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arXiv 2017年

作者： Guerreiro, Bruno J. Silvestre, Carlos Cunha, Rita Cabecinhas, David Institute for Systems and Robotics LARSyS Instituto Superior Técnico Universidade de Lisboa Av. Rovisco Pais 1 Lisboa1049 Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Taipa Macau IST

This is a complementary document to the paper presented in [1], where more detailed proofs are provided for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only relative position measurements obtained from LiDAR sensors are possible. The proposed approach defines an alternative kinematic model, directly based on LiDAR measurements, and uses a trajectory-dependent error space to express the dynamic model of the vehicle. An LPV representation with piecewise affine dependence on the parameters is adopted to describe the error dynamics over a set of predefined operating regions, and a continuous-time H2 control problem is solved using LMIs and implemented within the scope of gain-scheduling control theory. In this document, Section A presents the stability analysis of the attitude inner-loop presented in [1, Section II.B], whereas Section B presents a more detailed version of the stability and performance guarantees for the LPV system, extending the results presented in [1, Section IV.A]. Copyright © 2017, The Authors. All rights reserved.

关键词： Continuous time systems

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Investigations on cubic rotation symmetric bent functions

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Electronic Notes in Discrete Mathematics 2016年 56卷 15-19页

作者： Gangopadhyay, Sugata Singh, Bhupendra Vetrivel, V. Department of Computer Science and Engineering Indian Institute of Technology Roorkee India Secure Systems Division Centre for Artificial Intelligence and Robotics DRDO Bangalore India Department of Mathematics Indian Institute of Technology Madras India

We identify an infinite class of cubic rotation symmetric bent functions and prove that these functions do not have affine derivatives. Some experimental results concerning rotation symmetric bent functions in 6, 8, 1... 详细信息

关键词： affine equivalence bent functions Boolean functions rotation symmetry

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Studying bioluminescence flashes with the ANTARES deep Sea neutrino telescope

