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External localization system for mobile robotics

External localization system for mobile robotics

引用

International Conference on Advanced Robotics (ICAR)

作者： Tomáš Krajník Matías Nitsche Jan Faigl Tom Duckett Marta Mejail Libor Přeučil University of Lincoln Lincoln Lincolnshire GB Lab. of Robotics and Emb. Systems Univ. of Buenos Aires Argentina Dpt. of Computer Science and Engineering FEE Czech Technical Univ. in Prague Lincoln Centre for Autonomous Systems Univ. of Lincoln United Kingdom Intelligent and Mobile Robotics Group FEE Czech Technical Univ. in Prague

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems.

关键词： Cameras Three-dimensional displays Robots Mathematical model Estimation Equations Detectors

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Fuzzy ontologies and fuzzy integrals

Fuzzy ontologies and fuzzy integrals

引用

2011 11th International Conference on Intelligent Systems Design and Applications, ISDA'11

作者： Bobillo, Fernando Straccia, Umberto Dpt. of Computer Science and Systems Engineering University of Zaragoza Spain ISTI - CNR Pisa Italy

ISBN: (纸本)9781457716751

Fuzzy ontologies extend classical ontologies to allow the representation of imprecise and vague knowledge. Although a relatively important amount of work has been carried out in the last years and they have been successfully used in several applications, several notions from fuzzy logic, such as fuzzy integrals, have not been considered yet in fuzzy ontologies. In this work, we show how to support fuzzy integrals in fuzzy ontologies. As a theoretical formalism, we provide the syntax and semantics of a fuzzy Description Logic with fuzzy integrals. We also provide a reasoning algorithm for a family of fuzzy integrals and show how to encode them into the language Fuzzy OWL 2. © 2011 IEEE.

关键词： Fuzzy logic

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Configurable baseband digital transceiver for Gbps wireless 60 GHz communications

Configurable baseband digital transceiver for Gbps wireless ...

引用

2011 18th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2011

作者： Diamantopoulos, D. Galiatsatos, P. Karachalios, A. Lentaris, G. Reisis, D. Soudris, D. Department of Physics Electronics Laboratory National and Kapodistrian University of Athens Panepistimiopolis 157-84 Athens Greece School of Electrical and Computer Engineering Dpt. of Computer Science National Technical University of Athens Zografos 157-80 Athens Greece

ISBN: (纸本)9781457718458

The evolution of 60 GHz wireless networks using Orthogonal Frequency Division Multiplexing (OFDM) technique imposed requirements of increased processing in the baseband implementations. The current paper focuses on the design of a pipelined architecture realizing the baseband functions. The design bases on using parallel paths to achieve a throughput of 1.6 Gbps. The number of paths is configured at compile time to be 4, 8 or 16, for achieving maximal throughput by either using cutting edge technology FPGA platforms or target implementations with low cost devices. FPGA implementations validate the results. © 2011 IEEE.

关键词： Orthogonal frequency division multiplexing

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Analysis of RATAN-600 radio telescope antenna using the MLPO algorithm

Analysis of RATAN-600 radio telescope antenna using the MLPO...

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作者： Letrou, C. Parrot, C. Baruh, A. Khaikin, V. Lebedev, M. Boag, A. Institut Telecom TELECOM SudParis 9 Rue Charles Fourier 91011 Evry Cedex France School of Electrical Engineering Tel Aviv University Tel Aviv 69978 Israel Special Astrophysical Observatory RAS Russia CNRS Lab. SAMOVAR 9 Rue Charles Fourier 91011 Evry Cedex France Computer Science Dpt. 9 Rue Charles Fourier 91011 Evry Cedex France

A fast and adaptive near-field physical optics algorithm is developed for the analysis of general multi-reflector antenna systems. The algorithm is applied to the radiation pattern computation of an extremely large an... 详细信息

ISBN: (纸本)9788882020743

关键词： Millimeter waves

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Tractability of the crisp representations of tractable fuzzy description logics

Tractability of the crisp representations of tractable fuzzy...

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6th International Workshop on Uncertainty Reasoning for the Semantic Web, URSW 2010 - Collocated with the 9th International Semantic Web Conference, ISWC 2010

作者： Bobillo, Fernando Delgado, Miguel Dpt. of Computer Science and Systems Engineering University of Zaragoza Spain Dpt. of Computer Science and Artificial Intelligence University of Granada Spain

An important line of research within the field of fuzzy DLs is the computation of an equivalent crisp representation of a fuzzy ontology. In this short paper, we discuss the relation between tractable fuzzy DLs and tr... 详细信息

关键词： Data description

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Finite fuzzy description logics: A crisp representation for finite fuzzy ALCH

Finite fuzzy description logics: A crisp representation for ...

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6th International Workshop on Uncertainty Reasoning for the Semantic Web, URSW 2010 - Collocated with the 9th International Semantic Web Conference, ISWC 2010

作者： Bobillo, Fernando Straccia, Umberto Dpt. of Computer Science and Systems Engineering University of Zaragoza Spain Pisa Italy

Fuzzy Description Logics (DLs) are a formalism for the representation of structured knowledge affected by imprecision or vagueness. In the setting of fuzzy DLs, restricting to a finite set of degrees of truth has proved to be useful. In this paper, we propose finite fuzzy DLs as a generalization of existing approaches. We assume a finite totally ordered set of linguistic terms or labels, which is very useful in practice since expert knowledge is usually expressed using linguistic terms. Then, we consider any smooth t-norm defined over this set of degrees of truth. In particular, we focus on the finite fuzzy DL ALCH, studying some logical properties, and showing the decidability of the logic by presenting a reasoning preserving reduction to the non-fuzzy case.

