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检索条件"机构=ISR - Institute of Systems and Robotics and the Department of Electrical and Computer Engineering"

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Exploring Player's Body as a Game Controller for Fitness Activity Promotion

Exploring Player's Body as a Game Controller for Fitness Act...

引用

Experiment@ International Conference (exp.at)

作者： Diogo Simões Paulo Menezes Electrical and Computer Engineering Department University of Coimbra Institute of Systems and Robotics Coimbra Portugal

ISBN: (数字)9798350314403

ISBN: (纸本)9798350314410

In recent years, there has been a tendency for people to resort to a more sedentary lifestyle, which has only been aggravated by the COVID-19 pandemic and the evermore common remote work policies. This lack of physical activity brings negative health outcomes and can generally be difficult to overcome due to how challenging it can be for a person to find the motivation to adopt a more physically active routine. To address this issue, we propose the use of serious games as an engaging, fun, and highly motivational tool that can aid people in their quest for a healthier lifestyle. We focus on three problem areas: motor control improvement and rehabilitation, post-stroke rehabilitation, and physical activity for general health. There exist multiple solutions for these problems which often require specific equipment that may not be available to the common user. Therefore, we propose a different approach requiring solely a laptop equipped with a camera, thus making it more practical and accessible to the wider public.

关键词： COVID-19 Motor drives Portable computers Pandemics Games Cameras Remote working

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Paracatadioptric camera calibration using lines

Paracatadioptric camera calibration using lines

引用

International Conference on computer Vision (ICCV)

作者： Barreto Araujo Institute of Systems and Robotics-Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Paracatadioptric sensors combine a parabolic shaped mirror and a camera inducing an orthographic projection. Such a configuration provides a wide field of view while keeping a single effective viewpoint. Previous work in central catadioptric sensors proved that a line projects into a conic curve and that three line images are enough to calibrate the system. However the estimation of the conic curves where lines are mapped is hard to accomplish. In general only a small arc of the conic is visible in the image and conventional conic fitting techniques are unable to correctly estimate the curve. The present work shows that a set of conic curves corresponds to paracatadioptric line images if, and only if, certain properties are verified. These properties are used to constraint the search space and correctly estimate the curves. The accurate estimation of a minimum of three line images allows the complete calibration of the paracatadioptric camera. If the camera is skewless and the aspect ratio is known then the conic fitting problem is solved naturally by an eigensystem. For the general situation the conic curves are estimated using non-linear optimization.

关键词： Cameras Calibration Mirrors Sensor systems Robot vision systems Image sensors Robot sensing systems Curve fitting computer vision Focusing

来源：评论

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Real-Time Tracking of Moving Objects Using Particle Filters

Real-Time Tracking of Moving Objects Using Particle Filters

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： A. Almeida J. Almeida Rui Araujo Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

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OmniClimber: An omnidirectional light weight climbing robot with flexibility to adapt to non-flat surfaces

OmniClimber: An omnidirectional light weight climbing robot ...

引用

2012 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Mahmoud Tavakoli Lino Marques Aníbal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This paper introduces a novel climbing robot with high maneuverability for inspection of ferromagnetic 3D human made structures. The robot takes advantage of novelties which allows an excellent maneuverability on the structure and can adapt to flat and non-flat structures. In this paper we present the conceptual and detailed design of the robot, the implementation and two tests: laboratory tests on a flat surface; and a set of field tests performed on a wind turbine foundation to prove the applicability of the robot on both structures.

关键词： Force Wheels Climbing robots Materials Inspection

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Algorithms for management of a multi-platooning system of IVC-enabled autonomous vehicles, with high traffic capacity

Algorithms for management of a multi-platooning system of IV...

引用

International Conference on Intelligent Transportation

作者： Pedro Fernandes Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Intra-platoon positioning management strategies to deal with safe and efficient advanced traffic management system operation are proposed in this paper. New algorithms to ensure high traffic capacity are proposed, and Matlab/Simulink-based simulation results are reported. Recently, we proposed new algorithms to mitigate communication delays using anticipatory information, both from the platoon's leader and the followers, with significant impact on the improvement of platoon string stability [5]. In this paper, we argue that maintaining a constant spacing between platoons' leaders has a positive impact on the traffic capacity of the whole system. As such, when the leader and eventually other vehicles immediately behind it leave the platoon, the new leader must accelerate to reach the position of the previous leader, to ensure inter-leader constant spacing and, consequently, enough spacing to be eventually occupied by new followers. We developed a novel architecture where each vehicle consists of two distinct modules: a leader and a follower. Based on Matlab/Simulink-based simulation, the new algorithms are assessed, and simulation results presented. The obtained simulation results confirm that the proposed algorithms adapt the acceleration pattern, ensuring similar timings for all possible cases of the previous position of new leaders in the platoon, when performing their repositioning maneuvers.

关键词： Vehicles Lead Mobile robots Asynchronous transfer mode Delay Acceleration Roads

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A comparison study on Pneumatic Muscles and electrical motors

A comparison study on Pneumatic Muscles and electrical motor...

