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2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Elmar Mair Michael Suppa Darius Burschka Faculty of Computer Science at the Technische Universität München (TUM) Garching Germany Department of Robotics and Mechatronics at the German Aerospace Center (DLR) Germany

ISBN: (纸本)9781467363563

Efficient visual pose estimation plays an important role for a variety of applications. To improve the quality, the measurements from different sensors can be fused. However, a reliable fusion requires the knowledge of the uncertainty of each estimate. In this work, we provide an error analysis for the Z ∞ algorithm. Furthermore, we extend the existing first-order error propagation for the 8-point algorithm to allow for feature normalization, as proposed by Hartley or Mühlich, and the rotation matrix based decomposition. Both methods are efficient visual odometry techniques which allow high frame-rates and, thus, dynamic motions in unbounded workspaces. Finally, we provide experiments which validate the accuracy of the error propagation and which enable a brief comparison, showing that the Z ∞ significantly outperforms the 8-point algorithm. We also discuss the influence of the number of features, the aperture angle, and the image resolution on the accuracy of the pose estimation.

关键词： Estimation Vectors Covariance matrices Matrix decomposition Accuracy Cameras Motion estimation

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An Overview of a Multiagent-Based Simulation System for Dynamic Management of Risk Related to Dangerous Goods Transport

An Overview of a Multiagent-Based Simulation System for Dyna...

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IEEE International Systems Conference

作者： Mohamed Haitam Laarabi Claudio Roncoli Roberto Sacile Azedine Boulmakoul Emmanuel Garbolino Department of Computer science Bioengineering Robotics and Systems engineering University of Genoa LIM/IST Lab. Computer Sciences Department Mohammedia Faculty of Sciences and Technologies (FSTM) Mines ParisTech CRC

ISBN: (纸本)9781467331074

Transportation engineering, and especially of Dangerous Goods (DG), is one of the areas in which technological development is crucial. Logistic control systems, routing and scheduling algorithms, supply chain management have been applied in this aspect so as to improve the cost-effectiveness ratio and to reduce risks. Unfortunately, most of these works remain theoretical since tests on real case scenario sometimes proves difficult to achieve especially when we are dealing with Dangerous Goods Transport (DGT). In this paper, an architecture of a visual DGT simulation system has been introduced. It provides entries for testing these works and produces results close to real experiments. Applications on serious games, financial market, engineering are evidence of success of the visual simulation system. Thus, the challenge consists on how to design a system that represents real-world systems with an appropriate degree of complexity and dynamics. Several researchers have already suggested solutions since the 50s. These solutions have been classified in three levels: microscopic, mesoscopic and macroscopic simulation. It has been decided to use a microscopic approach using an agent-based model. It allows the representation of systems at different levels of complexity, a System of Systems (SoS), through the use of autonomous, goal-driven and interacting entities. The system is implemented using the software MATSim (). The main actors of the system stand for the DG Carriers Operator (CO) agent that manages a fleet of DG Carriers agents, taking logistic decisions on their behalf. The COs collaborate with the National Authority (NA), which is an agent concerned by the safety shipment of goods at regional and national level. The paper focus on the Multi-Agent System (MAS) architecture and introduces its key components as well as the means on interaction.

关键词： Multiagent systems Intelligent agents System of Systems Simulation System Transport Engineering Dangerous Goods Transport

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GES tightly coupled attitude estimation based on a LBL/USBL positioning system

GES tightly coupled attitude estimation based on a LBL/USBL ...

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European Control Conference (ECC)

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Universidade Técnica de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau.

ISBN: (纸本)9781479901890

Typical attitude estimation solutions for underwater vehicles rely on magnetometers, which are prone to magnetic field distortions. This can preclude its use in intervention scenarios, in the vicinity of objects with strong magnetic signatures, severely endangering not only the intervention mission but also the operation of the underwater vehicle. This paper presents a novel attitude estimation solution, based on a combined Long Baseline / Ultra Short Baseline (LBL/USBL) acoustic positioning system, with application to underwater vehicles. The range and range differences of arrival obtained with the LBL/USBL are directly embedded in the estimator dynamics, without any linearization whatsoever, and globally exponentially stable (GES) error dynamics are achieved. Simulation results evidence good performance of the proposed solution.

关键词： Observers Vehicles Acoustics Vehicle dynamics Vectors Magnetometers

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Joint ASV/AUV range-based formation control: Theory and experimental results

Joint ASV/AUV range-based formation control: Theory and expe...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CH-1015 Lausanne Switzerland

ISBN: (纸本)9781467356411

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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Using agents in virtual environments to assist controllers to manage multiple assets

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1st International Workshop on Cognitive Agents for Virtual Environments, CAVE 2012, Held at AAMAS 2012

作者： Beer, Martin D. Alboul, Lyuba Norling, Emma Wallis, Peter Communication and Computing Research Centre Faculty of Arts Computing Engineering and Sciences Sheffield Hallam University Sheffield United Kingdom Centre for Automation and Robotics Research Faculty of Arts Computing Engineering and Sciences Sheffield Hallam University Sheffield United Kingdom Centre for Policy Modelling Manchester Metropolitan University Manchester United Kingdom NLP Group Dept. of Computer Science University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9783642364433

Search and rescue operations often require complex coordination of a range of resources, including human and robotic resources. This paper discusses a proposed new framework that allows agent technology to be used in conjunction with a virtual environment to provide a human controller with an effective visualisation of the distribution of a collection of autonomous objects, in our case, Unmanned Aerial Vehicles (UAVs) so that they can be managed in a way that allows them to successfully complete the task in the minimum possible time. It is our contention that to do this effectively there needs to be two-way initiation of verbal conversations, but that it is not necessary for the system to completely understand the conversations required. An example scenario is presented that illustrates how such a system would be used in practice, illustrating how a single human can communicate with a swarm of semi-autonomous actors verbally and envisage their activities in a swarm based on the visual cues provided within the virtual environment. An agent-based solution is proposed that meets the requirements and provides a command station that can manage a search using a collection of UAVs effectively. © 2013 Springer-Verlag.

