In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Bl...
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ISBN:
(纸本)9789897580406
In this paper, we present a robotic system capable of mapping indoor, cluttered environments and, simultaneously, detecting people and localizing them with respect to the map, in real-time, using solely a Red-Green-Blue and Depth (RGB-D) sensor, the Microsoft Kinect, mounted on top of a mobile robotic platform running Robot Operating System (ROS). The system projects depth measures in a plane for mapping purposes, using a grid-based Simultaneous Localization and Mapping (SLAM) approach, and pre-processes the sensor's point cloud to lower the computational load of people detection, which is performed using a classical technique based on Histogram of Oriented Gradients (HOG) features, and a linear Support Vector Machine (SVM) classifier. Results show the effectiveness of the approach and the potential to use the Kinect in real world scenarios.
Trails are unstructured and typically lack standard markers that characterize roadways;nevertheless, trails can provide an effective set of pathways for off-road navigation. Here we approach the problem of trail follo...
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We examine the proposition of a stationary assistive robot arm in the kitchen. Based on a preliminary business plan and with the aim of generating engineering requirements, a multi-disciplinary project was established...
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This paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. The novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC volta...
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ISBN:
(纸本)9789897580390
This paper deals with the problem of torque ripple minimization of permanent magnet synchronous motor. The novelty of the presented approach lays in precisely maintain the level of the voltage source inverter DC voltage demanded for proper operation of the motor. An additional voltage matching circuit with state feedback controller is introduced in order to control of the inverter DC voltage. In the proposed solution model of a plant (i.e. permanent magnet synchronous motor fed by voltage source inverter with additional voltage matching circuit) is non-linear and non-stationary. An adaptive state feedback controller is developed by using an artificial neural network, which approximates non-linear control gain surfaces. A simple adaptation algorithm based on 2 low-order low-pass filters is used. Simulation results illustrate the proposed approach in comparison to typical drive with voltage source inverter and stationary state feedback controller.
LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems, such as autonomous vehicles, during their decision making processes. Unfortunately, the ann...
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ISBN:
(纸本)9789897585227
LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems, such as autonomous vehicles, during their decision making processes. Unfortunately, the annotation process for this task is very expensive. To overcome this, it is key to find models that generalize well or adapt to additional domains where labeled data is limited. This work addresses the problem of unsupervised domain adaptation for LiDAR semantic segmentation models. We propose simple but effective strategies to reduce the domain shift by aligning the data distribution on the input space. Besides, we present a learningbased module to align the distribution of the semantic classes of the target domain to the source domain. Our approach achieves new state-of-the-art results on three different public datasets, which showcase adaptation to three different domains.
Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environm...
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ISBN:
(纸本)9728865600
Studies on human visual perception measurement for perceptual robotics are described. The visual perception is mathematically modelled as a probabilistic process obtaining and interpreting visual data from an environment. The measurement involves visual openness perception in virtual reality, which has direct implications for navigation issues of actual autonomous robotics. The perception is quantified by means of a mapping function which converts a distance to an elemental perception estimate. The measurement is carried out with the averaging of the elemental perceptions in real time. This is accomplished by means of exponential averaging. The mapping function parameters are optimized uniquely by means of genetic algorithm approach where the data set for model development consists of a number of perception data samples. These are obtained from individuals who are confronted with a number of scenes and asked for their perceptual openness statements. Based on this data, a perception model is developed for a virtual robot where the simulated vision interaction of the robot with the environment is converted to visual openness estimation through the model output. The model outcome is essential visual information for the navigation of an autonomous perceptual robot.
Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing p...
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ISBN:
(纸本)9789898565716
Bevel-tipped flexible needles can be steered to reach clinical targets along curvilinear paths in 3D while avoiding obstacles. Steering by duty-cycled rotation increases the versatility of this approach by providing proportional control of trajectory curvature. This paper presents computationally efficient techniques for path planning and path-following control for this application, using a 3D simulated brain environment. Path planning algorithms for this class of steerable needles have been developed using Rapidly-exploring Random Trees (RRTs). This paper expands on these methods, using quaternions for representation of rotation, and enhancing computational efficiency through use of interpolation, and by relaxing the entry constraint. For path-following, a look-ahead proportional controller for position and orientation is presented. Simulations in a 3D brain-like environment demonstrate the performance of the proposed planner and path-following controller. The look-ahead is seen to improve path-following performance.
In recent years, autonomous robots have proven capable of solving tasks in complex environments. In particular, robot manipulations in activities of daily living (ADL) for service robots have been widely developed. Ho...
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ISBN:
(纸本)9789897583803
In recent years, autonomous robots have proven capable of solving tasks in complex environments. In particular, robot manipulations in activities of daily living (ADL) for service robots have been widely developed. However, manipulations of grasping an unreachable object in domestic environments still present difficulty. To perform those applications better, we developed an autonomous system with human-in-the-loop that combined the cognitive skills of a human operator with autonomous robot behaviors. In this work, we present techniques for integration the system for assistive mobile manipulation and new strategies to support users in the domestic environment. We demonstrate that the robot can grasp multiple objects with random size at known and unknown table heights. Specifically, we developed three strategies for manipulation. We also demonstrated these strategies using two intuitive interfaces, a visual interface in rviz and a voice user interface with speech recognition. Moreover, the robot can select strategies automatically in random scenarios, which make the robot intelligent and able to make decisions independently in the environment. We demonstrated that our robot shows the capabilities for employment in domestic environments to perform actual tasks.
Vehicle platooning is very effective technology for safely increasing the traffic capacity of the road network. When the platooning vehicles and the normal vehicles run together, the platooning vehicles should control...
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A real-time kernel is software that manages the time of a microprocessor or microcontroller to ensure that all time critical events are processed as efficiently as possible .This paper describes how μC/OS-II has been...
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A real-time kernel is software that manages the time of a microprocessor or microcontroller to ensure that all time critical events are processed as efficiently as possible .This paper describes how μC/OS-II has been ported to the Microchip dsPIC33 family of CPU and mainly analizes the interrupt handling methods in proting process .
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