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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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Teaching computer networks: A practical approach using virtualization tools

Teaching computer networks: A practical approach using virtu...

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43rd IEEE Annual Frontiers in Education Conference, FIE 2013

作者： Gurgel, Paulo Henrique Moreira Barbosa, Ellen Francine Branco, Kalinka Regina Lucas Jaquie Castelo Critical Embedded Systems Laboratory Institute of Mathematics and Computer Science University of São Paulo São Carlos São Paulo Brazil

ISBN: (纸本)9781467352611

Virtualization tools, useful softwares that enables tests and evaluation of functionalities, have been used in computer network classes to provide an environment for practice experiments. Although some papers describe these tools and their technical benefits, they do not provide quantitative information about its effectiveness. This paper presents a proposal for systematic use of this category of tools in computer classes and a evaluation of the Netkit tool use in computer network classes. It will be shown how tutorial sections have been developed to these courses, the receptivity from the students through surveys and a statistical analysis of how much students grades can be improved by applying such tutorials. Finally, it will be possible to conclude that, in fact, the use of such tools is strongly advised. © 2013 IEEE.

关键词： Teaching

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Abstract interpretation of microcontroller code: Intervals meet congruences

Abstract interpretation of microcontroller code: Intervals m...

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作者： Brauer, Jörg King, Andy Kowalewski, Stefan Embedded Software Laboratory RWTH Aachen University Germany Portcullis Computer Security Limited Pinner United Kingdom Verified Systems International GmbH Bremen Germany

Bitwise instructions, loops and indirect data access present challenges to the verification of microcontroller programs. In particular, since registers are often memory mapped, it is necessary to show that an indirect store operation does not accidentally mutate a register. To prove this and related properties, this article advocates using the domain of bitwise linear congruences in conjunction with intervals to derive accurate range information. The paper argues that these two domains complement one another when reasoning about microcontroller code. The paper also explains how SAT solving, which applied with dichotomic search, can be used to recover branching conditions from binary code which, in turn, further improves interval analysis. © 2011 Elsevier B.V. All rights reserved.

关键词： Microcontrollers

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Challenges for Software Engineering in Automation

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Journal of Software Engineering and Applications 2014年第5期7卷 440-451页

作者： Birgit Vogel-Heuser Christian Diedrich Alexander Fay Sabine Jeschke Stefan Kowalewski Martin Wollschlaeger Peter Gohner Institute of Automation and Information Systems Technische Universitat MünchenMünchenGermany Institute for Automation and Communication Otto von Guericke University MagdeburgMagdeburgGermany Institute of Automation Technology Helmut-Schmidt-UniversityHamburgGermany Institute of Information Management in Mechanical Engineering RWTH Aachen UniversityAachenGermany Computer Science 11—Embedded Software Laboratory RWTH Aachen UniversityAachenGermany Institute for Applied Computer Science Dresden University of TechnologyDresdenGermany Institute of Industrial Automation and Software Engineering University of StuttgartStuttgartGermany

This paper gives an introduction to the essential challenges of software engineering and requirements that software has to fulfill in the domain of automation. Besides, the functional characteristics, specific constraints and circumstances are considered for deriving requirements concerning usability, the technical process, the automation functions, used platform and the well-established models, which are described in detail. On the other hand, challenges result from the circumstances at different points in the single phases of the life cycle of the automated system. The requirements for life-cycle-management, tools and the changeability during runtime are described in detail.

关键词： Automation Software Engineering Models Tools

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Interactive Environment Exploration in Clutter

Interactive Environment Exploration in Clutter

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Megha Gupta Thomas Ruhr Michael Beetz Gaurav S. Sukhatme Robotic Embedded Systems Laboratory and the Computer Science Department University of Southern California Los Angeles CA USA Robotic Embedded Systems Laboratory and the Computer Science Department Technische Universit?t Miinchen Munich Germany Robotic Embedded Systems Laboratory and the Computer Science Department University Bremen Germany

ISBN: (纸本)9781467363563

Robotic environment exploration in cluttered environments ronments is a challenging problem. The number and variety of objects present not only make perception very difficult but also introduce many constraints for robot navigation and manipulation. In this paper, we investigate the idea of exploring a small, bounded environment (e.g., the shelf of a home refrigerator) by prehensile and non-prehensile manipulation of the objects it contains. The presence of multiple objects results in partial and occluded views of the scene. This inherent uncertainty in the scene's state forces the robot to adopt an observe-plan-act the strategy and interleave planning with execution. Objects occupying the space and potentially occluding other hidden objects are rearranged to reveal more of the unseen area. The environment is considered explored when the state (free or occupied) of every voxel in the volume is known. The presented algorithm can be easily adapted to real world problems like object search, taking inventory, and mapping. We evaluate our planner in simulation using various metrics like planning time, number of actions required, and length of planning horizon. We then present an implementation on the PR2 robot and use it for object search in clutter.

关键词： Clutter The number variety clutter World problems Interactive environment Mobile robot navigation Planning Horizon Robot Exploration Environments occluding

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Ultrasonic phased array industrial imaging with Sub-Nyquist sampling rate

Ultrasonic phased array industrial imaging with Sub-Nyquist ...