关键词： Data description

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Recent progress in the RAUVI project: A reconfigurable autonomous underwater vehicle for intervention

Recent progress in the RAUVI project: A reconfigurable auton...

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作者： Sanz, Pedro J. Prats, Mario Ridao, Pere Ribas, David Oliver, Gabriel Ortiz, Alberto Computer Science and Engineering Dpt. Universitat Jaume i Castellon Spain Computer Engineering Dpt. Universitat de Girona Spain Math. and Computer Science Dpt. Universitat de les Illes Balears Palma de Mallorca Spain

ISBN: (纸本)9789537044114

Starting in January 2009, the RAUVI project is a three years coordinated research action funded by the Spanish Ministry of Research and Innovation. This paper shows the research evolution during the first half of RAUVI's live, bearing in mind that the long term objective is to design and develop an underwater autonomous robot able to perceive the environment and, by means of a specific hand-arm system, perform autonomously simple intervention tasks in shallow waters.

关键词： Human robot interaction

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A personalized audio server using MPEG-7 and MPEG-21 standards

A personalized audio server using MPEG-7 and MPEG-21 standar...

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5th International Workshop on Semantic Media Adaptation and Personalization, SMAP 2010

作者： Skondras, Emmanouil Michalas, Angelos Louta, Malamati Anagnostopoulos, Ioannis Dpt. of Informatics and Computer Technology Technological Educational Institute of Western Macedonia 52100 Kastoria Greece Dpt. of Informatics and Telecommunications Engineering University of Western Macedonia 50100 Kozani Greece Dpt. of Computer Science and Biomedical Informatics University of Central Greece 35100 Lamia Greece

ISBN: (纸本)9781424486007

This paper presents a semantic model which delivers personalized audio information. The personalization process is automated and decentralized. The metadata which support personalization are separated in two categories: the metadata describing user preferences stored at each user and the resource adaptation metadata stored at the server. The multimedia models MPEG-21 and MPEG-7 are used to describe metadata information. The Web Ontology Language (OWL) language is used to produce and manipulate the relative ontological descriptions. © 2010 IEEE. © 2010 IEEE.

关键词： Metadata

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Order-preserving factor discovery from misaligned data

Order-preserving factor discovery from misaligned data

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2010 IEEE Sensor Array and Multichannel Signal Processing Workshop, SAM 2010

作者： Puig, Arnau Tibau Wiesel, Ami Zaas, Aimee Ginsburg, Geoffrey S. Fleury, Gilles Hero III, Alfred O. Dpt. of Electrical Engineering University of Michigan United States E3S - SUPELEC Systems Sciences Signal Processing and Electronic Systems Department Supélec France School of Computer Science and Engineering Hebrew University of Jerusalem Israel Institute for Genome Sciences and Policy Duke University United States Division of Infectious Diseases and International Health Dpt. of Medicine Duke University School of Medicine United States

ISBN: (纸本)9781424489770

We present a factor analysis method that accounts for possible temporal misalignment of the factor loadings across the population of samples. Our main hypothesis is that the data contains a subset of variables with similar but delayed profiles obeying a consistent precedence ordering relationship. Our model is motivated by the difficulty of gene expression analysis across subjects who have common patterns of immune response but show different onset times after a uniform innoculation time of a viral pathogen. The proposed method is based on a linear model with additional degrees of freedom that account for each subject's inherent delays. We present an algorithm to fit this model in a totally unsupervised manner and demonstrate its effectiveness on extracting gene expression factors affecting host response using a flu-virus human challenge study dataset. © 2010 IEEE.

关键词： Gene expression

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A power saving scheduling algorithm for multiple MSSs in large-scale IEEE 802.16e environments 10

A power saving scheduling algorithm for multiple MSSs in lar...

引用

6th International Wireless Communications and Mobile Computing Conference, IWCMC 2010

作者： Huang, Huai-Sheng Chen, Yu-Jen Wu, Shih-Lin Chen, Jen-Jee Dpt. of Information Management Chang Gung University Kweishan Taoyuan Taiwan Dpt. of Computer Science and Imformation Engineering Chang Gung University Kweishan Taoyuan Taiwan Department of Computer Science National Chiao Tung University Hsinchu Taiwan

ISBN: (纸本)9781450300629

Power Saving Class (PSC) is an essential issue on IEEE 802.16-2009. In previous research, many algorithms had been proposed to reduce the consumption of power, but most of them only considered multiple connections in a Mobile Subscriber Station (MSS);in fact, it does not fit in with the situation of real world. On the contrary, others proposed algorithms considering the situation of multiple MSSs with multiple connections;nevertheless, it is difficult to increase the amount of MSSs. In this paper, we propose an efficient algorithm, which refers to both categories and avoids state transitions. When packet size is much smaller or delay bound is more loosening, the result shows that our scheduling algorithm can serve almost double multiple MSSs with multiple connections and still maintain high sleep ratio for energy efficiency. Copyright © 2010 ACM.

关键词： Scheduling algorithms

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