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2019 ECEEE Summer Study on Energy Efficiency: Is Efficient Sufficient?

作者： Moura, Pedro S. Pires, António Delgado, Joaquim de Almeida, Aníbal T. Institute of Systems and Robotics Dep. of Electrical and Computer Engineering University of Coimbra Polo II Coimbra3030-290 Portugal Institute of Systems and Robotics Department of Electrical Engineering Escola Superior de Tecnologia de Viseu Campus Politecnico de Repeses Viseu3504-510 Portugal

ISBN: (纸本)9789198387841

The electric power system is quickly changing due to the growing penetration of intermittent and non-dispatchable renewable energy sources. Simultaneously, the demand should ideally be able to be adapted to the renewable generation availability, directly with demand response or indirectly using energy storage technologies. The transport sector with electric vehicles (EVs) is increasingly an important consumer of electricity, and as fleets increase, EVs can be used as controllable loads, charging in periods of high renewable generation or low prices, using the Grid to Vehicle (G2V) system. With adequate technology, in addition to absorbing power from the grid, EVs can also use some of their storage capacity to inject energy into the grid, in order to ensure the balance between the generation and demand, using the Vehicle to Grid (V2G) system. However, the additional charging cycles due to V2G will accelerate the degradation of batteries and therefore its associated cost must be taken into account. This paper discusses the technologies and methodologies for the implementation of Grid to Vehicle and Vehicle to Grid systems, as well as their potential benefits for the grid in a scenario with large-scale penetration of renewable generation. To assess such impact a case study for the Portuguese grid is presented, considering three scenarios of penetration of EVs in the Portuguese vehicle fleet (in which EVs constitute 10 %, 25 % or 50 % of the fleet). The obtained data allowed to assess the potential of V2G to transfer the generation surplus between hours of low and high demand. Additionally, the economic benefits from the grid and user point-of-views were assessed considering the degradation of the batteries (evaluated through a model developed in Simulink environment), associated with the use of V2G, and their replacement cost. The results show a high impact on the compensation of renewable generation surplus, as well as economic benefits from the grid point-of-view. Ev

关键词： Electric storage Electric vehicles Renewable energy Vehicle charging

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3D laser-based sensor for robotics

3D laser-based sensor for robotics

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Mediterranean Electrotechnical Conference (MELECON)

作者： L. Marques F. Moita U. Nunes A.T. de Almeida ISR-Institute of Systems and Robotics Electrical Engineering Department University of Coimbra Coimbra Portugal

The paper presents the analysis and design of a distance and orientation sensor based on the triangulation principle, using three laser diodes and a position sensitive detector (PSD). A 16-bit microcontroller controls the acquisition and the lasers, processes the data and integrates the sensor in a distributed sensor network (DSN). A DSP based processing system gathers the multisensor data, for real-time control of a PUMA 560 robot manipulator through the DSN network. A sensor model based on theoretical and experimental results is emphasized.< >

关键词： Robot sensing systems Optical design Diode lasers Position sensitive particle detectors Microcontrollers Optical control Laser modes Laser theory Digital signal processing Real time systems

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

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

ISBN: (纸本)9781479904549

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. © 2013 IEEE.

关键词： Swarm intelligence

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Fuzzy-based reinforcement learning of a robot force control skill

Fuzzy-based reinforcement learning of a robot force control ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： R. Araujo U. Nunes A.T. de Almeida Institute of Systems and Robotics (ISR) Electrical Engineering Department University of Coimbra Coimbra Portugal

Humans perform many tasks with relative ease. In spite of this, many tasks are difficult to model explicitly and it is difficult to design and program automatic control algorithms for them. The development, improvement, and application of learning techniques taking advantage of sensory information would enable the acquisition of new robot skills and avoid some of the difficulties of explicit programming. This paper describes an approach for the generation of skills for the control of multidegree of freedom robotic systems. In the method, the acquisition of skills is done online by self-learning. Instead of generating skills by explicit programming of a perception to action mapping, they are generated by trial and error learning, guided by a performance evaluation feedback function. The structure of the controller consists of two fuzzy subsystems both implemented by feedforward multilayer neural networks. The action fuzzy subsystem has the purpose of generating command actions for the system under control. The evaluation-prediction fuzzy subsystem predicts the future value, a function that evaluates the performance of the controller. Simulation results concerning the application of the approach to learning a robot manipulator force control skill are presented.

关键词： Learning Force control Robot sensing systems Fuzzy control robotics and automation Robot programming Control systems Multi-layer neural network Humans Algorithm design and analysis

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A focusing-by-vergence system controlled by retinal motion disparity

A focusing-by-vergence system controlled by retinal motion d...

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IEEE International Conference on robotics and Automation (ICRA)

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

We describe a focusing-by-vergence system combining a flow based vergence process with an off-line pre-calibration of the focusing odometry. The vergence process is controlled by the retinal optical flow disparity and the target depth velocity is directly obtained from this disparity. The relationship between the target depth (focused target distance) and the focusing odometry of the motorized lens is obtained by an off-line focusing calibration, using a bivariate polynomial to model the relationship between these parameters. The focusing system is velocity controlled and the focusing velocity is dependent on the target focusing depth velocity and the focal distance velocity. The influence of the focal distance velocity that arise due to the focusing process itself is compensated by the adjustment of the zoom parameter based on a constant magnification approach, or through the modeling of the focal distance as a function of the zoom and focus lens settings.

