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检索条件"机构=Dpt. System Engineering and Automation"

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Improving human face detection through TOF cameras for ambient intelligence applications

Improving human face detection through TOF cameras for ambie...

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作者： Ruiz-Sarmiento, J.R. Galindo, C. Gonzalez, J. System Engineering and Automation Dpt. University of Malaga Spain

ISBN: (纸本)9783642199363

One of the cornerstones of ambient intelligence technology is the need of sensory systems to reliably notice the presence of people. Several approaches for detecting humans within a non-controlled scenario can be found in the literature but they exhibit not enough effectiveness, i.e. a high rate of false positive or true negative detections. This becomes a drawback for the development of a variety of ambient intelligence applications which depend on such a sensory capability. In this paper we propose the use of a TOF camera for noticing human presence by detecting their faces. Apart from a typical intensity image, this camera also provides a range image of the scene. The proposed methodology first detects faces from the intensity image (by using the Viola-Jones algorithm) and then analyzes those detections in the range image to discard false positives. Experimental evaluations of the proposed process have yielded excellent results in non-controlled scenarios, eliminating most of the false positive detections. © 2011 Springer-Verlag Berlin Heidelberg.

关键词： Cameras

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Ladar scan preprocessing for robust motion estimation

Ladar scan preprocessing for robust motion estimation

引用

2007 9th International Symposium on Signal Processing and its Applications, ISSPA 2007

作者： Gutiérrez, Rafael González, Javier Blanco, José Luis Dpt. of Electronics Telecommunication and Automation University of Jaen Spain Dpt. of System Engineering and Automation University of Malaga Spain

ISBN: (纸本)1424407796

Two-dimensional laser radars (2D-ladars) are sensors extensively used in mobile robotics for map building, self-localization, and obstacle detection due to their accuracy and reliability. Due to their fast sampling of the environment they also perfectly suit incremental egomotion estimation, that is, to find how the position of the vehicle changes in short periods of time only by comparing sensor readings. Some of the most accurate methods dealing with this problem rely on a consistent computation of derivatives of range scans provided by the ladar. In practice, edges in the environment and sensor noise lead to inconsistencies in this computation. In this work we introduce an approach in the frequency domain, which robustly detects the continuous contour patches in the scan and then filters out the noise in those sections. In contrast with other methods based on batches of filters and heuristic rules, our approach employs spectral information to automatically select the filter parameters. We validate our method with experimental results on real environments. ©2007 IEEE.

关键词： Optical radar

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Neural network and genetic algorithms for composition estimation and control of a high purity distillation column

Neural network and genetic algorithms for composition estima...

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ICINCO 2008 - 5th International Conference on Informatics in Control, automation and Robotics

作者： De Fernandez Cañete, J. Del Saz-Orozco, P. Gonzalez-Perez, S. System Engineering and Automation Dpt. University of Malaga Malaga Spain

ISBN: (纸本)9789898111319

Many industrial processes are difficult to control because the product quality cannot be measured rapidly and reliably. One solution to this problem is neural network based control, which uses an inferential estimator (software sensor) to infer primary process outputs from secondary measurements, and control these outputs. This paper proposes the use of adaptive neural networks applied both to the prediction of product composition from temperature measurements, and to the dual control of distillate and bottom composition for a continuous high purity distillation column. Genetic algorithms are used to automatically choice of the optimum control law based on the neural network model of the plant. The results obtained have shown the proposed method gives better or equal performances over other methods such fuzzy, or adaptive control.

