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2008 Mediterranean Conference on Control Automation, vol.4

作者： Pedro Serra Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute of Systems and Robotics Instituto Superior Technico Lisboa Portugal

This paper describes a solution to the problem of landing a helicopter autonomously. The methodology used poses the problem as a discrete time path following control problem where a conveniently defined error state space model of the helicopter is modified to include the aerodynamic effects of flying within close proximity to the ground. An affine parameter-dependent model representation is adopted that describes the helicopter linearized error dynamics for the predefined landing operating region. A state feedback H{sub}2 control problem for affine parameter-dependent systems is posed and solved using Linear Matrix Inequalities (LMIs). The resulting nonlinear controller is implemented using the D-methodology and dynamic weights to enforce bandwidth constraints on the actuators. The effectiveness of the proposed controller with and without dynamic weights on the actuation is assessed in simulation using the full nonlinear dynamic model of a small-scale helicopter.

关键词： Automation Conferences

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Output-feedback control for almost global stabilization of fully-actuated rigid bodies

Output-feedback control for almost global stabilization of f...

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IEEE Conference on Decision and Control

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

ISBN: (纸本)9781424431236

This paper addresses the problem of stabilizing a fully-actuated rigid body. The problem is formulated considering the natural space for rigid body configurations, the Special Euclidean group SE(3). The proposed solution consists of an output-feedback controller for force and torque actuation that guarantees almost global asymptotic stability of the desired equilibrium point. As such the equilibrium point is a stable attractor for all initial conditions except for those in a nowhere dense set of measure zero. As an additional feature, the controller is required to verify prescribed bounds on the actuation.

关键词： Control systems Force control Geometry Asymptotic stability US department of Transportation Torque control State-space methods Quaternions Adaptive control Robot kinematics

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A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame *

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IFAC Proceedings Volumes 2008年第1期41卷 172-177页

作者： J.F. Vasconcelos G. Elkaim C. Silvestre P. Oliveira B. Cardeira Institute for Systems and Robotics (ISR) Instituto Superior Técnico Lisbon Portugal. Tel:351-21-8418054 Fax:351-21-8418291 Department of Computer Engineering University of California SantaCruz 1156 High St. SantaCruz CA 95064

In this work a new algorithm is derived for the onboard calibration of three-axis strapdown magnetometers. The proposed calibration method is written in the sensor frame, and compensates for the combined effect of all linear time-invariant distortions, namely soft iron, hard iron, sensor non-orthogonality, bias, among others. A Maximum Likelihood Estimator (MLE) is formulated to iteratively find the optimal calibration parameters that best fit to the onboard sensor readings, without requiring external attitude references. It is shown that the proposed calibration technique is equivalent to the estimation of an ellipsoidal surface, and that the sensor alignment matrix is given by the solution of the orthogonal Procrustes problem. Good initial conditions for the iterative algorithm are obtained by a suboptimal batch least squares computation. Simulation and experimental results with low-cost sensors data are presented, supporting the application of the algorithm to autonomous vehicles and other robotic platforms.

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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Switched Thermal Anemometer

Switched Thermal Anemometer

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2008 IEEE Instrumentation and Measurement Technology Conference (I2MTC 2008), vol.5

作者： Lino Marques Grzegorz Tomaszewski Anibal T. de Almeida Institute for Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

A new experimental circuit arrangement for a thermal anemometer using a microcontroller as a control unit is described. The device uses a boost-configured self-heated thermistor as a flow detection sensor. Two different operating modes are presented: a sigma-delta constant temperature operating mode and a transient-temperature based operating mode. Both modes are compared and experimental results showing the performance in both cases are presented.

关键词： Anemometers air flow measurement thermal sigma-delta robot sensors

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Audio-Visual Speech Processing Framework for Lip Reading

Audio-Visual Speech Processing Framework for Lip Reading

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks systems engineering and theory Communications technology computer science

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Vehicle communications: A short survey

Vehicle communications: A short survey

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2007 IADIS International Conference on Telecommunications, Networks and systems, TNS 2007, part of the 1st IADIS Multi Conference on computer Science and Information systems, MCCSIS 2007

作者： Fernandes, Pedro Nunes, Urbano ISR - Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Polo II Coimbra Portugal

ISBN: (纸本)9789728924409

Inter-vehicle communications (IVC) consists in a real application of vehicular ad-hoc networks (VANET) and is part of Intelligent Transportation systems (ITS). An overview of IVC is presented. To guarantee IVC effectiveness, attention must be paid to one of the most important component of the system: the driver and the way he/her receives crucial information. A brief summary of the communication issues is presented. © MCCSIS 2007 .All right reserved.

关键词： Automobile drivers

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A Drowsiness and Point of Attention Monitoring System for Driver Vigilance

A Drowsiness and Point of Attention Monitoring System for Dr...

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International Conference on Intelligent Transportation

作者： Jorge Batista ISR-Institute of Systems and Robotics Department of Electrical Engineering and Computers FCTUC University of Coimbra Coimbra Portugal

This paper presents a framework that combines a robust facial features location with an elliptical face modelling to measure driver's vigilance level. The proposed solution deals with the computation of eyelid movement parameters and head (face) point of attention. The most important facial feature points are automatically detected using a statistically anthropometric face model. After observing the structural symmetry of the human face and performing some anthropometric measurements, the system is able to build a model that can be used in isolating the most important facial feature areas: mouth, eyes and eyebrows. Combination of different image processing techniques are applied within the selected regions for detecting the most important facial feature points. A model based approach is used to estimate the 3D orientation of the human face. The shape of the face is modelled as an ellipse assuming that the human face aspect ratio (ratio of the major to minor axes of the 3D face ellipse) is known. The elliptical fitting of the face at the image level is constrained by the location of the eyes which considerable increase the performance of the system. The system is fully automatic and classifies rotation in all-view direction, detects eye blinking and eye closure and recovers the principal facial features points over a wide range of human head rotations. Experimental results using real images sequences demonstrates the accuracy and robustness of the proposed solution.

关键词： Monitoring Face detection Facial features Humans Robustness Head Eyes Eyelids Performance evaluation Area measurement

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Retrieving and Exploiting Hand's Orientation in Tabletop Interaction

Retrieving and Exploiting Hand's Orientation in Tabletop Int...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Joao Carreira Paulo Peixoto Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

Large displays and hand gestures can be combined to augment the traditional desktop paradigm, allowing for multiple co-located users to interact simultaneously with a single computer, and therefore to engage in computer mediated collaboration activities. Here we introduce a novel technique for recovering the rotation of the hands, adapting a previously developed vision-based interface which we use to extract the users' bare hands from a video stream, taken over a tabletop display. Unlike previous tabletop input devices, ours is focused on capturing holistic hand cues. We argue that these cues, namely the posture and the rotation of the hand, can be an important complement to the fingertips' positions used in most systems of this kind, because we consider they can make the experience more natural and simple for the users. We also present a new interaction technique using these capabilities.

关键词： Mice Hardware computer displays Application software computer vision Shape Collaborative software Collaborative work Space technology Robots

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