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Human motion recognition from 3D pose information: Trisarea: A New Pose-based Feature

Human motion recognition from 3D pose information: Trisarea:...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Vinagre, M. Aranda, J. Casals, A. Robotics Group Institute for Bioengineering of Catalonia Baldiri Reixac 10-12 08028 Barcelona Spain Universitat Politcnia de Catalunya BarcelonaTech. Jordi Girona 1-3 08034 Barcelona Spain

ISBN: (纸本)9789898565716

The use of pose-based features has demonstrated to be a promising approach for human motion recognition. Encouraged by the results achieved, a new relational pose-based feature, Trisarea, based on geometric relationship between human joints, is proposed and analysed. This feature is defined as the area of the triangle formed by connecting three joints. The paper shows how the variation of a selected set of Trisarea features over time constitutes a descriptor of human motion. It also demonstrates how this motion descriptor based on Trisarea features can provide useful information in terms of human motion for its application to action recognition tasks.

关键词： Motion estimation

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Redundant inertial navigator for robotic applications

Redundant inertial navigator for robotic applications

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Grigorie, Teodor Lucian Botez, Ruxandra Mihaela Faculty of Electrical Engineering University of Craiova 200440 Craiova Dolj Romania École de Technologie Supérieure Montréal QC H3C 1K3 Canada

ISBN: (纸本)9789898565709

The architecture and implied mathematical algorithms for a redundant strap-down inertial navigator in horizontal plane are shown in the paper. As immediate application of the system, the surveillance of miniaturized vehicles like robotic systems was identified. The navigator redundance is achieved from its inertial measurement unit, which uses two arrays of four miniaturized accelerometers in the two detection axes in horizontal plane, and a four miniaturized gyro array along the vertical axis. The architecture of the sensors arrays dispositions is a linear one;for every detection array a fusion method based on minimum variance method is used to statistically combine the data acquired from the sensors. The system is experimentally tested by using a SDINS/GPS integrated navigator as reference system, and a car as monitored vehicle;the sensors fusion results are shown and the navigation solution errors are estimated.

关键词： robotics

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Computational experience in solving continuous-time algebraic Riccati equations using standard and modified newton's method

Computational experience in solving continuous-time algebrai...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Sima, Vasile Advanced Research National Institute for Research and Development in Informatics Bd. Mareşal Averescu Nr. 8-10 Bucharest Romania

ISBN: (纸本)9789898565709

Improved algorithms for solving continuous-time algebraic Riccati equations using Newton's method with or without line search are discussed. The basic theory and Newton's algorithms are briefly presented. Algorithmic details the developed solvers are based on, the main computational steps (finding the Newton direction, finding the Newton step size), and convergence tests are described. The main results of an extensive performance investigation of the solvers based on Newton's method are compared with those obtained using the widely-used MATLAB solver. Randomly generated systems with orders till 2000, as well as the systems from a large collection of examples, are considered. The numerical results often show significantly improved accuracy, measured in terms of normalized and relative residuals, and greater efficiency than the MATLAB solver. The results strongly recommend the use of such algorithms, especially for improving the solutions computed by other solvers.

关键词： Newton-Raphson method

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control system with state feedback and NN based load torque feedforward for PMSM with LC filter Fed by 3-level NPC inverter

Control system with state feedback and NN based load torque ...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Grzesiak, L.M. Tarczewski, T. Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw Poland Institute of Physics Faculty of Physics Astronomy and Informatics Nicolaus Copernicus University Grudziadzka 5 Torun Poland

ISBN: (纸本)9789898565709

This paper presents designing process of the control system with discrete state feedback and neural network based load torque feedforward for permanent magnet synchronous motor fed by true sine wave 3-level neutral point clamped inverter with an output LC filter. Our main objective is to reduce the effect of load torque changes and to improve dynamic behaviour of the motor during load changing. The full state feedback algorithm has been chosen to control the angular velocity of the motor and to provide true sine wave of the input motor voltages. It was found that gains of the controller and feedforward path are non-stationary and depends on the angular velocity. In such a case linearization and decoupling process of the motor with LC filter is not needed. Simulation results (at the level of 3kW) illustrate the proposed approach.

关键词： State feedback

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Towards a "holistic" safety monitoring in intelligent vehicle control

Towards a "holistic" safety monitoring in intelligent vehicl...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Köhler, Tim Schröer, Martin DFKI GmbH Robotics Innovation Center Bremen Germany University of Bremen Robotics Research Group Robert-Hooke-Straße 5 28359 Bremen Germany

ISBN: (纸本)9789898565709

Today, the state of the art in vehicle safety follows an explicit design flow. Specific sensors measure a particular dimension (e.g. distance to other vehicles) and "safety" is defined as a specific range of allowed values (e.g. minimal distance). The disadvantage of such an approach is that safety issues which were unconsidered at design time are not detectable. Furthermore, a detection of issues that are only indirectly measurable is difficult to realize. In this paper, a holistic safety monitoring approach is presented that makes use of all available sensor data and tries to find an implicit definition of "safety". By such an inverse approach vehicle safety issues which are hard to be directly measurable might be detectable, too. For instance, an identification of driver-initiated critical situations (e.g. caused by distraction) could be possible if taking multiple sensor modalities into account and having an implicitly defined "safe" state. Furthermore, the article describes the selection of potential test platforms and shows already collected test data of a mobile robot platform. Presented in this work-in-progress paper is the concept of definition, implementation, and detection of implicit vehicle safety.

