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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent systems, MFI 2012

作者： Trindade, Pedro Lobo, Jorge Barreto, Joao P. ISR - Institute of Systems and Robotics University of Coimbra Portugal ISR - Institute of Systems and Robotics and the Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467325110

In this paper we propose a hand gesture recognition system that relies on color and depth images, and on a small pose sensor on the human palm. Monocular and stereo vision systems have been used for human pose and gesture recognition, but with limited scope due to limitations on texture, illumination, etc. New RGB-Depth sensors, that reply on projected light such as the Microsoft Kinect, have overcome many of those limitations. However, the point clouds for hand gestures are still in many cases noisy and partially occluded, and hand gesture recognition is not trivial. Hand gesture recognition is much more complex than full body motion, since we can have the hands in any orientation and can not assume a standing body on a ground plane. In this work we propose to add a tiny pose sensor to the human palm, with a minute accelerometer and magnetometer that combined provide 3D angular pose, to reduce the search space and have a robust and computationally light recognition method. Starting with the full depth image point cloud, segmentation can be performed by taking into account the relative depth and hand orientation, as well as skin color. Identification is then performed by matching 3D voxel occupancy against a gesture template database. Preliminary results are presented for the recognition of Portuguese Sign Language alphabet, showing the validity of the approach. © 2012 IEEE.

关键词： Image enhancement

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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Congress on Evolutionary Computation

作者： Micael S. Couceiro Rui P. Rocha Nuno M. F. Ferreira Patricia A. Vargas Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical Engineering Engineering Institute of Coimbra Robo Corporation Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh UK

ISBN: (纸本)9781479904532

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple “punish-reward” rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm.

关键词： Robot kinematics Robot sensing systems Mobile ad hoc networks Complexity theory Spread spectrum communication Force

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Experimental Validation of a Globally Stabilizing Feedback Controller for a Quadrotor Aircraft with Wind Disturbance Rejection

Experimental Validation of a Globally Stabilizing Feedback C...

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American Control Conference

作者： David Cabecinhas Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Tecnico Universidade Tecnica de Lisboa 1049-001 Lisboa Portugal

ISBN: (纸本)9781479901777

This paper addresses the design and experimental evaluation of a globally stabilizing controller to steer a quadrotor vehicle along a predefined path. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and angular velocity actuation that i) guarantees convergence of the closed-loop path following error to zero in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position error. A prototyping and testing architecture, developed to streamline the implementation and the tuning of the controller, is also described. Experimental results, where the quadrotor is subject to external wind disturbances, are presented to demonstrate the performance and robustness of the proposed controller.

关键词： Controllers feedback controller stabilizing feedback location error state feedback controller Disturbance rejection Wind tuning Aircraft follow error

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GES tightly coupled attitude estimation based on a LBL/USBL positioning system

GES tightly coupled attitude estimation based on a LBL/USBL ...

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European Control Conference (ECC)

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics Universidade Técnica de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology of the University of Macau.

ISBN: (纸本)9781479901890

Typical attitude estimation solutions for underwater vehicles rely on magnetometers, which are prone to magnetic field distortions. This can preclude its use in intervention scenarios, in the vicinity of objects with strong magnetic signatures, severely endangering not only the intervention mission but also the operation of the underwater vehicle. This paper presents a novel attitude estimation solution, based on a combined Long Baseline / Ultra Short Baseline (LBL/USBL) acoustic positioning system, with application to underwater vehicles. The range and range differences of arrival obtained with the LBL/USBL are directly embedded in the estimator dynamics, without any linearization whatsoever, and globally exponentially stable (GES) error dynamics are achieved. Simulation results evidence good performance of the proposed solution.

关键词： Observers Vehicles Acoustics Vehicle dynamics Vectors Magnetometers

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Fault Detection and Replacement of a Temperature Sensor in a Cement Rotary Kiln

Fault Detection and Replacement of a Temperature Sensor in a...

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IEEE Conference on Emerging Technologies & Factory Automation

作者： Tiago Matias Dulce Gabriel Francisco Souza Rui Araújo J. Costa Pereira Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Pólo II PT-3030-290 Coimbra Portugal. Department of Chemistry (DQ-UC) University of Coimbra PT-3004-535 Coimbra Portugal.

ISBN: (纸本)9781479908639

This paper proposes a method for fault detection and replacement of the sensor responsible by the measurement of the burning zone temperature in a rotary cement kiln. The control of the burning zone temperature is crucial for the control of kiln temperature and therefore for the control of the cement quality, pollutant emissions, and consumed energy. However the flying dust within the kiln can block the pyrometer sensor, causing faults in the temperature sensor. Exploring the analytical redundancy that usually exist in industrial processes, the proposed methodology uses a neural network trained using an online sequential extreme learning machine to online construct a model to estimate the burning zone temperature. Using the error between the measured and estimated temperatures, faults in the measurement can be detected and thus the replacement of the measured temperatures by the estimated output is made.

