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检索条件"机构=ISR - Institute of Systems and Robotics and the Department of Electrical and Computer Engineering"

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Robot-Assisted Navigation for a Robotic Walker with Aided User Intent

Robot-Assisted Navigation for a Robotic Walker with Aided Us...

引用

IEEE International Symposium on Robot and Human Interactive Communication

作者： Luis Garrote Joao Paulo Joao Perdiz Paulo Peixoto Urbano J. Nunes Institute of Systems and Robotics (ISR-UC) Electrical and Computer Engineering Department (DEEC-UC) University of Coimbra

ISBN: (纸本)9781538679814

This paper presents an approach to robot-assisted navigation on a mobility assistance context, by learning from the user while helping him navigate efficiently and safely in complex environments. Assistive robots such as robotic walkers provide the ability to support a user's body weight on the upper limbs while walking. However, walkers can add an extra layer of distress due to their specific manipulation constraints. For the users of such devices, lack of dexterous upper limb control can be a considerable problem as it means they may be unable to operate these devices efficiently;users may also have visual impairments that reduce their navigational efficiency. The proposed approach uses a Reinforcement Learning (RL) model and a dynamic window-based local motion planning algorithm. It aims to learn needed corrections in the motion command based on the surrounding environment and the user's intent. The proposed solution handles corrections and guides the user through the environment without collisions while learning and aiding the user when he is unable to operate the device efficiently. The RL based approach was tested in indoor scenarios with a robotic walker platform showing preliminary promising results.

关键词： Consumers Walkers Learning Upper Extremity Visual Impairment ambient environment navigation Pedestrians Distress Stressing Environments

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Increasing the autonomy levels for underwater intervention missions by using learning and probabilistic techniques 1

Increasing the autonomy levels for underwater intervention m...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Sales, Jorge Santos, Luís Sanz, Pedro J. Dias, Jorge García, J.C. Computer Science and Engineering Dept University of Jaume-I Castellón Spain Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Robotics Institute Khalifa University Abu Dhabi United Arab Emirates

ISBN: (纸本)9783319034126

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic intervention operations that require physical interaction. Very few underwater systems have the capacity to carry out intervention without any kind of umbilical cables for tele-operating the actions. This article aims to investigate new approaches to follow with the aforementioned challenges, with the inclusion of learning and probabilistic techniques to increase the autonomy levels of an underwater manipulation system. With this goal, a collaboration research action has been established between the IRSLab at UJI (Spain), as experts in the underwater robotic manipulation domain, and the institute of systems and robotics from University of Coimbra (Portugal), experts in learning by interaction within a robotic manipulation context. © Springer International Publishing Switzerland 2014.

关键词： Autonomous underwater vehicles

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Real-time active visual surveillance by integrating peripheral motion detection with foveated tracking

Real-time active visual surveillance by integrating peripher...

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IEEE Workshop on Visual Surveillance

作者： J. Batista P. Peixoto H. Araujo ISR Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Portugal

In this paper we describe an active binocular tracking system integrating peripheral motion detection. The system is made up of a binocular active system used to track the objects and a fixed camera providing wide angle images of the environment. The system can cope with changes in lighting conditions by adjusting aperture and focus. Binocular flow enables tracking of nonrigid objects even when partial occlusion occurs.

关键词： Surveillance Motion detection Cameras Application software Target tracking computer vision Image resolution Apertures Focusing Humans

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Fourier optics and pattern recognition

Fourier optics and pattern recognition

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1986 International Optical Computing Conference

作者： Kandel, Abraham Langholz, Gideon Computer Science Department Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States Department of Electrical Engineering Institute for Expert Systems and Robotics Florida State University TallahasseeFL32306 United States

In Fourier optics, the Fourier transformation is performed on the amplitude of the electromagnetic wave, whereas in the computational method the transformation is usually applied to the grayness of its image which is ...

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FAIR-FATE: Fair Federated Learning with Momentum 23rd

FAIR-FATE: Fair Federated Learning with Momentum

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23rd International Conference on Computational Science, ICCS 2023

作者： Salazar, Teresa Fernandes, Miguel Araújo, Helder Abreu, Pedro Henriques Centre for Informatics and Systems Department of Informatics Engineering of the University of Coimbra University of Coimbra Coimbra Portugal Institute of Systems and Robotics Department of Electrical and Computer Engineering of the University of Coimbra University of Coimbra Coimbra Portugal

ISBN: (纸本)9783031359941

While fairness-aware machine learning algorithms have been receiving increasing attention, the focus has been on centralized machine learning, leaving decentralized methods underexplored. Federated Learning is a decentralized form of machine learning where clients train local models with a server aggregating them to obtain a shared global model. Data heterogeneity amongst clients is a common characteristic of Federated Learning, which may induce or exacerbate discrimination of unprivileged groups defined by sensitive attributes such as race or gender. In this work we propose FAIR-FATE: a novel FAIR FederATEd Learning algorithm that aims to achieve group fairness while maintaining high utility via a fairness-aware aggregation method that computes the global model by taking into account the fairness of the clients. To achieve that, the global model update is computed by estimating a fair model update using a Momentum term that helps to overcome the oscillations of non-fair gradients. To the best of our knowledge, this is the first approach in machine learning that aims to achieve fairness using a fair Momentum estimate. Experimental results on real-world datasets demonstrate that FAIR-FATE outperforms state-of-the-art fair Federated Learning algorithms under different levels of data heterogeneity. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Momentum

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New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation

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Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

作者： Lourenço, Pedro Guerreiro, Bruno Batista, Pedro Oliveira, Paulo Silvestre, Carlos Laboratory for Robotics and Engineering Systems Institute for Systems and Robotics Lisbon Portugal Department of Electrical and Computer Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9783319553719

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera, as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters. © Springer International Publishing AG 2017.

