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IEEE International Conference on robotics and Automation (ICRA)

作者： Will Maddern Alastair Harrison Paul Newman School of Electrical Engineering and Computer Science Queensland University of Technology Australia Mobile Robotics Group Department Engineering Science University of Oxford UK

This paper describes a novel method for determining the extrinsic calibration parameters between 2D and 3D LIDAR sensors with respect to a vehicle base frame. To recover the calibration parameters we attempt to optimize the quality of a 3D point cloud produced by the vehicle as it traverses an unknown, unmodified environment. The point cloud quality metric is derived from Rényi Quadratic Entropy and quantifies the compactness of the point distribution using only a single tuning parameter. We also present a fast approximate method to reduce the computational requirements of the entropy evaluation, allowing unsupervised calibration in vast environments with millions of points. The algorithm is analyzed using real world data gathered in many locations, showing robust calibration performance and substantial speed improvements from the approximations.

关键词： Laser radar Calibration Vehicles Sensors Entropy Cost function

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ADMM For Consensus On Colored Networks

ADMM For Consensus On Colored Networks

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IEEE Annual Conference on Decision and Control

作者： Joao F. C. Mota Joao M. F. Xavier Pedro M. Q. Aguiar Markus Puschel Department of Electrical and Computer Engineering Carnegie Mellon University Institute of Systems and Robotics Instituto Superior Tecnico Technical University of Lisbon Department of Computer Science

ISBN: (纸本)9781467320658

We propose a novel distributed algorithm for one of the most fundamental problems in networks: the average consensus. We view the average consensus as an optimization problem, which allows us to use recent techniques and results from the optimization area. Based on the assumption that a coloring scheme of the network is available, we derive a decentralized, asynchronous, and communication-efficient algorithm that is based on the Alternating Direction Method of Multipliers (ADMM). Our simulations with other state-of-the-art consensus algorithms show that the proposed algorithm is the one exhibiting the most stable performance across several network models.

关键词： distributed algorithms Network network model simulating

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Bbn viser trecvid 2012 multimedia event detection and multimedia event recounting systems

Bbn viser trecvid 2012 multimedia event detection and multim...

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TREC Video Retrieval Evaluation, TRECVID 2012

作者： Natarajan, Pradeep Natarajan, Prem Wu, Shuang Zhuang, Xiaodan Vazquez-Reina, Amelio Vitaladevuni, Shiv N. Tsourides, Kleovoulus Andersen, Carl Ye, Guangnan Liu, Dong Shih-Fu, Chang Imran, Saleemi Sha, Mubarak Ng, Yue White, Brandyn Davis, Larry Gupt, Abhinav Haritaogl, Ismail Rohit Prasad Speech Language and Multimedia Business Unit Raytheon BBN Technologies Cambridge United States Department of Electrical Engineering Columbia University NY United States Department of Electrical Engineering and Computer Science University of Central Florida Orlando United States Department of Computer Science University of Maryland College Park United States Robotics Institute Carnegie Mellon University Pittsburg United States Polar Rain Inc Menlo Park United States

We describe the Raytheon BBN Technologies (BBN) led VISER system for the TRECVID 2012 Multimedia Event Detection (MED) and Recounting (MER) tasks. We present a comprehensive analysis of the different modules in our evaluation system that includes: (1) a large suite of visual, audio and multimodal low-level features, (2) modules to detect semantic scene/action/object concepts over the entire video and within short temporal spans, (3) automatic speech recognition (ASR), and (4) videotext detection and recognition (OCR). For the low-level features we used multiple static, motion, color, and audio features previously considered in literature as well as a set of novel, fast kernel based feature descriptors developed recently by BBN. For the semantic concept detection systems, we leveraged BBN's natural language processing (NLP) technologies to automatically analyze and identify salient concepts from short textual descriptions of videos and frames. Then, we trained detectors for these concepts using visual and audio features. The semantic concept based systems enable rich description of video content for event recounting (MER). The video level concepts have the most coverage and can provide robust concept detections on most videos. Segment level concepts are less robust, but can provide sequence information that enriches recounting. Object detection, ASR and OCR are sporadic in occurrence but have high precision and improves quality of the recounting. For the MED task, we combined these different streams using multiple early/feature level and late/score level fusion strategies. We present a rigorous analysis of each of these subsystems and the impact of different fusion strategies. In particular, we present a thorough study of different semantic feature based systems compared to low-level feature based systems considered in most MED systems. Consistent with previous MED evaluations, low-level features exhibit strong performance. Further, semantic feature based systems hav

