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检索条件"机构=Department of Computing and Automation Engineering"

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An Underwater Cooperative Navigation Scheme

An Underwater Cooperative Navigation Scheme

引用

Oceans 2013 - Norway

作者： Marcelo Nogueira Joao Souza Fernando Pereira Department of Computing Engineering and Automation Universidade Federal do Rio Grande do Norte Electrical and Computer Engineering Department Faculdade de Engenharia da Universidade do Porto

ISBN: (纸本)9781479900022

In this article we present and discuss a cooperative localization and navigation system based on the Extended Kalman Filter specifically designed to meet the requirements of the underwater environment. These lead us to consider a SLAM-like scheme in which some other Autonomous Underwater Vehicles (AUVs) play the role of mobile environment features and range measurements are used as external data. Own "recent" navigation data and some minimal communicated data by other AUVs are used to consistently update pose estimates and error covariances of relevant vehicles. A number of simulation and experimental results are presented to illustrate the approach.

关键词： Navigation data External data Ranging measurements navigation Underwater Scheme Wet underwater environment Mobile Environment Autonomous underwater vehicles Navigation systems

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Experimental study of two event-based PI controllers in a solar distributed collector field

Experimental study of two event-based PI controllers in a so...

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European Control Conference (ECC)

作者： J. Chacón J. Sánchez L. Yebra A. Visioli S. Dormido Department of Computing Science and Automation UNED Madrid Spain Department of Electrical Engineering Università degli studi di Brescia Italy CIEMAT Solar Platform of Almería

In this work we focus on the study of limit cycles that appear in a control scheme which is based on the use of a PI controller with an event-based send-on-delta sampling (SOD), which can be used to sample either the process variable or the control variable. We use an algorithm to calculate the limit cycles properties and then we compare the results obtained in simulations with experiments performed on a real plant, a distributed solar collector field at the Solar Platform of Almería (PSA, Spain). The process is identified as a first order plus time delay (FOPTD). Practical issues, such as the implementation of an anti-windup mechanism and a bumpless transfer between the manual and automatic mode are also addressed.

关键词： Process control Limit-cycles Sensors Actuators Temperature control Closed loop systems

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A brain-computer interface test-bench based on EEG signals for research and student training

A brain-computer interface test-bench based on EEG signals f...

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2013 1st IEEE Symposium on Computational Intelligence in Healthcare and e-Health, CICARE 2013 - 2013 IEEE Symposium Series on Computational Intelligence, SSCI 2013

作者： Raif, Pawel Mahmud, Mufti Hussain, Amir Klos-Witkowska, Aleksandra Suchanek, Renata Dept. of Biosensors and Biomedical Signals Processing Silesian University of Technology Gliwice Poland NeuroChip Laboratory University of Padova Padova Italy Division of Computing Science and Maths University of Stirling United Kingdom Department of Electrical Engineering and Automation University of Bielsko-Biala Bielsko-Biala Poland Department of Medical Genetics Medical University of Silesia Sosnowiec Poland

The paper describes a test-bench model for braincomputer interface research based on EEG signals. The test-bench is going to be used for students training and education. The goal is to prepare modern Brain-Computer In... 详细信息

ISBN: (纸本)9781467358835

关键词： Brain computer interface

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Partial energy-efficient hop-by-hop retransmission in wireless sensor networks

Partial energy-efficient hop-by-hop retransmission in wirele...

引用

IEEE International Conference on Industrial Informatics (INDIN)

作者： Daniel G. Costa Luiz Affonso Guedes Francisco Vasques Paulo Portugal Department of Technology State University of Feira de Santana Brazil Department of Computing and Automation Federal University of Rio Grande do Norte Brazil IDMEC INESC TEC Faculty of Engineering University of Porto Portugal

Wireless sensor networks can be deployed for a large set of monitoring functions, providing information as humidity, pressure, temperature, luminosity, among many others. When monitored data is transmitted over wireless links, packets can be corrupted requiring some error recovery strategy. Hop-by-hop retransmission can provide an acceptable level of reliability, but can potentially increase the energy consumption of the network. In fact, wireless communications are error prone, and interferences may be concentrated in specific parts of the network. We propose a semi-reliable retransmission mechanism where only packets carrying critical information will be always retransmitted if corrupted. The remaining corrupted packets will not be retransmitted, saving energy of the network. We designed an energy consumption model to evaluate the proposed approach.

