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Beta-eigenspaces for autonomous mobile robotic trajectory outlier detection

Beta-eigenspaces for autonomous mobile robotic trajectory ou...

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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Shyba Zaheer Tauseef Gulrez Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai Academic City UAE Department of Computer Science Center of Intelligent Machines & Robotics Research COMSATS Institute of Information Technology Lahore Pakistan

This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in this paper is to replace the Gaussian distribution utilized by the probabilistic principal component analysis (PPCA) with the beta-distribution. It is a well known issue that the conventional PCA is sensitive to anomalous observations because the calculation of sample mean and covariance matrix can be significantly influenced by a small number of outliers. Similarly, PPCA is not robust to outliers since the data are assumed to follow a multivariate Gaussian distribution that is easily affected by deviant observations. An outlier detection is done using Beta-Probabilistic Principal Component Analysis (BPPCA), further more an analysis is proposed to identify which variables contribute the most to the occurrence of outliers. The proposed technique is applied on real-time robotics sensor data as well as on the real-time robotics simulation environment.

关键词： Trajectory Principal component analysis Robot sensing systems Lasers Mobile communication Mobile robots

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Synthesis of Robust PID Controllers Design with Complete Information On Pre-Specifications for the FOPTD systems

Synthesis of Robust PID Controllers Design with Complete Inf...

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2011 American Control Conference (ACC)

作者： Ying Luo YangQuan Chen Department of Electrical and Computer Engineering Utah State University Logan UT USA Department of Automation Science and Engineering South China University of Technology Guangzhou China Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper provides a new design synthesis for the stable PID controllers to achieve the robustness to the system gain variations based on the first order plus time delay (FOPTD) systems. This designed PID controller is robust not only to the uncertainty of the plant steady-state gain, but also to the entire variations of the controller coefficients. The stability regions of the PID controller parameters are first determined according to a graphical stability criterion. According to two pre-specifications and the flat phase tuning constraint, a specific point in the three-dimension PID parameter-space can be determined. This designed PID controller can be, stable for sure as its parameter point is located in the stability region, and also robust to system gain variations according to the flat phase constraint. The important contribution of this proposed design synthesis is that, it provides the reliable procedures of designing the stable PID controller with robustness to the system gain variations, moreover, it can collect the complete information of the achievable design pre-specifications, which is the significant principle problem for the PID controllers synthesis in this paper.

关键词： Robustness Stability criteria Steady-state Delay effects Tuning

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Highly-accurate light-penetration based silkworm pupa sex identification system

Highly-accurate light-penetration based silkworm pupa sex id...

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International Conference on Quantum Electronics (IQEC)

作者： Sarun Sumriddetchkajorn Chakkrit Kamtongdee Intelligent Devices and Systems Research Unit National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical Engineering Faculty of Engineering Khon Kaen University Khon Kaen Thailand

This paper proposes and experimentally shows how we combine light penetration concept and simple image processing operations in order to identify gender of a silkworm pupa. Key features include low cost, fast, and hig... 详细信息

ISBN: (纸本)9780977565771

关键词： Glands Filtering Accuracy Light sources Digital cameras Image processing Shape

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Motion Planning for Steep Hill Climbing

Motion Planning for Steep Hill Climbing

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2011 IEEE International Conference on robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Damion Dunlap Wei Yu Emmanuel G. Collins Charmane V. Caldwell Automation & Dynamics Branch Littoral Warfare Science & Technology Department of the US Naval Surfac Center for Intelligent Systems Control and Robotics (CISCOR) and the Department of Mechanical Engine Department of Electrical Engineering Florida A&M University-Florida State UniversityTallahasseeFL

The motors or engines of an autonomous ground vehicles (AGV) have torque and power limitations, which limit their abilities to climb steep hills, which are defined to be hills that have high grade sections in which the vehicle is forced to decelerate. Traversal of a steep hill requires the vehicle to have sufficient momentum before entering the hill. This problem is part of a larger class of momentum-based motion planning problems such as the problem of lifting heavy objects with manipulators. Hence, solutions to the steep hill climbing problem have much wider applicability. The motion planning here is accomplished using a dynamic model of the skid-steered AGV used in the experiments along with Sampling Based Model Predictive Control (SBMPC), a recently developed input sampling planning algorithm that may be viewed as a generalization of LPA* to the direct use of kinodynamic models. The motion planning is demonstrated experimentally using two scenarios, one in which the robot starts at rest at the bottom of a hill and one in which the robot starts at rest a distance from the hill. The first scenario requires the AGV to first reverse direction so that the vehicle can gather enough momentum before reaching the hill. This corresponds to having the vehicle begin at a local minimum, which results in a problem that many traditional model predictive control methods cannot solve. It is seen that, whereas open loop trajectories can lead to vehicle immobilization, SBMPC successfully uses the information provided by the dynamic model to ensure that the AGV has the requisite momentum.

