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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： S.Brás R.Cunha J.F.Vasconcelos C.Silvestre P.Oliveira Institute for Systems and Robotics (ISR) Instituto Superior Técnico

In this paper we consider the problem of estimating the attitude of a rigid body equipped with a triad of rate gyros and a pan and tilt *** nonlinear attitude observer integrates angular velocity measurements from rate gyros,with images of a planar scene provided by the *** exploiting directly sensor information,i) a stabilizing feedback law is introduced and exponential convergence to the origin of the estimation errors is shown;ii) an active vision system is proposed that relies on an image-based exponentially input-tostate stable(ISS) control law for the camera pan and tilt angular rates to keep the features in the image *** discrete time implementation of the observer makes use of recent results in geometric numeric integration to preserve the rotation matrix *** and experimental results demonstrate the effectiveness and applicability of the proposed solution.

关键词： Nonlinear Attitude Estimation Using Active Vision and Inertial Measurements Active

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A Vision Based Interface for Local Collaborative Music Synthesis

A Vision Based Interface for Local Collaborative Music Synth...

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International Conference on Automatic Face and Gesture Recognition

作者： J. Carreira P. Peixoto ISR-Institute of Systems and Robotics University of Coimbra Coimbra Portugal

The computer is an ubiquitous element of modern society, nonetheless, human computer interaction is still rather inflexible. Particularly in local collaborative environments, like office meetings, the property that the mouse and keyboard exhibit of being a gateway for the individual to act upon a workspace, makes local computer mediated collaboration uncomfortable, as users have to time-share their actions upon that workspace. We present in this paper a novel, very fast, vision based interface that allows multiple users to interact simultaneously with a single computer by performing hand gestures, which are filmed by a static video camera. This interface attempts to continuously recognize predefined postures and movements using a view-dependent method. We also present A.C.O, an application which receives input from the vision based interface and allows users around a table to collaborate playing synthesized music instruments by moving their hands

关键词： Collaboration Collaborative work Pervasive computing Human computer interaction Mice Keyboards Time sharing computer systems Computer interfaces Computer vision Cameras

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Trainable classifier-fusion schemes: An application to pedestrian detection

Trainable classifier-fusion schemes: An application to pedes...

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International Conference on Intelligent Transportation

作者： Oswaldo Ludwig Junior David Delgado Valter Goncalves Urbano Nunes ISR-Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This work proposes a novel classifier-fusion scheme using learning algorithms, i.e. syntactic models, instead of the usual Bayesian or heuristic rules. Moreover, this paper complements the previous comparative studies on DaimlerChrysler Automotive Dataset, offering a set of complementary experiments using feature extractor and classifier combinations. The experimental results provide evidence of the effectiveness of our methods regarding false positive rate, AUC, and accuracy, which reached 96.67%.

关键词： Histograms Feature extraction Neural networks Automotive engineering Covariance matrix Boosting Intelligent robots Intelligent transportation systems Bayesian methods Bagging

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Building a Teleoperation Environment

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IFAC Proceedings Volumes 1997年第3期30卷 173-178页

作者： R. Cortesão R. Araújo U. Nunes A.T. de Almeida Institute of Systems and Robotics (ISR)- Electrical Engineering Department University of Coimbra 3030 Coimbra Portugal.

There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. Because of the complex nature of the tasks that usually telerobots perform, centralised control is no longer practical. This motivates the need for an interprocess communication facility. Continuous human operator control in teleoperation has both advantages and disadvantages. The main advantage is that overall task control can rely on human perception, judgement, decision, dexterity, and training. The main disadvantage is that the human operator must cope with a sense of remoteness, be alert of and integrate many information, and coordinate the control of one or two mechanical arms, each having typically six degrees of freedom. A good graphic environment at the local station is needed, to improve the teleoperation tasks. For this reason, computer graphics play an increasingly important role in advanced teleoperation. This paper describes a communication system for a robotic teleoperation environment, how to build a virtual environment of the remote station, and also new scientific visualisation techniques for real time data, using powerful graphical toolkits.

关键词： Communications Virtual Robot Teleoperation Graphic Environment

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Online Mission Planning for Cooperative Target Tracking of Marine Vehicles

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IFAC Proceedings Volumes 2009年第18期42卷 185-189页

作者： M. Bayat F. Vanni A. Pedro Aguiar Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal

In the cooperative target tracking maneuvering a group of vehicles is required to follow a target while maintaining a desired formation in space. For that effect, the trajectory of the target has to be estimated (for example by one of the vehicles in formation), translated into mission codes (to save communication resources) and transmitted to the other vehicles. This paper addresses the online mission planning task of converting the absolute or relative position data available from the positioning system installed on the target (e.g. INS, GPS) into a set of lines and constant curvature arcs. Two algorithms are proposed: one using a polynomial fitting and a more complex one using an Interactive Multiple-Model Kalman filter. Simulation results using experimental data and a set of simulated data corrupted with noise and data loss are presented and discussed.

