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2009 12th International IEEE Conference on Intelligent Transportation systems, ITSC '09

作者： Junior, Oswaldo Ludwig Delgado, David Gonçalves, Valter Nunes, Urbano ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Polo II 3030-290 Coimbra Portugal

ISBN: (纸本)9781424455218

This work proposes a novel classifier-fusion scheme using learning algorithms, i.e. syntactic models, instead of the usual Bayesian or heuristic rules. Moreover, this paper complements the previous comparative studies on DaimlerChrysler Automotive Dataset, offering a set of complementary experiments using feature extractor and classifier combinations. The experimental results provide evidence of the effectiveness of our methods regarding false positive rate, AUC, and accuracy, which reached 96.67%. © 2009 IEEE.

关键词： Classification (of information)

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Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wing Aircraft using Optical Flow

Nonlinear IBVS Controller for the Flare Maneuver of Fixed-Wi...

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2010 49th IEEE Conference on Decision and Control

作者： Pedro Serra Florent Le Bras Tarek Hamel Carlos Silvestre Rita Cunha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Tecnico 1049-001 Lisboa Portugal Laboratoire de Recherches Balistiques et Aerodynamiques (LRBA) of the French Delegation Generale pour 1Armement Vernon France I3S UNSA-CNRS Nice-Sophia Antipolis France

ISBN: (纸本)9781424477456

This paper describes a nonlinear Image-Based Visual Servo (IBVS) controller for the Flare phase of the landing maneuver of a fixed-wing aircraft in the presence of wind gust. Optic-Flow and 2D image features are exploited from the image of the runway to design a feedback controller for the automatic maneuver. The controller is divided into two parts. The first part guarantees the horizontal alignment with the center of the runway and uses the two lines delimiting the runway represented through a modification of the so-called Plucker coordinates. The second part takes advantage of the Optic-Flow measurements to ensure a smooth touchdown. Simulation results are presented to illustrate the performance of the control approach.

关键词： RUNWAY Fixed wing aircraft Optic Flow Wings feedback controller Controllers

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Exploiting LIDAR-based features on pedestrian detection in urban scenarios

Exploiting LIDAR-based features on pedestrian detection in u...

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2009 12th International IEEE Conference on Intelligent Transportation systems, ITSC '09

作者： Premebida, Cristiano Ludwig, Oswaldo Nunes, Urbano Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9781424455218

Reliable detection and classification of vulnerable road users constitute a critical issue on safety/protection systems for intelligent vehicles driving in urban zones. In this subject, most of the perception systems have LIDAR and/or Radar as primary detection modules and vision-based systems for object classification. This work, on the other hand, presents a valuable analysis of pedestrian detection in urban scenario using exclusively LIDAR-based features. The aim is to explore how much information can be extracted from LIDAR sensors for pedestrian detection. Moreover, this study will be useful to compose multi-sensor based pedestrian detection systems using not only LIDAR but also vision sensors. Experimental results using our data set and a detailed classification performance analysis are presented, with comparisons among various classification techniques. © 2009 IEEE.

关键词： Classification (of information)

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A two-stage neural network classifier for condition-based maintenance in wireless sensor networks

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International Journal of COMADEM 2010年第2期13卷 17-26页

作者： Ramani, A. McMurrough, C. Middleton, M. Ballal, P. Athamneh, A. Lee, W. Kwan, C. Lewis, F. Automation and Robotics Research Institute University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth TX 76118-7115 United States Energy Systems Research Center University of Texas at Arlington 416 S. College St Arlington TX 76019-0048 United States Signal Processing Inc. 13619 Valley Oak Circle Rockville MD 20850-3572 United States Computer Science Engineering University of Texas at Arlington United States Electrical Engineering Department United States

Motor failures in aerospace applications can lead to serious compromises in safety, overall effectiveness, and maintenance costs. In mission critical applications, it is important that motor fault signatures are identified before a failure occurs. It is known that 40% of mechanical failures occur due to bearing faults. Bearing faults can be identified from the motor vibration signatures. Three key contributions are outlined in this paper. First, we develop a low cost test bed for simulating bearing faults in a motor. Second, we develop a wireless sensor module for collection of vibration data from the test bed. Finally, we use a novel two stage neural network to classify various bearing faults using the Generalized Hebbian Algorithm (GHA) in the first stage and a supervised learning vector quantization network (SLVQ) with a self organizing map approach for fault classification in the second stage. © 2010 COMADEM International.

关键词： Wireless sensor networks

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Robotic wheelchair trajectory control considering user comfort

Robotic wheelchair trajectory control considering user comfo...

