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arXiv 2023年

作者： Barros, T. Garrote, L. Conde, P. Coombes, M.J. Liu, C. Premebida, C. Nunes, U.J. The University of Coimbra Institute of Systems and Robotics Department of Electrical and Computer Engineering Portugal The Dept. of Aeronautical and Automotive Engineering LUCAS Lab. Loughborough University United Kingdom

Robust and reliable place recognition and loop closure detection in agricultural environments is still an open problem. In particular, orchards are a difficult case study due to structural similarity across the entire field. In this work, we address the place recognition problem in orchards resorting to 3D LiDAR data, which is considered a key modality for robustness. Hence, we propose ORCHNet, a deep-learning-based approach that maps 3D-LiDAR scans to global descriptors. Specifically, this work proposes a new global feature aggregation approach, which fuses multiple aggregation methods into a robust global descriptor. ORCHNet is evaluated on real-world data collected in orchards, comprising data from the summer and autumn seasons. To assess the robustness, We compare ORCHNet with state-of-the-art aggregation approaches on data from the same season and across seasons. Moreover, we additionally evaluate the proposed approach as part of a localization framework, where ORCHNet is used as a loop closure detector. The empirical results indicate that, on the place recognition task, ORCHNet outperforms the remaining approaches, and is also more robust across seasons. As for the localization, the edge cases where the path goes through the trees are solved when integrating ORCHNet as a loop detector, showing the potential applicability of the proposed approach in this task. The code will be publicly available at:https://***/Cybonic/***. © 2023, CC BY.

关键词： Orchards

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Deep-Learning Based Classification of Engagement for Child-Robot Interaction

Deep-Learning Based Classification of Engagement for Child-R...

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IEEE International Conference on Autonomous Robot systems and Competitions (ICARSC)

作者： Gabriela Simões Ana Lopes Carlos Carona Ricardo Pereira Urbano J. Nunes Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal Polytechnic Institute of Tomar Portugal Center for Research in Neuropsychology and Cognitive and Behavioral Intervention University of Coimbra

This work aims to describe the research and development of an engagement classification system based on emotion recognition through the use of facial expressions, to be used in robotic applications for children interacting with a NAO humanoid robot during therapy sessions. An emotion classification model based on different Convolution Neural Networks (CNN) architectures was first fed by faces provided from different public datasets to train and validate the emotion classification models. Two engagement classification methodologies are proposed: Method-1 first classifies 7-classes of emotions, using the ConvNeXt network, and then infers the levels of engagement based on the affective model developed by [1]; Method-2 employs the same classification network to directly classify the four levels of engagement. The results obtained for both engagement classification methodologies using the CAFE dataset proved their effectiveness, however Method-1 performs slightly better in terms of engagement classification accuracy. A novel child-robot activity with a NAO humanoid robot, that consists in a breathing-based relaxation exercise, is also proposed and the results of offline classification system showed to be promising, and with potential to be applied in psychology therapies in the future.

关键词： Emotion recognition Convolution Neural networks Medical treatment Humanoid robots Psychology Human-robot interaction

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Self-Organized Sensor Eggs for Decentralized Localization and Sensing on Vulcano Island – A Glimpse into Future Space Exploration with Swarms

Self-Organized Sensor Eggs for Decentralized Localization an...

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International Conference on Information Fusion

作者： Fabio Broghammer Thomas Wiedemann Siwei Zhang Armin Dammann Christian Gentner Petar Djuric Institute of Communications and Navigation German Aerospace Center (DLR) Germany Perception for Intelligent Systems Munich Institute of Robotics and Machine Intelligence TU Munich Germany Department of Electrical and Computer Engineering Stony Brook University USA

ISBN: (数字)9781737749769

ISBN: (纸本)9798350371420

Robotic swarms or portable sensor networks are emerging technologies for sensing physical processes that are spatially distributed- and temporally dynamic, both on Earth and in future Moon/Mars exploration missions. We develop a portable network composed of a multitude of self-organized “sensor eggs”. These eggs are equipped with ultra-wideband (UWB) transceivers, providing precise time and position information without additional infrastructures like Global Navigation Satellite systems (GNSSs). Each egg is additionally equipped with environmental sensors, for example, a Sulfur dioxide gas sensor to explore volcanic activity. We use a real time decentralized particle filter (DPF) to estimate the a-posteriori probability density functions (PDFs) of the egg positions. These PDFs are then used in a static state binary Bayes filter for estimating the gas sources with potentially complex structures such as cracks on the volcano surface. The proposed sensor network is verified with an in-field experiment at La Fossa volcano on the island of Vulcano, Italy, in 2023.

