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Mediterranean Conference on Control & Automation

作者： Daniel Viegas Pedro Batista Paulo Oliveira Carlos Silvestre Institute for Systems and Robotics Instituto Superior Tecnico Institute for Systems and Robotics and the Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau

ISBN: (纸本)9781479909964

This paper addresses the problem of state estimation in formations of autonomous vehicles. The approach considered here consists in the implementation of a local state observer in each vehicle relying only on locally available measurements and data communicated by neighboring agents, resulting in a decentralized state observer which features lower computational and communication loads than comparable centralized solutions. A method for computing observer gains which yield globally asymptotically stable error dynamics is presented for fixed topology formations, as well as an iterative algorithm for improving the decentralized estimator's performance when the measurements are corrupted by noise. The proposed framework is particularized to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and a continuous-discrete formulation is achieved for the local state observers, to take into account the difference in sampling rates between on-board instrumentation and positioning systems. To assess the performance of the solution, simulation results are presented and discussed for different formation topologies.

关键词： Observers Vehicles Position measurement Vehicle dynamics Noise measurement Topology Estimation error

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Classification of FACS-Action Units with CNN Trained from Emotion Labelled Data Sets

Classification of FACS-Action Units with CNN Trained from Em...

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IEEE International Conference on systems, Man and Cybernetics

作者： Pedro Carvalho Gerardo Paulo Menezes Institute of Systems and Robotics University of Coimbra Institute of Systems and Robotics and with the Department of Electrical and Computer Engineering University of Coimbra Polo II Coimbra Portugal

This paper explores the adaptation of a convolutional neural network (CNN) designed for emotion classification to the extraction of human expressions action units. An adaptation of the network structure transforms a single label into a multi-label classifier which supports the simultaneous recognition of multiple action units that compose human expressions, according to Ekman's FACS. The dataset used for this work was FER-2013 that includes exemplars of seven basic expressions (Angry, Disgust, Fear, Happy, Sad, Surprise, Neutral). In order to enhance the quality of the results, the dataset was augmented with random perturbations from a wide set including: translation, scale and horizontal flip. The results obtained demonstrate that it is possible to train a CNN for multi-label expression classification from an emotion-labelled dataset.

关键词： Emotion recognition Face recognition Training Feature extraction Convolutional neural nets Gold

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Game-theoretic learning in a distributed-information setting: Distributed convergence to mean-centric equilibria

Game-theoretic learning in a distributed-information setting...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal

ISBN: (纸本)9781479982981

The paper considers distributed learning in large-scale games via fictitious-play type algorithms. Given a preassigned communication graph structure for information exchange among the players, this paper studies a distributed implementation of the Empirical Centroid Fictitious Play (ECFP) algorithm that is well-suited to large-scale games in terms of complexity and memory requirements. It is shown that the distributed algorithm converges to an equilibrium set denoted as the mean-centric equilibria (MCE) for a reasonably large class of games.

关键词： Games Convergence Joints History Cognition Economics Protocols

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Analytical Design of Intelligent Machines

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IFAC Proceedings Volumes 1985年第16期18卷 139-144页

作者： K.P. Valavanis G.N. Saridis Robotics and Automation Laboratory Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY 12180-3590 USA

The problem of designing intelligent machines operating in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an intelligent machine is defined to De the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of "increasing intelligence with decreasing precision," namely: the organization, the coordination and the hardware control levels. The behavior of such a machine may be managed by controls with special considerations and its "intelligence" is directly related to the derivation or a compatible measure that associates the intelligence of the higher levels with the precision of execution of the lower levels. It is shown that the concept of entropy as defined in Information Theory and Theoretical Thermodynamics is a sufficient analytic measure that unifies the treatment of all the levels of an intelligent machine as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision (constraint) such that it minimizes its total entropy

关键词： Hierarchical compatible flow of knowledge machine knowledge machine intelligence

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State Estimation for systems with Implicit Outputs for the Integration of Vision and Inertial Sensors

State Estimation for Systems with Implicit Outputs for the I...

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IEEE Conference on Decision and Control

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

This paper addressed the state estimation of a system with implicit output. We formulate the problem in the so-called deterministic H ∞ filtering setting by computing the value of the state that minimizes the induced L 2 -gain from disturbances to estimation error, while remaining compatible with the past observations. To avoid weihting 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 esimate converges to a nieghborhood of the true value of the state. We apply these result to the estimation of position and attiude of an autonomous vehicle using measurements from an inertial measurement unit (IMU) and a monocular charged-coupled-device (CCD) camera attached to the vehicle.

关键词： State estimation Sensor systems Remotely operated vehicles Mobile robots Filtering Estimation error Observability Current measurement Position measurement Measurement units

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T-buffer: Fast visualization of relativistic effects in spacetime 90

T-buffer: Fast visualization of relativistic effects in spac...

