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arXiv 2018年

作者： Feroci, Marco Ahangarianabhari, Mahdi Ambrosi, Giovanni Ambrosino, Filippo Argan, Andrea Barbera, Marco Bayer, Joerg Bellutti, Pierluigi Bertucci, Bruna Bertuccio, Giuseppe Borghi, Giacomo Bozzo, Enrico Cadeaux, Franck Campana, Riccardo Ceraudo, Francesco Chen, Tianxiang Cirrincione, Daniela De Rosa, Alessandra Del Monte, Ettore Di Cosimo, Sergio Diebold, Sebastian Evangelista, Yuri Fan, Qingmei Favre, Yannick Ficorella, Francesco Fuschino, Fabio Gevin, Olivier Grassi, Marco Hong, Bin Mao, Hanqi Karas, Vladimir Kennedy, Tom Labanti, Claudio Limousin, Olivier Cicero, Ugo Lo Lu, Fang-Jun Luo, Tao Malcovati, Piero Martindale, Adrian Meuris, Aline Michalska, Malgorzata Morbidini, Alfredo Muleri, Fabio Orleanski, Piotr Paltani, Stephane Pan, Teng Perinati, Emanuele Picciotto, Antonino Pohl, Martin Rashevskaia, Irina Santangelo, Andrea Schanne, Stephane Skup, Konrad Svoboda, Jiri Tenzer, Chris Vacchi, Andrea Walton, Dave Winter, Berend Wu, Xin Xu, Yupeng Zampa, Ganluigi Zampa, Nicola Zane, Silvia Zdziarski, Andrzej Zhang, Long Zhang, Shu Zhang, Shuang-Nan Zhang, Wenda Zhang, Xiaoli Zhou, Yupeng Zorzi, Nicola INAF Istituto di Astrofisica e Planetologia Spaziali Via Fosso del Cavaliere 100 Rome00133 Italy INFN Sezione Roma Tor Vergata Via della Ricerca Scientifica Rome00133 Italy Politecnico di Milano Polo di Como Via Anzani 41 Como Italy INFN Sezione di Perugia Via Alessandro Pascoli 23c Perugia06123 Italy Università di Palermo Dipartimento di Fisica e Chmica Via Archirafi 36 Palermo90123 Italy INAF Osservatorio Astronomico di Palermo Piazza del Parlamento 1 Palermo90134 Italy Institut fur Astronomie und Astrophysik Eberhard Karls Universitat Tuebingen72076 Germany Fondazione Bruno Kessler Via Sommarive Povo Trento38123 Italy University of Perugia Dip. Fisica e Geologia P.zza Università Perugia06123 Italy Beijing Institute of Spacecraft System Engineering CAST Beijing10094 China Department of Astronomy University of Geneva Chemin d'Ecogia 16 Versoix1290 Switzerland Department of Nuclear and Particle Physics University of Geneva CH-1211 Switzerland INAF Osservatorio di astrofisica e scienza dello spazio di Bologna Via P. Gobetti 101 Bologna Italy CEA Paris-Saclay DRF/IRFU Gif sur Yvette91191 France Key Laboratory for Particle Astrophysics Institute of High Energy Physics CAS Beijing100049 China University of Udine Via delle Scienze 206 Udine33100 Italy University of Pavia Department of Electrical Computer and Biomedical Engineering Via Ferrata 5 Pavia27100 Italy North Night Vision Technology Co. Ltd Nanjing211106 China Astronomical Institute Czech Academy of Sciences Bocni II 1401 PragueCZ-14100 Czech Republic Mullard Space Science Laboratory UCL Holmbury St Mary Dorking SurreyRH56NT United Kingdom Space Research Centre Department of Physics and Astronomy University of Leicester LeicesterLE17RH United Kingdom Space Research Center Polish Academy of Sciences Bartycka 18a Warszawa00-716 Poland TIFPA Istituto Nazionale di Fisica Nucleare Via Sommarive 14 Povo Trento38123 Italy Nicolaus Copernicus Astronomical Ce