关键词： Fault detection

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Semi-centralized reconstruction of robot swarm topologies: The largest laplacian eigenvalue and high frequency noise are used to calculate the adjacency matrix of an underwater swarm from time-series

Semi-centralized reconstruction of robot swarm topologies: T...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Fioriti, Vincenzo Chiesa, Stefano Fratichini, Fabio ENEA C. R. Casaccia Laboratory of Robotics Via Anguillarese 301 S. Maria in Galeria Roma Italy

ISBN: (纸本)9789898565709

An important task in underwater autonomous vehicle swarm management is the knowledge of the graph topology, to be obtained with the minimum possible communication exchanges and amid heavy interferences and background noises. Despite the importance of the task, this problem is still partially unsolved. Recently, the Fast Fourier Transform and the addition of white noise to consensus signals have been proposed independently to determine respectively the laplacian spectrum and the adjacency matrix of the graph of interacting agents from consensus time series, but both methodologies suffer technical difficulties. In this paper, we combine them in order to simplify calculations, save energy and avoid topological reconstruction errors using only the largest eigenvalue of the spectrum and instead of white noise, a high frequency, low amplitude noise. Numerical simulations of several swarms (random, small-world, pipeline, grid) show an exact reconstruction of the configuration topologies.

关键词： Time series

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Parametric fault detection in nonlinear systems: A recursive subspace-based approach

Parametric fault detection in nonlinear systems: A recursive...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Gil, Paulo Santos, Fábio Cardoso, Alberto Palma, Luís Departmento de Engenharia Electrotécnica Faculdade de Ciências e Tecnologia Universidade Nova de Lisboa 2829-516 Caparica Portugal CISUC Informatics Engineering Department University of Coimbra Pólo II 3030-290 Coimbra Portugal Visteon Corporation Ltd. Electronics Product Group 2951-503 Palmela Portugal

ISBN: (纸本)9789898565709

This paper deals with the problem of detecting nolinear systems' parametric faults modeled as changes in the eigenvalues of a local linear state-space model. The linear state-space model approximations are obtained by recursive subspace system identification techniques, from which the eigenvalues are extracted at each sampling time. Residuals are generated by comparing the eigenvalues against those associated with a local nominal model derived from a neural network predictor describing the nonlinear plant dynamics in free fault conditions. Parametric fault symptoms are generated from the eigenvalues residuals, whenever a given predefined threshold is exceeded. The feasibility and effectiveness of the proposed framework is demonstrated in a practical case study.

关键词： Fault detection

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Efficient 3D control for needle steering using duty-cycled rotation

Efficient 3D control for needle steering using duty-cycled r...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Li, Xiao Lehocky, Craig A. Riviere, Cameron N. Dept. of Mechanical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Dept. of Biomedical Engineering Carnegie Mellon University Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University Pittsburgh PA 15213 United States

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.

关键词： Motion planning

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Path following control of rhombic like vehicles: Performance assessment with dynamic vehicle model

Path following control of rhombic like vehicles: Performance...

引用

10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Silva, Nuno Vale, Alberto Baglivo, Luca Institute de Plasmas e Fusão Nuclear Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1 1049-001 Lisboa Portugal

ISBN: (纸本)9789898565716

This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (drivable and steerable wheels both at front and rear) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration;the fourth is a nonlinear controller built upon a kinematic model of a RLV using Lyapunov functions. All the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. The dynamic modelling of a RLV is lastly introduced. Simulated results present a comparative performance assessment of the controllers while dealing, or not, with vehicle dynamics. The main conclusions of these controllers are summarized, leading to a possible application in the actual vehicles that will operate in the remote handling missions of the international Thermonuclear Experimental Reactor (ITER).

关键词： controllers

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Reduction of reactive power for power saving utilization at home power lines

Reduction of reactive power for power saving utilization at ...

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10th international conference on informatics in control, automation and robotics, ICINCO 2013

作者： Krejcar, Ondrej Frischer, Robert Department of Information Technologies Faculty of Informatics and Management University of Hradec Kralove Rokitanskeho 62 Hradec Kralove Czech Republic

ISBN: (纸本)9789898565709

In recognition of the ever increasing energy prices, reactive power compensation is getting more and more into the forefront. Climate protection and energy is one of the most discussed issues of current policy. Production of electrical energy from primary sources to its consumption occurs however in the process of losses. Although these total losses are obviously only a small portion of the current-dependent losses in electricity transmission, the final absolute value of those losses go to billions of kilowatt. Part of the current-dependent losses in networks raises inductive reactive power from the operation of common appliances. Many home electric appliances like refrigerators, deep-freezes, washing machines, washers, pumps, etc. produce vaste energy called reactive power, which can be reduced. This technique can lower electricity consumption (from 10 to 30% - different by countries). Current possibilities of devices for reduction of reactive power for home usage are only very limited with high price. Paper deal with a development of miniaturized solution based on 32b MCU (Micro controller Unit) with wireless communication unit and independent powering circuit. We mentioned need of a very fine measurement of an input voltage and current as well as remote monitoring option.

关键词： Real time systems

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