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

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Detection and segmentation of near-duplicate fragments in random images

Detection and segmentation of near-duplicate fragments in ra...

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international conference on control, automation, robotics and Vision (ICARCV)

作者： Andrzej Śluzek Mariusz Paradowski Yang Duanduan School of Computer Engineering Nanyang Technological University Singapore F. of Physics Astr. & Applied Inform Nicolaus Copernicus University Torun Poland Institute of Applied Informatics Wroclaw University of Technology Wroclaw Poland

Retrieval of near-duplicate image fragments is one of the most challenging problems is CBIR (content-based image retrieval). The objective is to identify almost the same fragments in random images of unpredictable contents. Such fragments usually represent identical object, though captured from a different viewpoint, under different photometric conditions and/or by a different camera. The paper presents techniques developed for such applications. In general, the proposed methods are based on statistical properties of keypoint similarities between compared images. In the first approach, we assume that near-duplicates are (approximately) related by affine transformations, i.e. the underlying objects are locally planar. In the second approach, a wider range of shape distortions is acceptable. Implementations (including online detection in realtime videos) are presented and their performances discussed. Additionally, an algorithm for a highly accurate segmentation of detected near-duplicate fragments is presented.

关键词： Histograms Detectors Shape Three dimensional displays Real time systems Pixel Complexity theory

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Robust polynomial eigenstructure assignment control of a class of nonlinear systems

Robust polynomial eigenstructure assignment control of a cla...

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international conference on Methods and Models in automation and robotics (MMAR)

作者： Feng Wang Antonios Tsourdos Rafał Zbikowski Brian A. White Department of Informatics and Sensors Cranfield University Swindon UK

A nonlinear controller based on polynomial eigen-structure assignment (PEA) is presented for a class of nonlinear systems. In this paper, the PEA approach used for LTI and LPV models is extended to QLTV model to realize the desired control performance of closed-loop system. With PEA approach, the eigenstructure assignment for the controller can be completed without imposing any particular eigenvalues. Using a polynomial matrix eigenspace for system and a coprime factorization for desired closed-loop transfer function, the designer is only left to choose the controller structure and calculate the controller gains by several simple formulas to produce a flexible design method for nonlinear system. As simple functions of varying parameters, the controller gains enable to realized the independence between the closed-loop system and the operating point. The stability of nominal closed-loop system and robustness of uncertain system are analyzed by using Lyapunov theorem. Finally, PEA approach is applied to a nonlinear control system and the corresponding simulation is carried out to verify the performance of system.

关键词： Nonlinear systems Stability analysis Eigenvalues and eigenfunctions Polynomials Robustness Uncertainty Uncertain systems

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On the specification of a test management solution for evaluation of handsets network operations

On the specification of a test management solution for evalu...

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IEEE international conference on automation, Quality and Testing, robotics, AQTR

作者： Clauirton A Siebra Nancy L Lino Fabio Q B Silva Andre L M Santos Informatics Department Federal University of Paraiba Joao Pessoa Brazil CIn Samsung Laboratory of Research and Development Federal University of Pernambuco (UFPE) Recife Brazil CIn/Samsung Laboratory of Research and Development Federal University of Pernambuco (UFPE) Recife Brazil

ISBN: (纸本)9781424467242;9781424467228

The wireless network evolution has allowed that the handset technology supports a broad and new set of resources and facilities to their users. However, this evolution is also increasing the number and complexity of testing prior to handsets deployment, so that there is a need to apply methodologies to ensure the quality of the test process while it evolves. This paper describes our experience in defining an automated test management solution, which has the Testlink tool as its main component. We first present the abstract view of this solution and, after that, we instantiate and discuss each of its additional components, which are required to extend the Testlink abilities in terms of automation, intelligent control and statistical metrics manipulation.

关键词： Testing Telephone sets Virtual reality Decision support systems

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Sliding-mode trajectory-tracking control for a four-wheel-steering vehicle

Sliding-mode trajectory-tracking control for a four-wheel-st...

