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14th International Congress on Sound and Vibration 2007, ICSV 2007

作者： Cray, Benjamin A. Hull, Andrew J. Nuttall, Albert H. Autonomous Systems and Technology Department Naval Undersea Warfare Centre Division Newport RI 02841 United States Sensor and Sonar Systems Department Naval Undersea Warfare Centre Division Newport RI 02841 United States

ISBN: (纸本)9781627480000

This paper analyzes the zero-pole locations of an infinite length, tensioned string that has attached periodic stiffeners. The dynamic response of the system is derived for distributed wavenumber forcing and discrete point forcing acting on the string. These wavenumber-frequency transfer functions are then written in zero-pole format by a mathematical transformation of their infinite series. Once this is accomplished, the location of the system poles and zeros becomes apparent and they can be plotted in the wavenumber-frequency plane. It is shown that there are specific regions where an infinite number of poles can exist and specific regions where poles cannot exist. For the system with wavenumber forcing, the system zeros correspond very closely to the system poles except in the area of the fundamental string resonance. For the system with point forcing, the zeros can exist in the entire wavenumber-frequency plane except at the fundamental resonance.

关键词： Poles

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Probabilistic Semantic Mapping with a Virtual sensor for Building/Nature detection

Probabilistic Semantic Mapping with a Virtual Sensor for Bui...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Martin Persson Tom Duckett Christoffer Valgren Achim Lilienthal Centre of Applied Autonomous Sensor Systems Department of Technology Örebro University Sweden University of Lincoln Lincoln UK

In human-robot communication it is often important to relate robot sensor readings to concepts used by humans. We believe that access to semantic maps will make it possible for robots to better communicate information to a human operator and vice versa. The main contribution of this paper is a method that fuses data from different sensor modalities, range sensors and vision sensors are considered, to create a probabilistic semantic map of an outdoor environment. The method combines a learned virtual sensor (understood as one or several physical sensors with a dedicated signal processing unit for recognition of real world concepts) for building detection with a standard occupancy map. The virtual sensor is applied on a mobile robot, combining classifications of sub-images from a panoramic view with spatial information (location and orientation of the robot) giving the likely locations of buildings. This information is combined with an occupancy map to calculate a probabilistic semantic map. Our experiments with an outdoor mobile robot show that the method produces semantic maps with correct labeling and an evident distinction between 'building' objects from 'nature' objects.

关键词： Humans Mobile robots Robot sensing systems sensor fusion sensor systems Indoor environments Data mining sensor phenomena and characterization Fuses Signal processing

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Programming by Demonstration of Pick-and-Place Tasks for Industrial Manipulators using Task Primitives

Programming by Demonstration of Pick-and-Place Tasks for Ind...

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IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)

作者： Alexander Skoglund Boyko Iliev Bourhane Kadmiry Rainer Palm Department of Technology Center for Applied Autonomous Sensor Systems Örebro University Sweden

This article presents an approach to Programming by Demonstration (PbD) to simplify programming of industrial manipulators. By using a set of task primitives for a known task type, the demonstration is interpreted and a manipulator program is automatically generated. A pick-and-place task is analyzed, based on the velocity profile, and decomposed in task primitives. Task primitives are basic actions of the robot/gripper, which can be executed in a sequence to form a complete a task. For modeling and generation of the demonstrated trajectory, fuzzy time clustering is used, resulting in smooth and accurate motions. To illustrate our approach, we carried out our experiments on a real industrial manipulator.

关键词： Robot programming Robotics and automation Manipulators Humans Automatic programming Educational robots Computer industry sensor systems Service robots Grippers

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Improved data association and occlusion handling for vision-based people tracking by mobile robots

Improved data association and occlusion handling for vision-...

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2007 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Grzegorz Cielniak Tom Duckett Achim J. Lilienthal Department of Computing and Informatics University of Lincoln Lincoln UK Centre for Applied Autonomous Sensor Systems Örebro University Orebro Sweden

This paper presents an approach for tracking multiple persons using a combination of colour and thermal vision sensors on a mobile robot. First, an adaptive colour model is incorporated into the measurement model of the tracker. Second, a new approach for detecting occlusions is introduced, using a machine learning classifier for pairwise comparison of persons (classifying which one is in front of the other). Third, explicit occlusion handling is then incorporated into the tracker.

