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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J. Almeida A. Almeida R. Araujo ISR-Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

For mobile vehicle navigation in dynamic environments it is desirable that robots have a model of the dynamic aspects of the world. In this paper we present a method for detection and tracking of multiple moving objects using sensor information. The method uses particle filters to estimate objects states, and sample based joint probabilistic data association filters to perform the assignment of features detected from sensor data to filters. A perception mechanism, based on occupancy grids, is presented to distinguish between mobile features and static objects. Experimental results from a real-time implementation using a laser range sensor are presented demonstrating the feasibility and effectiveness of the presented methods

关键词： Mobile robots Navigation Robot sensing systems Vehicle dynamics Object detection Vehicles Particle filters State estimation computer vision Sensor phenomena and characterization

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A contribution of demand response for the reliability of a power system 16

A contribution of demand response for the reliability of a p...

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16th International Conference on Environment and electrical engineering, EEEIC 2016

作者： Gaspar, Claudia Gomes, Alvaro Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal INESC Coimbra Department of Electrical and Computer Engineering University of Coimbra Coimbra3030-290 Portugal

ISBN: (纸本)9781509023196

Reliability is a crucial issue in modern power systems, being, in simple words, the ability to continuously and efficiently supply loads without neglecting the quality of service while keeping the power grid stable. In general, reliability can be improved by using more reliable components (generators) or by adding redundancy, being this extra generation known as reserves. Insufficient reserve margin may originate instability and severe problems in power systems. Adequacy is related with the provision of sufficient generation resources to meet the demand and the reserves requirements. The higher the redundancy level the higher the costs, thus a trade-off between the reliability degree and the investment requirements is needed. In this work is investigated if controllable demand can be actively used as an alternative to generation units for guaranteeing adequate reliability indices in short term operation of power systems. The goal is assessing the feasibility of using demand side resources-controllable demand-instead of generation for improving the reliability indices. An evolution strategy has been implemented to design adequate control actions, to be applied over end-use loads, and their impacts on the reliability indices have been assessed. The obtained results showed that, when adequately designed, demand control actions can effectively contribute for a more reliable operation of the power system, being an alternative to the redundant generation in short term. © 2016 IEEE.

关键词： Redundancy

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Learning self-organizing maps for navigation in dynamic worlds

Learning self-organizing maps for navigation in dynamic worl...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Araujo G. Gouveia N. Santos Institute for Systems and Robotics (ISR) and Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

Mobile robots must be able to build their own maps to navigate in unknown worlds. Expanding a previously proposed method [Rui Araujo et al., April 1999], based on the fuzzy ART neural architecture (FARTNA), this paper introduces a new on-line method for learning maps of dynamic worlds. For this purpose the Prune-Able fuzzy ART neural architecture (PAFARTNA) is introduced. It extends the FARTNA self-organizing neural network to include the ability to selectively perform the following additional operation on recognition categories: remove, directly update spatial span, or forced create. A method is proposed for the perception of object removals, and then integrated with PAFARTNA. Experimental results obtained with a Nomad 200 robot are presented demonstrating the feasibility and effectiveness of the proposed methods.

关键词： Self organizing feature maps Navigation Subspace constraints Mobile robots Orbital robotics Sensor phenomena and characterization Buildings computer architecture Neural networks Path planning

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Building a Teleoperation Environment

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IFAC Proceedings Volumes 1997年第3期30卷 173-178页

作者： R. Cortesão R. Araújo U. Nunes A.T. de Almeida Institute of Systems and Robotics (ISR)- Electrical Engineering Department University of Coimbra 3030 Coimbra Portugal.

