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International Conference on computer Graphics Theory and Applications, GRAPP 2012 and International Conference on Information Visualization Theory and Applications, IVAPP 2012

作者： Almeida, Luis Menezes, Paulo Dias, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Institute Polytechnic of Tomar Tomar Portugal

ISBN: (纸本)9789898565020

Building 3D body models is an important task for virtual and augmented reality applications in telerehabilitation, education, 3DTV, entertainment and tele-presence. We propose a real-time full 3D reconstruction system that combines visual features and shape-based alignment using low cost depth sensor and video cameras targeting three-dimensional conferencing applications. With this approach we overcome the classic video based reconstruction problem in low-texture or repeated pattern regions. Alignment between successive frames is computed by jointly optimizing over both appearances and shape matching. Appearance-based alignment is done over 2D SURF features annotated with 3D position. Shape-based alignment is performed using the motion transformation estimation between consecutive annotated 3D point clouds through a linear method. A solution to avoid wrong annotated 3D matched points is proposed. 3D mesh model representation is used to lower the processed data and create a 3D representation that is independent of view-point.

关键词： Augmented reality

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HRI Pioneers Workshop 2013 13

HRI Pioneers Workshop 2013

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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Solace Shen Henny Admoni Caroline Harriott Yunkyung Kim Matt Marge Marynel Vázquez Astrid Rosenthal-von der Pütten Matt Beane Yasuhiko Hato Daniel Lazewatsky Robin Read Steve Vozar Department of Psychology University of Washington Seattle USA Department of Social Psychology University of Duisburg-Essen Duisburg Germany Department of Computer Science Yale University New Haven USA Sloan School of Management Massachusetts Institute of Technology Cambridge USA Department of Electrical Engineering & Computer Science Vanderbilt University Nashville USA Graduate School of Science & Technology Keio University Yokohama Japan Department of Industrial Design Korea Advanced Institute of Science and Technology Daejeon South Korea Industrial & Manufacturing Engineering Oregon State University Corvallis USA Language Technologies Institute Carnegie Mellon University Pittsburgh USA Centre for Robotics & Neural Systems University of Plymouth Plymouth UK Robotics Institute Carnegie Mellon University Pittsburgh USA Department of Mechanical Engineering University of Michigan Ann Arbor USA

ISBN: (纸本)9781467330558

The 2013 Human-Robot Interaction (HRI) Pioneers Workshop, which will be held in conjunction with the 8 th ACM/IEEE International Conference on Human-Robot Interaction, is the premiere venue for student research in the field. This highly selective workshop seeks to foster creativity, communication, and collaboration between the world's top student researchers in the field of human-robot interaction. Pioneers Workshop participants will have the opportunity to learn about the current state of HRI, to present their research, and to network with one another and with select senior researchers in a setting that is less formal and more interactive then the main conference. The theme for this year is Re-envisioning HRI: Dealing With the Elephants in Our Room. The workshop aims to bring forward difficult to discuss issues to help the field achieve more balanced perspectives and a clearer picture of what sort of future we are building.

关键词： Educational institutions Conferences Human-robot interaction Psychology computer science Service robots

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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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Evolutionary fuzzy models for nonlinear identification

Evolutionary fuzzy models for nonlinear identification

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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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