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New design techniques for globally convergent simultaneous localization and mapping: Analysis and implementation

Workshop on Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles, 2017

作者： Lourenço, Pedro Guerreiro, Bruno Batista, Pedro Oliveira, Paulo Silvestre, Carlos Laboratory for Robotics and Engineering Systems Institute for Systems and Robotics Lisbon Portugal Department of Electrical and Computer Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9783319553719

This chapter presents an overview of algorithms deeply rooted in a sensor-based approach to the SLAM problem that provide global convergence guarantees and allow for the use of partially observable landmarks. The presented algorithms address the more usual range-and-bearing SLAM problem, either in 2-D using a LiDAR or in 3-D using an RGB-D camera, as well as the range-only and bearing-only SLAM problems. For each of these formulations a nonlinear system is designed, for which state and output transformations are considered together with augmented dynamics, in such a way that the underlying system structure can be regarded as linear time-varying for observability analysis and filter design purposes. This naturally allows for the design of Kalman filters with, at least, globally asymptotically stable error dynamics, for which several experimental and simulated trials are presented to highlight the performance and consistency of the obtained filters. © Springer International Publishing AG 2017.

关键词： Kalman filters

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time-delay neural networks for control

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IFAC Proceedings Volumes 1994年第14期27卷 967-972页

作者： M. Kaiser University of Karlsruhe Department of Computer Science Institute for Real-Time Computer Systems & Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann D-76128 Karlsruhe Germany

This paper presents results regarding the Application of time-Delay Neural Networks (TDNNs), up to now mainly used in speech recognition, for control tasks. A set of examples taken from a model-based robot controller is used to validate the suitability of the TDNN and to show its superiority to standard multilayer perceptrons. Afterwards, a new algorithm is presented that shows how the inherent capability of the TDNN to deal with time-variant signals can be employed to directly generate a TDNN from a PID control law. This synthesized neural controller is operational from the very beginning and can be tuned on-line using existing learning techniques. The advantages of this design procedure are shown for a simple control task.

关键词： Neural nets control system design control system synthesis adaptive control knowledge engineering

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A Sentiment Analysis Study of Twitter Users' Reactions to the COVID-19 Vaccine 14

A Sentiment Analysis Study of Twitter Users' Reactions to th...

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14th International Conference on Information and Communication systems, ICICS 2023

作者： Alkhushayni, Suboh Alomari, Zakaria Al-Zaleq, Du'a Yarmouk University Faculty of Information Technology and Computer Science Dept. Information Systems Irbid Jordan New York Institute of Technology Dept. Computer Science VancouverBC Canada Al-Ahliyya Amman University Dept. Robotics and Artificial Intelligence Engineering Amman Jordan

ISBN: (纸本)9798350307870

This study investigates public attitudes towards the COVID-19 vaccine through Twitter data analysis. Using the Twitter API, tweets were collected, preprocessed, and labeled. Features were extracted using the Bag of Words representation, and sentiment analysis was conducted using Text Blob and Vader. Machine learning and deep learning models were trained and tested, revealing that deep learning models achieved the highest accuracy and F1 score. The research underscores the efficacy of machine learning and deep learning in analyzing COVID-19 vaccine-related tweets, shedding light on factors influencing vaccine resistance. These insights are crucial for pharmaceutical companies and public health officials, enabling them to address barriers to vaccine acceptance and enhance the societal benefits of widespread vaccination, contributing to the pandemic's resolution. © 2023 IEEE.

关键词： COVID-19

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Multi-stage Objective Function Optimized Hand-Eye Self-calibration of Robot in Autonomous Environment 1

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17th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2022

作者： Liu, Kaibo Zheng, Wangli Min, Huasong Lin, Yunhan School of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan430065 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Hubei Wuhan430065 China State Grid Electric Power Research Institute Jiangsu Nanjing211106 China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Hubei Wuhan430081 China

