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Performance results of qualitative optical flow processing integrated in fuzzy logic-based behavioral mobile robot control

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IFAC Proceedings Volumes 2012年第22期45卷 895-901页

作者： Ngoc Anh Mai Klaus Janschek Institute of Automation Faculty of Electrical and Computer Engineering Technische Universität Dresden Germany

This paper reports performance results of qualitative optical flow processing integrated in a fuzzy logic-based behavioral mobile robot control system. The quality and noise robustness of qualitative optical flow processing is improved by a novel optical flow outlier detection filter. This filter performs a qualitative detection of outliers based on comparison between an optical flow vector and the average value of an optical flow pattern related to the considered vector. The performance of qualitative optical flow processing is tested and demonstrated successfully through experiments in a real office environment.

关键词： Optical flow qualitative interpretation behavior-based control fuzzy logic outlier detection

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E2LP: A Unified Embedded engineering Learning Platform

E2LP: A Unified Embedded Engineering Learning Platform

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Euromicro Symposium on Digital System Design

作者： Miodrag Temerinac Ivan Kastelan Karolj Skala Branka Medved Rogina Leonhard Reindl Florent Souvestre Margarita Anastassova Roman Szewczyk Jan Piwinski Jorge R. Lopez Benito Enara Artetxe Gonzalez Nikola Teslic Vlado Sruk Moshe Barak Faculty of Technical Sciences University of Novi Sad Novi Sad Serbia Rudjer Boskovic Institute Zagreb Croatia Department of Microsystems Engineering University of Freiburg Freiburg Germany LIST Sensory and Ambient Interfaces Laboratory CEA Gif-sur-Yvette France Industrial Research Institute for Automation and Measurements Warsaw Poland CreativiTIC INNOVA S.L. Logrono Spain RT-RK Institute for Computer Based Systems LLC Novi Sad Serbia Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Ben-Gurion University of the Negev Beersheba Israel

The main idea behind this project is to provide a unified platform which will cover a complete process for embedded systems learning. A modular approach is considered for skills practice through supporting individualization in learning. This platform shall facilitate a novel development of universal approach in creative learning environment and knowledge management that encourage use of ICT. New learning model is challenging the education of engineers in embedded systems design through real-time experiments that stimulate curiosity with ultimate goal to support students to understand and construct their personal conceptual knowledge based on experiments. In addition to the technological approach, the use of cognitive theories on how people learn will help students to achieve a stronger and smarter adaptation of the subject. Applied methodology will be evaluated from the scientific point of view in parallel with the implementation in order to feedback results to the R&D.

关键词： Laboratories Embedded systems computers Educational institutions Field programmable gate arrays Taxonomy

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Dataflow weaknesses analysis of scientific workflow based on fault tree

Dataflow weaknesses analysis of scientific workflow based on...

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IEEE 6th International Symposium on Theoretical Aspects of Software engineering, TASE 2012

作者： Fu, Xiaodong Wang, Feng Liu, Xiaoyan Ji, Kaifan Zou, Ping Yunnan Provincial Key Lab. of Computer Application Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming China Faculty of Management and Economics Kunming University of Science and Technology Kunming China

ISBN: (纸本)9780769547510

If potential contributors leading to system failure can be identified when a scientific workflow is modeled, a lot of system weaknesses may thus be revealed and improved. In this paper, we first identify a number of data dependency patterns in scientific workflows and their corresponding state functions. Then, a method to transform the state functions into fault tree symbols is presented. We use fault tree analysis method to identify critical elements and elements combinations that lead to the incorrect state of a final output and calculate the probability of the incorrect state of a final output based on the probabilities of the basic events in the analyzed workflow. Moreover, an importance measure is designed to prioritize the contributors leading to the incorrect state of a final output. Finally, the feasibility and effectiveness of the proposed methods are proved by example and experiments. © 2012 IEEE.

关键词： Fault tree analysis

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Pedestrian navigation system for indoor and outdoor environments

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Advances in Intelligent and Soft Computing 2012年 98卷 487-502页

作者： Popa, M. Department of Computer and Software Engineering Faculty of Automation and Computers POLITEHNICA University of Timisoara Romania

ISBN: (纸本)9783642231865

Mobile navigation uses smart mobile devices, such as PDAs, mobile phones or dedicated devices. In order to help the user to navigate, they receive updated data through wireless Internet, GPS, cellular phones and specialized sensors. Car navigation systems are the most known and advanced implementation of data navigation systems. They are embedded in cars or in distinct devices. Pedestrian navigation systems were less approached. This paper presents a PNS for finding a car. It was thought to be included in the car's key and to guide the user from its starting point, which is in delimited area around the car, to his/her car. © 2012 Springer-Verlag Berlin Heidelberg.

关键词： Cellular telephones

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Automatic simulation model generation supported by data stored in low level controllers

Automatic simulation model generation supported by data stor...

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14th IFAC Symposium on Information Control Problems in Manufacturing, INCOM'12

作者： Popovics, G. Kardos, Cs. Pfeiffer, A. Kádár, B. Vén, Z. Monostori, L. Fraunhofer Project Center on Production Management and Informatics Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Faculty of Mechanical Engineering Budapest University of Technology and Economics Hungary

ISBN: (纸本)9783902661982

One of the most widespread techniques to evaluate various aspects of a manufacturing system is discrete-event simulation (DES). However, building a simulation model of a manufacturing system is a difficult task and needs great resource expenditures. Automated data collection and model buildup can drastically reduce the time of the design phase as well as support model reusability. Since most of the manufacturing systems are controlled by low level controllers (e.g., PLCs, CNCs) they store structure and control logic of the system to be modeled by a DES system. The paper introduces an ongoing research of PLC program processing method for automatic simulation model generation of a conveyor system of a leading automotive factory. Results of the validation process and simulation experiments are also described through a case study. © 2012 IFAC.