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1990 Symposium on Interactive 3D Graphics, I3D 1990

作者： Hsiung, Ping-Kang Thibadeau, Robert H. Wu, Michael Carnegie Mellon University PittsburghPA15213 United States Department of Electrical and Computer Engineering Carnegie Mellon University United States Imaging Systems Laboratory Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)0897913515

Wc have developed an innovative ray-tracing simulation algorithm to describe Welativistic Effects in SpaceTime ("REST"). Our algorithm, called REST-frame, models light rays that have assumed infinite speed in conventional ray-tracing to have a finite speed in spacetime, and uses the non-Newtonian Lorentz Transformation to relate measurements of a single event in different inertial coordinate systems {inertial frames). Our earlier work [5][6][7] explored the power of REST-frame as an experimentation tool to study the rich visual properties in natural world modeled by Special Relativity. Non-intuitive images of the anisotropic deformation ("warping") of space, the intensity concentration/spreading of light sources in spacetime, and the relativistic Doppler shift were visualized from our simulations. REST-frame simulations arc computationally expensive. Several hours of CPU time may be needed to generate one intricate image on a relatively powerful DECStation 3100. This high simulation cost of REST-frame precludes its application in interactive, real-time graphics environments. In this paper, we report a scanline based REST-frame rendering method that provides a faster alternative to the original ray-tracing based REST-frame implementation. This new method operates in the spirit of the classical Z-buffer in computer graphics[2] and the inter-inortial frames point-mapping method investigated in physics in the early 1960's[14][12], and determines the visibility of points in spacetime by their spatial and temporal visibility. Specifically, all spacetime event points that arc potentially visible from the viewpoint at the imaging time are geometrically projected in three dimensional (3D) space to the image plane pixel buffer. Multiple points with a same pixel affiliation arc sorted by their time distance © 1990 ACM.

关键词： Ray tracing

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Study of the Equivalent Impedance of a Resonator Array Using Difference Equations 4th

Study of the Equivalent Impedance of a Resonator Array Using...

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4th International Conference on Differential and Difference Equations with Applications, ICDDEA 2019

作者： Albuquerque, Helena Alberto, José CMUC Departamento de Matemática Universidade de Coimbra Apartado 3008 Coimbra3001-454 Portugal Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

ISBN: (纸本)9783030563226

In this paper we present a mathematical model, based on the theory of difference equations, to study the wireless power transfer using resonator arrays. This approach is relevant for a better understanding of the system because it gives us a closed form for the equivalent impedance of the array of resonators that allows us to make predictions about the behavior of the system. We prove that the complete solution of the problem depends only on the initial conditions and possible perturbations introduced. Using the computer software MATLAB we present in the last section of this paper some illustrations of our results. © 2020, Springer Nature Switzerland AG.

关键词： Difference equations

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Integrated Data-Driven and Model-Based Trade-off Analysis of Sensor Suite System for Autonomous Ground Vehicle Navigation

Integrated Data-Driven and Model-Based Trade-off Analysis of...

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IEEE International Symposium on systems engineering (ISSE)

作者： Sai Sandeep Damera Praveen Kumar M. S John S. Baras Department of Electrical and Computer Engineering Institute for Systems Research (ISR) at the University of Maryland College Park MD USA

ISBN: (数字)9798350353723

ISBN: (纸本)9798350353730

In recent years, the deployment of robots for commercial applications has surged, emphasizing the need to incorporate autonomy into these systems. The widespread adoption of autonomous robots across diverse fields thus necessitates a rigorous design framework. To address this, we recently proposed an Integrated Data-Driven and Model-Based systems engineering (IDDMBSE) framework—an extension of our traditional Model-Based systems engineering (MBSE). Our IDDMBSE framework aims to enable trusted autonomy in autonomous systems. In this work, we outline a methodology for trade-off analysis within the IDDMBSE framework, supporting the development of autonomous robots based on functional, performance, and programmatic requirements. The method comprises two key components: 1) Model-Based Optimization (MBO) - Leveraging domain-specific knowledge, MBO facilitates efficient simulation-based design, and 2) Data-Driven Evaluation (DDE) - Decoupling DDE from MBO allows effective exploration and statistical analysis of the design space. We demonstrate the utility of the proposed framework by using it to perform design space exploration and trade-off analysis for the design of the sensor suite of an autonomous ground robot. Our results show how a classical design problem that is often deemed intractable using model-based methods and unscalable using data-driven methods can benefit through the use of our hybrid framework.

关键词： Space vehicles Analytical models Statistical analysis Navigation Robot sensing systems Land vehicles Space exploration Optimization Autonomous robots

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Rotorcraft path following control for extended flight envelope coverage

Rotorcraft path following control for extended flight envelo...

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

作者： D.Cabecinhas R.Cunha C.Silvestre Department of Electrical Engineering and Computer Science and Institute for Systems and RoboticsInstituto Superior Técnico

This paper addresses the problem of steering a quadrotor vehicle along a predefined *** problem is formulated so as to dynamically prescribe an adequate time evolution along the path and simultaneously bound the effect of position errors on the *** proposed solution consists of a nonlinear state feedback controller for thrust and torque actuations combined with a path following timing law that i)guarantees global asymptotic convergence of the path following error to zero,for a large class of three-dimensional paths,ii) ensures that the actuation does not grow unbounded as function of the position errors,and iii) allows for zero thrust actuation to be applied when the vehicle is converging to the *** results are presented to assess the performance of the proposed controller.

关键词： Rotorcraft path following control for extended flight envelope coverage

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An Augmented Reality Application for Upper-Limb Rehabilitation Supported by a Robotic Arm 6

An Augmented Reality Application for Upper-Limb Rehabilitati...

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6th Experiment at International Conference, exp.at 2023

作者： Rodrigues, Jose Carlos Restivo, Maria Teresa Menezes, Paulo University of Porto LAETA-INEGI Faculty of Engineering Porto Portugal University of Porto LAETA-INEGI Porto Portugal A3ES Lisbon Portugal University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Coimbra Portugal

ISBN: (纸本)9798350314403

This work looks at the potential use of a robotic arm and augmented reality application, with a head-mounted display, in an upper-limb rehabilitation context. A sample application using a robotic simulator and a cross-sectional study using a real robotic arm are shown. Results from the usability evaluation are positive and encourage further development, but some identified problems must be corrected before further evaluations. © 2023 IEEE.

关键词： Robotic arms

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