ISBN: (数字)9789819915491

ISBN: (纸本)9789819915484

In the application scenario of robot autonomous tasks, the robot needs to be able to complete calibration online and automatically to achieve self-maintenance, which differs from traditional robot hand-eye calibration in that the traditional robot hand-eye calibration requires a dedicated calibration board to assist offline completion. Aiming at the problem that the existing self-calibration methods cannot be optimized as a whole, which leads to low accuracy and instability of the solution, a multi-stage objective function optimization self-calibration algorithm is proposed, which describes the solution of hand-eye self-calibration as a minimization objective function problem involving multiple stages. An optimization method based on the minimization of re-projection error is designed to compensate for the results, which uses an efficient Oriented fast and rotated brief (ORB) feature extraction algorithm and introduces a scoring mechanism to retain more correct matching points in the feature matching stage. Two different types of experiments were designed to validate our method. One is a single camera dataset experiment, which shows that our method is more accurate and robust than the existing self-calibration method;the other is an application platform experiment, which verifies the feasibility and availability of our method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Calibration

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Cost-Effective Network Packet Manipulation and Error-Detection Device

Cost-Effective Network Packet Manipulation and Error-Detecti...

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Consumer Communications and Networking Conference, CCNC IEEE

作者： Alexander F. K. Janus Steffen Moser Frank Slomka Faculty of Engineering Computer Science and Psychology Institute of Embedded System/Real-Time Systems School of Advanced Professional Studies Ulm University Ulm Germany

real-time multimedia communication applications like video conferencing and screen sharing tools are an integral part of our daily communications. These time-critical services are handled via the Internet, a packet-switched and essentially best-effort network, not explicitly designed for robust real-time communication. From a video conferencing service provider's perspective, network issues cause a lot of user complaints due to various reasons: lossy WLAN channels, poorly configured home routers, or crowded carrier-grade network address translation devices. All of these issues have in common that they are often time-variant and non-deterministic. Furthermore, the end-to-end transmission in these highly inhomogeneous networks often suffers from a mixture of more than one error source. To enable a detailed and impartial analysis of multimedia service quality, it is necessary to analyze packets in defective online scenarios and introduce a broadly similar error pattern in an otherwise stable lab network. In this paper, we present SEDER, a hardware-software design of a layer two transparent Ethernet bridge that can be used for two purposes: error detection and error recreation. Implemented on low-cost hardware, the bridge can be easily deployed anywhere to allow debugging, even at a user's site. It is possible to parameterize our bridge to imitate almost all possible network effects, including complex combinations of more than one effect. In addition, we present two case studies, firstly emphasizing the capabilities of SEDER and secondly showing the need to use SEDER to harden open source Video Conferencing Tools against errors.

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Model-based performance engineering of General Motors’ vehicle supply chain

Model-based performance engineering of General Motors’ vehi...

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IEEE International Conference on systems, Man and Cybernetics

作者： Armin Zimmermann Michael Knoke Shang-Tae Yee Jeffrey D. Tew Faculty of Electrical Engineering and Computer Science Real-Time Systems and Robotics Group Technische Universität Berlin Barlin Germany GM Research and Development Center Warren MI USA

We present results of a collaboration project, during which parts of General Motors' north American vehicle supply chain have been modeled and evaluated. A variant of colored stochastic Petri nets has been developed for this task, and support for model creation and performance evaluation was implemented in our tool timeNET. Variations of the model and their stepwise evaluation lead to suggestions about how the supply chain can be reorganized in order to improve the time between customer order and vehicle delivery (order-to-delivery time).

关键词： Automotive engineering Vehicles Supply chains Logistics Petri nets Stochastic processes Research and development Delay Resource management Performance analysis

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GAS Decentralized Navigation Filters in a Continuous-Discrete Fixed Topology Framework

GAS Decentralized Navigation Filters in a Continuous-Discret...

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Mediterranean Conference on Control & Automation

作者： Daniel Viegas Pedro Batista Paulo Oliveira Carlos Silvestre Institute for Systems and Robotics Instituto Superior Tecnico Institute for Systems and Robotics and the Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau

ISBN: (纸本)9781479909964

This paper addresses the problem of state estimation in formations of autonomous vehicles. The approach considered here consists in the implementation of a local state observer in each vehicle relying only on locally available measurements and data communicated by neighboring agents, resulting in a decentralized state observer which features lower computational and communication loads than comparable centralized solutions. A method for computing observer gains which yield globally asymptotically stable error dynamics is presented for fixed topology formations, as well as an iterative algorithm for improving the decentralized estimator's performance when the measurements are corrupted by noise. The proposed framework is particularized to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and a continuous-discrete formulation is achieved for the local state observers, to take into account the difference in sampling rates between on-board instrumentation and positioning systems. To assess the performance of the solution, simulation results are presented and discussed for different formation topologies.