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5th International Conference on Informatics in Control Automation and robotics, ICINCO 2008

作者： Solea, Razvan Nunes, Urbano Department of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Coimbra 3030-290 Portugal Department of Automation and Industrial Informatics Dunarea de Jos University of Galati Galati 800-008 Romania

ISBN: (纸本)9783642002700

This paper analyzes the comfort of wheelchair users when a sliding-mode trajectory-tracking controller is used. The transmission of the horizontal (fore-and-aft) vibration to the head-neck complex (HNC) in the seated human body may cause unacceptable discomfort and motion sickness. A double-inverted pendulum model with two degrees of freedom is considered as a model for the HNC. The user comfort is examined not only in the time domain (using the fourth power vibration dose value), but also in the frequency domain (using the cross-spectral density method). For measuring the acceleration of the wheelchair, along the trajectory, an inertial measurement unit was used. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Degrees of freedom (mechanics)

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Nonlinear trajectory tracking control of a quadrotor vehicle 10

Nonlinear trajectory tracking control of a quadrotor vehicle

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2009 10th European Control Conference, ECC 2009

作者： Cunha, Rita Cabecinhas, David Silvestre, Carlos Department of Electrical Engineering and Computer Science Institute for Systems and Robotics Instituto Superior Técnico Lisboa1046-001 Portugal

ISBN: (纸本)9783952417393

This paper addresses the problem of steering a quadrotor vehicle along a time-dependent trajectory. The problem is formulated so as to take into account force disturbances acting on the vehicle and enforce bounds on the actuation. The proposed solution consists of a nonlinear adaptive state feedback controller for thrust and torque actuation that i) guarantees asymptotic stability of the closed-loop system in the presence of constant force disturbances and ii) ensures that the actuation does not grow unbounded as a function of the position errors. Simulation results are presented to assess the performance and robustness of the proposed controller. © 2009 EUCA.

关键词： Asymptotic stability

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Sensor Selection for Hypothesis Testing in Wireless Sensor Networks: a Kullback-Leibler Based Approach

Sensor Selection for Hypothesis Testing in Wireless Sensor N...

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Dragana Bajovi Bruno Sinopoli Joo Xavier Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Department of Electrical and Computer Engineering Carnegie Mellon University

We consider the problem of selecting a subset of p out of n sensors for the purpose of event detection,in a wireless sensor network（WSN）.Occurrence of the event of interest is modeled as a binary Gaussian hypothesis *** this case sensor selection consists of finding,among all（~n） combinations,the one maximizing the Kullback-Leibler（KL） distance between the induced p-dimensional distributions under the two *** exhaustive search is impractical if n and p are large,as the resulting optimization problem is *** propose a suboptimal approach with computational complexity of order■（np）.This consists of relaxing the 0/1 constraint on the entries of the selection matrices to let the optimization problem search over the set of Stiefel *** finding the Stiefel matrix is a nonconvex problem,we provide an algorithm that is guaranteed to produce a global optimum for p = 1,through a series of judicious problem *** case p > 1 is tackled by an incremental,greedy *** obtained Stiefel matrix is then used to determine the sensor selection matrix which best approximates its range *** simulations are used to assess near optimality of the proposed *** also show how the proposed approach performs better than exhaustive searches once an upper bound on the computation time is set.

关键词： Sensor Selection for Hypothesis Testing in Wireless Sensor Networks a Kullback-Leibler Based Approach

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Estimating traffic intensity using profile images on rectified images

Estimating traffic intensity using profile images on rectifi...

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IEEE International Conference on Image Processing

作者： Cristina Maduro Katherine Batista Jorge Batista ISR-Institute of Systems and Robotics Department of Electrical Engineering FCT-Universidade de Coimbra Coimbra Portugal

In this paper a technique is presented to estimate the traffic intensity for each lane. This method does not require background estimation or even the identification and tracking of individual vehicles. It requires only the identification of each lane and the estimation of a bird eye view of the highway using a rectification method. To each rectified lane, an intensity profile is computed along the traffic flow direction for each frame, obtaining an image that represents the displacement as a time function. The main idea is to search for the best matching profile for different times and spaces on each lane and consequently obtain the velocity profile.

关键词： Vehicle detection Cameras Road transportation Surveillance Polynomials Space technology Robots Birds computer vision Parameter estimation

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Accelerometer-based control of an industrial robotic arm

Accelerometer-based control of an industrial robotic arm

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Pedro Neto J. Norberto Pires A. Paulo Moreira Industrial Robotics Laboratory-Mechanical Engineering Department POLO II University of Coimbra Coimbra Portugal Institute of Systems and Robotics (ISR)-Department of Electrical and Computer Engineering University of Porta Porto Portugal

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed.

关键词： Industrial control Service robots electrical equipment industry Defense industry Educational robots Robot control Control systems Accelerometers Artificial neural networks Delay

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Exploiting LIDAR-based features on pedestrian detection in urban scenarios

Exploiting LIDAR-based features on pedestrian detection in u...

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International Conference on Intelligent Transportation

作者： Cristiano Premebida Oswaldo Ludwig Urbano Nunes Department of Electrical and Computer Engineering Institute of Systems of Systems and Robotics University of Coimbra Portugal

Reliable detection and classification of vulnerable road users constitute a critical issue on safety/protection systems for intelligent vehicles driving in urban zones. In this subject, most of the perception systems have LIDAR and/or radar as primary detection modules and vision-based systems for object classification. This work, on the other hand, presents a valuable analysis of pedestrian detection in urban scenario using exclusively LIDAR-based features. The aim is to explore how much information can be extracted from LIDAR sensors for pedestrian detection. Moreover, this study will be useful to compose multi-sensor based pedestrian detection systems using not only LIDAR but also vision sensors. Experimental results using our data set and a detailed classification performance analysis are presented, with comparisons among various classification techniques.

关键词： computer vision Radar detection Laser radar Road safety Vehicle detection Vehicle safety Protection Intelligent vehicles Object detection Data mining

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