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

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Retrieving topological information for mobile robots provided with grid maps

Retrieving topological information for mobile robots provide...

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作者： Portugal, David Rocha, Rui P. Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9783642369063

In the context of mobile robotics, it is crucial for the robot to have a consistent representation of the surrounding area. However, common grid maps used in robotics do not provide any evidence as to connectivity, making it harder to find appropriate paths to particular points on the site. Therefore, abstracting the environment where mobile robots carry out some mission can be of a great benefit. Topological maps have been increasingly used in robotics, because they are fairly simple and an extremely intuitive representation for tasks that involve path planning. In this article, a method for retrieving a topological map from an a priori generic grid map of the environment is presented. Beyond extracting a 2D diagram which portrays the topology of the infra-structure, the focus is placed on obtaining graph-like data related to the connectivity of important points in the area, that can be passed on to robots or to a centralized planner, in order to assist the navigation task. The proposed method is further elaborated in detail and its results prove the simplicity, accuracy and efficiency of the approach. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Mobile robots

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Conjugated Polymer-based Explosives Sensor: Progresses in the Design of a Handheld Device

Conjugated Polymer-based Explosives Sensor: Progresses in th...

引用

IEEE Sensors

作者： Tiago Neves Lino Marques Liliana Martelo Hugh D. Burrows Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Chemistry Department University of Coimbra Coimbra Portugal

ISBN: (纸本)9781479901609

This work addresses the development of a new handheld explosive sensor based on the AFP (Amplified Fluorescent Polymer) Technology. The polymer is the PF2T Ethyl Cellulose, a blue fluorescent polymer whose fluorescence is attenuated with the presence of nitroaromatics, like the vapours typically released by common explosives. We intend to contribute to the state of the art in the field of landmine odour vapour detection, by developing a simple, economic, portable, highly sensitive and easily calibrated explosives sensor. Preliminary testing results with nitrobenzene show the sensor's ability to detect the presence of that vapour in concentrations much lower than the ones corresponding to its vapour pressure.

关键词： hand-held equipment EXPLOSIVES state of the art Vapors Sensors Nitrobenzenes Vapor Pressure AFP alpha-Fetoproteins Polymer Technology ANTITANK MINES

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Genetically Optimized Extreme Learning Machine

Genetically Optimized Extreme Learning Machine

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IEEE Conference on Emerging Technologies & Factory Automation

作者： Tiago Matias Rui Araújo Carlos Henggeler Antunes Dulce Gabriel Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering (DEEC-UC)

ISBN: (纸本)9781479908639

This paper proposes a learning algorithm for singlehidden layer feedforward neural networks (SLFN) called genetically optimized extreme learning machine (GO-ELM). In the GO-ELM, the structure and the parameters of the SLFN are optimized by a genetic algorithm (GA). The output weights, like in the batch ELM, are obtained by a least squares algorithm, but using Tikhonov's regularization in order to improve the SLFN performance in the presence of noisy data. The GA is used to tune the set of input variables, the hidden-layer configuration and bias, the input weights and the Tikhonov's regularization factor. The proposed method was applied and compared with four other methods over five benchmark problems available in a public repository. Besides it was applied in the estimation of the temperature at the burning zone of a real cement kiln plant.

关键词： SLFN input weights real cement kiln plant

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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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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A comparison of adaptive PID methodologies controlling a DC motor with a varying load

A comparison of adaptive PID methodologies controlling a DC ...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Luís Osório Jérôme Mendes Rui Araújo Tiago Matias Institute for Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This work addresses the problem of controlling unknown and time varying plants for industrial applications. To deal with such problem several Self-Tuning Controllers with a Proportional Integral and Derivative (PID) structure have been chosen. The selected controllers are based on different methodologies, and some use implicit identification techniques (Single Neuron and Support Vector Machine) while the others use explicit identification (Dahlin, Pole placement, Deadbeat and Ziegler-Nichols) based in the Least Squares Method. The controllers were tested on a real DC motor with a varying load. The results have shown that all the tested methods were able to properly control an unknown plant with varying dynamics.