关键词： Semantics

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Online continuous stereo extrinsic parameter estimation

Online continuous stereo extrinsic parameter estimation

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Peter Hansen Hatem Alismail Peter Rander Brett Browning Computer Science Department Carnegie Mellon University Doha Qatar National Robotics Engineering Center Robotics Institute Carnegie Mellon University Pittsburgh PA USA

Stereo visual odometry and dense scene reconstruction depend critically on accurate calibration of the extrinsic (relative) stereo camera poses. We present an algorithm for continuous, online stereo extrinsic re-calibration operating only on sparse stereo correspondences on a per-frame basis. We obtain the 5 degree of freedom extrinsic pose for each frame, with a fixed baseline, making it possible to model time-dependent variations. The initial extrinsic estimates are found by minimizing epipolar errors, and are refined via a Kalman Filter (KF). Observation covariances are derived from the Cramer-Rao lower bound of the solution uncertainty. The algorithm operates at frame rate with unoptimized Matlab code with over 1000 correspondences per frame. We validate its performance using a variety of real stereo datasets and simulations.

关键词： Cameras Calibration Visualization Noise Kalman filters Image reconstruction Mathematical model

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Conversational gaze mechanisms for humanlike robots

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ACM Transactions on Interactive Intelligent Systems 2012年第2期1卷 1–33页

作者： Mutlu, Bilge Kanda, Takayuki Forlizzi, Jodi Hodgins, Jessica Ishiguro, Hiroshi Department of Computer Sciences University of Wisconsin-Madison 1210W. Dayton St. Madison WI 53706 United States Intelligent Robotics and Communication Laboratories ATR 2-2-2 Hikaridai Soraku-gun Seika-cho Kyoto 619-0224 Japan Human-Computer Interaction Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 United States Department of System Innovation Graduate School of Engineering Science Osaka University 1-3 Machikaneyama Toyonaka Osaka Japan

During conversations, speakers employ a number of verbal and nonverbal mechanisms to establish who participates in the conversation, when, and in what capacity. Gaze cues and mechanisms are particularly instrumental in establishing the participant roles of interlocutors, managing speaker turns, and signaling discourse structure. If humanlike robots are to have fluent conversations with people, they will need to use these gaze mechanisms effectively. The current work investigates people's use of key conversational gaze mechanisms, how they might be designed for and implemented in humanlike robots, and whether these signals effectively shape human-robot conversations. We focus particularly on whether humanlike gaze mechanisms might help robots signal different participant roles, manage turn-exchanges, and shape how interlocutors perceive the robot and the conversation. The evaluation of these mechanisms involved 36 trials of three-party human-robot conversations. In these trials, the robot used gaze mechanisms to signal to its conversational partners their roles either of two addressees, an addressee and a bystander, or an addressee and a nonparticipant. Results showed that participants conformed to these intended roles 97% of the time. Their conversational roles affected their rapport with the robot, feelings of groupness with their conversational partners, and attention to the task. © 2012 ACM.

关键词： Human robot interaction

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Real-time deterministic generation of maximally entangled two-qubit and three-qubit states via bang-bang control

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Physical Review A 2012年第1期85卷 012332-012332页

作者： Thanh Long Vu Shuzhi Sam Ge Chang Chieh Hang NUS Graduate School for Integrative Sciences and Engineering Singapore 117456 Republic of Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Republic of Singapore Robotics Institute and School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu 611813 People's Republic of China

We exploit the notion of SWM- (simultaneous-weak-measurements)-induced quantum state reduction, enabling the use of measurement backaction to produce the desired quantum states. The probabilistic generation of maximally entangled Bell states and the |GHZ〉 (Greenberger-Horne-Zeilinger) state are then performed as a consequence of this notion. By combining SWM-induced quantum state reduction with feedback control, we are able to deterministically generate any desired Bell state as well as the |GHZ〉 state, without the knowledge of the initial state. The control-computation time is compensated for by the delay time in the time-delay bang-bang control, through which the real-time implementation of the control scheme is guaranteed. The effectiveness of the proposed scheme is illustrated numerically.