The eXTP (enhanced X-ray Timing and Polarimetry) mission is a major project of the Chinese Academy of Sciences (CAS) and China National Space Administration (CNSA) currently performing an extended phase A study and proposed for a launch by 2025 in a low-earth orbit. The eXTP scientific payload envisages a suite of instruments (Spectroscopy Focusing Array, Polarimetry Focusing Array, Large Area Detector and Wide Field Monitor) offering unprecedented simultaneous wide-band X-ray spectral, timing and polarimetry sensitivity. A large European consortium is contributing to the eXTP study and it is expected to provide key hardware elements, including a Large Area Detector (LAD). The LAD instrument for eXTP is based on the design originally proposed for the LOFT mission within the ESA context. The eXTP/LAD envisages a deployed 3.4 m2effective area in the 2-30 keV energy range, achieved through the technology of the large-area Silicon Drift Detectors - offering a spectral resolution of up to 200 eV FWHM at 6 keV - and of capillary plate collimators - limiting the field of view to about 1 degree. In this paper we provide an overview of the LAD instrument design, including new elements with respect to the earlier LOFT configuration. Copyright © 2018, The Authors. All rights reserved.

关键词： Polarimeters

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Detecting rails and obstacles using a train-mounted thermal camera 19th

Detecting rails and obstacles using a train-mounted thermal ...

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19th Scandinavian Conference on Image Analysis, SCIA 2015

作者： Berg, Amanda Öfjäll, Kristoffer Ahlberg, Jörgen Felsberg, Michael Computer Vision Laboratory Department of Electrical Engineering Linköping University Linköping581 83 Sweden Termisk Systemteknik AB Diskettgatan 11 B Linköping583 35 Sweden

ISBN: (纸本)9783319196640

We propose a method for detecting obstacles on the railway in front of a moving train using a monocular thermal camera. The problem is motivated by the large number of collisions between trains and various obstacles, resulting in reduced safety and high costs. The proposed method includes a novel way of detecting the rails in the imagery, as well as a way to detect anomalies on the railway. While the problem at a first glance looks similar to road and lane detection, which in the past has been a popular research topic, a closer look reveals that the problem at hand is previously unaddressed. As a consequence, relevant datasets are missing as well, and thus our contribution is two-fold: We propose an approach to the novel problem of obstacle detection on railways and we describe the acquisition of a novel data set. © Springer International Publishing Switzerland 2015.

关键词： computer vision

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Real-time experimental analysis for protection and control of smart substations

Real-time experimental analysis for protection and control o...

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IEEE PES Conference on Innovative Smart Grid Technologies (ISGT Latin America)

作者： Mehmet H. Cintuglu Ricardo de Azevedo Tan Ma Osama A. Mohammed Energy Systems Research Laboratory Department of Electrical and Computer Engineering Florida International University Miami FL

ISBN: (纸本)9781467366069

To reach the future smart grid vision, comprehensively equipped test beds are required for identification of the vulnerabilities, security concerns and the impact analysis of the new control and protection concepts. The future smart substations are expected to have enhanced capabilities such as wide-area situational awareness, interoperability, and self-sustained generation capability to achieve resilient power grid goals. Prior to field deployment, any new protection and control capabilities should pass rigorous tests. With this motivation, this paper presents a real-time experimental analysis for protection and control of smart substations in a state-of the-art test bed platform. A coordinated wide-area protection approach is proposed for transmission and distribution levels enabling interoperability between IEDs at different layers. An aggregated distributed generation and storage dispatch optimization method is proposed for self-sustained smart substations in case of outage such as a blackout situation. In order to validate the proposed protection and control methods, experimental results are given.

关键词： Substations Optimization IEC Standards Smart grids Interoperability Real-time systems Protocols

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Hierarchical Union-of-Subspaces Model for Human Activity Summarization

Hierarchical Union-of-Subspaces Model for Human Activity Sum...

