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Iberian robotics Conference (ROBOT)

作者： Daniele Caldana Artur Cordeiro João Pedro Souza Ricardo B. Sousa Paulo M. Rebelo António Joaquim Silva Manuel F. Silva CRIIS - Centre for Robotics in Industry and Intelligent Systems INESC TEC - Institute for Systems and Computer Engineering Technology and Science Portugal Faculty of Engineering University of Porto (FEUP) Portugal School of Science and Technology University of Trás-os-Montes e Alto Douro (UTAD) Portugal Seúibal Industrial Complex The Navigator Company Portugal ISEP Polytechnic of Porto Portugal

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The high level of precision and consistency required for pallet detection in industrial environments and logistics tasks is a critical challenge that has been the subject of extensive research. This paper proposes a system for detecting pallets and its pockets using the You Only Look Once (YOLO) v8 Open Neural Network Exchange (ONNX) model, followed by the segmentation of the pallet surface. On the basis of the system a pipeline built on the ROS Action Server whose structure promotes modularity and ease of implementation of heuristics. Additionally, is presented a comparison between the YOLOv5 and YOLOv8 models in the detection task, trained with a customised dataset from a factory environment. The results demonstrate that the pipeline can consistently perform pallet and pocket detection, even when tested in the laboratory and with successive 3D pallet segmentation. When comparing the models, YOLOv8 achieved higher average metric values, with YOLOv8m providing better detection performance in the laboratory setting.

关键词： YOLO Measurement Three-dimensional displays Pipelines Neural networks Production facilities Servers Pallets Robots Logistics

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Automated Controller Placement for Software-Defined Networks to Resist DDoS Attacks

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computers, Materials & Continua 2021年第9期68卷 3147-3165页

作者： Muhammad Reazul Haque Saw Chin Tan Zulfadzli Yusoff Kashif Nisar Lee Ching Kwang Rizaludin Kaspin Bhawani Shankar Chowdhry Rajkumar Buyya Satya Prasad Majumder Manoj Gupta Shuaib Memon Faculty of Computing&Informatics Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Engineering Multimedia UniversityPersiaran MultimediaCyberjaya63100SelangorMalaysia Faculty of Computing and Informatics University Malaysia SabahJalan UMSKota Kinabalu Sabah88400Malaysia Telekom Malaysia Research&Development TM Innovation CentreCyberjaya63000SelangorMalaysia National Center of Robotics and Automation Mehran University of Engineering&TechnologyJamshoroPakistan Department of Computer Science and Engineering Hanyang UniversitySeoul04763South Korea School of Electrical and Electronic Engineering Nanyang Technological University639798Singapore Cloud Computing and Distributed Systems Laboratory The University of MelbourneMelbourneVIC 3053Australia Department of Electrical and Electronic Engineering Bangladesh University of Engineering and Technology(BUET)Dhaka1205Bangladesh Department of Electronics and Communication Engineering JECRC UniversityVidhaniJaipur303905India Auckland Institute of Studies Mt AlbertAucklandNew Zealand

In software-defined networks(SDNs),controller placement is a critical factor in the design and planning for the future Internet of Things(IoT),telecommunication,and satellite communication *** research has concentrated largely on factors such as reliability,latency,controller capacity,propagation delay,and energy ***,SDNs are vulnerable to distributed denial of service(DDoS)attacks that interfere with legitimate use of the *** ever-increasing frequency of DDoS attacks has made it necessary to consider them in network design,especially in critical applications such as military,health care,and financial services networks requiring high *** propose a mathematical model for planning the deployment of SDN smart backup controllers(SBCs)to preserve service in the presence of DDoS *** a number of input parameters,our model has two distinct ***,it determines the optimal number of primary controllers to place at specific locations or nodes under normal operating ***,it recommends an optimal number of smart backup controllers for use with different levels of DDoS *** goal of the model is to improve resistance to DDoS attacks while optimizing the overall cost based on the *** simulated results demonstrate that the model is useful in planning for SDN reliability in the presence of DDoS attacks while managing the overall cost.