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international conference on control and automation (ICCA)

作者： Razvan Solea Adrian Filipescu Viorel Minzu Silviu Filipescu Department of Automation and Industrial Informatics Faculty of Computer Science University Dunarea de Jos of Galati Galati Romania Intelligent Control Systems Faculty of Computer Science University Dunarea de Jos of Galati Galati Romania

ISBN: (纸本)9781424451951

Trajectory-tracking is an important behaviour for mobile robots. This paper addresses the nonlinear sliding-mode trajectory-tracking control problem for a four-wheel-steering vehicle (4WS). The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The effectiveness of the proposed control law to trajectory-tracking control is demonstrated by simulation results.

关键词： Sliding mode control Vehicles robotics and automation Mobile robots Automatic control Service robots Electric variables control control systems informatics Computer science

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Actuated bivalve robot study of the burrowing locomotion in sediment

Actuated bivalve robot study of the burrowing locomotion in ...

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IEEE international conference on robotics and automation (ICRA)

作者： Agathe Koller-Hodac Daniel P. Germann Alexander Gilgen Katja Dietrich Maik Hadorn Wolfgang Schatz Peter Eggenberger Hotz Institute for Laboratory Technology Rapperswil University of Applied Science Rapperswil Switzerland Artificial Intelligence Laboratory Department of Informatics University of Zurich Zurich Switzerland Academic Services Centre University of Lucerne Luzern Switzerland Mærsk-McKinney-Møller Institute University of Southern Denmark Odense Denmark

This paper presents the design and control of an actuated bivalve robot, which has been developed to study the burrowing locomotion of bivalves in sediment. The setup consists of a tank filled with sand and water, plastic models of bivalve shells capable of expelling water and an external actuation mechanism simulating the rocking burrowing motion typically used by these animals. The realistic shell shapes have been realized using three-dimensional plotting techniques allowing testing influences of different shell shapes and surface structures (sculptures) on the burrowing efficiency. Based on the experimental setup, the burrowing process has been reproduced. The results show that this setup can be used to identify correlations in the burrowing process. Further experimental work will investigate the influence of factors such as shell shape and sculpture or the motion sequence on the burrowing performance.

关键词： Robots Sediments Morphology Animals robotics and automation Shape Testing Laboratories Soil Valves

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2009 - 6th International Conference on Informatics in...

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics

ISBN: (纸本)9789898111999

The proceedings contain 79 papers. The topics discussed include: sensitivity based generalization error for supervised learning problem with applications in model selection and feature selection;impact of the ICT on the management and performance of intelligent transportation systems;discrete event diagnosis using Petri nets;LMI-based trajectory planning for closed-loop control of robotic systems with visual feedback;automatic approach for rectifying building facades from a single uncalibrated image;interference reduction through task partitioning in a robotic swarm;an adaptive classifier design for accurate speech data classification;three dimensional tracking using object defocus - in two dimensional scanning electron microscope images;mobile platform self-localization in partially unknown dynamic environments;and model and approaches for tension of parallel structures with elastic joints for micro and nano manipulators.

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2009 - 6th International Conference on Informatics in...

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics

ISBN: (纸本)9789898111999

The proceedings contain 42 papers. The topics discussed include: European standards and perspectives for e-voting in Bulgaria;a formula driven incremental construction of web service compositions;evaluating a framework for the development and deployment of evolving applications as a software maintenance tool;modeling the evolution of software engineering trends - a bottom up approach;resolving traceability issues in product derivation for software product lines;detecting regulatory vulnerability in functional requirements specifications;model transformation using adaptive systems;a self-adaptive architecture for autonomic systems developed with ASSL;aggregated accounting of memory usage in java;model driven testing with time augmented Markov chain usage models - computations and test case generation algorithms for time augmented Markov chain usage models;and refactoring of C/C++ preprocessor constructs at the model level.

