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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Ichikawa, Takuya Beppu, Wataru Kovács, Szilveszter Korondi, Peter Hashimoto, Hideki Niitsuma, Mihoko Dept. of Precision Mechanics Chuo University Tokyo Japan Department of Automation University of Miskolc Miskolc Hungary Computer and Automation Research Institute of the Hungarian Academy of Sciences Dept. of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Dept. of Electrical Electronic and Communication Engineering Chuo University Tokyo Japan

ISBN: (纸本)9783902823113

This paper presents human-robot communication for a monitoring support system in an Intelligent Space. An Intelligent Space (iSpace) is a space in which many intelligent devices are installed to observe the user's environment. In this paper, we apply the iSpace observation function to a monitoring system used for maintaining the safety of elderly persons receiving home-care support. In addition, we use a mobile robot as a tool to deliver monitoring results to care assistants. We focus on an ethological approach for designing robot behaviors for human-robot communication. The implementation of these robot behaviors based on an ethological approach, and the results of an experiment conducted to evaluate these behaviors, are then presented. © 2012 IFAC.

关键词： Monitoring

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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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Enabling computation intensive applications in battery-operated cyber-physical systems 6

Enabling computation intensive applications in battery-opera...

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6th Many-Core Applications Research Community Symposium, MARC 2012

作者： Woithe, H.C. Brozas, W. Wills, C. Pichai, B. Kremer, U. Eichhorn, M. Riepen, M. Dept. of Computer Science Rutgers University Piscataway NJ08854 United States Institute for Automation and System Engineering Ilmenau University of Technology Ilmenau98684 Germany Intel Labs Braunschweig Braunschweig Germany

ISBN: (纸本)9782725700168

Autonomous underwater vehicles (AUVs) have become indispensable tools for marine scientists to study the world's oceans. Real time examination of mission data can substantially enhance the overall effectiveness of AUVs in oceanography. However, current AUV technology only allows a detailed analysis of data after completion of a mission. The ability to perform onboard analysis of real time data is computationally intensive, requiring an energy efficient programming infrastructure that can be adapted to battery operated, energy constrained vehicles. Intel's 48-core SCC system exposes a collection of performance and energy/power knobs that can be refined for dynamically changing computation vs. energy tradeoffs. In this paper, we illustrate the potential benefits of these knobs for environment modeling and path planning. These applications are important for any autonomous cyber-physical system. Our experimental case study targets AUVs, particularly the Slocum glider. The results show that selecting different core, network, and memory controller speeds have a significant impact on the overall performance and energy requirements of our applications. Furthermore, the best selection is non-trivial and will depend on the available energy and computational needs of other mission critical tasks executing concurrently with modeling/path planning applications. © Proceedings of the 6th Many-Core Applications Research Community Symposium, MARC 2012. All rights reserved.

关键词： Autonomous underwater vehicles

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GPU based small target detection using IR images

GPU based small target detection using IR images

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2012 9th International Bhurban Conference on Applied Sciences and Technology, IBCAST 2012

作者： Javed, Muhammad Ahmad Xu, Guili Yao, Jie Li, Ning Shah, Syed Yaqub College of Electronic and Information Engineering Nanjing Univ. of Aeronautics and Astronautics 210016 Nanjing China College of Automation Engineering Nanjing Univ. of Aeronautics and Astronautics 210016 Nanjing China Dept. of Computer System Engineering NWFP Univ. of Engineering and Technology Peshawar Pakistan

ISBN: (纸本)9781457719295

In this paper we present a new method for detecting moving object in infrared image sequences which contain nuisance objects and noise. The moving target detection approach is based on wavelet transform with GPU implementation. According to the features of the modulus maxima images after wavelet transform, the background clutter and noise are eliminated. The effectiveness of this new method is demonstrated by applying the resulting algorithm to infrared images containing moving targets. © 2012 IEEE.

关键词： Wavelet transforms

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Threats and trade-offs in resource critical crowdsourcing tasks over networks 26

Threats and trade-offs in resource critical crowdsourcing ta...

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26th AAAI Conference on Artificial Intelligence and the 24th Innovative Applications of Artificial Intelligence Conference, AAAI-12 / IAAI-12

作者： Nath, Swaprava Dayama, Pankaj Garg, Dinesh Narahari, Y. Zou, James Department of Computer Science and Automation Indian Institute of Science Bangalore 560 012 India Global General Motors R and D - India Science Lab India IBM India Research Lab India Dept. of Computer Science and Automation Indian Institute of Science India School of Engineering and Applied Sciences Harvard University United States

ISBN: (纸本)9781577355687

In recent times, crowdsourcing over social networks has emerged as an active tool for complex task execution. In this paper, we address the problem faced by a planner to incentivize agents in the network to execute a task and also help in recruiting other agents for this purpose. We study this mechanism design problem under two natural resource optimization settings: (1) cost critical tasks, where the planner's goal is to minimize the total cost, and (2) time critical tasks, where the goal is to minimize the total time elapsed before the task is executed. We define a set of fairness properties that should be ideally satisfied by a crowdsourcing mechanism. We prove that no mechanism can satisfy all these properties simultaneously. We relax some of these properties and define their approximate counterparts. Under appropriate approximate fairness criteria, we obtain a non-trivial family of payment mechanisms. Moreover, we provide precise characterizations of cost critical and time critical mechanisms. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Crowdsourcing

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Formation and simulation on Chinese lexical networks