arXiv

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arXiv 2021年

作者： Reeb, Nico Hutschenreuter, S. Zehetner, P. Ensslin, T. Albert, A. Alves, S. André, M. Anghinolfi, M. Anton, G. Ardid, M. Aubert, J.-J. Aublin, J. Baret, B. Basa, S. Belhorma, B. Bendahman, M. Bertin, V. Biagi, S. Bissinger, M. Boumaaza, J. Bouta, M. Bouwhuis, M.C. Brânzaş, H. Bruijn, R. Brunner, J. Busto, J. Caiffi, B. Capone, A. Caramete, L. Carr, J. Carretero, V. Celli, S. Chabab, M. Chau, T.N. Chiarusi, T. Circella, M. Coleiro, A. Colomer-Molla, M. Coniglione, R. Coyle, P. Creusot, A. Díaz, A.F. de Wasseige, G. Deschamps, A. Distefano, C. Di Palma, I. Domi, A. Donzaud, C. Dornic, D. Drouhin, D. van Eeden, T. Enzenhöfer, A. Fermani, P. Ferrara, G. Filippini, F. Fusco, L. Gatelet, Y. Gay, P. Glotin, H. Gozzini, R. Ruiz, R. Gracia Graf, K. Guidi, C. Hallmann, S. van Haren, H. Heijboer, A.J. Hello, Y. Hernández-Rey, J.J. Hößl, J. Hofestädt, J. Huang, F. Illuminati, G. James, C.W. Jisse-Jung, B. de Jong, M. de Jong, P. Jongen, M. Kadler, M. Kalekin, O. Katz, U. Khan-Chowdhury, N.R. Kouchner, A. Kreykenbohm, I. Kulikovskiy, V. Lahmann, R. Le Breton, R. Lefèvre, D. Leonora, E. Levi, G. Lincetto, M. Lopez-Coto, D. Loucatos, S. Maderer, L. Manczak, J. Marcelin, M. Margiotta, A. Marinelli, A. Martínez-Mora, J.A. Melis, K. Migliozzi, P. Moussa, A. Muller, R. Nauta, L. Navas, S. Nezri, E. Fearraigh, B.Ó. Organokov, M. Pavalaş, G.E. Pellegrino, C. Perrin-Terrin, M. Piattelli, P. Pieterse, C. Poirè, C. Popa, V. Pradier, T. Randazzo, N. Reck, S. Riccobene, G. Romanov, A. Sánchez-Losa, A. Greus, F. Salesa Samtleben, D.F.E. Sanguineti, M. Sapienza, P. Schnabel, J. Schumann, J. Schüssler, F. Spurio, M. Stolarczyk, Th. Taiuti, M. Tingay, S.J. Vallage, B. van Elewyck, V. Versari, F. Viola, S. Vivolo, D. Wilms, J. Zavatarelli, S. Zegarelli, A. Zornoza, J.D. Zúñiga, J. Information Field Theory Group Max Planck Institute for Astrophysics Garching Germany Informatics 6 Chair of Robotics Artificial Intelligence and Real time Systems Technical University of Munich Garching Germany Department of Astrophysics IMAPP Radboud University Nijmegen Nijmegen Netherlands Department of Physics Ludwig-Maximilians University Munich Germany CERN Geneva Switzerland Université de Strasbourg CNRS IPHC UMR 7178 StrasbourgF-67000 France Université de Haute Alsace MulhouseF-68200 France IFIC - Instituto de Física Corpuscular CSIC Universitat de València c/ Catedrático José Beltrán 2 Paterna ValenciaE-46980 Spain Technical University of Catalonia Laboratory of Applied Bioacoustics Rambla Exposició Vilanova i la Geltrú Barcelona08800 Spain INFN - Sezione di Genova Via Dodecaneso 33 Genova16146 Italy Friedrich-Alexander-Universität Erlangen-Nürnberg Erlangen Centre for Astroparticle Physics Erwin-Rommel-Str. 1 Erlangen91058 Germany Universitat Politècnica de València C/ Paranimf 1 Gandia46730 Spain Aix Marseille Univ CNRS IN2P3 CPPM Marseille France Université de Paris CNRS Astroparticule et Cosmologie ParisF-75013 France Aix Marseille Univ CNRS CNES LAM Marseille France National Center for Energy Sciences and Nuclear Techniques B.P.1382 RabatR. P. 10001 Morocco University Mohammed V in Rabat Faculty of Sciences 4 av. Ibn Battouta B.P. 1014 R.P. Rabat10000 Morocco Via S. Sofia 62 Catania95123 Italy University Mohammed I Laboratory of Physics of Matter and Radiations B.P.717 Oujda6000 Morocco Nikhef Science Park Amsterdam Netherlands Institute of Space Science Bucharest MagureleRO-077125 Romania Universiteit van Amsterdam Instituut voor Hoge-Energie Fysica Science Park 105 Amsterdam1098 XG Netherlands INFN - Sezione di Roma P.le Aldo Moro 2 Roma00185 Italy Dipartimento di Fisica Università La Sapienza P.le Aldo Moro 2 Roma00185 Italy LPHEA Faculty of Science - Semlali Cadi Ayyad University P.O

We develop a novel technique to exploit the extensive data sets provided by underwater neutrino telescopes to gain information on bioluminescence in the deep sea. The passive nature of the telescopes gives us the unique opportunity to infer information on bioluminescent organisms without actively interfering with them. We propose a statistical method that allows us to reconstruct the light emission of individual organisms, as well as their location and movement. A mathematical model is built to describe the measurement process of underwater neutrino telescopes and the signal generation of the biological organisms. The Metric Gaussian Variational Inference algorithm is used to reconstruct the model parameters using photon counts recorded by the neutrino detectors. We apply this method to synthetic data sets and data collected by the ANTARES neutrino telescope. The telescope is located 40 km off the French coast and fixed to the sea floor at a depth of 2475 m. The runs with synthetic data reveal that we can reliably model the emitted bioluminescent flashes of the organisms. Furthermore, we find that the spatial resolution of the localization of light sources highly depends on the configuration of the telescope. Precise measurements of the efficiencies of the detectors and the attenuation length of the water are crucial to reconstruct the light emission. Finally, the application to ANTARES data reveals the first precise localizations of bioluminescent organisms using neutrino telescope data. © 2021, CC BY.

关键词： Bioluminescence

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Unsupervised analysis of event-related potentials (ERPs) during an emotional Go/NoGo task

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2017年 10147 LNAI卷 151-161页

作者： Masulli, Paolo Masulli, Francesco Rovetta, Stefano Lintas, Alessandra Villa, Alessandro E. P. NeuroHeuristic Research Group University of Lausanne Internef Quartier UNIL Dorigny Lausanne1015 Switzerland Department of Computer Science Bioengineering Robotics and Systems Engineering DIBRIS University of Genova Genova16146 Italy Sbarro Institute for Cancer Research and Molecular Medicine Temple University PhiladelphiaPA United States

We propose a framework for an unsupervised analysis of electroencephalography (EEG) data based on possibilistic clustering, including a preliminary noise and artefact rejection. The proposed data flow identifies the existing similarities in a set of segments of EEG signals and their grouping according to relevant experimental conditions. The analysis is applied to a set of event-related potentials (ERPs) recorded during the performance of an emotional Go/NoGo task. We show that the clusterization rate of trials in two experimental conditions is able to characterize the participants. The extension of the method and its generalization is discussed. © Springer International Publishing AG 2017.

