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A surveillance system integrating visual telepresence

A surveillance system integrating visual telepresence

引用

International Conference on Pattern Recognition

作者： P. Peixoto J. Goncalves H. Antunes J. Batista H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)0769507506

We describe an indoor surveillance system which enables the control of a binocular active vision system by a remote operator wearing a head mounted display. Visual feedback to the head mounted display is obtained using the images captured by the active vision system. To maximize the 3D perception of the operator the system is able to adjust the vergence angle of the active vision system in order to maintain fixation on the objects in the center of the image. A wide-angle lens static camera located on the surveillance area is also used to enable the detection and tracking of intruders. In case of an intrusion a map with the location of the detected targets is displayed on top of the images shown on the head mounted display. This information allows the remote operator to redirect his attention to where the target is.

关键词： Surveillance Head Machine vision Displays Humans Delay Cameras Lenses Sensor phenomena and characterization Mechanical sensors

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Application of a robust indirect adaptive-control method in task-space hybrid manipulator control

Application of a robust indirect adaptive-control method in ...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： U. Nunes R. Araujo A.T. de Almeida ISR-Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot manipulator in the task coordinates system. The adaptive control scheme comprises a modified recursive least squares (MRLS) parameter estimation algorithm and a pole-placement controller. Results of real-time implementations are presented and discussed.< >

关键词： Robust control Adaptive control Manipulators Robot kinematics Parameter estimation Control systems Programmable control Force control Algorithm design and analysis Robustness

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Evolutionary fuzzy models for nonlinear identification

Evolutionary fuzzy models for nonlinear identification

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jérôme Mendes Samuel Pinto Rui Araújo Francisco Souza Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This paper proposes a new method for identification problems for industrial applications based on a Takagi-Sugeno (T-S) fuzzy model. The learning of the T-S model is performed from input/output data to approximate unknown nonlinear processes by a coevolationary genetic algorithm (GA). The proposed method is an automatic tool since it does not require any prior knowledge concerning the structure (e.g. the number of rules) and the database (e.g. antecedent fuzzy sets) of the T-S fuzzy model, and concerning the selection of the adequate input variables and their respective time delays. The proposed methodology is able to design all the parts of the T-S fuzzy prediction model and it is composed by five hierarchical levels. To validate and demonstrate the performance and effectiveness of the proposed algorithm, it is applied on Box-Jenkins benchmark problem.

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Binocular tracking and accommodation controlled by retinal motion flow

Binocular tracking and accommodation controlled by retinal m...

引用

International Conference on Pattern Recognition

作者： J. Batista P. Peixoto H. Araujo ISR-Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)0769507506

Describes a tracking and accommodation system controlled by retinal motion flow. The tracking system decomposes two basic behaviors: smooth-pursuit and vergence. Both behaviors are optical flow based. The eye's accommodation (focusing) is based on a focusing-by-vergence approach combining a flow based vergence process with an off-line pre-calibration of the lens focusing odometry. The focusing and tracking system run in parallel and are both velocity controlled.

关键词： Tracking Motion control Retina Focusing Velocity control Geometry Angular velocity Control systems Equations Lenses

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Design and application of Soft Sensor using Ensemble Methods

Design and application of Soft Sensor using Ensemble Methods

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Symone Soares Rui Araújo Pedro Sousa Francisco Souza Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

Industries are faced with the choice of suitable process control policies to improve costs, quality and raw material consumption. In the paper pulp industry, it is important to estimate quickly the Chemical Oxygen Demand (COD), a parameter that is highly correlated to product quality. Soft Sensors (SSs) have been established as alternative to hardware sensors and laboratory measurements for monitoring and control purposes. However, in real setups it is often difficult to get sufficient data for SS development. This work proposes Ensemble Methods (EMs) as a way to improve the SS performance for small datasets. EMs use a set of models to obtain better prediction. Their success is usually attributed to the diversity. Bootstrap and noise injection are used to produce diverse models. Several combinations of EMs are compared. The SS is successfully applied to estimate COD in a pulp process.

