaces, such as people's home, and move around smoothly. However, in an unconstrained environment the two-dimensional perceptual space of a fixed mounted laser is not sufficient to ensure safe navigation. In this paper, we present an approach that pools a fast and reliable motion generation approach with modern 3D capturing techniques using a time-of-flight camera. Instead of attempting to implement full 3D motion control, which is computationally more expensive and simply not needed for the targeted scenario of a domestic robot, we introduce a ldquovirtual laserrdquo. For the originally solely laser-based motion generation the technique of fusing real laser measurements and 3D point clouds into a continuous data stream is 100% compatible and transparent. The paper covers the general concept, the necessary extrinsic calibration of two very different types of sensors, and exemplarily illustrates the benefit which is to avoid obstacles not being perceivable in the original laser scan.

关键词： Navigation Laser modes Orbital robotics Robot vision systems Cameras Motion control Robot sensing systems Motion measurement Clouds Calibration

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User-centered activity management system for elderly people Empowering older people with interactive technologies to manage their activities at the retirement home

User-centered activity management system for elderly people ...

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international conference on Pervasive Computing Technologies for Healthcare, PervasiveHealth

作者： Otjacques Benoit Krier Marc Feltz Fernand Ferring Dieter Hoffmann Martine Informatics Systems and Collaboration Department - ISC Public Research Centre - Gabriel Lippmann Belvaux Luxembourg Informatics Systems and Collaboration Department - ISC Public Research Centre - Gabriel Lippmann Belvaux Luxembourg Luxembourg INSIDE Research Unit University of Luxembourg Luxembourg Luxembourg

This paper presents the preliminary results of a multi-disciplinary project aiming at studying technology supported life in a retirement home. The results of semi-structured interviews conducted with a group of 40 (semi-) autonomously living elderly persons are presented. In general they point in the direction of a “differential indication” of technologies in the sense of identifying personal solution for individual needs. Second, results show that the crucial dimension underlying the acceptance of technologies is the notion of personal control. The paper also identifies ten key design factors to build successful applications for elderly people. Finally an initial version of a new system mixing RFID, tactile screen and large display is described.

关键词： Technology management Senior citizens Retirement Radiofrequency identification Aging Project management Usability Gerontechnology informatics Collaboration

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