关键词： Electroencephalography

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Stator Winding Short-Circuit Fault Diagnosis in Induction Motors using Random Forest

Stator Winding Short-Circuit Fault Diagnosis in Induction Mo...

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IEEE International Electric Machines and Drives Conference

作者： Tiago dos Santos Fernando J. T. E. Ferreira Joao Moura Pires Carlos Damasio Department of Computer Science NOVA-LINCS Nova University of Lisbon (FCT/UNL) Lisbon Portugal Dep. of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)9781509042821

In this paper, an approach to detect stator winding short-circuit faults in squirrel-cage induction motors based on Random Forest and Park's Vector is proposed. This is accomplished by scoring the unbalance in the current and voltage waveforms as well as in Park's Vector, both for current and voltage. To score the unbalance in the d-q space, a Principal Component Analysis is applied to Park's Vector and with the first two principal components the eccentricity is calculated, while the first principal component is used to determine the phase in short-circuit. The proposed strategy has been experimentally tested on a special 400-V, 50-Hz, 4-pole, 2.2-kW induction motor with reconfigurable stator windings in which it was possible to emulate different types of inter-turn short-circuits. The results are quite promising, even only using 1-kHz sampling frequency to acquire the current and voltage waveforms in the three phases, and the use of the Fast Fourier Transform is avoided. The developed solution may be used for tele-monitoring of the motor condition and to implement advanced predictive maintenance strategies.

关键词： Fault diagnosis Induction motor Inter-turn short-circuit Stator winding PCA Predictive maintenance Machine learning Classification Random forest

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Selective strong structural minimum cost resilient co-design for regular descriptor linear systems

arXiv

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arXiv 2017年

作者： Popli, Nipun Pequito, Sérgio Kar, Soummya Pedro Aguiar, A. Ilić, Marija Department of Electrical and Computer Engineering Carnegie Mellon University PittsburghPA15213 United States Department of Electrical and Systems Engineering School of Engineering and Applied Science University of Pennsylvania PhiladelphiaPA19104 United States Institute for System and Robotics Instituto Superior Técnico University of Lisbon Lisbon Portugal Porto Portugal

This paper addresses the problem of minimum cost resilient actuation-sensing-communication co-design for regular descriptor systems while ensuring selective strong structural system's properties. More specifically, the problem consists of determining the minimum cost deployment of actuation and sensing technology, as well as communication between the these, such that decentralized control approaches are viable for an arbitrary realization of regular descriptor systems satisfying a pre-specified selective structure, i.e., some entries can be zero, nonzero, or either zero/nonzero. Towards this goal, we rely on strong structural systems theory and extend it to cope with the selective structure that casts resiliency/robustness properties and uncertainty properties of system's model. Upon such framework, we introduce the notion of selective strong structural fixed modes as a characterization of the feasibility of decentralized control laws. Also, we provide necessary and sufficient conditions for this property to hold, and show how these conditions can be leveraged to determine the minimum cost resilient placement of actuation-sensing-communication technology ensuring feasible solutions. In particular, we study the minimum cost resilient actuation and sensing placement, upon which we construct the solution to our problem. Finally, we illustrate the applicability the main results of this paper on an electric power grid example. Copyright © 2017, The Authors. All rights reserved.

关键词： Describing functions

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Static drone placement by elephant herding optimization algorithm

Static drone placement by elephant herding optimization algo...

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Telecommunications Forum (TELFOR)

作者： Ivana Strumberger Nebojsa Bacanin Slavisa Tomic Marko Beko Milan Tuba Graduate School of Computer Science Megatrend University Belgrade Serbia Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Lisbon Portugal CTS/UNINOVA Universidade Lusofona de Humanidades e Tecnologias Lisboa Portugal Department of Technical Sciences State University of Novi Pazar Novi Pazar Serbia

Optimal placement of drones is a very challenging problem and it belongs to the group of hard optimization problems for which swarm intelligence algorithms were successfully applied. This paper presents an implementation of the recent elephant herding optimization algorithm for solving the static drone location problem. The objective of the model applied in this paper is to establish monitoring of all targets with the least possible number of drones. In empirical tests we used two problem instances: one with 30 uniformly distributed targets, and one with 30 clustered targets. The simulation results show that the elephant herding optimization algorithm performs well in covering targets for both instances of the problem, especially considering the number of drones that were deployed.

