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检索条件"机构=Centre for Applied Autonomous Sensor Systems Department of Technology"

共 103 条记录，以下是91-100 订阅

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A virtual sensor for room detection

A virtual sensor for room detection

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： P. Buschka A. Saffiotti Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. Our technique includes two parts: segmentation, which isolates room-like spaces and detects when the robot has entered a new one; and feature extraction, which associates each space with a set of geometric features useful for navigation or recognition. Many such features can be considered: here we propose a new method to compute width and length of a rectangular room in a way which is largely invariant with respect to the configuration of the furniture. We report experimental results that show the performance of our technique, and hint at a possible use of this technique for coarse localization on a topological map.

关键词： Space technology Navigation Indoor environments Mobile robots Robot sensing systems Orbital robotics Space exploration sensor systems Isolation technology Mobile communication

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Team Sweden

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5th Robot World Cup Soccer Games and Conferences, RoboCup 2001

作者： Saffiotti, A. Björklund, A. Johansson, S. Wasik, Z. Center for Applied Autonomous Sensor Systems Örebro University S-701 82 Örebro Sweden Department of Software Eng. and Computer Science Blekinge Institute of Technology S-372 25 Ronneby Sweden Department of Computing Science Umeå University S-901 87 Umeå Sweden

ISBN: (纸本)3540439129

“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup2001 competition. The work was distributed over three universities in Sweden. This nationwide character has made the project organization particularly demanding, but has resulted in a rewarding cooperation experience, both scientific and human. The Team identity is as follows: Team Leader: Alessandro Saffiotti (asaffio@***) Team Members: include the authors, plus: R. Johansson (?rebro); P. Davidsson, D. Erman, and J. Kronqvist (Blekinge); J. Carstensen, P. Eklund, P. Larsson, and K. Prorok (Ume?). Sponsors: Swedish KK foundation, Qualisys AB, ?rebro University, Ume? University, and the Blekinge Institute of technology. Team home page: http://***/Living/RoboCup/.

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Learning to locate an odour source with a mobile robot

Learning to locate an odour source with a mobile robot

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： T. Duckett M. Axelsson A. Saffiotti Centre for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

ISBN: (纸本)0780365763

We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existence of a model of the sensor's dynamics. The complete system is able to orient and turn towards the source. An experimental validation was carried out to evaluate the performance of the system.

关键词： Mobile robots sensor systems Gas detectors Delay Solid state circuits sensor phenomena and characterization Electronic noses Hardware Computer architecture Artificial neural networks

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： G. Tolt I. Kalaykov Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

We introduce a new algorithm for image noise cancellation based on fuzzy similarity and homogeneity. The proposed method allows simple tuning of fuzzy filter properties and it is very convenient for high-speed real-time image processing. A detailed analysis of the filter properties is presented to support tuning its parameters for a particular application. Test examples and comparisons with other image noise cancellation techniques show the advantages of the method.

关键词： Noise cancellation Image processing Pixel Low pass filters Fuzzy systems Testing Filtering Real time systems sensor systems

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Fuzzy anchoring

Fuzzy anchoring

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： S. Coradeschi D. Driankov L. Karlsson A. Saffiotti Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

An intelligent physical agent must incorporate motor and perceptual processes to interface with the physical world, and abstract cognitive processes to reason about the world and the options available. One crucial aspect of incorporating cognitive processes into a physically embedded reasoning system is the integration between the symbols used by the reasoning processes to denote physical objects, and the perceptual data corresponding to these objects. We treat this integration aspect by proposing a fuzzy computational theory of anchoring. Anchoring is the process of creating and maintaining the correspondence between symbols and percepts that refer to the same physical objects. Modeling this process using fuzzy set-theoretic notions enables dealing with perceptual data that can be affected by uncertainty/imprecision and imprecise/vague linguistic descriptions of objects.