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International Conference on computer vision Workshops (ICCV Workshops)

作者： Tong Wu Prudhvi Gurram Raghuveer M. Rao Waheed U. Bajwa Department of Electrical and Computer Engineering Rutgers University Piscataway NJ U.S. Army Research Laboratory Adelphi MD

ISBN: (纸本)9781467397124

A hierarchical union-of-subspaces model is proposed for performing semi-supervised human activity summarization in large streams of video data. The union of low-dimensional subspaces model is used to learn meaningful action attributes from a collection of high-dimensional video sequences of human activities. An approach called hierarchical sparse subspace clustering (HSSC) is developed to learn this model from the data in an unsupervised manner by capturing the variations or movements of each action in different subspaces, which allow the human actions to be represented as sequences of transitions from one subspace to another. These transition sequences can be used for human action recognition. The action attributes can also be represented at multiple resolutions using the subspaces at different levels of the hierarchical structure. By visualizing and labeling these action attributes, the hierarchical model can be used to semantically summarize long video sequences of human actions at different scales. The effectiveness of the proposed model is demonstrated through experiments on three real-world human action datasets for action recognition and semantic summarization of the actions using different resolutions of the action attributes.

关键词： Semantics Hidden Markov models Clustering algorithms Streaming media Video sequences Sparse matrices Computational modeling

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Information theoretic approach for template matching in registration of partially overlapped aerial imagery

Information theoretic approach for template matching in regi...

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： Mohammad I. Vakil John A. Malas Dalila B. Megherbi Department of Electrical and Computer Engineering University of Massachusetts Lowell MA Sensors Directorate Wright-Patterson AFB Air Force Research Laboratory OH

Image registration is used in computer vision, medical imaging and remote sensing providing the ability to perform 3-D Reconstruction, Autonomous Navigation and Target Detection and Recognition Systems. Two of the more commonly used intensity based similarity measures in template matching for image registration are normalized cross correlation and mutual information. This works presents a novel information theoretic technique as a similarity measure for registration of partially overlapped aerial imagery. Furthermore, system level noise such as sensor noise, quantization noise, and impulse noise is modelled and injected into both the reference and unregistered images to evaluate the algorithmic performance in determining image orientation as a function of signal to noise ratio (SNR).

关键词： Quantization (signal) Sensors Signal to noise ratio Image sensors Correlation Entropy Mutual information

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Robotic Software System for the Disaster Circumstances: System of Team KAIST in the DARPA Robotics Challenge Finals

Robotic Software System for the Disaster Circumstances: Syst...

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeongsoo Lim Inwook Shim Okkee Sim Hyunmin Joe Inhyeok Kim Jungho Lee Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory Department of Electrical Engineering College of Information Science and Technology Korea Advanced Institute of Science and Technology Rainbow Co.

ISBN: (纸本)9781479968862

We developed a software system for operating the humanoid robot DRC-HUBO+ in disaster circumstances that the US Defense Advanced research Projects Agency suggested. This system was developed under the consideration of the stability of whole system, the systemic software environment for multiple developers, and the recovery routine when the system encounters a seriously abnormal situation. With these design goals, we devised our strategy for three domains: system, vision, and communication. Following the strategy we made two software frameworks (PODO and VPC) and one logical flow of data for remote process management. With this software system, we conducted all Tasks in the DARPA Robotics Challenge Finals, and we won the competition.

关键词： Software systems DARPA design target robotics Disasters Religious Missions flow datas

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Methods for Evaluating Medical Tests and Biomarkers

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Diagnostic and Prognostic research 2017年第1期1卷 1-34页

