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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Rego, Francisco Soares, Jorge M. Pascoal, António Aguiar, A. Pedro Jones, Colin Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

ISBN: (纸本)9783902823625

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation. © IFAC.

关键词： Vehicle performance

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A Hybrid Controller for Global Uniform Exponential Stabilization of Linear systems with Singular Input Constraints

A Hybrid Controller for Global Uniform Exponential Stabiliza...

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IEEE Annual Conference on Decision and Control

作者： Pedro Casau Ricardo G. Sanfelice Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tcnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal Department of Computer Engineering University of California Santa Cruz CA 95064 USA

ISBN: (纸本)9781467360890

In this paper, we devise a controller that achieves global uniform exponential stabilization of linear systems while avoiding singular input constraints, that is, the proposed controller never crosses a given input value g. We show that it is possible to solve this problem using two linear controllers and an appropriate switching logic, which leads to a hybrid controller.

关键词： Control theory Stability Linear systems Switches Educational institutions Robustness

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Control of a humanoid robot via N200 potentials

Control of a humanoid robot via N200 potentials

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World Congress on Intelligent Control and Automation (WCICA)

作者： Mengfan Li Wei Li Jing Zhao Qinghao Meng Genshe Chen Institute of Robotics and Autonomous Systems Tianjin University Tianjin China Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield California USA Intelligent Fusion Technology Inc Germantown MD

In this paper, we present a N200 model for control of a humanoid robot with mind. N200 is a major component of the motion visual evoked potential (mVEP) which can be used to detect the subject's intention. In order to acquire N200, we design a visual stimulus interface in which the activation of a stimulus is a bar scanning above the image of a humanoid robot behavior. By analyzing brain signals induced by this kind of stimulus and calculating some system indexes, the results of this study demonstrate that the designed interface can induce prominent N200 potentials, and another component P300 induced by this experiment can be considered as another characteristic of the feature vector to contribute to the classification. To our best knowledge, this paper would be the first report on an application of N200 model to control a humanoid robot with visual feedback in real time.

关键词： Visualization Accuracy Humanoid robots Feature extraction Support vector machine classification Legged locomotion

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Exploring long-range correlations for text classification using a sparse distributed memory

Exploring long-range correlations for text classification us...

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2013 World Congress on engineering, WCE 2013

作者： Mendes, Mateus Coimbra, A. Paulo Crisostomo, Manuel M. Rodrigues, Jorge Polytechnic Institute of Coimbra ESTGOH Portugal Dept. of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9789881925282

The present paper describes exploratory work in which a Sparse Distributed Memory (SDM) was applied as a text classifier. The SDM is a type of associative memory based on the properties of high-dimensional spaces, where data are stored based on pattern similarity. The results obtained with the SDM are surprisingly good, for they can be achieved with little or none pre-processing. They are far superior to the performance of a "dumb classifier," though still inferior to the results obtained with other modern methods.

关键词： Classification (of information)

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Hybrid control strategy for the autonomous transition flight of a fixed-wing aircraft

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IEEE Transactions on Control systems Technology 2013年第6期21卷 2194-2211页

作者： Casau, Pedro Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Robotics and Systems in Engineering and Science Universidade Técnica de Lisboa Lisbon 1049-001 Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau 999078 China

This paper develops a hybrid control strategy that provides autonomous transition between hovered and leveled flights to a model-scale fixed-wing aircraft. The aircraft's closed-loop dynamics are described by means of a hybrid automaton with the hover, transition, level, and recovery operating modes, each one corresponding to a different region of the flight envelope. Linear parameter varying control techniques are employed in hover and level, providing robust local stabilization, and a nonlinear locally input-to-state stable controller provides practical reference tracking to the transition operating mode. These controllers, together with an appropriate choice of reference maneuvers, ensure that a transition from hovered flight to level flight, or vice versa, is achieved. Whenever the aircraft state reaches unexpected values, the recovery controller is triggered in order to drive the aircraft toward stable hovered flight, providing a chance to retry the transition maneuver. The controllers' performance and robustness is assessed within a realistic simulation environment in the presence of sensor noise. © 2013 IEEE.