关键词： Location awareness Volcanic activity Probability density function Robot sensing systems Particle filters Transceivers Sensors Timing Surface cracks Ultra wideband technology

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Time-Robust Path Planning with Piece-Wise Linear Trajectory for Signal Temporal Logic Specifications

Time-Robust Path Planning with Piece-Wise Linear Trajectory ...

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American Control Conference (ACC)

作者： Nhan-Khanh Le Erfaun Noorani Sandra Hirche John S. Baras Chair of Information-oriented Control (ITR) School of Computation Information and Technology Technical University of Munich Munich Germany Department of Electrical and Computer Engineering Institute for Systems Research (ISR) at the University of Maryland College Park MD USA

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

Real-world scenarios are characterized by timing uncertainties, e.g., delays, and disturbances. Algorithms with temporal robustness are crucial in guaranteeing the successful execution of tasks and missions in such scenarios. We study time-robust path planning for synthesizing robots' trajectories that adhere to spatial-temporal specifications expressed in Sig-nal Temporal Logic (STL). In contrast to prior approaches that rely on discretized trajectories with fixed time-steps, we leverage Piece-Wise Linear (PWL) signals for the synthesis. PWL signals represent a trajectory through a sequence of time-stamped waypoints. This allows us to encode the STL formula into a Mixed-Integer Linear Program (MILP) with fewer variables. This reduction is more pronounced for specifications with a long planning horizon. To that end, we define time-robustness for PWL signals. Subsequently, we propose quantitative semantics for PWL signals according to the recursive syntax of STL and prove their soundness. We then propose an encoding strategy to transform our semantics into a MILP. Our simulations showcase the soundness and the performance of our algorithm.

关键词： Uncertainty Semantics Transforms Syntactics Encoding Robustness Trajectory

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The Role of the Essential Manifold in Data Mining – An Introductory Approach 23rd

The Role of the Essential Manifold in Data Mining – An I...

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23rd International Conference on Computational Science and Its Applications, ICCSA 2023

作者： de Fátima Pina, Maria Andrade, Marina Alexandra ISCTE - IUL University Institute of Lisbon Av. das Forças Armadas Lisbon1649-026 Portugal ISLA - Santarém Superior Institute of Management and Administration of Santarém Rua Teixeira Guedes 31 Santarém2000-029 Portugal ISR - UC Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Rua Silvio Lima - Pólo II Coimbra3030-290 Portugal ISTAR - IUL Information Sciences and Technologies and Architecture Research Center University Institute of Lisbon Av. das Forças Armadas Lisbon1649-026 Portugal

ISBN: (纸本)9783031371288

Interpolating data and the application of data mining techniques in nonlinear manifolds plays a significant role in different areas of knowledge, ranging from computer vision and robotics, to industrial and medical requests, and these growing number of applications have sparked the research interest of the scientific community to these topics. The Generalized Essential manifold, briefly, Essential manifold, consisting of the product of the Grassmann manifold of all k-dimensional subspaces of Rn and the Lie group of rotations in Rn, for instance, plays an important role in the problem of recovering the structure and motion from a sequence of images, also known as stereo matching, which is a crucial problem in image processing and computer vision. A well-known recursive procedure to generate interpolating polynomial curves in Euclidean spaces is the classical De Casteljau algorithm, which is a simple and powerful tool widely used in the field of computer Aided Geometric Design, particularly because it is essentially geometrically based. This algorithm has been generalized to geodesically complete Riemannian manifolds. Thus, having this in mind, in this work we present all the ingredients for a detailed implementation of the generalized De Casteljau algorithm to generate geometric cubic polynomials in the Essential manifold preparing the ground to solve different real interpolation problems in this manifold. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Data mining

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Adaptive Fuzzy Generalized Predictive Control of pH in Tubular Photobioreactors on Microalgae Plant

Adaptive Fuzzy Generalized Predictive Control of pH in Tubul...