关键词： Mobile robots Particle tracking sensor systems Particle filters Robot sensing systems Robot vision systems Cameras Thermal sensors Color Rapid thermal processing

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Incremental Topological Mapping Using Omnidirectional Vision

Incremental Topological Mapping Using Omnidirectional Vision

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Christoffer Valgren Achim Lilienthal Tom Duckett Centre for Applied Autonomous Sensor Systems Orebro University Orebro Sweden Department of Computing and Informatics University of Lincoln Lincoln UK

This paper presents an algorithm that builds topological maps, using omnidirectional vision as the only sensor modality. Local features are extracted from images obtained in sequence, and are used both to cluster the images into nodes and to detect links between the nodes. The algorithm is incremental, reducing the computational requirements of the corresponding batch algorithm. Experimental results in a complex, indoor environment show that the algorithm produces topologically correct maps, closing loops without suffering from perceptual aliasing or false links. Robustness to lighting variations was further demonstrated by building correct maps from combined multiple datasets collected over a period of 2 months

关键词： Clustering algorithms Feature extraction Data mining sensor systems Robustness Mobile robots Histograms Fingerprint recognition Navigation Intelligent robots

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Growing RBF networks for learning reactive behaviours in mobile robotics

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International Journal of Vehicle autonomous systems 2006年第2-4期4卷 285-307页

作者： Li, Jun Duckett, Tom Centre for Applied Autonomous Sensor Systems Department of Technology Örebro University SE-701 82 Örebro Sweden Department of Computing and Informatics University of Lincoln Brayford Pool Lincoln LN6 7TS United Kingdom

This paper investigates a learning system based on growing Radial Basis Function (RBF) networks for acquiring reactive behaviours in mobile robotics. The learning algorithm integrates unsupervised and supervised learning, directly mapping the sensor information to the required motor action. The learning system is evaluated through a number of experiments on a real robot. The experimental results show that our learning system can learn a wide range of robot behaviours from simple tasks to complex tasks and demonstrate that the task need not be known at the programming time. This means that many different behaviours could potentially be acquired by the same learning architecture, thus dramatically reducing the development cost of autonomous robotic systems. Copyright © 2006 Inderscience Enterprises Ltd.

关键词： Mobile robots

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Model-free execution monitoring by learning from simulation

Model-free execution monitoring by learning from simulation

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2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA 2005

作者： Pettersson, Ola Karlsson, Lars Saffiotti, Alessandro Center for Applied Autonomous Sensor Systems Department of Technology Örebro University SE-70182 Örebro Sweden

autonomous robots need the ability to plan their actions and to execute them robustly and in a safe way in face of a changing and partially unpredictable environment This is especially important if we want to design autonomous robots that can safely co-habitate with humans. In order to manage this, these robots need the ability to detect when the execution does not proceed as planned, and to correctly identify the causes of the failure. An execution monitoring system is a system that allows the robot to detect and classify these failures. In this work we show that pattern recognition techniques can be applied to realize execution monitoring by classifying observed behavioral patterns into normal or faulty behaviors. The approach has been successfully tested on a real robot navigating in an office environment. Interesting, these tests show that we can train an execution monitor in simulation, and then use it in a real robot. © 2005 IEEE.

关键词： Monitoring

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IEEE International Symposium on Intelligent Control (ISIC)

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

In this paper, we present a number of algorithms for performing some basic image processing tasks. The common denominator is the fuzzy similarity framework, that is used for representing vagueness and uncertainty associated with the similarity concept. The algorithms are designed so as to be implementable on FPGAs, making extensive use of the FPGA's parallel processing capabilities. Due to the limited space, we give pointers to previously published work for more details about the algorithms

关键词： Image processing Field programmable gate arrays Hardware Fuzzy logic Uncertainty Algorithm design and analysis Parallel processing Robot control Robot motion Humans

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Multi-hierarchical semantic maps for mobile robotics

Multi-hierarchical semantic maps for mobile robotics

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2005 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： C. Galindo A. Saffiotti S. Coradeschi P. Buschka J.A. Fernandez-Madrigal J. Gonzalez Center for Applied Autonomous Sensor Systems Department of Technology Örebro University Orebro Sweden System Engineering and Automation Department University of Malaga Malaga Spain

The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.

关键词： Mobile robots Robot sensing systems Humans Navigation Robotics and automation sensor systems Orbital robotics Knowledge representation systems engineering and theory Home automation

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Topological localization for mobile robots using omni-directional vision and local features

Topological localization for mobile robots using omni-direct...

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IFAC/EURON Symposium on Intelligent autonomous Vehicles

作者： Andreasson, Henrik Duckett, Tom Centre for Applied Autonomous Sensor Systems Dept. of Technology Örebro University ÖrebroSE-70182 Sweden

This paper addresses the problem of global localization ("where am I"?) by a mobile robot using an omni-directional vision sensor. The approach is mainly concerned with the problem of global localization in a topological map (consisting of a set of panoramic views), though it also gives an approximate estimate of the robot pose relative to the best matching view, so it could also be used as the basis for a geometric localization scheme. Four different methods for selecting features from the panoramic images were considered. Experiments were conducted in a large, populated indoor environment on different days under different lighting conditions. A separate, laser-based SLAM algorithm was used to generate the ground truth information for performance evaluation. The results show that one method based on local features ("modified SIFT" features) obtained a significantly higher level of performance and robustness to environmental variations compared to the other methods. © 2004 IFAC

关键词： Mobile robots

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