关键词： SDN automated controller placement SBC ILP DDoS attack

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MRR quantum dense coding for optical wireless communication system using decimal convertor

MRR quantum dense coding for optical wireless communication ...

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International Conference on computer and Communication Engineering, ICCCE

作者： A. Nikoukar I. S. Amiri A. Shahidinejad A. A. Shojaei J. Ali P. P. Yupapin Faculty of Computer Science & Information Systems (FCSIS) Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Institute of Advanced Photonics Science Nanotechnology Research Alliance Universiti Teknologi Malaysia (UTM) Johor Bahru Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia (UTM) Kuala Lumpur Malaysia Advanced Research Center for Photonics Faculty of Science King Mongkut's Institute of Technology Ladkrabang Thailand

In this study, simply two systems consist of series of microring resonators (MRRs) and a add/drop filter are used to generate a large bandwidth signal as localized multi wavelength, applicable for quantum dense coding (QDC) and continuous variable encoding generation using incorporated system. This technique uses the Kerr nonlinear type of light in the MRR to generate multi wavelength for desired application especially in internet security and quantum network cryptography. Quantum dense encoding can be perform by output signals of selected wavelengths which are incorporated to a polarization control system in which dark and bright optical soliton pulses with different time slot are generated. Generated dark and bright optical pulses can be converted into digital logic quantum codes using a decimal convertor system in which transmission of secured information are perform via a wireless network communication system. Results show that multi soliton wavelength, ranged from 1.55μm to 1.56μm with FWHM and FSR of 10 pm and 600 pm can be generated respectively.

关键词： Optical filters Optical solitons Optical ring resonators Nonlinear optics Optical pulses Optical refraction

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Constructive barrier feedback for collision avoidance in leader-follower formation control

arXiv

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arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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A Kernel Principal Component Regressor for LPV System Identification ⁎

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IFAC-PapersOnLine 2019年第28期52卷 7-12页

作者： Paulo Lopes dos Santos T-P Azevedo Perdicoúlis INESC TEC - Institute for Systems and Computer Engineering Technology and Science and FEUP - Faculty of Engineering University of Porto Rua Dr Roberto Frias s/n 4200-464 Porto Portugal Universidade de Trás-os-Montes e Alto Douro Vila Real and Instituto de Sistemas e Robótica (ISR) Coimbra both in Portugal

This article describes a Kernel Principal Component Regressor (KPCR) to identify Auto Regressive eXogenous (ARX) Linear Parmeter Varying (LPV) models. The new method differs from the Least Squares Support Vector Machines (LS-SVM) algorithm in the regularisa-tion of the Least Squares (LS) problem, since the KPCR only keeps the principal components of the Gram matrix while LS-SVM performs the inversion of the same matrix after adding a regularisation factor. Also, in this new approach, the LS problem is formulated in the primal space but it ends up being solved in the dual space overcoming the fact that the regressors are unknown. The method is assessed and compared to the LS-SVM approach through 2 Monte Carlo (MC) experiments. Every experiment consists of 100 runs of a simulated example, and a different noise level is used in each experiment, with Signal to Noise Ratios of 20db and 10db, respectively. The obtained results are twofold, first the performance of the new method is comparable to the LS-SVM, for both noise levels, although the required calculations are much faster for the KPCR. Second, this new method reduces the dimension of the primal space and may convey a way of knowing the number of basis functions required in the Kernel. Furthermore, having a structure very similar to LS-SVM makes it possible to use this method in other types of models, e.g. the LPV state-space model identification.

