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International Conference on Intelligent Transportation

作者： Cristiano Premebida Oswaldo Ludwig Marco Silva Urbano Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

In this paper we present a multistage method applied in pedestrian detection using information from a LIDAR and a monocular-camera mounted on an electric vehicle driving in urban scenarios. The proposed method is a cascade of classifiers trained in two subsets of features, one with laser-based features and the other with a set of image-based features. A specific training approach was developed to adjust the cascade stages in order to enhance the classification performance. The proposed method differs from the conventional cascade regarding the way the selected samples are propagated through the cascade. Thus, the subsequent stages of the proposed cascade receive both negatives and positives from previous ones, relying on a decision margin process. Experiments were conducted in off-line mode, for a set of single component classifiers and for the proposed cascade technique. The results are compared in terms of classification performance metrics and ROC curves.

关键词： Feature extraction Training Quantum cascade lasers Image segmentation Artificial neural networks Laser radar

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Adaptive inter-intradomain alignment network with class-aware sampling strategy for rolling bearing fault diagnosis

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Science China(Technological Sciences) 2023年第10期66卷 2862-2870页

作者： GAO QinHe HUANG Tong ZHAO Ke SHAO HaiDong JIN Bo LIU ZhiHao WANG Dong National Key Discipline Laboratory of Armament Launch Theory&Technology Rocket Force University of EngineeringXi’an 710025China Key Laboratory of Road Construction Technology&Equipment Ministry of Education Chang’an UniversityXi’an 710054China College of Mechanical and Vehicle Engineering Hunan UniversityChangsha 410082China Institute of Systems and Robotics Department of Electrical and Computer EngineeringUniversity of CoimbraCoimbra 3030-290Portugal

Existing unsupervised domain adaptation approaches primarily focus on reducing the data distribution gap between the source and target domains,often neglecting the influence of class information,leading to inaccurate alignment *** by this observation,this paper proposes an adaptive inter-intra-domain discrepancy method to quantify the intra-class and inter-class discrepancies between the source and target ***,an adaptive factor is introduced to dynamically assess their relative *** upon the proposed adaptive inter-intradomain discrepancy approach,we develop an inter-intradomain alignment network with a class-aware sampling strategy(IDAN-CSS)to distill the feature *** classaware sampling strategy,integrated within IDAN-CSS,facilitates more efficient *** multiple transfer diagnosis cases,we comprehensively demonstrate the feasibility and effectiveness of the proposed IDAN-CSS model.

关键词： unsupervised domain adaptation inter-class domain discrepancy intra-class domain discrepancy class-aware sampling strategy

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Place recognition survey: An update on deep learning approaches

arXiv

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arXiv 2021年

作者： Barros, Tiago Pereira, Ricardo Garrote, Luís Premebida, Cristiano Nunes, Urbano J. The University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal

Autonomous Vehicles (AV) are becoming more capable of navigating in complex environments with dynamic and changing conditions. A key component that enables these intelligent vehicles to overcome such conditions and become more autonomous is the sophistication of the perception and localization systems. As part of the localization system, place recognition has benefited from recent developments in other perception tasks such as place categorization or object recognition, namely with the emergence of deep learning (DL) frameworks. This paper surveys recent approaches and methods used in place recognition, particularly those based on deep learning. The contributions of this work are twofold: surveying recent sensors such as 3D LiDARs and RADARs, applied in place recognition;and categorizing the various DL-based place recognition works into supervised, unsupervised, semi-supervised, parallel, and hierarchical categories. First, this survey introduces key place recognition concepts to contextualize the reader. Then, sensor characteristics are addressed. This survey proceeds by elaborating on the various DL-based works, presenting summaries for each framework. Some lessons learned from this survey include: the importance of NetVLAD for supervised end-to-end learning;the advantages of unsupervised approaches in place recognition, namely for cross-domain applications;or the increasing tendency of recent works to seek, not only for higher performance but also for higher efficiency. © 2021, CC BY.

关键词： Surveys

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Sensorless nonlinear control of fed-batch Escherichia coli cultivation bioprocess using the state-dependent approach 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Iratni, Abdelhamid Araújo, Rui Rastegar, Saeid Mostefai, Mohammed Faculty of Science and Technology Electrical Engineering Department University of Bordj Bou Arreridj El Anasser Algeria Department of Electrical and Computer Engineering Institute for Systems and Robotics University of Coimbra Coimbra Portugal Automatic Control Laboratory of Setif Electrical Engineering Department Faculty of Technology University of Setif1 Sétif Algeria

ISBN: (纸本)9783319436708

The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expensive physical sensors. This paper deals with nonlinear estimation and control of fed-batch Escherichia coli bioprocess. Enhancing the process performance and maximizing its efficiency by optimizing the control of Escherichia coli cultures depends on the availability of appropriate online sensors for the main culture components. In this study, an innovative method for nonlinear estimation and control of bioprocesses is designed and assessed. The new algorithm for control and estimation of Escherichia coli bioprocess states, based on the State-Dependent Riccati Equation technique, is validated by numerical simulation. The results obtained clearly demonstrate the effectiveness of the proposed technique for Biosystems in measuring, monitoring, and control of their natural nonlinear dynamics. © Springer International Publishing Switzerland 2017.