关键词： Target Tracking Mission Planning Interactive Multiple-Model Polynomial Fitting

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Voltage Unbalance Impact on Coil-Side Temperature Rise in a Delta-Connected, Dual-Winding Induction Motor

Voltage Unbalance Impact on Coil-Side Temperature Rise in a ...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Fernando J. T. E. Ferreira José Alberto Aníbal T. de Almeida Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal

ISBN: (数字)9781728157542

ISBN: (纸本)9781728157559

The performance of three-phase induction motors is negatively affected when the supply voltages are unbalanced, which is a common situation in industrial facilities. The resulting unbalance of the motor phase currents leads to an increase of the motor vibration, slip, rotor losses, maximum phase current, and maximum temperature rise in the windings. In this paper, the phase current unbalance and the coil-side temperature rise in each stator slot of an induction motor with a reconfigurable delta-connected dual winding and unbalanced supply voltages, is investigated. This investigation is done for three different spatial displacement angles between the two partial windings, namely, 0, 20 and 40 electrical degrees, and is based on experimental results and on the distribution of the coil sides in the stator slots. The current-based motor derating curves as a function of voltage unbalance ratio for the three different spatial displacement angles are also presented. It was found that, for the tested 36-slot, delta-connected, dual-winding induction motor and the considered supply voltage unbalance, a spatial displacement angle between the two partial windings of 40 electrical degrees can reduce the maximum value of the per-unit per-slot average coil-side temperature rise and the phase current unbalance ratio.

关键词： Windings Induction motors Stator windings Hysteresis motors Voltage measurement Estimation

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Ground plane velocity estimation embedding rectification on a particle filter multi-target tracking

Ground plane velocity estimation embedding rectification on ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Helio Palaio Cristina Maduro Katherine Batista Jorge Batista ISR-Institute of Systems and Robotics DEEC-FCTUC University of Coimbra Portugal

This paper presents an integrated solution for vehicle's velocity estimation and vehicle counting. The proposed restores the scene geometric properties, building a ground plane rectified image. Moreover, multiple vehicles tracking is performed embedding the concept of region covariance descriptors in a particle filter framework. The results show the effectiveness of the approach here proposed in very clutter scenes.

关键词： Particle filters Particle tracking Image edge detection Image restoration Road vehicles Surveillance Video sequences Covariance matrix robotics and automation Layout

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Applying the RMMAC methodology to an unstable plant

Applying the RMMAC methodology to an unstable plant

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Iranian Conference on Electrical Engineering (ICEE)

作者： Vahid Hassani M. Athans A. M. Pascoal Institute of Systems and Robotics (ISR) Instituto Superior Technico Lisboa Portugal

ISBN: (纸本)9781424467600

In this paper we revisit previous work on Robust Multiple Models Adaptive Control (RMMAC) of uncertain plants. RMMAC was originally developed to control open-loop stable plants. We formulate and study the problem of robust adaptive control of open-loop unstable plants with structured and unstructured uncertainty in the presence of external disturbances and measurement noises, an issue that poses considerable theoretical and practical challenges. In particular, we show, with the help of an example, how a slight modification of the technique introduced in previous work on the RMMAC for stable plants yields a methodology that has the potential to deal with unstable plants. A design example and several nontrivial computer simulations are presented and discussed.

关键词： Adaptive control Robust control Parameter estimation Open loop systems Noise robustness Robots Real time systems Cost function Signal processing Convergence

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AI and memory: Studies towards equipping a robot with a sparse distributed memory

AI and memory: Studies towards equipping a robot with a spar...

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IEEE International Conference on robotics and Biomimetics

作者： Mateus Mendes A. Paulo Coimbra Manuel Crisostomo ESTGOH IPC Coimbra ISR-Institute of Systems and Robotics Department of Electrical and ComputerEngineering University of Coimbra Portugal ISR-Institute of Systems and Robotics Department of Electrical and ComputerEngineering University of Coimbra Portugal

ISBN: (纸本)9781424417612;1424417619

Traditional approaches to Artificial Intelligence (AI) and robotics seem only to provide advances at a very slow pace. Many researchers agree that new, different approaches are needed to provide a breakthrough and allow the construction of robots with human-like capacities. Our approach consists in navigating a robot using vision a Sparse Distributed Memory (SDM), a kind of associative memory based on the properties of high dimensional binary spaces, which, in theory, exhibits some human-like behaviours. During learning the robot will store sequences of images in the SDM. During execution the robot will follow the sequence of images that is closest to its current view. Preliminary results show that the memory can store and predict sequences of images with a small error tolerance.

关键词： Artificial intelligence Intelligent robots Humans Brain modeling Orbital robotics Navigation Humanoid robots Neurons Machine intelligence Mathematical model

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Planning and Scheduling: Non-Classic Heuristic Approaches

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IFAC Proceedings Volumes 1993年第2期26卷 479-483页

作者： J.J.S. Sentieiro Institute for Systems and Robotics (ISR) Instituto Superior Técnico 1096 Lisboa Codex Portugal

Present day production systems are very complex involving many and different activities, which are interconnected aiming towards a common objective: the production of finished goods. Examples of some of such activities are production planning and scheduling. Due to the NP-hard nature of Scheduling problems, the use of classical approaches or search techniques in the generation of a complete schedule is a heavy task. This paper will focus on non-conventional heuristic approaches which, in recent years, have been the concern of the author and his research group at isr. Several methods are briefly described and commented

关键词： Automation flexible manufacturing fuzzy control hierarchical systems production control

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