关键词： Vehicles Planning Predictive models Optimization DC motors Trajectory Vehicle dynamics

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System design and implementation of social interactive robot Nancy

System design and implementation of social interactive robot...

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International Conference on Information Sciences and Interaction Sciences (ICIS)

作者： Shuzhi Sam Ge Chun Fui Liew Yanan Li Institute of Intelligent Systems University of Electronic Science and Technology Chengdu China Social Robotics Laboratory Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore Social Robotics Laboratory Interactive Digital Media Institute and NUS Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore

This paper presents a social interactive robot Nancy that has been developed in Social robotics Laboratory, National University of Singapore. Fundamentally different from factory robots, Nancy's design focuses on social interaction and social intelligent system. The design objectives and consideration are examined in the beginning, followed by the description of hardware and software architectures. Contrast to current existing social robots, Nancy has a graphical user interface (GUI), which acts as an additional channel for human-robot interaction. This GUI helps users to have a better understanding of Nancy's internal states and hence make users feel more comfortable during the interaction with Nancy. Visitors' interaction experience with Nancy is discussed together with Nancy's social skills.

关键词： Robots Graphical user interfaces Servomotors Speech Universal Serial Bus Face Hardware

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Solving Traveling Salesman Problem by a hybrid combination of PSO and Extremal Optimization

Solving Traveling Salesman Problem by a hybrid combination o...

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International Joint Conference on Neural Networks (IJCNN)

作者： S. Khakmardan H. Poostchi M.-R. Akbarzadeh-T. Department of Artificial Intelligence Islamic Azad University Mashhad Iran Ferdowsi University of Mashhad Mashhad Iran Center for Applied Research on Soft Computing and Intelligent Systems Departments of Electrical Engineering and Computer Engineering Ferdowsi University of Mashhad Iran

Particle Swarm Optimization (PSO) has received great attention in recent years as a successful global search algorithm, due to its simple implementation and inexpensive computation overhead. However, PSO still suffers from the problem of early convergence to locally optimal solutions. Extremal Optimization (EO) is a local search algorithm that has been able to solve NP hard optimization problems. The combination of PSO with EO benefits from the exploration ability of PSO and the exploitation ability of EO, and reduces the probability of early trapping in the local optima. In other words, due to the EO's strong local search capability, the PSO focuses on its global search by a new mutation operator that prevents loss of variety among the particles. This is done when the particle's parameters exceed the problem conditions. The resulting hybrid algorithm Mutated PSO-EO (MPSO-EO) is then applied to the Traveling Salesman Problem (TSP) as a NP hard multimodal optimization problem. The performance of the proposed approach is compared with several other metaheuristic methods on 3 well known TSP databases and 10 unimodal and multimodal benchmark functions.

关键词： Optimization Databases Benchmark testing Convergence Particle swarm optimization Flowcharts Traveling salesman problems

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Fire evacuation model with confidence intervals

Fire evacuation model with confidence intervals

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Yuan Gao Peter B. Luh Qianchuan Zhao Hui Zhang Nan Wu Lifeng Qiao Center for Intelligent and Networked Systems (CFINS) Tsinghua University Tsinghua-UTC Beijing China Communications and Information Technologies Department of Electrical and Computer Engineering University of Connecticut USA CFINS Tsinghua University Beijing China Center for Intelligent and Networked Systems (CFINS) Tsinghua University Beijing China Center for Public Safety Research Tsinghua University Beijing China UTRC China

In building fire evacuation, good guidance can speed up egress process and occupants may be injured due to lack of information and guidance. There are many studies on building egress systems, which use relevant information (e.g., fire condition and its evolution) to calculate and provide guidance to occupants. However, information used to generate guidance may be uncertain, and it is difficult to provide the guidance under uncertainty. How to provide effective guidance to occupants under uncertainty and how to evaluate the confidence of the guidance are critical issues. To describe the confidence of the guidance, the concept of “confidence intervals” is used. By comparing “confidence intervals” with a threshold, acceptable guidance is provided. Testing examples show that the confidence of the guidance can be evaluated and unacceptable guidance can be differentiated with the use of confidence intervals.