There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. Because of the complex nature of the tasks that usually telerobots perform, centralised control is no longer practical. This motivates the need for an interprocess communication facility. Continuous human operator control in teleoperation has both advantages and disadvantages. The main advantage is that overall task control can rely on human perception, judgement, decision, dexterity, and training. The main disadvantage is that the human operator must cope with a sense of remoteness, be alert of and integrate many information, and coordinate the control of one or two mechanical arms, each having typically six degrees of freedom. A good graphic environment at the local station is needed, to improve the teleoperation tasks. For this reason, computer graphics play an increasingly important role in advanced teleoperation. This paper describes a communication system for a robotic teleoperation environment, how to build a virtual environment of the remote station, and also new scientific visualisation techniques for real time data, using powerful graphical toolkits.

关键词： Communications Virtual Robot Teleoperation Graphic Environment

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Polar-Grid Representation and Kriging-Based 2.5D Interpolation for Urban Environment Modelling

Polar-Grid Representation and Kriging-Based 2.5D Interpolati...

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International Conference on Intelligent Transportation

作者： Cristiano Premebida Joao Sousa Luis Garrote Urbano Nunes Department of Electrical and Computer Engineering (DEEC) Institute of Systems and Robotics (ISR) University of Coimbra Portugal

In this paper a spatial interpolation approach, based on polar-grid representation and Kriging predictor, is proposed for 3D point cloud sampling. Discrete grid representation is a widely used technique because of its simplicity and capacity of providing an efficient and compact representation, allowing subsequent applications such as artificial perception and autonomous navigation. Two-dimensional occupancy grid representations have been studied extensively in the past two decades, and recently 2.5D and 3D grid-based approaches dominate current applications. A key challenge in perception systems for vehicular applications is to balance low computational complexity and reliable data interpretation. To this end, this paper contributes with a discrete 2.5D polar-grid that upsamples the input data, ie sparse 3D point cloud, by means of a deformable kriging-based interpolation strategy. Experiments carried out on the KITTI dataset, using data from a LIDAR, demonstrate that the approach proposed in this work allows a proper representation of urban environments.

关键词： Three-dimensional displays Interpolation Laser radar Computational modeling Robots Solid modeling Estimation

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Probabilistic roadmap method and real time gait changing technique implementation for travel time optimization on a designed six-legged robot

Probabilistic roadmap method and real time gait changing tec...

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39th International Symposium on robotics, isr 2008

作者： Ahmad, Aamir Dhang, Nirjhar Institute for Systems and Robotics Department of Electrical and Computer Engineering Instituo Superior Técnico Lisbon Portugal Indian Institute of Technology Kharagpur India

This paper presents design and development of a six legged robot with a total of 12 degrees of freedom, two in each limb and then an implementation of 'obstacle and undulated terrain-based' probabilistic roadmap method for motion planning of this hexaped which is able to negotiate large undulations as obstacles. The novelty in this implementation is that, it doesnt require the complete view of the robot's configuration space at any given time during the traversal. It generates a map of the area that is in visibility range and finds the best suitable point in that field of view to make it as the next node of the algorithm. A particular category of undulations which are small enough are automatically 'runover' as a part of the terrain and not considered as obstacles. The traversal between the nodes is optimized by taking the shortest path and the most optimum gait at that instance which the hexaped can assume. This is again a novel approach to have a real time gait changing technique to optimize the travel time. The hexaped limb can swing in the robot's X-Y plane and the lower link of the limb can move in robot's Z plane by an implementation of a four-bar mechanism. A GUI based server 'Yellow Ladybird' eventually which is the name of the hexaped, is made for real time monitoring and communicating to it the final destination co-ordinates.

关键词： Motion planning

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Task planning for flexible manufacturing systems

Task planning for flexible manufacturing systems

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1990 IEEE Colloquium in South America, COLLOQ 1990

作者： Sanderson, Arthur C. IEEE Robotics and Automation Society Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY1218 United States

ISBN: (纸本)0879426101

The design and implementation of flexible manufacturing systems require the planning of task requirements to meet standards of reliability, cost, and throughput over a family of products. Tools for computer-aided engineering of manufacturing systems utilize automated planning and representation methods to enhance the capability of engineers to design better systems. Automated assembly sequence planning methods link product design to assembly system design and provide a basis for such interactive engineering tools. Methods for geometric reasoning, assembly plan representation, and automated assembly sequence selection will be discussed. © 1990 IEEE.