关键词： Virtual reality

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Art-2 artificial neural networks applications for classification of vibration signals and opera-tional states of wind turbines for intelligent monitoring

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Diagnostyka 2013年第4期14卷 21-26页

作者： Barszcz, Tomasz Bielecki, Andrzej Wójcik, Mateusz Bielecka, Marzena AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics al.Mickiewicza 30 30-059 Cracow Poland AGH University of Science and Technology Faculty of Electrotechnics Automation Computer Science and Biomedical Engineering al. Mickiewicza 30 30-059 Cracow Poland Jagiellonian University Faculty of Physics Astronomy and Applied Computer Science ul. Reymonta 4 30-059 Cracow Poland AGH University of Science and Technology Faculty of Geology Geophysics and Environmental Protectional Mickiewicza 30 30-059 Cracow Poland

In recent years wind energy is the fastest growing branch of the power generation industry. The largest cost for the wind turbine is its maintenance. A common technique to decrease this cost is a remote monitoring based on vibration analysis. Growing number of monitored turbines requires an automated way of support for diagnostic experts. As full fault detection and identification is still a very challenging task, it is necessary to prepare an "early warning" tool, which would focus the attention on cases which are potentially dangerous. There were several attempts to develop such tools, in most cases based on various classification methods. As the ART neural networks are capable to perform efficient classification and to recognize new states when necessary, they seems to be a proper tool for classification of vibration signals of bearing in gears in wind turbines. The verification of ART-2 networks efficiency in this task is the topic of this paper.

关键词： Wind turbines

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Joint ASV/AUV range-based formation control: Theory and experimental results

Joint ASV/AUV range-based formation control: Theory and expe...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jorge M. Soares A. Pedro Aguiar António M. Pascoal Alcherio Martinoli Laboratory of Robotics and Systems in Engineering and Science Instituto SuperiorTécnico Technical University of Lisbon Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal

ISBN: (纸本)9781467356404

关键词： Vehicles Vehicle dynamics Acoustics Underwater vehicles Robots Distance measurement

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Sensor-based Globally Asymptotically Stable Range-Only Simultaneous Localization and Mapping

Sensor-based Globally Asymptotically Stable Range-Only Simul...

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IEEE Annual Conference on Decision and Control

作者： Pedro Lourenco Pedro Batista Paulo Oliveira Carlos Silvestre C. L. Philip Chen Institute for Systems and Robotics Instituto Superior Tecnico Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau

ISBN: (纸本)9781467357159

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests.

关键词： design analysis simultaneous localization and mapping Kalman filters asymptotic Observability realistic simulation dynamics Sensor systems gas filters

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Is spiking logic the route to memristor-based computers?

Is spiking logic the route to memristor-based computers?

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2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013

作者： Gale, Ella De Lacy Costello, Ben Adamatzky, Andrew Unconventional Computing Centre Bristol Robotics Laboratory University of the West of England Bristol BS16 1QY United Kingdom Unconventional Computing Centre Faculty of Applied Sciences University of the West of England Bristol BS16 1QY United Kingdom Unconventional Computing Centre Computer Science and Creative Technology University of the West of England Bristol BS16 1QY United Kingdom

ISBN: (纸本)9781479924523

Memristors have been suggested as a novel route to neuromorphic computing based on the similarity between neurons (synapses and ion pumps) and memristors. The D.C. action of the memristor is a current spike, which we think will be fruitful for building memristor computers. In this paper, we introduce 4 different logical assignations to implement sequential logic in the memristor and introduce the physical rules, summation, 'bounce-back', directionality and 'diminishing returns', elucidated from our investigations. We then demonstrate how memristor sequential logic works by instantiating a NOT gate, an AND gate and a Full Adder with a single memristor. The Full Adder makes use of the memristor's memory to add three binary values together and outputs the value, the carry digit and even the order they were input in. © 2013 IEEE.

关键词： Memristors

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Methodology for identifying quadrotor parameters, attitude estimation and control

Methodology for identifying quadrotor parameters, attitude e...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： M. Elsamanty A. Khalifa M. Fanni A. Ramadan A. Abo-Ismail Mechatronics and Robotics Engineering Department School of Innovative Design Engineering Egypt-Japan University of Science and Technology Alexandria Egypt Production. Engineering & Mechanical Design Department Faculty of Engineering Mansoura University Mansoura Egypt Computer & Automatic Control Department Faculty of Engineering Tanta University Tanta Egypt

ISBN: (纸本)9781467353199

This paper describes a methodology to identify all the parameters of a quadrotor system including the structure parameters and rotor assembly parameters. A CAD model is developed using SOLIDWORKS to calculate the mass moment of inertia and all the missing geometrical parameters. A three simple test rigs are built and used to identify the relationship between the motor input Pulse Width Modulation (PWM) signal and the angular velocity, the thrust force, and drag moment of the rotors. A simple algorithm is implemented to an inertial measurement unit (IMU) for estimating the attitude and altitude of the quadrotor. Experimental set up is built to verify and test the accuracy of these proposed techniques. A controller is designed based on the feedback linearization method such that the quadrotor attitude can be stabilized. Finally, the experimental results show the effectiveness of the proposed techniques and the controller design.

关键词： Rotors Pulse width modulation Propellers Force Drag Angular velocity Assembly

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