关键词： FEEDBACK control systems QUANTUM theory PROBABILITY theory QUANTUM entanglement AUTOMATIC control BELL'S theorem

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A Chattering-free Fractional PDα Sliding-mode Control Of A 3-DOF Robot System Driven By DC motors

A Chattering-free Fractional PDα Sliding-mode Control Of A ...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Srecko A.Batalov Mihailo P.Lazarevi Ales Hace Karel Jezernik University of Belgrade Faculty of Mechanical EngineeringBelgrade Serbia University of Belgrade Faculty of Mechanical Engineering Department of MechanicsBelgrade Serbia Institute for Robotics Faculty of electrical engineering and computer scienceUniversity of Maribor Slovenia Institute for Robotics Faculty of electrical engineering and computer science University of Maribor Slovenia

This paper proposes a robust fractional-order sliding mode control of a3-DOF robot system driven by DC ***,a conventional sliding mode controller based on PDα sliding surface is *** simulations have been carried out ... 详细信息

关键词： DOF A Chattering-free Fractional PD Sliding-mode Control Of A 3-DOF Robot System Driven By DC motors

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Surface sensor networks for Underwater Vehicle positioning with bearings-only measurements

Surface sensor networks for Underwater Vehicle positioning w...

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2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： D. Moreno-Salinas A. M. Pascoal J. Aranda Department of Computer Science and Automatic Control UNED Madrid Spain Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Technical University of Lisbon Portugal

There is increasing interest in the use of Autonomous Underwater Vehicles (AUVs) to substantially improve the means available for ocean exploration and exploitation. A key element in the operation of certain classes of AUVs is the availability of good underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or a set of autonomous surface vehicles. In an interesting operational scenario, the set of autonomous surface vehicles carries a network of acoustic units that measure the elevation and azimuth angles between the target and each of the receivers. Motivated by these considerations, in this paper we address the problem of determining the optimal geometric configuration of an acoustic sensor network at the ocean surface that will maximize the angle-related information available for underwater target positioning. It is assumed that the angle measurements are corrupted by white Gaussian noise, the variance of which is distance-dependent. Using the Cramer-Rao lower bound inequality, the trace of the inverse of the Fisher Information matrix (also called the Cramer-Rao Bound matrix) for the problem at hand is used to determine the sensor configuration that yields the minimum possible covariance of any unbiased target estimator. It is shown that the optimal configuration lends itself to an interesting geometrical interpretation and that the spreading of the sensor configuration depends explicitly on the intensity of the measurement noise and the target depth. Simulation examples illustrate the key results derived.

关键词： Robot sensing systems Sea measurements Noise measurement Noise Vectors Sea surface Acoustic measurements

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Towards AER VITE: building spike gate signal

Towards AER VITE: building spike gate signal

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IEEE International Conference on Electronics, Circuits and Systems

作者： Fernando Perez-Pena Arturo Morgado-Estevez Carlos Rioja-Del-Rio Alejandro Linares-Barranco Angel Jimenez-Fernandez Juan Lopez-Coronado Jose Luis Munoz-Lozano Applied Robotics Lab High School of Engineering University of Cadiz Department of Computer Architecture and Technology ETSI Computer Science University of Seville Automatic and System Engineering Department University Polytechnics of Cartagena

ISBN: (纸本)9781467312615

Neuromorphic engineers aim to mimic the precise and efficient mechanisms of the nervous system to process information using spikes from sensors to actuators. There are many available works that sense and process information in a spike-based way. But there are still several gaps in the actuation and motor control field in a spike-based way. Spike-based Proportional-Integrative-Derivative controllers (PID) are present in the literature. On the other hand, neuro-inspired control models as VITE (Vector Integration To End point) and FLETE (Factorization of muscle Length and muscle Tension) are also present in the literature. This paper presents another step toward the spike implementation of those neuro-inspired models. We present a spike-based ramp multiplier. VITE algorithm generates the way to achieve a final position targeted by a mobile robotic arm. The block presented is used as a gate for the way involved and it also puts the incoming movement on speed with a variable slope profile. Only spikes for information representation were used and the process is in real time. The software simulation based on Simulink and Xilinx System Generator shows the accurate adjust to the traditional processing for short time periods and the hardware tests confirm and extend the previous simulated results for any time. We have implemented the spikes generator, the ramp multiplier and the low pass filter into the Virtex-5 FPGA and connected this with an USB-AER (Address Event Representation) board to monitor the spikes.

关键词： spike spikes spikes Road gates Hardware Test Information representation Processing information ANION EXCHANGE RESIN Proportional Integral Derivative Control Activation Pelvic Inflammatory Disease RAMP Ramps Multiplying circuits

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An introduction to the special issue: Modeling and control of integrated bio-systems

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WSEAS Transactions on Systems 2012年第7期11卷 221-222页

作者： Vassileva, Svetla Neri, Filippo Department of Integrated Systems Institute of Systems Engineering and Robotics Bulgarian Academy of Sciences Sofia Bulgaria Department of Computer Science University of Naples federico II Naples Italy

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