关键词： Discrete event simulation

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Decentralized Estimation of the Minimum Strongly Connected Subdigraph for Robotic Networks with Limited Field of View

Decentralized Estimation of the Minimum Strongly Connected S...

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IEEE Annual Conference on Decision and Control

作者： Cosimo Federico Ardito Donato Di Paola Andrea Gasparri Faculty of Engineering Computer Science and Automation Department University "Roma Tre"

ISBN: (纸本)9781467320658

In this work we focus on the topology control problem for robotic networks. In particular, we assume agents to be equipped with limited field of view sensors. As a consequence, directed graphs are required to model the robot-to-robot interaction. This significantly limits the applicability of algorithms developed for undirected graphs. In that view, we propose an auction-based solution for the decentralized estimation of an approximated minimum (in terms of number of links and in terms of a global cost function) strongly connected directed graph. This represents the first step towards the development of a connectivity maintenance framework for directed graphs. A theoretical analysis along with numerical simulations are provided to show the effectiveness of the proposed approach.

关键词： field of view directed graphs topology control Decentralized View First Step

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Recent advances in analysis and control design for switched fuzzy systems: A review

Recent advances in analysis and control design for switched ...

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2012 6th IEEE International Conference Intelligent Systems, IS 2012

作者： Ojleska, Vesna Kolemishevska-Gugulovska, Tatjana Dymirkovsky, Gyorgyi SS Cyril and Methodius University in Skopje Faculty of Electrical Eng. and Information Technologies Institute of Automation and Systems Engineering 1000 Skopje R. Macedonia Faculty of Engineering Depts. of Computer and of Control Engineering Dogus University of Istanbul Acibadem TR-34722 Istanbul R. Turkey

ISBN: (纸本)9781467327824

This paper overviews recent advances in the field of switched fuzzy systems, switched systems whose subsystems are fuzzy systems, followed by the comparative study for this kind of systems. Starting with the basic ideas of switched fuzzy systems, the comparative study is aimed in introducing the diverse approaches in their model construction, as well as the challenges related with the stability analysis and stabilization of such systems. The last includes the issue of stability analysis and finding conditions for existence of switched fuzzy controllers which will stabilize the nonlinear system. © 2012 IEEE.

关键词： Hybrid systems

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Local navigation techniques by means of ICPF

Local navigation techniques by means of ICPF

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Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS)

作者： Stanislav Jancik Radomil Matousek Jiri Dvorak Ahmad Abbadi Faculty of Mechanical Engineering Institute of Automation and Computer Science Brno Czech Republic

The problem of mobile robot navigation is a broad topic and it covers a large spectrum of different methods and technologies. In this paper we will present the new concept for local navigation. The concept is based on object identification technique by means of origin fragment identification algorithm (ICPF). The main idea, theory and practical examples of object identification using ICPF are presented as main goal of the paper. One can use it for robot location and as support information in case of following local path planning. We also sketch in two different possibilities for image data measuring. The post-process of the antecedent steps can be local path planning of course.

关键词： Robot sensing systems Object recognition Navigation Shape Iterative closest point algorithm Mobile robots

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A grid concept for reliable, flexible and robust remote engineering laboratories

A grid concept for reliable, flexible and robust remote engi...

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International Conference on Remote engineering and Virtual Instrumentation (REV)

作者： K. Henke St. Ostendorff H.-D. Wuttke St. Vogel Integrated Communication Systems Group Faculty of Computer Science and Automation Ilmenau University of Technology Ilmenau Germany Computer Engineering Faculty of Computer Science and Automation Ilmenau University of Technology Ilmenau Germany

Within this paper, we will describe a grid concept to realize a universal remote lab infrastructure as well as different operation modes based on this concept. This new infrastructure consists of three parts: an internal serial remote lab bus, a bus protection unit to interface the remote lab bus and to protect it from misuse and damage as well as a protection unit, which protects the physical systems (the electro-mechanical models in our remote lab) against deliberate damage or accidentally wrong control commands and which offers different access and control mechanisms. The interconnection between the Web-control units and the selected physical system during a remote lab work session (experiment) as well as the user management is done by the lab server, which also handles the webcams. The implemented remote lab infrastructure is based on the iLab architecture of the MIT, which allows to interconnect remote labs and to exchange remote lab experiments among different universities worldwide.

关键词： Laboratories Algorithm design and analysis Educational institutions Hardware Servers Visualization

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Research on relay selection based on statistical channel state information

Research on relay selection based on statistical channel sta...

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2012 International Symposium on Instrumentation and Measurement, Sensor Network and automation, IMSNA 2012

作者： Guo, Saiqiu Tang, Jingmin Wei, Yu Li, Wuke Zhang, Chunping College of Information Science and Engineering Hunan City University Hunan China Faculty of Information Engineering and Automation Kunming University of Science and Technology Kunming China School of Computer Science and Technology Hunan Arts and Science University Hunan China

ISBN: (纸本)9781467324670

A relay selection algorithm is proposed to improve the system performance based on statistical channel state information(CSI) in amplify-and-forward(AF) cooperative networks. An exact and upper bound ergodic capacity formulation were derived for AF relay selection network. Theoretical analysis and simulation results validate the Tightness and feasibility of upper bound ergodic capacity. © 2012 IEEE.

关键词： Channel state information

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