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2013 International Conference on Precision Mechanical Instruments and Measurement Technology, ICPMIMT 2013

作者： Dai, Guang Zhi Han, Guo Qiang Ouyang, Xian Yue Shenzhen Polytechnic Shenzhen 518055 China School of Computer Science South China University of Technology Guangzhou 510006 China Embedded Systems and Networking Laboratory Hunan University ChangSha 410012 China

This paper uses a new type of FRI (Finite Rate of Innovation) sampling pattern based Sub-Nyquist sampling model breaked through Shannon theorem that it can get accurate signal reconstruction based on signal information rate, which requires the sampling frequency lower than two times the max signal frequency. We apply the new model in the ultrasonic phased array industrial imaging. In the experiment, ultrasonic phased array realized dynamic focusing and the high speed scan by ultrasonic array transducer of various array time delays to get flexible controllable synthesis beam composed signals that received by 32 phased array elements. The results indicate that in the model it greatly reduces the signal sampling frequency and improves the signal-to-noise ratio, frequency resolution at the same of the beam focusing and steering flexible. © 2013 Trans Tech Publications Ltd, Switzerland.

关键词： Signal sampling

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An FPGA based platform for real time robot localization

An FPGA based platform for real time robot localization

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International Conference on Individual and Collective Behaviors in Robotics (ICBR)

作者： Agnès Ghorbel Mohamed Jallouli Nader Ben Amor Lobna Amouri Computer and Embedded Systems Laboratory Université de Sfax Control and Energy Management Laboratory Université de Sfax

The paper presents a hardware architecture for implementing a mobile robot localization approach through encoders' measurements and absolute localization using camera tracking images. This technique has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the tradeoff between complexity (reducing computation time) and performance (reducing traveling time). The proposed method is implemented on FPGA (Field Programmable Gate Array) board through mixed hardware / software implementation in order to ensure fluid robot navigation. Experimental tests on Xilinx Virtex 5 ML507 proved the effectiveness of the proposed architecture since we have obtained a reduction of 85 % in execution time compared to initial MATLAB version developed on a PC platform.

关键词： Field programmable gate arrays Cameras Robot kinematics Navigation Robot vision systems

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Textile defects identification based on neural networks and mutual information

Textile defects identification based on neural networks and ...

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International Conference on computer Applications Technology (ICCAT)

作者： Gamil Abdel-Azim Salem Nasri College of Computer Qassim University Saudi Arabia Computer & Embedded Systems Laboratory (CES) ENIS University of Sfax Tunisia

ISBN: (纸本)9781467352840

In modem textile industry, Tissue on line Automatic Inspection (T AI) is becoming an attractive alternative to human vision inspection (HVI). HVI needs a high level of human attention leading to a low level of performance in term of tissue inspection. Based on the advances in image processing and pattern recognition, T AI can potentially provide an objective and reliable evaluation on the fabric production quality. Most T AI systems claim to be able to detect the presence of defects in fabric products, and precisely locate the defects position. The motivation behind the fabric defect identification is to enable an on-line quality control of the weaving process. In this paper, a method based on texture analysis approach for identifying fabric defects in each image is proposed. Neural Networks and Mutual information are employed to characterize the texture property of a tissue image. A feature extractor is designed based on Mutual Information computation in conjunction with a classifier to minimize the error rate in defect classification.

关键词： Mutual information Neurons Training Neural networks Entropy Textiles Testing

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Evolution of robot programming, towards the Ubiquitous Computing era

Evolution of robot programming, towards the Ubiquitous Compu...

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International Conference on Individual and Collective Behaviors in Robotics (ICBR)

作者： Slim Chtourou Mohamed Kharrat Nader Ben Amor Mohamed Jallouli Mohamed Abid Université de Sfax Computer & Embedded Systems CES laboratory Sfax Tunisia Aliyet Tokyo Japan

We are now witnessing the beginning of Ubiquitous Computing era with the success of several start up to find early adopters among the general public for their home automation solutions through crow funding campaigns. We believe that in the near future, more and more people will come out with new ideas in relation with ubiquitous computing to make our daily life more and more easy. However, most of them face the challenge to manipulate electronics and to program microcontrollers in their early stage prototypes. Which is not easy for people without solid electronic manipulation background. Today we notice a lack for platforms that facilitates the development of Ubiquitous systems. New approaches helping programming microcontrollers have to be created. One of applications with high potential in ubiquitous computing is robotics. This paper applies the concept of ubiquitous computing for programming and controlling robots in an easy way taking examples of programming robots on the hardware and software level using Arduino and IOIO board.

关键词： Ubiquitous computing Wireless communication Hardware Robot programming computers

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EEG control of an electric wheelchair for disabled persons

EEG control of an electric wheelchair for disabled persons

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International Conference on Individual and Collective Behaviors in Robotics (ICBR)

作者： Fatma Ben Taher Nader Ben Amor Mohamed Jallouli Ecole Nationale d'Ingenieurs de sfax ENIS Tunisia Computer & Embedded Systems Laboratory (CES)

This paper presents a description of an intelligent control method for controlling an electric wheelchair for several disabled persons. It also describes a non invasive approach based on EEG brain signal that can command the wheelchair with cognitive data, eye movements and head gestures. Our technique aim is to cover the largest number of handicapped person.

关键词： Mobile robots Robot sensing systems Wheelchairs Head Tracking Wireless sensor networks

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