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Detection and Tracking of Moving Objects Using 2.5D Motion Grids

Detection and Tracking of Moving Objects Using 2.5D Motion G...

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International IEEE Conference on Intelligent Transportation systems

作者： Alireza Asvadi Paulo Peixoto Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9781467365970

Autonomous vehicles require a reliable perception of their environment to operate in real-world conditions. Awareness of moving objects is one of the key components for the perception of the environment. This paper proposes a method for detection and tracking of moving objects (DATMO) in dynamic environments surrounding a moving road vehicle equipped with a Velodyne laser scanner and GPS/IMU localization system. First, at every time step, a local 2.5D grid is built using the last sets of sensor measurements. Along time, the generated grids combined with localization data are integrated into an environment model called local 2.5D map. In every frame, a 2.5D grid is compared with an updated 2.5D map to compute a 2.5D motion grid. A mechanism based on spatial properties is presented to suppress false detections that are due to small localization errors. Next, the 2.5D motion grid is post-processed to provide an object level representation of the scene. The detected moving objects are tracked over time by applying data association and Kalman filtering. The experiments conducted on different sequences from KITTI dataset showed promising results, demonstrating the applicability of the proposed method.

关键词： environment sensor measurements generated grids Environments grids Moving tracking road vehicles Environmental models Grid Autonomous Vehicles Grates environmental perception

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A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation

A trajectory tracking LQR controller for a quadrotor: Design...

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IEEE Region 10 International Conference TENCON

作者： Xie Heng David Cabecinhas Rita Cunha Carlos Silvestre Xu Qingsong Department of Electromechanical Engineering Avenida da Universidade Taipa Macau China Department of Electrical and Computer Engineering Institute for Systems and Robotics (ISR/IST) Macao China Electrical and Computer Engineering Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Lisbon Macao China

ISBN: (纸本)9781479986422

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant dynamics for the error system. The controller synthesis problem is then formulated as a linear quadratic regulator problem for LTI systems. The control strategy adopts the D-methodology integrated with the anti-windup technique in order to achieve zero static error for the integral states and to avoid actuator saturation. Experimental results where a quadrotor follows a trimming trajectory are presented to illustrate the performance of the proposed controller.

关键词： Vehicles Trajectory Aerospace electronics Vehicle dynamics Force Aerodynamics Angular velocity

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Sufficient Condition for Survival of the Fittest in a Bi-virus Epidemics

Sufficient Condition for Survival of the Fittest in a Bi-vir...

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Asilomar Conference on Signals, systems and computers

作者： Augusto Santos Jose M. F. Moura Joao M. F. Xavier Dep. of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR/IST) LARSyS Instituto Superior Tecnico Universidade de Lisboa

ISBN: (纸本)9781467385770

We study the spread of two strains of virus competing for space in a network modeled by the classical logistic ordinary differential equations. In large-scale complex networks, the underlying nonlinear dynamical system is high-dimensional and performing qualitative analysis of the differential equation becomes prohibitive. The study of such systems is often deferred to numerical simulations or local analysis about equilibrium points of the system. In this paper, we extend the work developed in [1], to formally establish a simple sufficient condition for (exponentially fast) survival of the fittest in a bi-layer weighted digraph: the weaker strain dies out regardless of the initial conditions if its maximum in-flow rate of infection across nodes is smaller than the minimum in-flow rate of the stronger strain. We bound any solution of the logistic ODE by one-dimensional solutions over certain homogeneous networks, for which the system is well understood. Our global stability approach via bounds readily applies to the discrete-time logistic model counterpart.

关键词： natural selection Sufficient conditions complex networks Epidemic INITIAL CONDITIONS Differential equations Sufficient

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On Robustness Properties in Empirical Centroid Fictitious Play

On Robustness Properties in Empirical Centroid Fictitious Pl...

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IEEE Annual Conference on Decision and Control

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon Portugal

ISBN: (纸本)9781479978878

Empirical Centroid Fictitious Play (ECFP) is a generalization of the well-known Fictitious Play (FP) algorithm designed for implementation in large-scale games. In ECFP, the set of players is subdivided into equivalence classes with players in the same class possessing similar properties. Players choose a next-stage action by tracking and responding to aggregate statistics related to each equivalence class. This setup alleviates the difficult task of tracking and responding to the statistical behavior of every individual player, as is the case in traditional FP. Aside from ECFP, many useful modifications have been proposed to classical FP, e.g., rules allowing for network-based implementation, increased computational efficiency, and stronger forms of learning. Such modifications tend to be of great practical value;however, their effectiveness relies heavily on two fundamental properties of FP: robustness to alterations in the empirical distribution step size process, and robustness to best-response perturbations. The main contribution of the paper is to show that similar robustness properties also hold for the ECFP algorithm. This result serves as a first step in enabling practical modifications to ECFP, similar to those already developed for FP.