关键词： Energy consumption Wireless sensor networks Reliability Monitoring Wireless communication Energy efficiency Temperature sensors

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A comparative analysis of dissimilarity measures for clustering categorical data

A comparative analysis of dissimilarity measures for cluster...

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International Joint Conference on Neural Networks (IJCNN)

作者： João C. Xavier Anne M. P. Canuto Noriedson D. Almeida Luiz M. G. Gonçalves Universidade Federal do Rio Grande do Norte Natal RN BR Department of Informatics and Applied Mathematics The Federal University of Rio Grande do Norte Natal RN Brazil Computing and Automation Engineering Department The Federal University of Rio Grande do Norte Natal RN Brazil

Similarity and dissimilarity (distance) between objects is an important aspect that must be considered when clustering data. When clustering categorical data, for instance, these distance (similarity or dissimilarity) measures need to address properly the real particularities of categorical data. In this paper, we perform a comparative analysis with four different dissimilarity measures used as a distance metric for clustering categorical data. The first one is the Simple Matching Dissimilarity Measure (SMDM), which is one of the simplest and the most used metric for categorical attribute. The other two are context-based approaches (DIstance Learning in Categorical Attributes - DILCA and Domain Value Dissimilarity-DVD), and the last one is an extension of the SMDM, which is proposed in this paper. All four dissimilarities are applied as distance metrics in two well known clustering algorithms, k-means and agglomerative hierarchical clustering algorithms. In this analysis, we also use internal and external cluster validity measures, aiming to compare the effectiveness of all four distance measures in both clustering algorithms.

关键词： Clustering algorithms Indexes DVD Equations Machine learning algorithms Weight measurement

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Beyond bag of words: Image representation in sub-semantic space 13

Beyond bag of words: Image representation in sub-semantic sp...

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21st ACM International Conference on Multimedia, MM 2013

作者： Zhang, Chunjie Wang, Shuhui Liang, Chao Liu, Jing Huang, Qingming Li, Haojie Tian, Qi School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China School of Computer National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China School of Software Dalian University of Technology Liaoning China Department of Computer Sciences University of Texas San Antonio TX 78249 United States

ISBN: (纸本)9781450324045

Due to the semantic gap, the low-level features are not able to semantically represent images well. Besides, traditional semantic related image representation may not be able to cope with large inter class variations and are not very ro- bust to noise. To solve these problems, in this paper, we propose a novel image representation method in the sub- semantic space. First, examplar classifiers are trained by separating each training image from the others and serve as the weak semantic similarity measurement. Then a graph is constructed by combining the visual similarity and weak se- mantic similarity of these training images. We partition this graph into visually and semantically similar sub-sets. Each sub-set of images are then used to train classifiers in order to separate this sub-set from the others. The learned sub-set classifiers are then used to construct a sub-semantic space based representation of images. This sub-semantic space is not only more semantically meaningful but also more reli- Able and resistant to noise. Finally, we make categorization of images using this sub-semantic space based representation on several public datasets to demonstrate the e®ectiveness of the proposed method. Copyright © 2013 ACM.

关键词： Image representation

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Real time interactive image segmentation using user indicated real-world seeds

Real time interactive image segmentation using user indicate...

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25th Conference on Graphics, Patterns and Images, SIBGRAPI 2012

作者： Gomes, Rafael Beserra Aroca, Rafael Vidal De Carvalho, Bruno Motta Goncalves, Luiz Marcos Garcia Department of Computing Engineering and Automation UFRN Natal Brazil Department of Informatics and Applied Mathematics UFRN Natal Brazil

ISBN: (纸本)9780769548296

We propose a novel and fast interactive segmentation methodology for computer vision applications. Basically, the proposed system performs the tracking of seeds so that multiple seeds can be acquired over time, substantially improving the segmentation results. Moreover, instead of image coordinates, the user indicates points in the real-world that become seeds in the image. These seeds can be indicated, for example using a laser pointer or a smart-phone. The seeds can then be tracked and used by a segmentation algorithm. Experiments using the Lucas-Kanade Optical Flow and the Fast Multi-Object Fuzzy Segmentation (Fast-MOFS) algorithm demonstrate that the proposed technique successfully segments images in real-time and improves the user ability to directly segment an object in the real world. The proposed system has a high performance, allowing it to be used with high frame rates in devices with low processing capability and/or with restricted power requirements. © 2012 IEEE.