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On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Mafalda Amaro Jérôme Mendes Tiago Matias Rui Araújo Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Mechanical Engineering CEMMPRE ARISE University of Coimbra Coimbra Portugal Oncontrol Technologies Coimbra Portugal

Culture conditions in a photobioreactor on a microalgae plant are essential for production rates, and the pH value is one of the critical variables for a harmonizing process. However, the biological nature of microalgae growth represents a complex reaction that is arduous to model and control. This work proposes an approach of the application of adaptive identification and predictive control to regulate the pH in a photobioreactor in a microalgae production system. The proposed approach is composed of two main stages: identification and control. The identification is performed by a Takagi-Sugeno (T-S) fuzzy model, which will be learned with an offline strategy, by Fuzzy c-means, for the antecedent part, and by the Least Squares Method (LSM), for the consequent part. Then, the model is updated with an online method, the Recursive Least Squares with Adaptive Directional Forgetting (RLS-ADF) factor algorithm. The control scheme is based on a Generalized Predictive Control approach, which is a Model Predictive Controller (MPC), with the adaptive T-S fuzzy model designed in the identification stage. In this way, the model parameters from GPC are online adapted by RLS-ADF. To validate the control structure, the proposed approach was tested by using an estimated model from real data of a microalgae production process.

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Bifurcations and Application of the Vallis - Model 11

Bifurcations and Application of the Vallis - Model

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11th IEEE International Conference on Computational Cybernetics and Cyber-Medical systems, ICCC 2024

作者： Nagy, Balint Molnar, Gyorgy Joos, Antal Nagy, Eniko Institute of Computer Engineering University of Dunaújváros Department of Mathematics Dunaújváros Hungary Budapest Business University Faculty of Finance and Accountancy Department of Applied Quantitative Methods Budapest Hungary Institute of Electrophysics Óbuda University Kandó Kálmán Faculty of Electrical Engineering Department of Natural Sciences Budapest Hungary Óbuda University Kandó Kálmán Faculty of Electrical Engineering Budapest Hungary Széchenyi University János Csere Apáczai Faculty Győr Hungary Antal Bejczy Center for Intelligent Robotics Institute of Cyberphysical Systems Óbuda University John von Neumann Faculty Budapest Hungary

ISBN: (纸本)9798350350142

Investigating chaotic systems is a fertile field considering that chaos is an exotic chapter in the theory of differential equations, and it has useful applications in the theory of communications. In this work a well-known chaotic system is investigated from the bifurcation point of view and some applications are also introduced. The data studied are also visualized for better clarity. The results observed can be helpful in the encryption methods of the implementation of different communication channels. © 2024 IEEE.

关键词： Chaotic systems

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Privacy-preserving Biometric-driven Data for Student Identity Management: Challenges and Approaches 21

Privacy-preserving Biometric-driven Data for Student Identit...

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29th ACM Conference on User Modeling, Adaptation and Personalization, UMAP 2021

作者： Fidas, Christos Belk, Marios Portugal, David Pitsillides, Andreas University of Patras Department of Electrical and Computer Engineering Greece Cognitive Ux GmbH Germany University of Coimbra Institute of Systems and Robotics Portugal University of Cyprus Department of Computer Science Cyprus

ISBN: (纸本)9781450383677

Biometric technologies are being considered lately for student identity management in Higher Education Institutions, as they provide several advantages over the traditional knowledge-based and token-based authentication methods, i.e., biometrics provide high security entropies, convenience and a sense of technological modernity to the end-users. While biometric technologies have many benefits from both a security and usability point of view, still there is a need for innovative user identity management solutions that continuously identify and authenticate students during academic and teaching activities. In addition, biometrics entail several threats and weaknesses with regards to the privacy of data stored about the user, which negatively affect the user acceptance and the wider adoption of biometrics due to regulatory and legal issues. In this paper, we refer to our ongoing research on intelligent and continuous online student identity management for improving security and trust in European Higher Education Institutions. We further highlight based on the literature, existing challenges, threats and state-of-the-art approaches with regards to preserving the privacy of biometric-driven data. © 2021 Owner/Author.