关键词： Genetic algorithms

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Improving 2D reactive navigators with kinect

Improving 2D reactive navigators with kinect

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10th International Conference on Informatics in Control, automation and Robotics, ICINCO 2013

作者： Gonzalez-Jimenez, Javier Ruiz-Sarmiento, J.R. Galindo, Cipriano System Engineering and Automation Dpt. University of Malaga Malaga Spain

ISBN: (纸本)9789898565716

Most successful mobile robots rely on 2D radial laser scanners for perceiving the environment. The use of these sensors for reactive navigation has a serious limitation: the robot can only detect obstacles in the plane scanned by the sensor, with the consequent risk of collision with objects out of this plane. The recent commercialization of RGB-D cameras, like Kinect, opens new possibilities in this respect. In this paper we address the matter of adding the 3D information provided by these cameras to a reactive navigator designed to work with radial laser scanners. We experimentally analyze the suitability of Kinect to detect small objects and propose a simple but effective method to combine readings from both type of sensors as well as to overcome some of the drawbacks that Kinect presents. Experiments with a real robot and a particular reactive algorithm have been conducted, proving a significant upgrade in performance.

关键词： Mobile robots

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Object-oriented modeling and simulation of the arterial pressure control system by using MODELICA

Object-oriented modeling and simulation of the arterial pres...

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13th Mediterranean Conference on Medical and Biological engineering and Computing 2013, MEDICON 2013

作者： de Canete, Fernandez J. Luque, J. Barbancho, J. Muñoz, V. Dpt. System Engineering and Automation Andalucia-Tech University Malaga Spain Dpt. Electronics Andalucia-Tech University Sevilla Spain

ISBN: (纸本)9783319008455

The modeling of physiological control systems via mathematical equations reflects the calculation procedure more than the structure of the real system modeled, and several simulation environment have been used so far for this task. Nevertheless, object-oriented modeling is spreading in current simulation environments through the use of the individual components of the model and its interconnections to define the underlying dynamic equations. In this paper we describe the use of the MODELICATM simulation environment in the object-oriented modeling of the cardiovascular control system. The performance of the controlled system has been analyzed by object-oriented simulation in the light of existing hypothesis and physiological data used here for validation purposes. © Springer International Publishing Switzerland 2014.

关键词： Cardiovascular system

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Technical improvements of the Giraff telepresence robot based on users' evaluation

Technical improvements of the Giraff telepresence robot base...

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2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012

作者： Gonzalez-Jimenez, J. Galindo, C. Ruiz-Sarmiento, J.R. System Engineering and Automation Dpt. University of Málaga Campus de Teatinos 29071 Málaga Spain

ISBN: (纸本)9781467346054

Telepresence robots are teleoperated robotic systems that allow users to virtually visit a remote place and interact with the environment through their sensorial and motor capabilities. This technology has a great potential to facilitate remote interaction and social communication with people, in particular with the elderly. This paper presents some technical improvements for one of such a robot: the Giraff telepresence platform. These improvements, raised by users' experience, are related to a safer and easier driving of the platform, including auto-docking to the recharging station, obstacle detection, and displaying the robot position in a sketch map of the visited place. © 2012 IEEE.

关键词： Obstacle detectors

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A development of tools for monitorization and control of multivariable neurocontrolled systems with application to distillation columns

A development of tools for monitorization and control of mul...

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10th International Conference on engineering Applications of Neural Networks, EANN 2007

作者： Fernandez De Canete, J. Gonzalez-Perez, S. Del Saz Orozco, P. Dpt. of System Engineering and Automation E.T.S.I. Industriales Plaza El Ejido s/n 29013 Malaga Spain

The issues raised in advanced process control applications lead control engineers to be aware of the need of integrating advanced information processing capabilities in the process control loop. In this paper a SIMULINK based tool has been developed for analysis and design of multivariable neural based control systems. This tool has been applied to the control of a high purity distillation column also modeled in SIMULINK including non linear hydrodynamic effects. Also LabVIEW environment has been employed as a graphical user interface for monitoring the neurocontrolled distillation column, by visualizing both the closed loop performance and the user selected control conditions. The proposed control scheme offers an optimal response for both theoretical and practical challenges posed in process control task, in particular when both, the quality improvement of distillation products and the operation efficiency in economical terms are considered.

