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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jérôme Mendes Samuel Pinto Rui Araújo Francisco Souza Institute of Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This paper proposes a new method for identification problems for industrial applications based on a Takagi-Sugeno (T-S) fuzzy model. The learning of the T-S model is performed from input/output data to approximate unknown nonlinear processes by a coevolationary genetic algorithm (GA). The proposed method is an automatic tool since it does not require any prior knowledge concerning the structure (e.g. the number of rules) and the database (e.g. antecedent fuzzy sets) of the T-S fuzzy model, and concerning the selection of the adequate input variables and their respective time delays. The proposed methodology is able to design all the parts of the T-S fuzzy prediction model and it is composed by five hierarchical levels. To validate and demonstrate the performance and effectiveness of the proposed algorithm, it is applied on Box-Jenkins benchmark problem.

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An online variable selection method using recursive least squares

An online variable selection method using recursive least sq...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Francisco Souza Rui Araújo Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This paper proposes a method for online variable selection and model learning (AdaFSML-RLS) to be applied in industrial applications in the context of adaptive soft sensors. In the proposed method the model learning is made online and recursivelly, i.e it is not necessary to store the past values of data while learning the model. Furthermore, the proposed method has the capability of tracking the real time correlation coefficient between each variable and the target, allowing the knowledge about the importance of variables over the time. Moreover, in this method is not necessary to have any knowledge about the process or variables. The method was sucessfully applied in two datasets, an artificial dataset and in a real-world dataset.

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Exact Rate for Convergence in Probability of Averaging Processes via Generalized Min-Cut

Exact Rate for Convergence in Probability of Averaging Proce...

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IEEE Annual Conference on Decision and Control

作者： Dragana Bajovic Joao Xavier Jose M. F. Moura Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon

ISBN: (纸本)9781467320658

We study the asymptotic exponential decay rate I for the convergence in probability of products W_kW_(k-1) ...W_1 of random symmetric, stochastic matrices W_k. Albeit it is known that the probability P that the product W_kW_(k-1)...W_1 is ∈ away from its limit converges exponentially fast to zero, i.e., P ～ e~(-kI), the asymptotic rate I has not been computed before. In this paper, assuming the positive entries of W_k are bounded away from zero, we explicitly characterize the rate I and show that it is a function of the underlying graphs that support the positive (non zero) entries of W_k. In particular, the rate I is given by a certain generalization of the min-cut problem. Although this min-cut problem is in general combinatorial, we show how to exactly compute I in polynomial time for the commonly used matrix models, gossip and link failure. Further, for a class of models for which I is difficult to compute, we give easily computable bounds: I ≤ I ≤ I, where I and I differ by a constant ratio. Finally, we show the relevance of I as a system design metric with the example of optimal power allocation in consensus+innovations distributed detection.

关键词： dividing and cutting machine iodine Converge power splitting Zero Gossip

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Parameterizing Interpersonal Behaviour with Laban Movement Analysis - A Bayesian Approach -

Parameterizing Interpersonal Behaviour with Laban Movement A...

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IEEE computer Society Conference on computer Vision and Pattern Recognition Workshops

作者： Kamrad Khoshhal Roudposhti Luís Santos Hadi Aliakbarpour Jorge Dias Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra

ISBN: (纸本)9781467316118

In this paper we propose a probabilistic model to parameterize human interactive behaviour from human motion. To Support the model taxonomy, we use Laban Movement Analysis (LMA), proposed by Rudolph Laban [11], to characterize human non-verbal communication. In interpersonal communication, body motion carries a lot of meaningful information, useful to analyse group dynamic behaviors in a wide range of social scenarios (e.g. behaviour analysis of human interpersonal activities and surveillance system). Taking the advantage of interpretation of social signals defined by Alex Pentland [19], and the descriptive body movement analysis proposed by Laban, we identified characteristics allowing both works to complement each other. To explore in group dynamics, we attempt to show the existent connections between Pentland’s descriptions for Interpersonal Behaviours (IBs), and LMA parameters for human body part motions. Those relations are the keys to characterize the interpersonal communication. Given the uncertainty of the phenomenon, Bayesian’s methodology is applied. The results present LMA parameters as reliable indicators for IBs, allowing us to generalize the model.

关键词： Parameterizing Interpersonal Behaviour Bayes methods Personal Communication group dynamics Human motion Probabilistic Model SURVEILLANCE systems Keys Keys Cays Movements Nonverbal Communication Analysis behavioral research Irritable Bowel Syndrome body movement

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Products of stochastic matrices: Exact rate for convergence in probability for directed networks

Products of stochastic matrices: Exact rate for convergence ...