关键词： Blockchain

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IMPS: Informative Map Point Selection for Visual-Inertial SLAM

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年第9期9卷 5595-5605页

作者： Changxiang Liu Hongshan Yu Qiang Fu Xieyuanli Chen Naveed Akhtar Zhi-Hong Mao College of Electrical and Information Engineering School of Robotics Quanzhou Institute of Industrial Design and Machine Intelligence Innovation Hunan University Changsha China National University of Defense Technology Changsha China School of Computing and Information Systems University of Melbourne Melbourne VIC Australia Department of Electrical and Computer Engineering University of Pittsburgh Pittsburgh PA USA

Visual-inertial SLAM (VINS) stands at the forefront of advancements in computer vision, robotics, and autonomous driving, revolutionizing the way we perceive and navigate the world. The typical approach in optimization-based methods for VINS is to estimate camera poses by minimizing the reprojection errors of all corresponding map points. However, not all map points are suitable for accurate pose estimation. Some map points introduce noise and can compromise the accuracy of the estimation. Current methods primarily focus on removing 2D noise points, which proves to be ineffective since triangulation can increase the uncertainty of map points. To address this problem, we propose a new method for Informative Map Point Selection (IMPS) in VINS systems. IMPS identifies the most informative map points by utilizing mutual and geometric information as the optimization target. We integrate IMPS into a VINS system and evaluate its performance using publicly available EuRoC, TUM and M2DGR datasets, as well as our own data. Experimental results demonstrate that our method surpasses existing VINS methods and achieves state-of-the-art pose estimation performance. Importantly, IMPS functions as an independent module with strong generalization capabilities, allowing for easy integration into other VINS systems and enhancing pose estimation performance. This integration not only elevates pose estimation accuracy but also holds great promise for advancing applications in intelligent driving and unmanned systems.

关键词： Simultaneous localization and mapping Optimization Cameras Pose estimation Robots Mutual information Intelligent vehicles

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Producing Lunar Steel and Oxygen using Molten Lunar Regolith Electrolysis

Producing Lunar Steel and Oxygen using Molten Lunar Regolith...

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Accelerating Space Commerce, Exploration, and New Discovery Conference, ASCEND 2023

作者： Patel, Palak B. Soto, Jose Adams, Zachary K. Koller, Scarlett Latyshev, Kir Boothe, Evan Cooper, Amber Fontanez, Jonatan Jalil, Laman Ma, Beverly Meza, Cesar Misquitta, Kristoff Na, Hyein Nguyen, Tom Pendley, Hezekiah Sangabattula, Lokesh Usey, Helena Zehner, Alice Allanore, Antoine Culpepper, Martin De Weck, Olivier Lordos, George Hoffman, Jeffrey Bergman, Dean Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Department of Aeronautics and Astronautics Massachusetts Institute of Technology Sloan School of Management CambridgeMA02139 United States Department of Chemical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Material Science and Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Honeybee Robotics Exploration Systems AltadenaCA91001 United States

ISBN: (纸本)9781624107054

With the current Artemis missions planned, by 2028, NASA and its international and commercial partners may be establishing a permanent presence at the lunar South pole. The Artemis Base Camp will be the locus of international and public-private collaboration under the Artemis Accords, helping to bootstrap a lunar economy. As the lunar economy grows, traffic of people and goods will grow with it. Thus, we envision that NASA and its international and commercial partners will have increasing long-term needs for producing metal from in situ resources such as lunar regolith. These metals can be used to produce many end products on the moon including large pressure vessels, both for spacious habitats and industrial-scale storage and operations. In this paper, as a part of the NASA 2023 BIG Idea Challenge ‘Lunar Forge: Producing Metal Products on the Moon’, we design and manufacture a molten regolith electrolysis (MRE) reactor capable of producing various alloys of steel and other metal products from lunar regolith, with oxygen as a useful byproduct. We have built ARTEMIS Steelworks (Advancing Reactor Technologies for Electrolytic Manufacturing of In situ Steel), which consists of an electrolytic reactor, supporting the addition of alloying elements to produce molten steel from lunar regolith simulant. To prepare for a lunar technology demonstration, a preliminary test of the reaction on Earth was performed in a vacuum, a sonicator was tested to dislodge oxygen bubbles from the anode to increase electrode life, and an automated iron and slag collector was made to reduce the need for astronaut operation. The project’s technical objectives are to demonstrate steel-making capability while also quantifying energy efficiency, steel quality, and the expected useful life of the electrodes and vessel under different configurations relative to the state of the art. The comprehensive testing plan presented here includes functional subsystem and integrated testing in ambient conditio

关键词： Electrolysis

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