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21st International Symposium on Measurement and Control in robotics, ISMCR 2018

作者： Dogru, Sedat Marques, Lino Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

ISBN: (纸本)9781510890114

Autonomous robots have been in use to construct maps of unknown areas, offering indispensable help for various emergency situations, including but not limited to hostage rescue and fire accidents. In these situations, time and safety are paramount requiring prompt and accurate action. Through-wall mapping capability, allowing robots to create a map without physically visiting all the space of interest, provides both a faster and safer way to create a map. In this paper, we show that an off-the-shelf automotive radar can be used to detect obstacles placed behind walls, and hence create a proper map for various configurations. © (2018) by the International Measurement Confederation (IMEKO). All rights reserved.

关键词： Mapping

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A comparison study on pneumatic muscles and electrical motors using the 3DCLIMBER as a case study

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11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Tavakoli, Mahmoud Marques, Lino De Almeida, Anibal T. Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9812835768

3DCLIMBER is a pole climbing robot designed at isr-UC which is able to climb from poles with bents and branches. The first prototype of the robot uses electrical motors as actuators. A research started to study possibility of using other types of actuators to reduce the weight of the robot and thus increase the efficiency. This paper presents a comparison study between the pneumatic muscles and electrical motors. The 3DCLIMBER robot was used as a case study for this comparison.

关键词： Muscle

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Experimental Analysis of Three-Phase Induction Motors with Multiflux, Dual-Winding Configurations 45

Experimental Analysis of Three-Phase Induction Motors with M...

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45th Annual Conference of the IEEE Industrial Electronics Society, IECON 2019

作者： Alberto, Jose T. E. Ferreira, Fernando J. De Almeida, Anibal T. Institute of Systems and Robotics University of Coimbra Department of Electrical and Computer Engineering Coimbra3030-290 Portugal

ISBN: (纸本)9781728148786

In this paper, several multiflux, three-phase induction motors, dual-winding configurations are experimentally analysed. Using a motor with two reconfigurable stator windings sharing the same slots, several dual-winding configurations with different spatial displacement between the two partial windings, are experimentally tested. A programmable voltage source is used to adjust the line-to-line voltage at the terminals of the motor so that the fundamental flux level is the same for all the configurations. Then, the experimentally determined value is compared to the calculated value of the electromotive force and the per-unit values of line-to-line voltage per flux or current per flux are measured and compared to simulated results. Finally, the locked-rotor impedance was measured in order to assess its variation with the fundamental winding factor. © 2019 IEEE.

关键词： Induction motors

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Low cost vision system for human gait acquisition and characterization

Low cost vision system for human gait acquisition and charac...

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2016 International Conference on Industrial engineering and engineering Management, IEEM 2016

作者： Ferreira, Paulo A. Ferreira, João P. Crisóstomo, Manuel Coimbra, A. Paulo Institute of Systems and Robotics Dept. of Electrical and Computer Engineering University of Coimbra Portugal Department of Electrical Engineering Superior Institute of Engineering of Coimbra Coimbra Portugal

ISBN: (纸本)9781509036653

This paper presents a low cost system for human gait analysis. Two opposite-faced web cameras are used to acquire images of the walking of a person carrying a set of passive marks, where the color is chosen to contrast with the ambient dominant color. It is also used a treadmill with passive marks, where the user walks at different speeds. The acquired trajectories of the marks are used to determine body joint angles and other 3D crossed angles, obtained by both opposite sides from video images processing. With this low cost measurement system the analysis and reconstruction of human gait can be done with a mean error of 2 degrees, becoming a good alternative to more expensive systems to be used in human gait characterization. The system can be used to detect human gait pathologies and to accomplish physical rehabilitation. © 2016 IEEE.

关键词： Cost benefit analysis

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Hand gesture recognition using color and depth images enhanced with hand angular pose data

Hand gesture recognition using color and depth images enhanc...

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Pedro Trindade Jorge Lobo João P. Barreto ISR-Institute of Systems and Robotics University of Coimbra Portugal ISR-Institute of Systems and Robotics and the Department of Electrical and Computer Engineering University of Coimbra Portugal

In this paper we propose a hand gesture recognition system that relies on color and depth images, and on a small pose sensor on the human palm. Monocular and stereo vision systems have been used for human pose and gesture recognition, but with limited scope due to limitations on texture, illumination, etc. New RGB-Depth sensors, that reply on projected light such as the Microsoft Kinect, have overcome many of those limitations. However, the point clouds for hand gestures are still in many cases noisy and partially occluded, and hand gesture recognition is not trivial. Hand gesture recognition is much more complex than full body motion, since we can have the hands in any orientation and can not assume a standing body on a ground plane. In this work we propose to add a tiny pose sensor to the human palm, with a minute accelerometer and magnetometer that combined provide 3D angular pose, to reduce the search space and have a robust and computationally light recognition method. Starting with the full depth image point cloud, segmentation can be performed by taking into account the relative depth and hand orientation, as well as skin color. Identification is then performed by matching 3D voxel occupancy against a gesture template database. Preliminary results are presented for the recognition of Portuguese Sign Language alphabet, showing the validity of the approach.