关键词： Motion control Control systems Retina Velocity control Lenses Optical control Process control Image motion analysis Calibration Polynomials

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Assessing the performance of SDM-based robot navigation with different image processing techniques

IAENG International Journal of Computer Science

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IAENG International Journal of computer Science 2012年第4期39卷 349-356页

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

Vision is one of the preferred sources of perceptions to implement intelligent robot navigation: it is biologically inspired, requires inexpensive hardware and a single image does contain huge amounts of information. However, problems such as illumination changes, scenario changes and electric noise in the image sensors pose challenges which are difficult to overcome. In previous work the authors developed algorithms to navigate a robot based on sequences of visual memories stored into a Sparse Distributed Memory - a kind of associative memory suitable to work with high-dimensional binary vectors, which also exhibits behaviours in many aspects similar to those of the human brain. This paper analyses the impact of using different image processing techniques to minimise the impact of noise in the images used: histogram equalisation, contrast normalisation and smoothing using a Gaussian filter. The results show that equalisation and smoothing have a positive effect on the performance of the system.

关键词： Navigation

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Precision of sung notes in carnatic music 19

Precision of sung notes in carnatic music

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19th International Society for Music Information Retrieval Conference, ISMIR 2018

作者： Viraraghavan, Venkata Subramanian Murthy, Hema A. Aravind, R. TCS Research and Innovation Embedded Systems and Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Madras India Department of Computer Science and Engineering Indian Institute of Technology Madras India

ISBN: (纸本)9782954035123

Carnatic music is replete with continuous pitch movement called gamakas and can be viewed as consisting of constant-pitch notes (CPNs) and transients. The stationary points (STAs) of transients – points where the pitch curve changes direction – also carry melody information. In this paper, the precision of sung notes in Carnatic music is studied in detail by treating CPNs and STAs separately. There is variation among the nineteen musicians considered, but on average, the precision of CPNs increases exponentially with duration and settles at about 10 cents for CPNs longer than 0.5 seconds. For analyzing STAs, in contrast to Western music, rāga (melody) information is found to be necessary, and errors in STAs show a significantly larger standard deviation of about 60 cents. To corroborate these observations, the music was automatically transcribed and re-synthesized using CPN and STA information using two interpolation techniques. The results of perceptual tests clearly indicate that the grammar is highly flexible. We also show that the precision errors are not due to poor pitch tracking, singer deficiencies or delay in auditory feedback. © V S Viraraghavan, H A Murthy, R Aravind.

关键词： Music

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Integrating laser and infrared sensors for learning dynamic self-organizing world maps

Integrating laser and infrared sensors for learning dynamic ...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： R. Araujo D. Lourenco G. Ferreira Institute for Systems and Robotics (ISR) and Electrical Engineering Department University of Coimbra Coimbra Portugal

Mobile robots require the ability to build their own maps to operate in unknown environments. This article introduces a new online method for learning world maps in non-static worlds. The new approach expands the previously proposed method by Araujo et al. (1998, 1999), based on the fuzzy ART neural architecture (FARTNA) towards the application in non-static worlds. For this purpose we introduce the prune-able fuzzy ART neural architecture (PAFARTNA) which extends the FARTNA self-organizing neural network to include the ability to selectively remove recognition categories. A method is proposed for the perception of object removals, and integrated with the PAFARTNA. To study and experimentally validate the proposed methods we integrated sensor information from a laser range finder sensor and a ring of infrared range sensors. Results of experiments with a Nomad 200 mobile robot are presented, demonstrating the effectiveness of the proposed methods.

关键词： Infrared sensors Subspace constraints Solid modeling Mobile robots Robot sensing systems Sonar navigation Computational efficiency Buildings Sensor phenomena and characterization Gas insulated transmission lines

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A statistical analysis of gamakas in Carnatic music 18

A statistical analysis of gamakas in Carnatic music

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18th International Society for Music Information Retrieval Conference, ISMIR 2017

作者： Viraraghavan, Venkata Subramanian Aravind, R. Murthy, Hema A. TCS Research and Innovation Embedded Systems and Robotics Bangalore India Department of Electrical Engineering Indian Institute of Technology Madras India Department of Computer Science and Engineering Indian Institute of Technology Madras India

ISBN: (纸本)9789811151798

Carnatic Music, a form of classical music prevalent in South India, has a central concept called rāgas, defined as melodic scales and/or a set of characteristic melodic phrases. These definitions also account for the continuous pitch movement in gamakas and micro-tonal adjustments to pitch values. In this paper, we present several statistics of gamakas to arrive at a model of Carnatic music. We draw upon the two-component model of Carnatic Music, which splits it into a slowly varying 'stage' and a detail, called 'dance'. Based on the statistics, we propose slightly altered definitions of two similar components called constant-pitch notes and transients. An automated implementation of these definitions is used in collecting statistics from 84 concert renditions. We then suggest that the constant-pitch notes and transients can be considered as context and detail respectively of the rāga, but add that both are necessary for defining the rāga. This is verified by performing listening tests on only the constant-pitch notes and transients independently. © 2019 Venkata Subramanian Viraraghavan, R Aravind, Hema A Murthy.

关键词： Statistics

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