关键词： Distillation columns

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Design and Experimental Validation of a Model Predictive Control strategy for a VSI with Long Prediction Horizon

Design and Experimental Validation of a Model Predictive Con...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Sergio Vazquez Carlos Montero Carlos Bordons Leopoldo G. Franquelo Dpt. Electronics Engineering University of Seville Dpt. System Engineering and Automation University of Seville

ISBN: (纸本)9781479902255

This work presents the design and experimental validation of a Model Predictive Control (MPC) strategy for a Voltage Source Inverter (VSI) used in a three-phase uninterruptible power supply (UPS) for critical loads. The solution is obtained in two steps: first an unconstrained MPC problem is solved, which computes the continuous values of the voltage that must be provided by the converter. Then, a PWM modulation scheme is used to define the switching sequence of the switches that generate the desired input voltage to the LC filter. The first stage implies a dynamic optimization while the second one is just a static relationship. The solution of the unconstrained MPC problem gives rise to an explicit control law that can be computed beforehand, allowing the prediction horizon to be easily extended. This can improve the performance of other MPC formulation that use very short prediction horizons. The effect of the length of the prediction horizon and the control-weighting factor over the system performance is also evaluated experimentally in the paper. This study addresses how these parameters should be tuned to minimize the error between the actual and the desired output voltage. The proposed control strategy has been tested on a UPS supplying a three-phase RL load. The experimental results show that the proposed MPC controller achieves high performance of the overall system, even in the case of a model mismatch.

关键词： Vectors Voltage control Switches Load modeling Mathematical model Capacitors Polynomials

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Modeling and simulation of the short-term arterial pressure control system using an object oriented approach

Modeling and simulation of the short-term arterial pressure ...

引用

Mediterranean Conference on Control and automation (MED)

作者： J. Fernandez de Canete V. Muñoz-Martinez J. Luque J. Barbancho J. Rozan System Engineering and Automation Dpt. University of Malaga Malaga SPAIN Dpt. Electronics University of Seville Seville SPAIN

Object-oriented modeling is spreading in current simulation environments through the use of the individual components of the model and its interconnections to define the underlying dynamic equations. In this paper we describe the use of the SIMSCAPE simulation environment in the object-oriented modeling of the short-term arterial pressure control system when is applied to patients undergoing different situations as hemorrhage, liquid uptake or hemodialysis treatment. Results show the effectiveness of the baroreceptor control mechanism to compensate for the hypotension induced by the hemodialysis treatment. The described approach represents a valuable tool in the teaching of physiology for graduate medical and biomedical engineering students when facing to alternate hemodialysis treatment.

关键词： Object oriented modeling Mathematical model Baroreflex Blood pressure Control systems Resistance Hemorrhaging

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Semantic norms for mobile robots: When the end does not justify the means

Semantic norms for mobile robots: When the end does not just...

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10th IFAC Symposium on Robot Control, SYROCO 2012

作者： Galindo, C. Saffiotti, A. System Engineering and Automation Dpt. University of Málaga Campus de Teatinos E-29071 Málaga Spain AASS Cognitive Robotic Systems Lab. Örebro University Sweden

ISBN: (纸本)9783902823113

This paper deals with the use of semantic knowledge to improve the intelligence and autonomous behavior of a mobile robot. A robot can exploit the semantics of its environment to infer new, implicit information. Another interesting possibility is to use semantics for detecting deviations between the real world and what is supposed to be "normal". For instance, normative semantic knowledge may state that towels should stay in the bathroom. If a robot detects a towel in the kitchen, it can react and decide to solve this inconsistency by bringing it to the bathroom. However not all ways to solve an inconsistency are acceptable: for instance, if the robot put the towel temporarily on a dirty sink in order to re-grasp it with the other arm, it would violate another norm - namely, that towels should always stay on a clean surface. In this work we present an algorithm that detects and recovers from norm violations, according to a semantic representation of norms, and ensures the normative acceptability of the robot actions throughout execution. © 2012 IFAC.

关键词： Knowledge representation

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