关键词： System Identification LPV systems Arx Kernel Kernel Regression Least squares Principal Components Least Squares Support Vector Machines

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A Non-Parametric LPV Approach to the Indentification of Linear Periodic systems ⁎

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IFAC-PapersOnLine 2021年第8期54卷 13-19页

A non-parametric identification algorithm is proposed to identify Linear time Periodic (LTP) systems. The period is unknown and can be any real positive number. The system is modelled as an ARX Linear Parameter Varying (LPV) system with a virtual scheduling signal consisting of two orthogonal sinusoids (a sine and a cosine) with a period equal to the system period. Hence, the system parameters are polynomial functions of the scheduling vector. As these polynomials may have infinite degree, a non-parametric model is adopted to describe the LPV system. This model is identified by a Gaussian Process Regression (GPR) algorithm where the system period is a hyperparameter. The performance of the proposed identification algorithm is illustrated through the identification of a simulated LTP continuous system described by a state-space model. The ARX-LTP discrete-time model estimated in the noiseless case was taken as the true model.

关键词： System Identification LTP systems LPV systems Arx Gaussian Process Regression Kernel

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Multifractal analysis of blood oxygen level dependent functional magnetic resonance imaging

Multifractal analysis of blood oxygen level dependent functi...

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IEEE International Symposium on Signal Processing and Information Technology (ISSPIT)

作者： Catarina Runa Miranda Filipe Soares Inês Sousa Filipe Janela Mário Forjaz Secca Physics Department Faculty of Sciences and Technology New University of Lisbon Portugal Instituto de Telecomunicações Department of Computer Science University of Beira Interior Portugal Institute for Systems and Robotics Department of Bioengineering Instituto Superior Técnico Portugal Siemens S.A. Healthcare Sector Portugal

The aim of this work is to propose a multifractal analysis method for Multifractal Detrended Fluctuation analysis (MF-DFA) of Blood Oxygen Level Dependent (BOLD) functional Magnetic Resonance Imaging (fMRI). The fMRI signals exhibit a 1/f power spectrum, hence their structure has self-similarity and long memory, being usually successfully analyzed by different fractal analysis methods without a previous knowledge of haemodynamic models. Therefore, to validate activation detection using the MF-DFA method, a comparison study between images obtained using General Linear Model (GLM) and Independent Component Analysis (ICA) was conducted and evaluated by discrimination power, applying Receiver Operating Characteristic (ROC) analysis to the results.

关键词： Transforms Power measurement

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Accurate, interpretable, and fast animation: An iterative, sparse, and nonconvex approach

arXiv

引用

arXiv 2021年

作者： Racković, Stevo Soares, Cláudia Jakovetić, Dušan Desnica, Zoranka Institute for Systems and Robotics Instituto Superior Técnico Lisbon1049-001 Portugal Computer Science Department NOVA School of Science and Technology Caparica2825-149 Portugal Department of Mathematics Faculty of Sciences University of Novi Sad Novi Sad21000 Serbia 3Lateral Animation Studio Epic Games Company

Digital human animation relies on high-quality 3D models of the human face-rigs. A face rig must be accurate and, at the same time, fast to compute. One of the most common rigging models is the blendshape model. We propose a novel algorithm for solving the nonconvex inverse rig problem in facial animation. Our approach is model-based, but in contrast with previous model-based approaches, we use a quadratic instead of the linear approximation to the higher order rig model. This increases the accuracy of the solution by 8% (0:26mm) on average and, confirmed by the empirical results, increases the sparsity of the resulting parameter vector-an important feature for interpretability by animation artists. The proposed solution is based on a Levenberg-Marquardt (LM) algorithm, applied to a nonconvex constrained problem with sparsity regularization. In order to reduce the complexity of the iterates, a paradigm of Majorization Minimization (MM) is further invoked, which leads to an easy to solve problem that is separable in the parameters at each algorithm iteration. The algorithm is evaluated on a number of animation datasets, proprietary and open-source, and the results indicate the superiority of our method compared to the standard approach based on the linear rig approximation. Although our algorithm targets the specific problem, it might have additional signal processing applications. © 2021, CC BY-NC-SA.

关键词： Animation

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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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Constructive Barrier Feedback for Collision Avoidance in Leader-Follower Formation Control

Constructive Barrier Feedback for Collision Avoidance in Lea...

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IEEE Conference on Decision and Control

作者： Zhiqi Tang Rita Cunha Tarek Hamel Carlos Silvestre Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal I3S-CNRS Université Côte d'Azur and Institut Universitaire de France France Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

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