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Player/Stage simulation of olfactory experiments

Player/Stage simulation of olfactory experiments

引用

2010 IEEE/RSJ International Conference on Intelligent Robots and systems

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

This paper describes a Player/Stage simulation framework for mobile robot olfactory experiments. The PlumeSim framework simulates odor transport in the environment, as well as olfactory detection systems. The odor transport can be based on analytical theoretical models, data generated by dedicated computational fluid dynamics (CFD) software packages, or data acquired in a real environment. The framework is validated through comparison of the results of simulated and real mobile robot olfactory experiments.

关键词： Mathematical model Equations Computational fluid dynamics Atmospheric modeling Robots Software Chemicals

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Detection and Tracking of Moving Objects Using 2.5D Motion Grids

Detection and Tracking of Moving Objects Using 2.5D Motion G...

引用

International IEEE Conference on Intelligent Transportation systems

作者： Alireza Asvadi Paulo Peixoto Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9781467365970

Autonomous vehicles require a reliable perception of their environment to operate in real-world conditions. Awareness of moving objects is one of the key components for the perception of the environment. This paper proposes a method for detection and tracking of moving objects (DATMO) in dynamic environments surrounding a moving road vehicle equipped with a Velodyne laser scanner and GPS/IMU localization system. First, at every time step, a local 2.5D grid is built using the last sets of sensor measurements. Along time, the generated grids combined with localization data are integrated into an environment model called local 2.5D map. In every frame, a 2.5D grid is compared with an updated 2.5D map to compute a 2.5D motion grid. A mechanism based on spatial properties is presented to suppress false detections that are due to small localization errors. Next, the 2.5D motion grid is post-processed to provide an object level representation of the scene. The detected moving objects are tracked over time by applying data association and Kalman filtering. The experiments conducted on different sequences from KITTI dataset showed promising results, demonstrating the applicability of the proposed method.

关键词： environment sensor measurements generated grids Environments grids Moving tracking road vehicles Environmental models Grid Autonomous Vehicles Grates environmental perception

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Pose estimation for central catadioptric systems: an analytical approach

Pose estimation for central catadioptric systems: an analyti...

引用

International Conference on Pattern Recognition

作者： A. Paulino H. Araujo Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)076951695X

The number of applications for central catadioptric systems, often called central panoramic systems, is increasing. Among these are surveillance systems, commercial systems for Web navigation and robot localization and navigation. This work is involved with the latter, and presents an analytical method for pose estimation using any central catadioptric system. Any known four points in the world, forming a planar rectangle. may be used for pose computation. The computed pose includes the rotation and the translation from the camera coordinate system to the world coordinate system.

关键词： Mirrors Cameras Robot kinematics Robot vision systems Layout computer vision Image reconstruction Equations Application software Surveillance

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Platooning with DSRC-based IVC-enabled autonomous vehicles: Adding infrared communications for IVC reliability improvement

Platooning with DSRC-based IVC-enabled autonomous vehicles: ...

引用

IEEE Symposium on Intelligent Vehicle

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

Platooning with IVC-enabled autonomous vehicles may enable a significant increase in lane capacity, if performed with constant spacing policies. However, to be effective, such system is very demanding with respect to communication performance and reliability. Dedicated short range communications (DSRC) is the prominent intervehicle communication (IVC) technology. However, its reliability rises concerns when operating under platooning scenarios. In this paper we identify some specific problems that platooning pose to DSRC, through the simulation of several scenarios implemented in the NS-3 network simulator. Moreover, we propose a new concept of IVC when applied to platoons, using simultaneously two different communication technologies: DSRC and infrared (IR). New guidelines toward more efficient use of IVC transmission media are suggested, e.g., by broadcasting the event-driven type of messages through DSRC, whereas periodic vehicle control-based messages use the IR channel, in unicast. Furthermore, the base architecture of the IVC proposed system is presented.

关键词： Vehicles Delay Reliability Mobile robots Safety Unicast Interference

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MuSe4ASD - An Interactive Music Station for Children with ASD

MuSe4ASD - An Interactive Music Station for Children with AS...