Formation and simulation on Chinese lexical networks

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2012 5th International Joint Conference on Computational Sciences and Optimization, CSO 2012

作者： Li, Jinze Li, Jianyu Yang, Zhanxin Xiao, Feng School of Computer Science Communication University of China Beijing 100024 China Engineering Center of Digital Audio and Video Communication University of China Beijing 100024 China Dept. of Automation Tsinghua University Beijing 100084 China

ISBN: (纸本)9780769546902

The phrase networks of Chinese show small world, scale-free and disassortative mixing features in our previous paper [10]. Here semantical relationships are considered to explain the small world feature. Then we simulate the formation of Chinese phrases using weighted graph theory. The weighted graph model generates power-law distributions and disassortative mixing as the empirical networks, which effectively explain the origin, formation and evolution of Chinese phrases. © 2012 IEEE.

关键词： Graph theory

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Gradient-Based Algorithms for the Automatic Construction of Fuzzy Cognitive Maps

Gradient-Based Algorithms for the Automatic Construction of ...

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International Conference on Machine Learning and Applications (ICMLA)

作者： Salomao Sampaio Madeiro Fernando Jose Von Zuben Dept. of Computer Engineering and Industrial Automation School of Electrical and Computer Engineering SP Brazil Universidade Estadual de Campinas Campinas SP BR

Fuzzy Cognitive Map (FCM) is a tool for modeling and representing discrete dynamical systems. Several approaches were proposed for the automatic learning of FCM on the basis of historical data. The learning techniques can be grouped into three types: Hebbian-based, population-based, and hybrid, which combines both types. Despite the good overall results achieved by population-based approaches relative to the other learning paradigms, it is possible to improve their performance by combining them with local search procedures. In this paper, we investigate the performance of a multi-start gradient-based method and two evolutionary methods hybridized with a gradient-based local search procedure for the learning of FCMs. We tested the proposed approaches for synthetic and real world FCM models. The results show that it was possible to improve the performance of the evolutionary methods with a relatively small increase in the resultant computational time.

关键词： Sociology Statistics Training Mathematical model Computational modeling Fuzzy cognitive maps Genetic algorithms

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A robust approach to digit recognition in noisy environments 12

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25th International Conference on Industrial engineering and Other Applications of Applied Intelligent Systems, IEA/AIE 2012

作者： Matei, O. Pop, P.C. VǍlean, H. Dept. of Electrical Engineering North University of Baia Mare Str. V. Babes 430083 Baia Mare Romania Dept. of Mathematics and Computer Science North University of Baia Mare Str. Victoriei 430122 Baia Mare Romania Dept. of Automation Technical University of Cluj-Napoca Str. G. Baritiu nr. 26-28 Cluj-Napoca Romania

ISBN: (纸本)9783642310867

The article presents an original approach to optical character recognition (OCR) used in real environments, such as gas- and electricity-meters, where the quantity of noise is sometimes as large as the quantity of good signal. This approach uses two algorithms for better results. These are a neural network on one hand, respectively the k-nearest neighbor as the confirmation algorithm. Unlike other OCR systems, this one is based on the angles of the digits, rather than on pixels. This makes it insensitive to the possible rotations of the digits, respectively to the quantity of noise that may appear in an image. We will prove that the approach has several advantages, such as: insensitivity to the possible rotations of the digits, the possibility to work in different light and exposure conditions, the ability to deduct and use heuristics for character recognition. © 2012 Springer-Verlag.

关键词： Optical character recognition

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Ethologically Inspired Human-Robot Communication for Monitoring Support System in Intelligent Space

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IFAC Proceedings Volumes 2012年第22期45卷 58-63页

作者： Takuya Ichikawa Wataru Beppu Szilveszter Kovács Peter Korondi Hideki Hashimoto Mihoko Niitsuma Dept. of Precision Mechanics Chuo University Tokyo Japan Department of Automation University of Miskolc Miskolc Hungary Computer and Automation Research Institute of the Hungarian Academy of Sciences Dept. of Mechatronics Optics and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Dept. of Electrical electronic and communication engineering Chuo University Tokyo Japan

关键词： human-robot communication Intelligent Space ethology

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Proposal and analysis of a FitzHugh-Nagumo neuronal circuit *

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IFAC Proceedings Volumes 2012年第12期45卷 220-225页

作者： Diogo C. Soriano Maurício L.C. Machado Everton Z. Nadalin Ricardo Suyama Romis Attux João P.C. Cajueiro João M.T. Romano Centro de Engenharia Modelagem e Ciências Sociais Aplicadas (CECS) Universidade Federal do ABC (UFABC) Santo André Brazil Dept. of Microwave and Optics (DMO) School of Electrical and Computer Engineering (FEEC) University of Campinas (UNICAMP) Campinas Brazil Dept. of Computer Engineering and Industrial Automation (DCA) UNICAMP Dept. of Electronics and Systems Federal University of Pernambuco (UFPE) Recife Brazil

In this work, we present an original implementation of a circuit to perform the analog simulation of the FitzHugh-Nagumo neuron model. The proposed circuit is tested for different stimulation patterns and provides results very similar to those derived from a more widespread digital computation approach, with a significantly better performance in terms of processing time and a noticeable robustness to parameter modification. Moreover, the results also reveal the possibility of chaotic behavior for distinct experimental setups, which may be essential for the process of learning and perception in biological systems.

关键词： analog computation neuronal model chaos FitzHugh-Nagumo model

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