关键词： Extended Kalman filters

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Products of stochastic matrices: Exact rate for convergence in probability for directed networks

Products of stochastic matrices: Exact rate for convergence ...

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Telecommunications Forum (TELFOR)

作者： Dragana Bajovic João Xavier Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal

We study the products W k ···W 1 of random stochastic, not necessarily symmetric matrices. It is known that, under certain conditions, the product W k · · · W 1 converges almost surely (a.s.) to a random rank-one matrix; the latter is equivalent to |λ 2 (W k · · · W 1 )| → 0 a.s., where λ 2 (·) is the second largest (in modulus) eigenvalue. In this paper, we show that the probability that |λ 2 (W k · · · W 1 )| stays above ε ∈ (0,1] in the long run decays to zero exponentially fast ~ e -kI . Furthermore, we explicitly characterize the rate of this convergence I and show that it depends only on the underlying graphs that support the matrices W k 's. Our results reveal that the rate I is essentially determined by the most likely way in which the union (over time) of the support graphs fails to form a directed tree.

关键词： Symmetric matrices Convergence Stochastic processes Computational modeling Eigenvalues and eigenfunctions Robot sensing systems

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Machine Learning-Enabled Power Scheduling in IoT-Based Smart Cities

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computers, Materials & Continua 2021年第5期67卷 2449-2462页

作者： Nabeela Awan Salman Khan Mohammad Khalid Imam Rahmani Muhammad Tahir Nur Alam MD Ryan Alturki Ihsan Ullah Department of Computer Science Government Girls Degree College MardanKPK23200Pakistan Department of Electrical Energy System UETPeshawar25000Pakistan Department of Computer Science College of Computing and InformaticsSaudi Electronic UniversityKSA Department of Smart Computing Kyungdong UniversityGlobal CampusGosung24764South Korea Department of Information Sciences College of Computer and Information SystemsUmm Al-Qura UniversityMakkahSaudi Arabia Robotics Engineering Daegu Gyeongbuk Institute of Science and TechnologySouth Korea

Recent advancements in hardware and communication technologies have enabled worldwide interconnection using the internet of things(IoT).The IoT is the backbone of smart city applications such as smart grids and green energy *** smart cities,the IoT devices are used for linking power,price,energy,and demand information for smart homes and home energy management(HEM)in the smart *** complex smart gridconnected systems,power scheduling and secure dispatch of information are the main research *** challenges can be resolved through various machine learning techniques and data *** this paper,we have proposed a particle swarm optimization based machine learning algorithm known as a collaborative execute-before-after dependency-based requirement,for the smart *** proposed collaborative execute-before-after dependencybased requirement algorithm works in two phases,analysis and assessment of the requirements of end-users and power distribution *** the rst phases,a xed load is adjusted over a period of 24 h,and in the second phase,a randomly produced population load for 90 days is evaluated using particle swarm *** simulation results demonstrate that the proposed algorithm performed better in terms of percentage cost reduction,peak to average ratio,and power variance mean ratio than particle swarm optimization and inclined block rate.

关键词： PSO IBR machine learning IoT smart cities CDBR

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Corneal nerve morphometry for diabetic peripheral neuropathy assessment

Corneal nerve morphometry for diabetic peripheral neuropathy...

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International Conference on Health Informatics, ICHI 2013

作者： Silva, Susana Figueiredo. Otel, Iulian Gouveia, Sofia Gomes, Leonor Negrão, Luís Quadrado, Maria João Gonçalves, Nuno Barreto, João Pedro Morgado, António Miguel IBILI - Institute for Biomedical Imaging and Life Sciences University of Coimbra Coimbra Portugal Department of Endocrinology Diabetes and Metabolism Portugal Department of Neurology Portugal Department of Ophthalmology Coimbra Hospital University Center Coimbra Portugal ISR - Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Physics University of Coimbra Coimbra Portugal

ISBN: (纸本)9783319030043

Diabetic peripheral neuropathy (DPN) is one of the more common complications of diabetes, being associated to 50-75% of non-traumatic amputations. Early diagnosis of DPN often fails or occurs only when patients became symptomatic due to the non-availability of a simple, reliable, noninvasive method. We present the results of a pilot study where we used peripheral nerves morphometric information, retrieved from images of the corneal sub-basal nerve plexus, obtained in vivo by corneal confocal microscopy, to identify and stage patients with DPN. Nerve segmentation was done manually and using an automatic algorithm. Both standard statistical techniques and classification techniques were used for DPN identification. With manual segmentation, differences were found between controls and patients with mild and moderate DPN, for the nerve fiber length and density parameters. A simple comparison between individuals with and without DPN results in significant differences for those parameters, as well as for branching pattern and density. No differences were found with automatic segmentation. Simple classification techniques based on manually extracted parameters were tested for identification of DPN patients. The best results were obtained with a binary tree classifier, using PCA transformed data, for a pruning level 9. The classifier accuracy was 87%. The results confirm that morphometric analysis of corneal nerves images may be used as a complementing technique for DPN diagnosis. A fully automatic tool for identifying and staging DPN patients requires additional work on the nerve segmentation algorithm and the use of more robust classifiers with additional reliance on image features other than the tested morphometric parameters. © 2014, Springer International Publishing Switzerland.

