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IEEE Conference on Nanotechnology

作者： Li Zhang Yang Lu Lixin Dong R. Pei Jun Lou Bradley E. Kratochvil Bradley J. Nelson Institute of Robotics and Intelligent Systems ETH Zurich Zurich Switzerland Department of Mechanical Engineering & Materials Science Rice University Houston TX USA Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA

ISBN: (纸本)9781424448326

Ni nanowires (NWs) are driven in water using a rotating magnetic field. The NWs show various locomotion performances under different boundary conditions. Pure rotation occurs when the two ends of the NWs are homogenously constrained. However, if the boundary conditions are different at the two ends of the NWs, tumbling motion, i.e., rotation plus translation, will be generated, which leads to the propulsion of NWs near a wall. These motions of NWs can be steered by the magnetic field. In addition, we present that the two NWs self-assemble to form a single NW with the magnetic field. The results imply that magnetic field is a promising approach for noncontact manipulation of Ni NWs or other 1-D ferromagnetic nanostructures at low Reynolds number aqueous environment in a controllable fashion.

关键词： Nanowires Magnetic fields Nanostructures Propulsion Boundary conditions Intelligent robots Biomedical optical imaging Optical sensors Magnetic liquids Electrodes

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Robot navigation and manipulation based on a predictive associative memory

Robot navigation and manipulation based on a predictive asso...

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IEEE International Conference on Development and Learning, ICDL

作者： Sascha Jockel Mateus Mendes Jianwei Zhang A. Paulo Coimbra Manuel Crisostomo CINACS International Research Training Group Technical Aspects of Multimodal Systems (TAMS) Department of Informatics University of Hamburg Hamburg Germany ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Escola Superior de Tecnologia e Gestäo de Oliveira do Hospital (ESTGOH) Instituto Politécnico de Coimbra Coimbra Portugal

Proposed in the 1980s, the sparse distributed memory (SDM) is a model of an associative memory based on the properties of a high dimensional binary space. This model has received some attention from researchers of different areas and has been improved over time. However, a few problems have to be solved when using it in practice, due to the non-randomness characteristics of the actual data. We tested an SDM using different forms of encoding the information, and in two different domains: robot navigation and manipulation. Our results show that the performance of the SDM in the two domains is affected by the way the information is actually encoded, and may be improved by some small changes in the model.

关键词： Robots Navigation Associative memory Neurons Testing Encoding Artificial intelligence Costs computer architecture Degradation

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computer Vision and computer Graphics Theory and Applications: International Conference VISIGRAPP 2007 Barcelona, Spain, March 8-11, 2007 Revised Selected Papers

Computer Vision and Computer Graphics Theory and Application...

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作者： Braz, José Ranchordas, Alpesh Araújo, Hélder J. Pereira, João Madeiras Departamento de Sistemas e Informatica Escola Superior de Tecnologia do IPS 2910 Setúbal Portugal INSTICC 2910 Setúbal Portugal Institute for Systems and Robotics Department of Electrical and Computer Engineering Polo II University of Coimbra 3030-290 Coimbra Portugal IST/INESC-ID 1000-029 Lisboa Portugal

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An efficient algorithm for extrinsic calibration between a 3D laser range finder and a stereo camera for surveillance

An efficient algorithm for extrinsic calibration between a 3...

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International Conference on Advanced robotics (ICAR)

作者： H. Aliakbarpour P. Nunez J. Prado K. Khoshhal J. Dias Dept. Electrical and Computer Engineering University of Coimbra Portugal Portugal ISIS Group Universidad de Málaga Spain Dept. Tecnología de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department Electrical and Computer Engineering University of Coimbra Portugal

The combined use of 3D laser range finders (LRF) and cameras is increasingly common in the navigation application for autonomous mobile robots. The integration of laser range information and images requires the estimation of the Euclidean 3-dimensional transformation between the coordinate systems of the LRF and the cameras. This paper describes a new and efficient method to perform the extrinsic calibration between a 3D LRF and a stereo camera with the aid of inertial data. The main novelty of the proposed approach compared to other state of the art calibration procedures is the use of an inertial measurement unit (IMU), which decreases the number of points needed to a robust calibration. Furthermore, a freely moving bright spot is the only calibration object. A set of virtual 3D points is made by waving the bright spot through the working volume in three different planes. Its projections onto the images are found with sub-pixel precision and verified by a robust RANSAC analysis. These same points are extracted according to the laser scan data and are corresponded to the virtual 3D points in the stereo pair. Experimental results presented in this paper demonstrate the accuracy of our approach. Furthermore, the applicability of the proposed technique is high, only requiring of an inertial sensor coupled to the sensor platform. This approach has been also extended for a camera network.