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The bielefeld anthropomorphic robot head “Flobi”

The bielefeld anthropomorphic robot head “Flobi”

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IEEE international conference on robotics and automation (ICRA)

作者： Ingo Lütkebohle Frank Hegel Simon Schulz Matthias Hackel Britta Wrede Sven Wachsmuth Gerhard Sagerer Applied Informatics Group Bielefeld University Germany Central Lab Facilities Bielefeld University Germany Mabotics GmbH Germany

A robot's head is important both for directional sensors and, in human-directed robotics, as the single most visible interaction interface. However, designing a robot's head faces contradicting requirements when integrating powerful sensing with social expression. Furher, reactions of the general public show that current head designs often cause negative user reactions and distract from the functional capabilities. Therefore, this contribution presents a novel anthropomorphic robot head called "Flobi", which combines state-of-the-art sensing functionality with an exterior that elicits a sympathetic emotional response. It can display primary and secondary emotions in a human-like way, to enable intuitive human-robot-interaction. To facilitate further research on facial appearance, the exterior is fully modular and replaceable. While current state-of-the-art still requires trade-offs when integrating sensing and social expression, Flobi has been designed to enable service robotic applications, with high-resolution, wide-angle stereo vision, gyroscope motion compensation and stereo audio. For ease of integration, the head is self-contained, including 18 actuators, sensors and control boards, all in a human-head sized package.

关键词： Anthropomorphism Robot sensing systems Human robot interaction Displays Robot vision systems Stereo vision Gyroscopes Motion compensation Actuators Size control

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics, Proceedings

ICINCO 2009 - 6th International Conference on Informatics in...

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ICINCO 2009 - 6th international conference on informatics in control, automation and robotics

ISBN: (纸本)9789898111999

The proceedings contain 66 papers. The topics discussed include: sensitivity based generalization error for supervised learning problem with applications in model selection and feature selection;impact of the ICT on the management and performance of intelligent transportation systems;recent advances in verification and analysis of hybrid systems;from bending to linear movement - a linear activation mechanism based on conducting polymer actuators;the multistart drop-add-swap heuristic for the uncapacitated facility location problem;a hybrid set-up optimization model for tandem cold rolling mill;inducing cooperation in fuzzy classification rules using iterative rule learning and rule-weighting;the extraction of knowledge rules from artificial neural networks applied in the electric load demand forecast problem - how artificial neural networks retain knowledge and make reliable forecasts;and IFT-based PI-fuzzy controllers - signal processing and implementation.

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Motion analysis of a robotic wheelchair on climbing winding stairs in an open mode

Motion analysis of a robotic wheelchair on climbing winding ...

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IEEE international conference on Industrial informatics (INDIN)

作者： Chun-Ta Chen Hoang-Vuong Pham Chih-Jer Lin Chiang-Ho Cheng Cheng-Hsien Wu Yu-Cheng Chang Department of Mechanical and Automation Engineering Da-Yeh University Taiwan Department of Automation Engineering Taipei University of Science and Technology Taiwan Department of Mold and Die Engineering National Kaohsiung University of Applied Sciences Taiwan

ISBN: (纸本)9781424472987;9781424473007

This paper presents the mechanical design, the locomotion and the associated dynamic model of a new robotic wheelchair on climbing winding stairs. The prototype stair-climbing robotic wheelchair is constructed comprising a pair of rotational multi-limbed structures pivotally mounted on opposite sides of a support base so that the robotic wheelchair can ascend and descend stairs; especially, capability of climbing winding stairs is addressed. Based on the skid-steering analysis, the dynamic models for climbing winding stairs are developed for the trajectory planning and motion analysis. These models are required to ensure a passenger's safety in such a way that the robotic wheelchair is operated in an open mode. Numerical and experimental results are reported that show the behavior of the prototype as it climbs a winding stair in a dynamic turning.

关键词： Motion analysis Mobile robots Wheelchairs Wheels robotics and automation control systems Navigation Transportation Axles Prototypes

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