引用

Experiment@ International Conference (exp.at)

作者： Beatriz Lagos 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

This article explores the topic involving children with autism, referencing what this condition is about, as well as the hypotheses for approaching the problem based on the literature reviewed. The proposed approach involves the creation of an adequate space with an immersive interactive system based on musical stimuli, and physical exercise to improve their communication, memory, visual and motor capabilities, and eventually potentiate the development of artistic skills. The development of this interactive system includes the development of an avatar that will be animated using Motion Capture technology, so it can interact with the child and accompany him/her while doing the exercises with fluid movements.

关键词： Visualization Autism Fluids Interactive systems Avatars Music Variable speed drives

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Platooning of autonomous vehicles with intervehicle communications in SUMO traffic simulator

Platooning of autonomous vehicles with intervehicle communic...

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

An approach to increase road capacity consists in making vehicles move much closer to each other, i.e. using platoons, and to avoid the constant stop-and-go in urban traffic. This paper addresses the studies of new models to allow the research of cooperative and autonomous communication-enabled vehicles, with platooning capabilities, and the addition of new features in SUMO (Simulation for Urban MObility) to allow the simulation of those models. Simulations results of vehicle platoons using constant spacing instead of the more common constant time headway, with intervehicle communications, are reported in the paper. The platoon leaders are controlled by an external application and the simulation platform works at the subsecond level.

关键词： Vehicles Lead Acceleration Roads Mobile robots Stability analysis Humans

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A p300 model for cerebot - A mind-controlled humanoid robot 2

引用

2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation

A trajectory tracking LQR controller for a quadrotor: Design...

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IEEE Region 10 International Conference TENCON

作者： Xie Heng David Cabecinhas Rita Cunha Carlos Silvestre Xu Qingsong Department of Electromechanical Engineering Avenida da Universidade Taipa Macau China Department of Electrical and Computer Engineering Institute for Systems and Robotics (ISR/IST) Macao China Electrical and Computer Engineering Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Lisbon Macao China

ISBN: (纸本)9781479986422

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant dynamics for the error system. The controller synthesis problem is then formulated as a linear quadratic regulator problem for LTI systems. The control strategy adopts the D-methodology integrated with the anti-windup technique in order to achieve zero static error for the integral states and to avoid actuator saturation. Experimental results where a quadrotor follows a trimming trajectory are presented to illustrate the performance of the proposed controller.

关键词： Vehicles Trajectory Aerospace electronics Vehicle dynamics Force Aerodynamics Angular velocity

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Impact of UAV Propellers on Gas Plume Tracking

Impact of UAV Propellers on Gas Plume Tracking

引用

European Conference on Mobile Robots (ECMR)

作者： Rui Baptista Hugo Magalhães Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

Unmanned Aerial Vehicles (UAVs) are highly manoeuvrable platforms that are becoming popular to map and localise the source of chemical substances in the environment. However, their propellers disturb the environment and may seriously impact the measurements and the expected results in such applications. Some works have already addressed this problem, but only for specific cases and proposing different solutions about the best way to mitigate this problem. This work studies the impact of propellers for multiple sensor positions and 3 UAVs of different sizes, in an Odour Source Localisation (OSL) problem under field conditions and compares the results with a non-disturbing setup. The experiments show a significant impact on the measured signals from asymmetrical frames and from the motion of the agent, with the best results achieved from sensors acquiring data on intake air regions.

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Haptic System for Handwriting Training and Classification

Haptic System for Handwriting Training and Classification

引用

International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： João P. Ferreira António P. Coimbra Manuel Crisóstomo Department of Electrical Engineering Superior Institute of Engineering of Coimbra Portugal Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Nowadays, handwriting still plays an important role in our lives, even though we live in a progressively more digital era. Therefore, losing the ability to write, whether because of physical or psychological complications, can become a huge handicap. The system described herein aims, in a first stage, to enable handwriting training through haptic guidance. The implementation was performed in Visual Studio and with the use of OpenHaptics toolkit. The second stage consists in character classification, written using a haptic joystick. The pre-eminent procedure for digit classification consists in the use of Histogram of Oriented Gradients coupled with a multiclass Support Vector Machine (HOG-SVM) whereas for letters the strategy involves using a Convolutional Neural Network (CNN).

关键词： Training Support vector machines Visualization Accuracy Shape Writing Time measurement Haptic interfaces Trajectory Convolutional neural networks

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