关键词： Gesture recognition Image color analysis Iterative closest point algorithm Skin Libraries Robot sensing systems

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Integral Force Control with Robustness Enhancement

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IEEE Control systems 1994年第1期14卷 31-40页

作者： Wilfinger, L.S. Wen, J.T. Murphy, S.H. The Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy 12180 United States ABB Robotics 72168 Vasteras Sweden

For robotic tasks involving contact between the robot end effector and the environment, force feedback is frequently used to maintain the required force of interaction. Among the many force control strategies proposed in the literature, integral force feedback has been found to be the most desirable algorithm due to its robustness with respect to the measurement time delay and its removal of steady state force error. However, there has not been any serious investigation of the controller performance under large force disturbances. We have experimentally observed that large force disturbances can cause bouncing instability of a nominally stable force control system. Motivated by this observation, we augment the standard integral force controller with three robustness enhancements: integral error scaling, force set-point scheduling, and integral windup saturation. Extensive experimentation on surfaces with different stiffness has shown the dramatic improvement of the modified controller.< >

关键词： Force control Robust control Force feedback Robots Force measurement Error correction End effectors Time measurement Delay effects Steady-state

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Visual Behaviors for Real-Time Control of a Binocular Active Vision System

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IFAC Proceedings Volumes 1997年第3期30卷 167-172页

作者： Jorge Batista Paulo Peixoto Helder Araújo ISR - Institute of Systems and Robotics Department of Electrical Engineering - FCTUC University of Coimbra Portugal

An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. Therefore the control architecture is extremely important. In this paper we discuss a number of issues related with the implementation of a real-time control architecture and describe the architecture we are using with our camera heads. Even though in most applications a fully calibrated system is not required, we also describe a methodology for calibrating the camera head, taking advantage of its degrees of freedom. These calibration parameters are used to evaluate the performance of the system. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. At the lower levels we consider vision as a sensor and integrate it in control systems (both feed-forward and servo loops) and several visual processes are implemented in parallel, computing relevant measures for the control process. At higher levels the architecture is modeled as a state transition system. Finally we show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.

关键词： Active Vision Real-Time Tracking Smooth-Pursuit

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On-line 3D body modelling for augmented reality

On-line 3D body modelling for augmented reality

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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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Robot navigation using a sparse distributed memory

Robot navigation using a sparse distributed memory

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IEEE International Conference on robotics and Automation (ICRA)

作者： Mateus Mendes Manuel Crisostomo A. Paulo Coimbra Department of Electrical and Computer Engineering ESTGOH IPC Coimbra Institute of sustems and robotics University of Coimbra Portugal ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal Department of Electrical and Computer Engineering ISR-Institute of Systems and Robotics University of Coimbra Portugal

Despite all the progress that has been made in robotics and Artificial Intelligence, traditional approaches seem unsuitable to build truly intelligent robots, exhibiting human-like behaviours. Many authors agree that the source of intelligence is, to a great extent, the use of a huge memory, where sequences of events that guide our later behaviour are stored. Inspired by that idea, our approach is to navigate a robot using sequences of images stored in a Sparse Distributed Memory-a kind of associative memory based on the properties of high dimensional binary spaces, which, in theory, exhibits some human-like behaviours. The robot showed good ability to correctly follow most of the sequences learnt, with small errors and good immunity to the kidnapped robot problem.

关键词： Navigation Intelligent robots Humanoid robots Artificial intelligence robotics and automation Orbital robotics Humans Image retrieval Brain modeling Predictive models

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Power generation expansion planning with complementarity between renewable sources and regions for 100% renewable energy systems

Power generation expansion planning with complementarity bet...

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作者： da Luz, Thiago Moura, Pedro Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Polo II Coimbra3030-290 Portugal

The positive impact of the complementarity between renewable generation sources has been presented in several studies, but this concept has been neglected in many studies of expansion planning. This paper presents a new approach to introduce the complementarity between renewable energy resources and regions into the expansion planning for 100% renewable energy systems. A novel objective function is proposed to optimize the electricity mix and the water flow of hydropower reservoirs, considering the daily and yearly variations. A case study is presented with the objective of assessing the optimum mix (for the complementarity perspective) between solar, wind, hydro, and biomass power to ensure the expected monthly and hourly energy demand for Brazil in 2050. In the Brazilian case, when the complementarity between regions was considered, it was possible to ensure the electricity demand increase without new large reservoirs and with a high contribution from all renewable generation sources. A mix to ensure the daily and annual demand in 2050, which promotes the best complementarity, is presented, resulting in a share of 27%, 16%, 34%, and 23% for photovoltaic, wind, hydro, and biomass power, respectively. © 2019 John Wiley & Sons, Ltd.

关键词： Wind power

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