关键词： Drones Optimization Clustering algorithms Monitoring Sociology Statistics Particle swarm optimization

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A report on the first international workshop on research methods in animal-computer interaction

A report on the first international workshop on research met...

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2017 ACM SIGCHI Conference on Human Factors in Computing systems, CHI EA 2017

作者： Zamansky, Anna Roshier, Amanda Mancini, Clara Collins, Emily C. Hall, Carol Grillaert, Katie Morrison, Ann North, Steve Wirman, Hanna Information Systems Department University of Haifa Israel School of Veterinary Medicine and Science University of Nottingham United Kingdom Animal-Computer Interaction Lab Open University Milton Keynes United Kingdom Sheffield Robotics University of Sheffield United Kingdom School of Animal Rural and Environmental Sciences Nottingham Trent University United Kingdom Messerli Research Institute University of Veterinary Medicine Medical University of Vienna University of Vienna Austria Department of Architecture Design and Media Technology Aalborg University Denmark Mixed Reality Laboratory University of Nottingham United Kingdom School of Design Hong Kong Polytechnic University Hong Kong

ISBN: (纸本)9781450346566

Animal-computer Interaction (ACI) is a new and quickly developing discipline, which is closely related to HCI and is making reference to some of its theoretical frameworks and research methodologies. The first edition of the Workshop on Research Methods in ACI (RM4ACI) was co-located with the Third International Conference on Animal-computer Interaction, which took place in Milton-Keynes, UK in November 2016. This paper presents an overview of the workshop, including insights from discussions on some of the challenges faced by the ACI community as it works to develop ACI as a discipline, and on important opportunities for cross-fertilization between HCI and ACI that the HCI community could consider. Copyright © 2017 by the Association for Computing Machinery, Inc. (ACM).

关键词： Animals

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An adaptive emergency protocol for people evacuation in high-rise buildings

An adaptive emergency protocol for people evacuation in high...

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IEEE Symposium on computers and Communications (ISCC)

作者： Soledad Escolar David Villa Félix J. Villanueva Rubén Cantarero Juan Carlos López Institute of Technology and Information Systems Ciudad Real Spain Computer Science Department University of Castilla-La Mancha Ciudad Real Spain

ISBN: (纸本)9781509006809

The occurrence of emergency situations in high-rise buildings, daily hosting hundreds of people, may force the massive evacuation of their occupants with the ultimate goal of preventing the loss of lives. In this paper, we propose an adaptive algorithm for dynamically computing safe evacuation routes, while the load of people is balanced between the accesses of each floor of the building, thus avoiding the accumulation of people in hotspots. The combination of this algorithm with sensors to detect the events of interest and a navigation system to guide the evacuees turns this solution into a specially suited approach for evacuation in high-rise buildings. Simulation results demonstrate that the yield evacuation routes drive all people outdoor with a similar average path length for the different risk scenarios addressed.

关键词： Buildings Sensors Computational modeling Estimation Heuristic algorithms Navigation Wireless sensor networks

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Social activity recognition based on probabilistic merging of skeleton features with proximity priors from RGB-D data

Social activity recognition based on probabilistic merging o...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Claudio Coppola Diego R. Faria Urbano Nunes Nicola Bellotto L-CAS School of Computer Science University of Lincoln (UK) Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781509037636

Social activity based on body motion is a key feature for non-verbal and physical behavior defined as function for communicative signal and social interaction between individuals. Social activity recognition is important to study human-human communication and also human-robot interaction. Based on that, this research has threefold goals: (1) recognition of social behavior (e.g. human-human interaction) using a probabilistic approach that merges spatio-temporal features from individual bodies and social features from the relationship between two individuals;(2) learn priors based on physical proximity between individuals during an interaction using proxemics theory to feed a probabilistic ensemble of activity classifiers;and (3) provide a public dataset with RGB-D data of social daily activities including risk situations useful to test approaches for assisted living, since this type of dataset is still missing. Results show that using the proposed approach designed to merge features with different semantics and proximity priors improves the classification performance in terms of precision, recall and accuracy when compared with other approaches that employ alternative strategies.

关键词： Feature extraction Skeleton Mixture models Robots Covariance matrices Probabilistic logic

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