引用

IEEE International Conference on robotics and Biomimetics

作者： Mahmoud Tavakoli Lino Marques Anibal T. de Almeida Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Pneumatic artificial muscles also known as ldquoPAMrdquo and ldquoPMrdquo, are famous as very light actuators in the current literature. The reason stated in the literature for such claim is their lower ldquopower to weightrdquo ratio compared to other type of actuators namely pneumatic cylinders and electrical motors. However using the ldquopower to weightrdquo ratio of actuators for claiming the lightness of an actuator is questioned in this paper, and a new approach for such comparison is introduced. In this paper a comparison study was made between electrical rotary actuators and PMs on the basis of the taualpha value. It is showed that claims which consider PMs as lighter actuators compared to the other types of actuators are not precise and are highly questionable since some factors are neglected in comparison between the weight of the actuators.

关键词： Muscles Pneumatic actuators Robots Engine cylinders Animals Torque Biomimetics Prosthetics Rubber Bladder

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Compliant comanipulation control for medical robotics

Compliant comanipulation control for medical robotics

引用

Conference on Human System Interactions, HSI

作者： Cristovao Sousa Rui Cortesao Pedro Queiros Institute of Systems and Robotics Electrical and Computer Engineering Department University of Coimbra Coimbra Portugal

This paper presents a compliant control architecture for comanipulation in the medical robotics field. The kinematics and dynamics models of robots are described and its linearization by non linear feedback is implemented. The impedance control concept is introduced and representation in arbitrary frames techniques are presented. Various virtual walls restrictions to the robot end-effector are made using a proportional/derivative controller and an active observer (AOB) impedance controller. Some practical analyses and conclusions are made.

关键词： Robot control Medical robotics Impedance Robot sensing systems Service robots Rehabilitation robotics Surgery Surges Safety Force sensors

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Fast and Accurate Calibration of a Kinect Sensor

Fast and Accurate Calibration of a Kinect Sensor

引用

International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： Carolina Raposo João Pedro Barreto Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

The article describes a new algorithm for calibrating a Kinect sensor that achieves high accuracy using only 6 to 10 image-disparity pairs of a planar checkerboard pattern. The method estimates the projection parameters for both color and depth cameras, the relative pose between them, and the function that converts kinect disparity units (kdu) into metric depth. We build on the recent work of Herrera et. al [8] that uses a large number of input frames and multiple iterative minimization steps for obtaining very accurate calibration results. We propose several modifications to this estimation pipeline that dramatically improve stability, usability, and runtime. The modifications consist in: (i) initializing the relative pose using a new minimal, optimal solution for registering 3D planes across different reference frames, (ii) including a metric constraint during the iterative refinement to avoid a drift in the disparity to depth conversion, and (iii) estimating the parameters of the depth distortion model in an open-loop post-processing step. Comparative experiments show that our pipeline can achieve a calibration accuracy similar to [8] while using less than 1/6 of the input frames and running in 1/30 of the time.

关键词： Cameras Calibration Image color analysis Accuracy Robot sensing systems Three-dimensional displays Estimation

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On Integration of Features and Classifiers for Robust Vehicle Detection

On Integration of Features and Classifiers for Robust Vehicl...

引用

International Conference on Intelligent Transportation

作者： Luciano Oliveira Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Some researches have demonstrated that a single recognition system is not usually able to deal with the diversity of environment situations in images. In this paper, with the aim of finding a robust method to compensate single classifier inability under certain circumstances, an extensive study on how to combine features and classifiers is performed. Two ways of integrating features and classifiers are proposed: concatenated vector and ensemble architecture. These two methods are composed by Histogram of Oriented Gradients and Local Receptive Fields as feature extractors, and a Multi Layer Perceptron and Support Vector Machines as classifiers. A thorough analysis with respect to the robustness of the proposed methods over artificial illumination changing has been experimentally carried out at a front and rear vehicle recognition task. Results have demonstrated that the ensemble architecture with a heuristic Majority Voting presented the best performance (other four classification fusion methods based on majority voting and fuzzy integral were also evaluated). The ensemble classifier obtained an average hit rate of 92.4% and less than 1% of false alarm rate under multiple datasets and environment conditions.

关键词： Robustness Vehicle detection Voting Image recognition Concatenated codes Histograms Feature extraction Support vector machines Support vector machine classification Lighting

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Divergence-based odor source declaration

Divergence-based odor source declaration

引用

Asian Control Conference

作者： Gonçalo Cabrita Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper explores the use of the divergence operator for odor source declaration in swarm-based algorithms. A set of simulations of a swarm of robots running the decentralized asynchronous particle swarm optimization, bacterial foraging optimization and ant colony optimization algorithms was used to generate multiple wind and odor biased vector fields to investigate the effectiveness of the divergence operator in odor source declaration. A set of real world experiments were also performed using the same swarm algorithms on a controlled environment to ascertain if the divergence operator can also be used on real data. The sparse gas sensor data acquired by the robots was interpolated using the Nadaraya-Watson estimator by means of a wind and odor biased kernel before the application of the divergence. Results show that the divergence operator excels at odor source declaration.

关键词： Chemicals Robot sensing systems Vectors Robot kinematics Equations Mathematical model

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