关键词： Vectors DC motors Support vector machines Heuristic algorithms Neurons Process control Adaptation models

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Sensor-based globally asymptotically stable range-only simultaneous localization and mapping

Sensor-based globally asymptotically stable range-only simul...

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52nd IEEE Conference on Decision and Control, CDC 2013

作者： Lourenço, Pedro Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9781467357173

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests. © 2013 IEEE.

关键词： Observability

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Fast and Accurate Calibration of a Kinect Sensor

Fast and Accurate Calibration of a Kinect Sensor

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： Carolina Raposo João Pedro Barreto Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

The article describes a new algorithm for calibrating a Kinect sensor that achieves high accuracy using only 6 to 10 image-disparity pairs of a planar checkerboard pattern. The method estimates the projection parameters for both color and depth cameras, the relative pose between them, and the function that converts kinect disparity units (kdu) into metric depth. We build on the recent work of Herrera et. al [8] that uses a large number of input frames and multiple iterative minimization steps for obtaining very accurate calibration results. We propose several modifications to this estimation pipeline that dramatically improve stability, usability, and runtime. The modifications consist in: (i) initializing the relative pose using a new minimal, optimal solution for registering 3D planes across different reference frames, (ii) including a metric constraint during the iterative refinement to avoid a drift in the disparity to depth conversion, and (iii) estimating the parameters of the depth distortion model in an open-loop post-processing step. Comparative experiments show that our pipeline can achieve a calibration accuracy similar to [8] while using less than 1/6 of the input frames and running in 1/30 of the time.

关键词： Cameras Calibration Image color analysis Accuracy Robot sensing systems Three-dimensional displays Estimation

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Divergence-based odor source declaration

Divergence-based odor source declaration

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Asian Control Conference

作者： Gonçalo Cabrita Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper explores the use of the divergence operator for odor source declaration in swarm-based algorithms. A set of simulations of a swarm of robots running the decentralized asynchronous particle swarm optimization, bacterial foraging optimization and ant colony optimization algorithms was used to generate multiple wind and odor biased vector fields to investigate the effectiveness of the divergence operator in odor source declaration. A set of real world experiments were also performed using the same swarm algorithms on a controlled environment to ascertain if the divergence operator can also be used on real data. The sparse gas sensor data acquired by the robots was interpolated using the Nadaraya-Watson estimator by means of a wind and odor biased kernel before the application of the divergence. Results show that the divergence operator excels at odor source declaration.

关键词： Chemicals Robot sensing systems Vectors Robot kinematics Equations Mathematical model

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Improved Semantic-based Human Interaction Understanding Using Context-based knowledge

Improved Semantic-based Human Interaction Understanding Usin...

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IEEE International Conference on systems, Man, and Cybernetics

作者： Kamrad Khoshhal Roudposhti Jorge Dias Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal.

ISBN: (纸本)9781479906505

This paper proposes a descriptive approach for context-based human activity analysis through an hierarchical framework in a scene understanding application. Each human movement with respect to himself, others and scene, can arise different layers of human activities analysis, which usually investigated separately depend on the application. Human behaviour can not be analysed properly, since the all different layers of information were not considered. The effect of using the different layers of information to increase the accuracy of the analysis is presented in the study. The contributions are, using different information layers such as human body parts movement and human-object interaction, in 3D space, to improve human activity analysis, and proposing a probabilistic and descriptive model, based on a well-known human movement descriptor and Bayesian Network (BN) approach. Thus, based on the mentioned framework, the model is generalizable and flexible which are necessary for having such an applicable system. The capability of the proposed approach is presented in the experiment's section.

关键词： Scene understanding hierarchical framework human interaction analysis Bayesian approach human movement analysis descriptive model Human locomotion Bayes methods Human Activities activity analysis

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