关键词： Kalman filters

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Remote lab for Stochastic Computing using reconfigurable logic

Remote lab for Stochastic Computing using reconfigurable log...

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Experiment@ International Conference (exp.at)

作者： José Domingos Alves Jorge Lobo DEEC - Department of Electrical and Computer Engineering FCT University of Coimbra ISR - Institute of Systems and Robotics - University of Coimbra

In this interactive demonstration we show the basics of Stochastic Computing (SC) using a remote reconfigurable logic laboratory. A very simple web based approach is used to enable a remote access to a development board hosting a FPGA (Field Programmable Gate Array). The board switches and keys are virtualised with an online web form, and a webcam is used to provide feedback to the user. Recently, SC has been revisited and evaluated as a possible way of performing approximate probabilistic computations for artificial perception systems. Therefore, we provide the basic stochastic computing modules, so that any user can use them to build a stochastic computing circuit and go beyond software simulations, providing a remote hardware device to test real circuits at high clock speeds.

关键词： Hardware Field programmable gate arrays Generators computers Computational modeling Integrated circuit modeling Remote laboratories

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Vergence using GPU cepstral filtering

Vergence using GPU cepstral filtering

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作者： Almeida, Luis Menezes, Paulo Dias, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra - Polo II 3030-290 Coimbra Portugal Department of Informatics Engineering Institute Polytechnic of Tomar 2300 Tomar Portugal

ISBN: (纸本)9783642191695

Vergence ability is an important visual behavior observed on living creatures when they use vision to interact with the environment. The notion of active observer is equally useful for robotic vision systems on tasks like object tracking, fixation and 3D environment structure recovery. Humanoid robotics are a potential playground for such behaviors. This paper describes the implementation of a real time binocular vergence behavior using cepstral filtering to estimate stereo disparities. By implementing the cepstral filter on a graphics processing unit (GPU) using Compute Unified Device Architecture (CUDA) we demonstrate that robust parallel algorithms that used to require dedicated hardware are now available on common computers. The overall system is implemented in the binocular vision system IMPEP (IMPEP Integrated Multimodal Perception Experimental Platform) to illustrate the system performance experimentally. © 2011 IFIP International Federation for Information Processing.

关键词： Graphics processing unit

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FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPECTION

FINDING A SEQUENCE OF SENSOR OPERATIONS FOR VOLUMETRIC INSPE...

引用

1992 IEEE International Conference on systems, Man, and Cybernetics

作者： TARBOX, GH GOTTSCHLICH, SN GERHARDT, LA New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy 12180-3590 NY United States

ISBN: (纸本)0780307208

A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods: the method is capable of handling arbitrarily complex geometries and does not rely on the identification of features, it lends itself naturally to a multi-sensor environment, and it facilitates true 3D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2D plane. This paper focuses on an important aspect of volumetric inspection - the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected. © 1992 IEEE.

关键词： Inspection

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Privacy-preserving Biometric-driven Data for Student Identity Management: Challenges and Approaches 21

Privacy-preserving Biometric-driven Data for Student Identit...

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29th ACM Conference on User Modeling, Adaptation and Personalization, UMAP 2021

作者： Fidas, Christos Belk, Marios Portugal, David Pitsillides, Andreas University of Patras Department of Electrical and Computer Engineering Greece Cognitive Ux GmbH Germany University of Coimbra Institute of Systems and Robotics Portugal University of Cyprus Department of Computer Science Cyprus

ISBN: (纸本)9781450383677

Biometric technologies are being considered lately for student identity management in Higher Education Institutions, as they provide several advantages over the traditional knowledge-based and token-based authentication methods, i.e., biometrics provide high security entropies, convenience and a sense of technological modernity to the end-users. While biometric technologies have many benefits from both a security and usability point of view, still there is a need for innovative user identity management solutions that continuously identify and authenticate students during academic and teaching activities. In addition, biometrics entail several threats and weaknesses with regards to the privacy of data stored about the user, which negatively affect the user acceptance and the wider adoption of biometrics due to regulatory and legal issues. In this paper, we refer to our ongoing research on intelligent and continuous online student identity management for improving security and trust in European Higher Education Institutions. We further highlight based on the literature, existing challenges, threats and state-of-the-art approaches with regards to preserving the privacy of biometric-driven data. © 2021 Owner/Author.

关键词： Blockchain

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