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Telecommunications Forum (TELFOR)

作者： Dragana Bajovic João Xavier Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal

We study the products W k ···W 1 of random stochastic, not necessarily symmetric matrices. It is known that, under certain conditions, the product W k · · · W 1 converges almost surely (a.s.) to a random rank-one matrix; the latter is equivalent to |λ 2 (W k · · · W 1 )| → 0 a.s., where λ 2 (·) is the second largest (in modulus) eigenvalue. In this paper, we show that the probability that |λ 2 (W k · · · W 1 )| stays above ε ∈ (0,1] in the long run decays to zero exponentially fast ~ e -kI . Furthermore, we explicitly characterize the rate of this convergence I and show that it depends only on the underlying graphs that support the matrices W k 's. Our results reveal that the rate I is essentially determined by the most likely way in which the union (over time) of the support graphs fails to form a directed tree.

关键词： Symmetric matrices Convergence Stochastic processes Computational modeling Eigenvalues and eigenfunctions Robot sensing systems

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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 ...

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

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

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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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A Gaze-Based Interaction System for People with Cerebral Palsy

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Procedia Technology 2012年 5卷 895-902页

作者： Adriano Galante Paulo Menezes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra – Pólo II 3030-790 Coimbra Portugal

In this paper we present the development of an augmentative system for people with movement disabilities (mostly cerebral palsy people) to communicate with the people that surround them, through a human-computer interaction mechanism. We developed an assistive technology application based on gaze tracking in order to select symbols in communication boards, which represent words or ideas, so that they could easily create phrases for the patient's daily needs. This kind of communication boards is already used by cerebral palsy people, here we intend to extend their use for people with absolute no motor coordination. An important improvement of the proposed system with respect to the existing solutions is the ability to work in the presence of voluntary or involuntary head movements.

关键词： Cerebral palsy physical disabilities eye tracker gaze tracking communication human-computer interaction board communication

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Can Stereo Vision replace a Laser Rangefinder?

Can Stereo Vision replace a Laser Rangefinder?

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IEEE/RSJ International Conference on Intelligent robotics and systems

作者： M. Antunes J.P. Barreto C. Premebida U. Nunes The authors are with the Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal.

ISBN: (纸本)9781467317375

Many robotic systems combine cameras with Laser Rangefinders (LRF) for simultaneously achieving multipurpose visual sensing and accurate depth recovery. Employing a single sensor modality for accomplishing both goals is an appealing proposition because it enables substantial savings in equipment, and tends to decrease the overall complexity of the system. This article explores the possibility of replacing LRF by passive stereo vision for reconstructing the scene along a 2D scan plane. We present a new stereo algorithm that is specifically tailored for the purpose. The algorithm recovers the depth along the scan plane using a symmetry-based matching cost (SymStereo), and refines the raw estimates by applying dynamic programming, followed by a Markov Random Field (MRF) that decides if the reconstructed contour is a line or not. We report for the first time comparative experiments between Stereo Rangefinding (SRF) and LRF. The results are encouraging by showing that SRF can be a plausible alternative to LRF in several application scenarios. Moreover, since SRF also enables independent depth estimates along multiple scan planes with arbitrary orientation, being the only constraint that the scan plane intersects the stereo baseline, it is an important benefit that can be decisive for many robotic applications.

关键词： SRF LRF applying

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Collaborative diffusive source localization in wireless sensor networks

Collaborative diffusive source localization in wireless sens...

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European Signal Processing Conference (EUSIPCO)

作者： Sabina Zejnilovic João Gomes Bruno Sinopoli Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics-Instituto Superior Técnico (ISR/IST) Technical University of Lisbon Portugal

We propose a collaborative, energy efficient method for diffusive source localization in wireless sensor networks. The algorithm is based on distributed and iterative maximum-likelihood (ML) estimation, which is very sensitive to initialization. As a part of the proposed method we present an approach for obtaining a “good enough” initial value for the ML recursion based on infinite time approximation and semidefinite programming. We also present an approach for determining the sensor node that initiates the estimation process. To improve the convergence rate of the algorithm, we consider the case where selected nodes collaborate with their neighbors. Simulation results are used to characterize the performance and energy efficiency of the algorithm. We also illustrate estimation accuracy/energy consumption trade-off by varying the communication radius of sensor nodes.

关键词： Tin Maximum likelihood estimation Energy consumption Collaboration Wireless sensor networks Approximation methods

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