关键词： Confocal microscopy

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State Estimation of Continuous-Time systems with Implicit Outputs from Discrete Noisy Time-Delayed Measurements

State Estimation of Continuous-Time Systems with Implicit Ou...

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IEEE Conference on Decision and Control

作者： A. Pedro Aguiar Joao P. Hespanha ISR/IST Institute for Systems and Robotics Instituto Superior Technico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704

We address the state estimation of a class of continuous-time systems with implicit outputs, whose measurements arrive at discrete-time instants, are time-delayed, noisy, and may not be complete. The estimation problem is formulated in the deterministic H infin filtering setting by computing the value of the state that minimizes the induced L 2 -gain from disturbances and noise to estimation error, while remaining compatible with the past observations. To avoid weighting the distant past as much as the present, a forgetting factor is also introduced. We show that, under appropriate observability assumptions, the optimal estimate converges globally asymptotically to the true value of the state in the absence of noise and disturbance. In the presence of noise, the estimate converges to a neighborhood of the true value of the state. The estimation of position and attitude of an autonomous vehicle using measurements from an inertial measurement unit (IMU) and a monocular charged-coupled-device (CCD) camera attached to the vehicle illustrates these results. In the context of this application, the estimator can deal directly with the usual problems associated with vision systems such as noise, latency and intermittency of observations

关键词： State estimation Remotely operated vehicles Mobile robots Filtering Estimation error Observability Current measurement Position measurement Measurement units Charge coupled devices

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Design and Usability of an E-Health Mobile Application 9th

Design and Usability of an E-Health Mobile Application

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9th International Conference on Design, User Experience, and Usability, DUXU 2020, held as part of the 22nd International Conference on Human-computer Interaction, HCII 2020

作者： Nogueira, Maria Rita Menezes, Paulo Carvalho, Sérgio Patrão, Bruno Trindade, Inês A. Guiomar, Raquel Duarte, Joana Lapa, Teresa Pinto-Gouveia, José Freitas Castilho, Paula Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department Electrical and Computer Engineering University of Coimbra Coimbra Portugal Centre for Research in Neuropsychology and Cognitive Behavioral Intervention University of Coimbra Coimbra Portugal

ISBN: (纸本)9783030497569

Health applications have increasingly been used to improve physical, mental and social well-being. Chronic pain (CP) is defined as pain that lasts for a period of three months and causes sporadic or constant discomfort. In Portugal, the treatments for this type of pain are almost exclusively pharmacological and with known limited effects. Endowing patients with self-management skills, will help them cope with pain in a more effective way. Psychological treatments (e.g. mindfulness-based interventions) may play a relevant role here, because they intervene on a cognitive, emotional and behavioural level, which in turn helps the chronic pain patient to deal with pain-related disorders and suffering. The current availability of connected and powerful smartphones and tablets creates an opportunity to propose alternative pain management solutions that may be used immediately when pain appears, which has been the argument that favoured the pharmacological solutions. For this we propose a mobile application that guides patients on the mindfulness practice and to self-manage the sensed pain. Learning to gradually adequate pain management may have several advantages such as: reduced the number of consultation visits and consequent waiting lists;increased cost-effectiveness;self-management of chronic pain at the patient’s pace and according to their needs;extend access to the treatment to patients that reside in low density regions. Being an alternative to traditional treatment, the proposed treatment will be under the guidance of qualified health professionals that will supervise treatment sessions and perform the required assessments. By promoting patients’ self-management, the control and monitoring of the chronic pain condition is expected to improve greatly, which in turn may prevent the aggravation of the clinical condition. This research and the mobile application are being developed in a collaboration between the Centre for Research in Neuropsychology and Cognitive Beh

关键词： Cost effectiveness

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Real-time adaptive control for haptic manipulation with Active Observers

Real-time adaptive control for haptic manipulation with Acti...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao JaeHeung Park O. Khatib Electrical and Computer Engineering Department Institute of System and Robotics (ISR) University of Coimbra Coimbra Portugal Robotics Group University of Stanford CA USA

The paper discusses compliant motion control using Active Observers (AOBs) applied in robotic manipulators. Stochastic estimation strategies for haptic manipulation are introduced. Stability and robustness analysis is... 详细信息

关键词： Adaptive control Haptic interfaces Robot kinematics Motion control Robust stability Manipulator dynamics Iron Control system synthesis Force control Torque control

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