关键词： fault detection replacement measured temperatures

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Predicting Gas Emissions in a Cement Kiln Plant using Hard and Soft Modeling Strategies

Predicting Gas Emissions in a Cement Kiln Plant using Hard a...

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IEEE Conference on Emerging Technologies & Factory Automation

作者： Dulce Gabriel Tiago Matias J. Costa Pereira Rui Araújo Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Pólo II PT-3030-290 Coimbra Portugal. Department of Chemistry (DQ-UC) University of Coimbra PT-3004-535 Coimbra Portugal.

ISBN: (纸本)9781479908639

In this work, two alternative methodologies for modeling and predicting gas emissions of NO, NO_2 and SO_2 are presented. The first method involves hard modeling strategies with Parsimonious Multivariate Least Squares (PMLS) assuming simple polynomial functions as base model. The second is a soft modeling approach using Extreme Learning Machine (ELM). In this work we found that both methods have similar capabilities for data description, providing an in depth analysis of the system under study. Results also reveal further insights in predicting gas emissions and enlighten on which of the factors can be useful for prediction, and consequently for system characterization and emission abatement.

关键词： PMLS depth analysis system under study

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Virtual Cancelation Plume for Multiple Odor Source Localization

Virtual Cancelation Plume for Multiple Odor Source Localizat...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Goncalo Cabrita Lino Marques Veysel Gazi Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra 3030-290 Coimbra Portugal Department of Electrical and Electronics Engineering Istanbul Kemerburgaz University Mahmutbey Dilmenler Caddesi No: 26 34217 Bagcilar Istanbul Turkey

ISBN: (纸本)9781467363563

This article presents a novel algorithm for multiple odor source localization by a multi-robot system based on a virtual cancelation plume approach. The proposed method is based on rendering a previously declared odor source invisible to the robots so that the declared source and the odor plume it generates do not interfere with the effects of other existing plumes, allowing the localization of the remaining sources. Exploration and plume tracking by the robots is achieved using a decentralized asynchronous particle swarm optimization algorithm. The divergence operator is used to declare the odor sources. A set of simulations and real world experiments are performed on two different scenarios on a controlled environment using a swarm of 5 robots to validate the proposed methodology. Results show that the virtual plume cancelation algorithm can be successfully used to find multiple odor sources, even when two plumes overlap. It can also extend the operation of many odor source localization algorithms developed for single source localization.

关键词： Position measurement Smell Robot Odor dike swarms Controlled Environment Virtual multi-robot systems particle swarm algorithm

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Perception-driven multi-robot formation control

Perception-driven multi-robot formation control

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IEEE International Conference on robotics and Automation (ICRA)

作者： Aamir Ahmad Tiago Nascimento André G. S. Conceição António Paulo Moreira Pedro Lima Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto and INESC TEC Porto Portugal Electrical Engineering Department Federal University of Bahia Salvador Bahia Brazil

ISBN: (纸本)9781467356404

Maximizing the performance of cooperative perception of a tracked target by a team of mobile robots while maintaining the team's formation is the core problem addressed in this work. We propose a solution by integrating the controller and the estimator modules in a formation control loop. The controller module is a distributed non-linear model predictive controller and the estimator module is based on a particle filter for cooperative target tracking. A formal description of the integration followed by simulation and real robot results on two different teams of homogeneous robots are presented. The results highlight how our method successfully enables a team of homogeneous robots to minimize the total uncertainty of the tracked target's cooperative estimate while complying with the performance criteria such as keeping a pre-set distance between the team-mates and/or the target and obstacle avoidance.

关键词： Target tracking Robot sensing systems Cost function Robot kinematics Collision avoidance Uncertainty

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An adaptive P300 model for controlling a humanoid robot with mind

An adaptive P300 model for controlling a humanoid robot with...

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IEEE International Conference on robotics and Biomimetics

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

ISBN: (纸本)9781479927456

This paper presents a P300 model for controlling a humanoid robot with mind, including an off-line phase with a fixed trial number for training the model and an on-line phase with an adaptive strategy for generating commands to the humanoid robot. Our control scheme includes 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. Our study shows that the adaptive model is fast and practical to control humanoid robot via brainwaves.

关键词： Adaptation models Humanoid robots Accuracy Context Brain modeling Testing

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Finding Objects with Segmentation Strategy based Multi Robot Exploration in Unknown Environment

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Procedia - Social and Behavioral Sciences 2013年 97卷 580-586页

作者： Reza Arezoumand Syamsiah Mashohor Mohammad Hamiruce Marhaban Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer & Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Electrical and Electronic Engineering University Putra Malaysia 43400 Serdang Selangor Malaysia

In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots.

关键词： Multi-robot exploration Flocking Exploration ratio Trajectory prediction

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