关键词： Fires Position measurement Uncertainty Buildings Optimization Electronic mail Layout

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Analysis of a Partially Decentralized Framework for Operating Future Power systems

Analysis of a Partially Decentralized Framework for Operatin...

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IEEE Power and Energy Society General Meeting

作者： Mingyang Li Peter B. Luh Eugene Litvinov Peng Zhang Center for Intelligent and Networked Systems (CFINS) Department of Automation Tsinghua National Laboratory for Information Science & Technology (TNLIST) Tsinghua University Dept. of Electrical & Computer Engineering University of Connecticut ISO New England Inc.

ISBN: (纸本)9781457710001

In future power systems, the Smart Grid technologies will bring in a large number of new entities, which are different from those in the current systems in two major aspects: first, the entities are geographically distributed throughout the system with their detailed information not available to the system operator, and second, the entities tend to autonomously optimize their own benefits. In view of both aspects, it is difficult to use the current centralized framework to operate future systems. In this paper, we present and analyze a new partially decentralized framework and the corresponding mechanisms as one step from the current framework toward the future ones, and the focus is on the real time electricity markets with a dispatch cycle of five minutes. In each dispatch cycle, the system operator posts electricity price forecasts, and individual entities actively respond to the prices to dispatch themselves. The system-wide power imbalance is used as a correction term in the next dispatch cycle to iteratively update the price forecasts, so that system balance is maintained in the long term. The new framework can accommodate the large number of entities without knowing their detailed information, and enable the entities to achieve better economic benefits. Small examples are used to analyze our framework and to compare it with the current one.

关键词： System operation Autonomous entities Renewable generation Decentralized Real time market Electricity price Decentralized Operating systems Dispatching Electricity pricing Frameworks power systems correct entry Smart grids Prices

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A distributed fault detection methodology for a class of large-scale uncertain input-output discrete-time nonlinear systems

A distributed fault detection methodology for a class of lar...

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IEEE Conference on Decision and Control

作者： Francesca Boem Riccardo M. G. Ferrari Thomas Parisini Marios M. Polycarpou Department of Industrial and Information Engineering DI3 University of Trieste Italy Danieli Automation S.p.A. Buttrio Italy Department of Electrical and Electronic Engineering Imperial College London UK Department of Industrial and Information Engineering University of Trieste Italy KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

This paper extends very recent results on a distributed fault diagnosis methodology for nonlinear uncertain large-scale discrete-time dynamical systems to the case of partial state measurement. The large scale system being monitored is modeled, following a divide et impera approach, as the interconnection of several subsystems that are allowed to overlap sharing some state components. Each subsystem has its own Local Fault Diagnoser: the local detection is based on the knowledge of the local subsystem dynamic model and of an adaptive approximation of the interconnection with neighboring subsystems. A consensus-based estimator is used in order to improve the detectability of faults affecting variables shared among different subsystems. Time-varying threshold functions guaranteeing no false-positive alarms and analytical fault detectability sufficient conditions are presented as well.

关键词： Vectors Fault detection Mathematical model State estimation Uncertainty Fault diagnosis Equations

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain

作者： Bos, Danny Plass-Oude Duvinage, Matthieu Oktay, Oytun Saa, Jaime Delgado Guruler, Huseyin Istanbullu, Ayhan Van Vliet, Marijn Van De Laar, Bram Poel, Mannes Roijendijk, Linsey Tonin, Luca Bahramisharif, Ali Reuderink, Boris HMI Group Faculty of EEMCS University of Twente Netherlands TCTS Lab Electrical Engineering University Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal University Turkey Faculty of Engineering and Natural Sciences VPA Lab Sabanci University Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Radboud University Nijmegen Donders Institute for Brain Cognition and Behaviour Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Radboud University Nijmegen Institute for Computing and Information Sciences Nijmegen Netherlands

ISBN: (纸本)9781424498918

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment. © 2011 IEEE.

关键词： Virtual reality

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