关键词： Noise Training Artificial neural networks Diversity reception Chemicals Paper pulp Predictive models

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Human Detection Combining RGB and Thermal Modalities

Human Detection Combining RGB and Thermal Modalities

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Intelligent Reality (ICIR), IEEE International Conference on

作者： Chaymaa Fakrane Kennedy O. S. Mota Cristiano Premebida Rui P. Rocha Dept. of Electrical and Computer Engineering (DEEC) Institute of Systems and Robotics (ISR) University of Coimbra Portugal

ISBN: (数字)9798331534424

ISBN: (纸本)9798331534431

This paper addresses a late-fusion approach that combines RGB and thermal (long-wave IR) modalities to enhance human detection in indoor environments for robotic perception domains. The study explores multimodal human detection using YOLO series (v5s-6s and v8s-11s models), demonstrating significant improvements in detection accuracy under challenging lighting conditions on a dataset collected by a mobile robot. The use of a Weighted-Mean (WM) as a late-fusion approach demonstrates favorable results over more complex methods such as neural networks or SVM. The WM approach is simple to implement and has a low computational cost. Additionally, it is more interpretable and modular and allows straightforward adjustments to the weights of the YOLO models and thresholds, facilitating adaptation to the target system's specific needs. The experimental results indicate that the implemented late-fusion approach improves the baseline performance in terms of mean average precision.

关键词： YOLO Support vector machines Adaptation models Accuracy Computational modeling Neural networks Lighting Indoor environment Computational efficiency Mobile robots

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Robot navigation using visual information

Robot navigation using visual information

引用

Annual Conference of Industrial Electronics Society

作者： I. Fonseca J. Dias ISR-Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

This paper addresses the problem of performing navigation with a mobile robot using active vision exploring the image sphere properties in a stereo divergent configuration. The navigational process is supported by the control of the robot's steering and forward movements just using visual information as feedback. The steering control solution is based on the difference between signals of visual motion flow computed in images on different positions of a virtual image sphere. The majority of solutions based on motion flow and proposed until now, were usually very unstable because they normally compute other parameters from the motion flow. In our case the control is based directly on the difference between motion flow signals on different images. Those multiple images are obtained by small mirrors, that simulate cameras positioned in different positions on the image sphere. Another new version for the spherical sensor is under development. The control algorithm described in this work is based on a discrete-event approach to generate a controlling feedback signal for navigation of an autonomous robot with an active vision system as described.

关键词： Navigation Feedback Motion control Robot vision systems Control systems Mobile robots Robot control Mirrors Computational modeling Cameras

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Stable indirect adaptive predictive fuzzy control for industrial processes

Stable indirect adaptive predictive fuzzy control for indust...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jérôme Mendes Rui Araújo Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

The paper proposes a stable indirect adaptive fuzzy predictive control, which is based on a discrete-time Takagi-Sugeno (T-S) fuzzy model and on the Generalized predictive control (GPC) algorithm. The T-S fuzzy model is used to approximate the unknown nonlinear plant, that to provide good accuracy in identification of unknown model parameters, three online adaptive laws are proposed. It is demonstrated that the tracking error remains bounded. The stability of closed-loop control system is studied and proved via the Lyapunov stability theory. To validate the theoretical developments and to demonstrate the performance of the proposed control, the controller is applied on a nonlinear simulated laboratory-scale liquid-level process. The simulation results show that the proposed method has a good performance and disturbance rejection capacity in industrial processes.

关键词： Adaptation models Mathematical model Predictive control Predictive models Nonlinear systems Computational modeling

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Optoelectronic proximity sensor for robotics applications

Optoelectronic proximity sensor for robotics applications

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Mediterranean Electrotechnical Conference (MELECON)

作者： L. Marques D. Castro U. Nunes A.T. de Almeida ISR-Institute Cor Systems and Robotics Electrical Engineering Department University of Coimbra Portugal

This paper describes an optoelectronic proximity and orientation sensor. We present the sensor modelling and real and simulated results. The sensor is composed by a light emitter and an array of photodetectors that measure the intensity of reflected light on a surface. In this paper we describe the application of this sensor in object prehension tasks performed by a robotic gripper.

关键词： Optoelectronic and photonic sensors Robot sensing systems Sensor arrays Photodetectors Light emitting diodes Sensor systems Optical sensors Sensor phenomena and characterization Tactile sensors Infrared sensors

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Variable and time-lag selection using empirical data

Variable and time-lag selection using empirical data

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Francisco Souza Rui Araújo Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

The paper proposes a method to select the best variables and respective time-lags for industrial applications when the objective is the estimation of a target variable using the information content of empirical data. No further information is assumed about the process. The problem of jointly selecting the best variables and the respective time-lags is treated as a variable selection problem. This assumption implies an increase of input dimensionality and multicollinearity into input space. Then, a multidimensional mutual information estimator based on the l-nearest neighbor algorithm is used in a forward search procedure to select the best variables and and respective time-lags. To verify the performance of selected variables and delays, the method was successfully applied in two data sets. A least squares support vector machine was used as the main model for the soft sensor in both cases.

关键词： Input variables Delay Mutual information Correlation Computational modeling Estimation Predictive models

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