关键词： Uncertainty Fuzzy sets Robot sensing systems sensor systems Intelligent agent Intelligent sensors Mobile robots Artificial intelligence Robot vision systems Machine vision

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Team Sweden

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4th Robot World Cup Soccer Games and Conferences, RoboCup 2000

作者： Saffiotti, A. Boman, M. Buschka, P. Davidsson, P. Johansson, S. Wasik, Z. Center for Applied Autonomous Sensor Systems Dept. Of Technology Örebro University Örebro Sweden Dept. Of Software Eng. and Computer Science Blekinge Institute of Technology Ronneby Sweden DSV Department of Computer and Systems Sciences Stockholm University and Royal Institute of Technology Kista Sweden

“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup ’99 and RoboCup 2000 competitions. We had two main requirements in mind when preparing ...

ISBN: (纸本)3540421858

“Team Sweden” is the Swedish national team that entered the Sony legged robot league at the RoboCup ’99 and RoboCup 2000 competitions. We had two main requirements in mind when preparing our entries: 1. The entry should effectively address the specific challenges present in this domain; in particular, it should be able to tolerate errors and imprecision in perception and execution; and 2. it should illustrate our research in autonomous robotics, by incorporating general techniques that can be reused in different robots and environments. While the first requirement could have been met by writing some ad hoc competition software, the second one led us to develop principled solutions that drew upon our current research in robotics, and that pushed it further ahead.

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Computer controlled human operators

Computer controlled human operators

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IEEE International Workshop on Virtual and Intelligent Measurement systems

作者： E.M. Petriu T.E. Whalen H.J.W. Spoelder P. Wide A. Cornell School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada Communications Research Centre Canada Ottawa Canada Department of Computer Science Free University of Amsterdam Netherlands Applied Autonomous Sensor Systems Orebro University Orebro Sweden Department of Computer Science Brigham Young University Provo UT USA

The paper discusses a relatively new human-computer interaction paradigm, where human operator actions are guided (controlled) by computer. The human operator's most essential contribution to this man-machine part... 详细信息

ISBN: (纸本)0780365682

关键词： Humans Computer interfaces Computer peripherals Humanoid robots Remote monitoring Computerized monitoring Condition monitoring Credit cards Registers Assembly systems

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Time-optimal sliding mode control of robot manipulator

Time-optimal sliding mode control of robot manipulator

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作者： Kalaykov, I. Iliev, B. Department of Technology Örebro University Center for Applied Autonomous Sensor Systems ÖrebroS-70182 Sweden

We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties. © 2000 IEEE.

关键词： Sliding mode control

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The electronic head: A virtual quality instrument

The electronic head: A virtual quality instrument

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作者： Wide, P. Asp, S. Center for Applied Autonomous Sensor Systems Department of Technology Örebro University ÖrebroS-701 82 Sweden

We describe a new approach to virtual instrumentation, estimation and decision making of a dynamically changing quality assessment. We illustrate this approach in an electronic head concept, in which we combine the amount of information received, and apply feature extraction analysis and a fuzzy clustering technique to assess the quality as acquired from a human expert. By combining data from different artificial sensor systems into a single set of meaningful features, we obtain information that is of greater human benefit than the aggregate of its contributing sensors. The combination of sensor data by fuzzy clusters has the aim of performing inference that may be impossible from the single artificial sensors. The entire sensor system acts as a virtual instrument for dynamic industrial process monitoring. This virtual instrument allows easy sensor observation and learning interaction with a human operator. © 2000 IEEE.

关键词： Decision making

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Active perceptual anchoring of robot behavior in a dynamic environment

Active perceptual anchoring of robot behavior in a dynamic e...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： A. Saffiotti K. LeBlanc Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden

Perceptual anchoring is the process of linking action to the appropriate objects in the environment via perception. The pivot of anchoring is the inclusion of micromodels of the world, or anchors, into a controller. In this paper, we propose to use anchors to focus the perceptual effort according to the current needs of the controller. We describe an active gaze control strategy able to maintain anchoring of several objects in a dynamic environment, and show how we have used it in a team of legged robots in the RoboCup'99 international robot soccer competition.

关键词： Robot sensing systems Legged locomotion Object detection sensor systems Appropriate technology Joining processes Maintenance Resource management Encapsulation sensor phenomena and characterization

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