关键词： Fixed wings

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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Be the robot: Human embodiment in tele-operation driving tasks

Be the robot: Human embodiment in tele-operation driving tas...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Luís Almeida Bruno Patrão Paulo Menezes Jorge Dias Institute of Systems and Robotics University of Coimbra Coimbra Portugal Instituto Politécnico de Tomar Tomar Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Khalifa University of Science Technology and Research (KUSTAR) Abu Dhabi UAE

This paper proposes a new interaction mechanism for tele-operating a mobile robot. The approach explores the notion of telepresence and physical embodiment to create what may be called tele-embodiment. Its principle is that the operator will see himself at the remote site and this will enable him/her to better operate the robot. Four interaction styles were experimentally compared, from the traditional joystick approaches to more innovative based on natural body posture intentions. The environment perception is provided by the visual feedback, according to head pose behaviour. The results show that the gesture and body based methods improves the user dexterity performing this kind of task. Moreover, the present study suggests that, when a person is focused on the task, achieving the ownership illusion towards remote body, there are autonomic responses that correspond to what would be expected in events that take place in reality (like avoiding collisions).

关键词： Cameras Robot vision systems Visualization Robot motion Robot kinematics

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Retrieving topological information for mobile robots provided with grid maps

Retrieving topological information for mobile robots provide...

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作者： Portugal, David Rocha, Rui P. Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9783642369063

In the context of mobile robotics, it is crucial for the robot to have a consistent representation of the surrounding area. However, common grid maps used in robotics do not provide any evidence as to connectivity, making it harder to find appropriate paths to particular points on the site. Therefore, abstracting the environment where mobile robots carry out some mission can be of a great benefit. Topological maps have been increasingly used in robotics, because they are fairly simple and an extremely intuitive representation for tasks that involve path planning. In this article, a method for retrieving a topological map from an a priori generic grid map of the environment is presented. Beyond extracting a 2D diagram which portrays the topology of the infra-structure, the focus is placed on obtaining graph-like data related to the connectivity of important points in the area, that can be passed on to robots or to a centralized planner, in order to assist the navigation task. The proposed method is further elaborated in detail and its results prove the simplicity, accuracy and efficiency of the approach. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Mobile robots

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Conjugated Polymer-based Explosives Sensor: Progresses in the Design of a Handheld Device

Conjugated Polymer-based Explosives Sensor: Progresses in th...

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IEEE Sensors

作者： Tiago Neves Lino Marques Liliana Martelo Hugh D. Burrows Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Chemistry Department University of Coimbra Coimbra Portugal

ISBN: (纸本)9781479901609

This work addresses the development of a new handheld explosive sensor based on the AFP (Amplified Fluorescent Polymer) Technology. The polymer is the PF2T Ethyl Cellulose, a blue fluorescent polymer whose fluorescence is attenuated with the presence of nitroaromatics, like the vapours typically released by common explosives. We intend to contribute to the state of the art in the field of landmine odour vapour detection, by developing a simple, economic, portable, highly sensitive and easily calibrated explosives sensor. Preliminary testing results with nitrobenzene show the sensor's ability to detect the presence of that vapour in concentrations much lower than the ones corresponding to its vapour pressure.

关键词： hand-held equipment EXPLOSIVES state of the art Vapors Sensors Nitrobenzenes Vapor Pressure AFP alpha-Fetoproteins Polymer Technology ANTITANK MINES

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Genetically Optimized Extreme Learning Machine

Genetically Optimized Extreme Learning Machine

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IEEE Conference on Emerging Technologies & Factory Automation

作者： Tiago Matias Rui Araújo Carlos Henggeler Antunes Dulce Gabriel Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering (DEEC-UC)

ISBN: (纸本)9781479908639

This paper proposes a learning algorithm for singlehidden layer feedforward neural networks (SLFN) called genetically optimized extreme learning machine (GO-ELM). In the GO-ELM, the structure and the parameters of the SLFN are optimized by a genetic algorithm (GA). The output weights, like in the batch ELM, are obtained by a least squares algorithm, but using Tikhonov's regularization in order to improve the SLFN performance in the presence of noisy data. The GA is used to tune the set of input variables, the hidden-layer configuration and bias, the input weights and the Tikhonov's regularization factor. The proposed method was applied and compared with four other methods over five benchmark problems available in a public repository. Besides it was applied in the estimation of the temperature at the burning zone of a real cement kiln plant.

关键词： SLFN input weights real cement kiln plant

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