作者： Gowri Gopalakrishna Miranda Langendam Patrick Bossuyt Mariska Leeflang Rob Scholten Anna Noel-Storr James Thomas Iain Marshall Byron Wallace Penny Whiting Clare Davenport Gowri GopalaKrishna Isabel de Salis Sue Mallett Robert Wolff Marie Westwood Jos Kleinen Richard Riley Gary Collins Hans Reitsma Karel Moons Antonia Zapf Katharina Kramer Annika Hoyer Oliver Kuss J. Ensor R. D. Riley J. J. Deeks E. C. Martin Gerta Rücker Martin Schumacher Susanne Steinhauser Joie Ensor Kym Snell Brian Willis Jon Deeks Thomas Debray Lavinia Ferrante di Ruffano Sian Taylor-Phillips Chris Hyde Stuart A. Taylor Gauraang Batnagar Lavinia Ferrante Di Ruffano Farah Seedat Aileen Clarke Sarah Byron Frances Nixon Rebecca Albrow Thomas Walker Carla Deakin Zhivko Zhelev Harriet Hunt Yaling Yang Lucy Abel James Buchanan Thomas Fanshawe Bethany Shinkins Laure Wynants Sabine Van Huffel Jan Verbakel Dirk Timmerman Ben Van Calster Aeliko Zwinderman Jason Oke Jack O’Sullivan Rafael Perera Brian Nicholson Hannah L. Bromley Tracy E. Roberts Adele Francis Denniis Petrie G. Bruce Mann Kinga Malottki Holly Smith Lucinda Billingham Alice Sitch Oke Gerke Mie Holm-Vilstrup Eivind Antonsen Segtnan Ulrich Halekoh Poul Flemming Høilund-Carlsen Bernard G. Francq Jac Dinnes Julie Parkes Walter Gregory Jenny Hewison Peter Selby Doug Altman William Rosenberg Julien Asselineau Paul Perez Aïssatou Paye Emilie Bessede Cécile Proust-Lima Christiana Naaktgeboren Joris de Groot Johannes Reitsma Anne Rutjes Emmanuel Ogundimu Jonathan Cook Yannick Le Manach Yvonne Vergouwe Romin Pajouheshnia Rolf Groenwold Karen Moons Linda Peelen Bavo De Cock Daan Nieboer Ewout W. Steyerberg Micael J. Pencina Jennifer Cooper Nick Parsons Chris Stinton Steve Smith Andy Dickens Rachel Jordan Alexandra Enocson David Fitzmaurice Peymane Adab Charles Boachie Gaj Vidmar Karoline Freeman Martin Connock Rachel Court Carl Moons Jessica Harris Zoe Plummer Barnaby Reeves Chris Rogers Andrew Mumford Kurtis Lee Veerle Verheyden Gianni D. Angelini Gavin J. Murphy Jeremy Huddy Melody Ni George Hanna Department of Clinical Epidemiology Biostatistics & Bioinformatics Academic Medical Center University of Amsterdam Amsterdam The Netherlands Department of Clinical Epidemiology and Biostatistics Academic Medical Center University of Amsterdam Amsterdam Netherlands Cochrane Netherlands Julius Center for Health Sciences and Primary Care University Medical Center Utrecht Utrecht Netherlands Cochrane Dementia and Cognitive Improvement Group University of Oxford Oxford UK EPPI-Centre Department of Social Science University College London London UK Division of Health and Social Care Research King’s College London London UK College of Computer and Information Science Northeastern University Boston USA University Hospitals Bristol NHS Foundation Trust School of Social and Community Medicine Bristol UK Institute of Applied Health Research University of Birmingham Birmingham UK School of Social and Community Medicine University of Bristol Bristol UK Kleijnen Systematic Reviews Ltd York UK Research Institute for Primary Care and Health Sciences Keele University Keele UK Centre for Statistics in Medicine Nuffield Department of Orthopaedics Rheumatology and Musculoskeletal Sciences University of Oxford Oxford UK Julius Center for Health Sciences and Primary Care University Medical Center Utrecht Utrecht The Netherlands Cochrane Netherlands University Medical Center Utrecht Utrecht The Netherlands Julius Center for Health Sciences and Primary Care University Medical Center Utrecht 3584 CG Utrecht Netherlands Department of Medical Statistics University Medical Center Göttingen Göttingen Germany Institute for Biometry and Epidemiology German Diabetes Center Leibniz Institute for Diabetes Research at Heinrich Heine University Düsseldorf Germany Manchester Pharmacy School University of Manchester Manchester UK Institute for Medical Biometry and Statistics Faculty of Medicine and Medical Center – University of Freiburg Stefan-Meier-Str. 26 79104 Freiburg Germany

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 1

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BMC Neurosci 2017年第SUPPL 1期18卷 58-58页