关键词： Computer vision

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Undo the codebook bias by linear transformation for visual applications 13

Undo the codebook bias by linear transformation for visual a...

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21st ACM International Conference on Multimedia, MM 2013

作者： Zhang, Chunjie Zhang, Yifan Wang, Shuhui Pang, Junbiao Liang, Chao Huang, Qingming Tian, Qi School of Computer and Control Engineering University of Chinese Academy of Sciences 100049 Beijing China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences Beijing China Key Lab of Intell. Info. Process Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China College of Computer Science and Technology Beijing University of Technology 100124 Beijing China School of Computer National Engineering Research Center for Multimedia Software Wuhan University 430072 Wuhan China Department of Computer Sciences University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9781450324045

The bag of visual words model (BoW) and its variants have demonstrate their effectiveness for visual applications and have been widely used by researchers. The BoW model first extracts local features and generates the corresponding codebook, the elements of a codebook are viewed as visual words. The local features within each image are then encoded to get the final histogram representation. However, the codebook is dataset dependent and has to be generated for each image dataset. This costs a lot of computational time and weakens the generalization power of the BoW model. To solve these problems, in this paper, we propose to undo the dataset bias by codebook linear transformation. To represent every points within the local feature space using Euclidean distance, the number of bases should be no less than the space dimensions. Hence, each codebook can be viewed as a linear transformation of these bases. In this way, we can transform the pre-learned codebooks for a new dataset. However, not all of the visual words are equally important for the new dataset, it would be more effective if we can make some selection using sparsity constraints and choose the most discriminative visual words for transformation. We propose an alternative optimization algorithm to jointly search for the optimal linear transformation matrixes and the encoding parameters. Image classification experimental results on several image datasets show the effectiveness of the proposed method. Copyright © 2013 ACM.

关键词： Linear transformations

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Towards semantic and affective coupling in emotionally annotated databases

Towards semantic and affective coupling in emotionally annot...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Horvat, M. Popović, S. Ćosić, K. Faculty of Electrical Engineering and Computing University of Zagreb Department of Electric Machines Drives and Automation Zagreb Croatia

ISBN: (纸本)9789532330724

Emotionally annotated databases are repositories of multimedia documents with annotated affective content that elicit emotional responses in exposed human subjects. They are primarily used in research of human emotions, attention and development of stress-related mental disorders. This can be successfully exploited in larger processes like selection, evaluation and training of personnel for occupations involving high stress levels. Emotionally annotated databases are also used in multimodal affective user interfaces to facilitate richer and more intuitive human-computer interaction. Multimedia documents in emotionally annotated databases must have maximum personal ego relevance to be the most effective in all these applications. For this reason flexible construction of subject-specific of emotionally annotated databases is imperative. But current construction process is lengthy and labor intensive because it inherently includes an elaborate tagging experiment involving a team of human experts. This is unacceptable since the creation of new databases or modification of the existing ones becomes slow and difficult. We identify a positive correlation between the affect and semantics in the existing emotionally annotated databases and propose to exploit this feature with an interactive relevance feedback for a more efficient construction of emotionally annotated databases. Automatic estimation of affective annotations from existing semantics enhanced with information refinement processes may lead to an efficient construction of high-quality emotionally annotated databases. © 2012 MIPRO.

关键词： Semantics

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Web-based configurable and multiplatform development environment for educational robotics

Web-based configurable and multiplatform development environ...

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International Conference on Advanced Robotics (ICAR)

作者： Sarah Thomaz Carla Fernandes Renata Pitta Victor Torres Luiz Marcos Gonçalves Graduate Program in Electrical and Computing Engineering Federal University of Rio Grande do Norte Rio Grande do Norte Brazil Institute Metropolis Digital Federal University of Rio Grande do Norte Rio Grande do Norte Brazil Department of Computer Engineering and Automation Federal University of Rio Grande do Norte Rio Grande do Norte Brazil

We created an online development environment, specifically for educational robotics applications, in which it is possible to register programming languages associated with different robotic platforms, so that the user program a robot using the registered language or the language R-Educ, developed for teaching programming. To validate the platform, we conducted a series of tests divided into six steps to verify that the complete cycle was satisfied - registering a language, program in R-Educ, compile to the registered language, compile to machine code and send the code for the robot.

关键词： Robots Computer languages Programming profession Computers Hardware Registers

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