关键词： Observers Vehicles Position measurement Vehicle dynamics Noise measurement Topology Estimation error

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CARL: Camera-Agnostic Representation Learning for Spectral Image Analysis

arXiv

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arXiv 2025年

作者： Baumann, Alexander Ayala, Leonardo Seidlitz, Silvia Sellner, Jan Studier-Fischer, Alexander Özdemir, Berkin Maier-Hein, Lena Ilic, Slobodan Siemens AG Munich Germany Heidelberg Germany Medical Faculty Faculty of Mathematics and Computer Science Heidelberg University Germany NCT Heidelberg Germany HIDSS4Health Heidelberg Germany Department of Urology and Urosurgery University Medical Center Mannheim Germany Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Germany Division of Intelligent Systems and Robotics in Urology DKFZ Heidelberg Germany DKFZ Hector Cancer Institute University Medical Center Mannheim Germany

Spectral imaging offers promising applications across diverse domains, including medicine and urban scene understanding, and is already established as a critical modality in remote sensing. However, variability in channel dimensionality and captured wavelengths among spectral cameras impede the development of AI-driven methodologies, leading to camera-specific models with limited generalizability and inadequate cross-camera applicability. To address this bottleneck, we introduce CARL, a model for Camera-Agnostic Representation Learning across RGB, multispectral, and hyperspectral imaging modalities. To enable the conversion of a spectral image with any channel dimensionality to a camera-agnostic embedding, we introduce wavelength positional encoding and a self-attention-cross-attention mechanism to compress spectral information into learned query representations. Spectral-spatial pre-training is achieved with a novel spectral self-supervised JEPA-inspired strategy tailored to CARL. Large-scale experiments across the domains of medical imaging, autonomous driving, and satellite imaging demonstrate our model’s unique robustness to spectral heterogeneity, outperforming on datasets with simulated and real-world cross-camera spectral variations. The scalability and versatility of the proposed approach position our model as a backbone for future spectral foundation models. © 2025, CC BY.

关键词： Image coding

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Requirements for a real-time Image Processing Language 1

引用

IFAC Proceedings Volumes 1994年第6期27卷 175-180页

作者： P. Laplante T. Marlowe A. Stoyenko Department of Mathematics and Computer Science Fairleigh Dickinson University Madison NJ 07940 USA research faculty of the Real- Time Computing Laboratory (CIS NJIT) Department of Mathematics and Computer Science Seton Hall University South Orange NJ 07079 USA Real-Time Computing Laboratory Department of Computer and Information Science New Jersey Institute of Technology Newark NJ 07102 USA

In this paper we discuss issues in real-time image processing, including applications, approaches, and hardware. In particular, we discuss the failure of existing programming languages to support these considerations,... 详细信息

关键词： real-time image processing programming languages virtual reality multimedia

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Robot assistant for dental implantology 4th

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4th International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2001

作者： Boesecke, R. Brief, J. Raczkowsky, J. Schorr, O. Daueber, S. Krempien, R. Treiber, M. Wetter, T. Hassfeld, S. TaMed GmbH Hufschmiedstr. ¼ WieslochD-69168 Germany Department of Oral and Maxillofacial Surgery University Hospital Heidelberg Germany Department of Radiology University Hospital Heidelberg Germany Institute of Real-Time Computer Systems and Robotics University of Karlsruhe Germany Department of Medical Informatics University Hospital Heidelberg Germany

ISBN: (纸本)3540426973

We introduce a method to apply a preoperative 3D plan for inserting dental implants with an assisting medical robot. The treatment plan is based on the 3D visualization of the CT data of the patient.s maxilla and mandible, and supplies the location of the implants in the patient.s coordinates. The plan is then transferred to the surgical robot.s coordinate system. The robot guides the tool, a drill guide. Position, orientation, and depth of the initial drilling is defined with the tool held by the robot while the surgeon drills. The robot assists the dentist, and the optimal treatment plan will be applied directly to the patient. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Drills

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