作者： Sue Denham Panayiota Poirazi Erik De Schutter Karl Friston Ho Ka Chan Thomas Nowotny Dongqi Han Sungho Hong Sophie Rosay Tanja Wernle Alessandro Treves Sarah Goethals Romain Brette Tomas Van Pottelbergh Rodolphe Sepulchre Alex D. Bird Hermann Cuntz Pedro J. Gonçalves Jan-Matthis Lueckmann Giacomo Bassetto Marcel Nonnenmacher Jakob H. Macke Audrey J. Sederberg Jason N. MacLean Stephanie E. Palmer Ulisse Ferrari Christophe Gardella Olivier Marre Thierry Mora Emina Ibrahimovic Martin Müller Jean-Pascal Pfister Tushar Chauhan Timothée Masquelier Alexandre Montlibert Benoit R. Cottereau Moritz Helias Jannis Schuecker David Dahmen Sven Goedeke Alexandre Hyafil Ainhoa Hermoso-Mendizabal Pavel E. Rueda-Orozco Santiago Jaramillo David Robbe Jaime de la Rocha Marie Rooy Fani Koukouli David DiGregorio Uwe Maskos Boris Gutkin Andrey Yu Verisokin Darya V. Verveyko Dmitry E. Postnov Willy Wong Omid Talakoub Robert Chen Milos Popovic Dmitriy Lisitsyn Eric Drebitz Iris Grothe Sunita Mandon Andreas Kreiter Udo Ernst Peter A. Robinson Xuelong Zhao Kevin M. Aquino John D. Griffiths Grishma Mehta-Pandejee Natasha Gabay James MacLaurin Somwrita Sarkar Tim Kunze Jens Haueisen Thomas R. Knösche Subutai Ahmad Yuwei Cui Marcus Lewis Jeff Hawkins Simona Olmi Spase Petkoski Fabrice Bartolomei Maxime Guye Viktor Jirsa Hazem Toutounji Daniel Durstewitz Matteo Cantarelli Adrian Quintana Boris Marin Matt Earnshaw Padraig Gleeson Robert Court Robert McDougal R. Angus Silver Salvador Dura-Bernal Stephen Larson William W. Lytton Giovanni Idili Lorenzo Posani Simona Cocco Karel Ježek Rémi Monasson School of Psychology Faculty of Health & Human Sciences Plymouth University Plymouth Devon PL4 8AA UK Institute of Molecular Biology and Biotechnology (IMBB) Foundation for Research and Technology-Hellas (FORTH) Heraklion Crete Greece Okinawa Institute of Science and Technology Graduate University Okinawa Japan Wellcome Trust Centre for Neuroimaging Institute of Neurology UCL London WC1N 3BG UK School of Engineering and Informatics University of Sussex Brighton BN1 9QJ UK Graduate School Okinawa Institute of Science and Technology Okinawa 904-0495 Japan Computational Neuroscience Unit Okinawa Institute of Science and Technology Okinawa 904-0495 Japan Cognitive Neuroscience Area Scuola Internazionale Superiore di Studi Avanzati Trieste 34136 Italy Kavli Institute for Systems Neuroscience NTNU Trondheim 7030 Norway Institut de la Vision Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Paris 75012 France Department of Engineering University of Cambridge Cambridge Cambridgeshire CB2 1PZ UK Ernst Strüngmann Institute for Neuroscience Max Planck Society Frankfurt Germany Frankfurt Institute for Advanced Studies Frankfurt Germany Neural Systems Analysis Research Center Caesar An Associate of the Max Planck Society Bonn Germany Max Planck Institute for Biological Cybernetics Tübingen Germany Bernstein Center for Computational Neuroscience Tübingen Germany Present Address: Biomedical Engineering Department Georgia Institute of Technology Atlanta GA 30306 USA Department of Neurobiology University of Chicago Chicago IL 60637 USA Department of Organismal Biology and Anatomy University of Chicago Chicago IL 60637 USA Committee on Computational Neuroscience University of Chicago Chicago IL 60637 USA Institut de la Vision Sorbonne Universités INSERM Paris France Laboratoire de Physique Statistique Ecole Normale Supérieure Paris France Institute of Molecular Life Sciences University of Zürich 8057 Zürich Switzerland Institute of Neuroinformatics Univer

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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