关键词： Calibration Cameras Surveillance Robot vision systems Robustness Navigation Mobile robots Measurement units Image analysis Data mining

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining computer industry electrical products industry

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Metal-filled carbon nanotubes for nanofluidic systems: Modes of melting and evaporation

Metal-filled carbon nanotubes for nanofluidic systems: Modes...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Lixin Dong Xinyong Tao Li Zhang Xiaobin Zhang Bradley J. Nelson Department of Electrical & Computer Engineering Michigan State University East Lansing MI USA ETH Zurich Institute of Robotics and Intelligent Systems Zurich Switzerland College of Chemical Engineering and Materials Science Zhejiang University of Technology Hangzhou China Department of Materials Science and Engineering University of Zhejiang Hangzhou China

Modes of melting and evaporation of metal at attogram level from individual carbon nanotubes (CNTs) are investigated experimentally using nanorobotic manipulation inside a transmission electron microscope. We compared the melting and evaporation induced by electric current, Joule heating, charge, and ionization. Experiments show that the most effective method is by positively ionizing the encapsulated metal, therefore, an electrostatic field can be used to guide the flow. Applications and potential applications of mass transport and deposition in nanofluidic systems have been presented including self-welding, actuation, and storage.

关键词： Carbon nanotubes Copper Transmission electron microscopy Current Materials science and technology Probes Intelligent robots Resistance heating Thermal conductivity Ionization

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Novelty detection and 3D shape retrieval based on Gaussian Mixture Models for autonomous surveillance robotics

Novelty detection and 3D shape retrieval based on Gaussian M...

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2009 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： P. Núñez P. Drews R. Rocha M. Campos J. Dias ISIS Group Universidad de Málaga Spain Dept. Tecnologia de los Computadores y las Comunicaciones Universidad de Extremadura Spain Institute of Systems and Robotics Department Electrical and Computer Engineering University of Coimbra Portugal Dept. Computer Science Federal University of Minas Gerais Brazil Dept. Electrical and Computer Engineering University of Coimbra Portugal

This paper describes an efficient method for retrieving the 3-dimensional shape associated to novelties in the environment of an autonomous robot, which is equipped with a laser range finder. First, changes are detected over the point clouds using a combination of the Gaussian mixture model (GMM) and the earth mover's distance (EMD) algorithms. Next, the shape retrieval is achieved using two different algorithms. First, new samplings are generated from each Gaussian function, followed by a random sampling consensus (RANSAC) algorithm to retrieve geometric primitives. Furthermore, a new algorithm is developed to directly retrieve the shape according to the mathematical space of Gaussian mixture. In this paper, the set of geometric primitives has been limited to the set C = {sphere, cylinder, plane} . The two shape retrieval methods are compared in terms of computational cost and accuracy. Experimental results in various real and simulated scenarios demonstrate the feasibility of the approach.

关键词： Shape Surveillance Intelligent robots Mobile robots Simultaneous localization and mapping Clouds Sampling methods Navigation Robotic assembly Change detection algorithms

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Communications in computer and Information Science: Preface

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Communications in computer and Information Science 2009年 24 CCIS卷 VI页

作者： Ranchordas, AlpeshKumar Araújo, Hélder J. Pereira, João Madeiras Braz, José INSTICC Setúbal Portugal Institute for Systems and Robotics Department of Electrical and Computer Engineering Polo II University of Coimbra Coimbra Portugal Departamento de Engenharia Informática Instituto Superior Técnico Lisboa Portugal Departamento de Sistemas e Informática Escola Superior de Tecnologia Do IPS Setúbal Portugal

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Robotic wheelchair control considering user comfort - Modeling and experimental evaluation

Robotic wheelchair control considering user comfort - Modeli...

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

作者： Solea, Razvan Nunes, Urbano ISR - Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9789898111319

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.

关键词： Sliding mode control

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Improving the generalization properties of neural networks: An application to vehicle detection

Improving the generalization properties of neural networks: ...

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11th International IEEE Conference on Intelligent Transportation systems, ITSC 2008

作者： Ludwig Jr., Oswaldo 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)9781424421121

In this paper a Multilayer Feedforward Neural Network based approach for vehicle detection is proposed. The main idea is to use such network to perform both feature extraction and classification. This simplicity enables real time applications. In order to achieve such capabilities, the network is trained by a new algorithm, proposed in this paper, named Minimization of Inter- Class Interference (MCI). Such algorithm aims to create a hidden space (i.e. feature space) where the patterns have a desirable statistical distribution. Regarding the neural architecture, the linear output layer is replaced by the Mahalanobis kernel, in order to improve generalization. Experiments are performed by means of a dataset that includes two standard datasets from Caltech car rear. Finally, disturbed images are used, in order to evaluate the robustness of the neural-network based vehicle detection. The proposed method reveals low miss rate, low false alarm rate and high area under ROC curve. In Matlab environment, the algorithm spends only 3.280e-4 seconds per image. These facts encourage this research line. © 2008 IEEE.

关键词： Feedforward neural networks

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