关键词： Flexible manufacturing systems

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Facial expression recognition based on EOG toward emotion detection for human-robot interaction 8

Facial expression recognition based on EOG toward emotion de...

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8th International Conference on Bio-Inspired systems and Signal Processing, BIOSIGNALS 2015

作者： Cruz, Aniana Garcia, Diogo Pires, Gabriel Nunes, Urbano Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Engineering Polytechnic Institute of Tomar Tomar Portugal

ISBN: (纸本)9789897580697

The ability of an intelligent system to recognize the user's emotional and mental states is of considerable interest for human-robot interaction and human-machine interfaces. This paper describes an automatic recognizer of the facial expression around the eyes and forehead based on electrooculographic (EOG) signals. Six movements of the eyes, namely, up, down, right, left, blink and frown, are detected and reproduced in an avatar, aiming to analyze how they can contribute for the characterization of facial expression. The recognition algorithm extracts time and frequency domain features from EOG, which are then classified in real-time by a multiclass LDA classifier. The offline and online classification results showed a sensitivity around 92% and 85%, respectively.

关键词： Human robot interaction

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Crossing Domains for AU Coding: Perspectives, Approaches, and Measures

IEEE Transactions on Biometrics, Behavior, and Identity Scie...

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IEEE Transactions on Biometrics, Behavior, and Identity Science 2020年第2期2卷 158-171页

作者： Ertugrul, Itir Onal Cohn, Jeffrey F. Jeni, Laszlo A. Zhang, Zheng Yin, Lijun Ji, Qiang Robotics Institute Carnegie Mellon University PittsburghPA15213 United States Department of Psychology University of Pittsburgh PittsburghPA15260 United States Robotics Institute Carnegie Mellon University PittsburghPA13902 United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY United States

Facial action unit (AU) detectors have performed well when trained and tested within the same domain. How well do AU detectors transfer to domains in which they have not been trained? We review literature on cross-domain transfer and conduct experiments to address limitations of prior research. We evaluate generalizability in four publicly available databases. EB+ (an expanded version of BP4D+), Sayette GFT, DISFA and UNBC Shoulder Pain (SP). The databases differ in observational scenarios, context, participant diversity, range of head pose, video resolution, and AU base rates. In most cases performance decreased with change in domain, often to below the threshold needed for behavioral research. However, exceptions were noted. Deep and shallow approaches generally performed similarly and average results were slightly better for deep model compared to shallow one. Occlusion sensitivity maps revealed that local specificity was greater for AU detection within than cross domains. The findings suggest that more varied domains and deep learning approaches may be better suited for generalizability and suggest the need for more attention to characteristics that vary between domains. Until further improvement is realized, caution is warranted when applying AU classifiers from one domain to another. © 2019 IEEE.

关键词： Behavioral research

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Stereo vision head vergence using GPU cepstral filtering

Stereo vision head vergence using GPU cepstral filtering

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

ISBN: (纸本)9789898425478

Vergence ability is an important visual behavior observed on living creatures when they use vision to interact with the environment. The notion of active observer is equally useful for robotic vision systems on tasks like object tracking, fixation and 3D environment structure recovery. Humanoid robotics are a potential playground for such behaviors. This paper describes the implementation of a real time binocular vergence behavior using cepstral filtering to estimate stereo disparities. By implementing the cepstral filter on a graphics processing unit (GPU) using Compute Unified Device Architecture (CUDA) we demonstrate that robust parallel algorithms that used to require dedicated hardware are now available on common computers. The cepstral filtering algorithm speed up is more than sixteen times than on a current CPU. The overall system is implemented in the binocular vision system IMPEP (IMPEP Integrated Multimodal Perception Experimental Platform) to illustrate the system performance experimentally.

关键词： Graphics processing unit

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