关键词： Equivalence classes Players Centroid practical value tracking Robustness Computational efficiency First Step

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Augmented reality on robot navigation using non-central catadioptric cameras

Augmented reality on robot navigation using non-central cata...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： T. Dias P. Miraldo N. Goncalves P. U. Lima Department of Electrical and Computer Engineering University of Coimbra Portugal Institute for Systems and Robotics (LARSyS) University of Lisbon Portugal

In this paper we present a framework for the application of augmented reality to a mobile robot, using non-central camera systems. Considering a virtual object in the world with known local 3D coordinates, the goal is to project this object into the image of a non-central catadioptric imaging device. We propose a solution to this problem which allows us to project textured objects to the image in real-time (up to 20 fps): projection of 3D segments to the image;occlusions;and illumination. In addition, since we are considering that the imaging device is on a mobile robot, one needs to take into account the real-time localization of the robot. To the best of our knowledge this is the first time that this problem is addressed (all state-of-the-art methods are derived for central camera systems). To evaluate the proposed framework we test the solution using a mobile robot and a non-central catadioptric camera (using a spherical mirror).

关键词： Cameras Three-dimensional displays Robot vision systems Mirrors Augmented reality

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FPAA-based Control of Bilateral Teleoperation systems

FPAA-based Control of Bilateral Teleoperation Systems

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

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Applying probabilistic Mixture Models to semantic place classification in mobile robotics

Applying probabilistic Mixture Models to semantic place clas...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： C. Premebida D. R. Faria F. A. Souza U. Nunes Department of Electrical and Computer Engineering’ Institute of Systems and Robotics University of Coimbra Portugal Dept. of Electrical Engineering Univ. Federal of Ceara Brazil

In this paper a study is made of the problem of classifying scenarios, in terms of semantic categories, based on data gathered from sensors mounted on-board mobile robots operating indoors. Once the data are transformed to feature space, supervised classification is performed by a probabilistic approach called Dynamic Bayesian Mixture Models (DBMM). This approach combines class-conditional probabilities from supervised learning models and incorporates past inferences. In this work, several experiments on multi-class semantic place classification are reported based on publicly available datasets. Such experiments were conducted in a such way that generalization aspects are emphasized, which is particularly important in real-world applications. Benchmark results show the effectiveness and competitive performance of the DBMM method, in terms of classification rates, using features extracted from 2D range data and from a RGB-D (Kinect) sensor.

关键词： Feature extraction Semantics Robot kinematics Mixture models Sensors Probabilistic logic

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Analysis and Design of Electric Power Grids with p-Robustness Guarantees using a Structural Hybrid System Approach

Analysis and Design of Electric Power Grids with p-Robustnes...

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European Control Conference

作者： Guilherme Ramos Sergio Pequito A. Pedro Aguiar Soummya Kar Institute for Systems and Robotics Instituto Superior Tecnico Technical University of Lisbon Department of Electrical and Computer Engineering Carnegie Mellon University

ISBN: (纸本)9781467371605

In this paper, we address the analysis of resilience properties related to electric power grids modeled as a (large) dynamical system. To this end, we introduce the notion of p-robustness as the capability of ensuring the proper functioning of the electric power grids, in the sense of guaranteeing generic controllability of the associated dynamical system, under arbitrary p transmission line failures. Then, we provide conditions under which the electric power grid is p-robust, and an algorithm that determines the minimum number of transmission lines in the electric power grid that is need to add in order to transform a non-robust (0-robust) electric power grid into a 1-robust electric power grid. Further, we discuss how the methodology can be extended to ensure p-robustness with a relatively small number of additional transmission lines. We present an illustrative example of the proposed analysis and methodology using the IEEE 39-bus system, whose dynamical model is described by 127 state variables.

关键词： electric power grids Power grids Transmission Lines hybrid systems DYNAMICAL systems kinetic model Analysis Power cables State variable

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Alpha down-regulation neurofeedback effects in short term memory performance

Alpha down-regulation neurofeedback effects in short term me...

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2015年中国生物医学工程联合学术年会

作者： Wenya Nan Qi Tang Feng Wan Vai Mang I Rosa Agostino Department of Electrical and Computer Engineering Faculty of Science and TechnologyUniversity of Ma Department of Bio Engineering Systems and Robotics InstituteUniversity of Lisbon1049-001

Research objective: Regulation of brain activity by neurofeedback(NF)training has been widely applied in treatment of human psychological disorders,improvement of human cognitive performance and recently enhancement of brain-computer interfaces(BCIs)***,no study has investigated whether training the same EEG feature but with different training direction has the reverse effects on some *** alpha neurofeedback,it has been demonstrated that alpha up-regulation NF has positive effects on short term memory enhancement while alpha down-regulation NF could improve steady state visual evoked potential BCI ***,it is unknown whether alpha down-regulation NF has side effects on short term ***,this study aimed to investigate: 1)whether multi-session NF training can decrease alpha activity and 2)whether this NF training has side effects in cognitive test of short term ***: A total of 19 participants performed 10 sessions of individualized alpha down-regulation neurofeedback training with 5 sessions per *** session had three 1-min trials with an interval of 5 s between two consecutive *** and after the 5 sessions of NF training in each day,three 30-s eyes open and three 30-s eyes closed resting baselines were recorded.9 in 19 participants performed forward and backward digit span as short term memory assessment before and after all training *** were trained to decrease their amplitude in individual alpha band(IAB)which is defined as band ranges from peak alpha frequency(PAF)-4 Hz to PAF+2 ***: 14 out of total 19 subjects could decrease the training parameter,their IAB amplitude,over training *** terms of the cognitive performance,neither forward nor backward digit span performance had significant change between before and after the alpha down-regulation neurofeedback training,indicating that this type of training has no side effects in short term ***

关键词： neurofeedback down-regulation short term memory individual alpha band peak alpha frequency

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