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检索条件"机构=Institute for Systems and Robotics ISR and Department Electrical Engineering and Computers"

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Robot-Assisted Navigation for a Robotic Walker with Aided User Intent

Robot-Assisted Navigation for a Robotic Walker with Aided Us...

引用

IEEE International Symposium on Robot and Human Interactive Communication

作者： Luis Garrote Joao Paulo Joao Perdiz Paulo Peixoto Urbano J. Nunes Institute of Systems and Robotics (ISR-UC) Electrical and Computer Engineering Department (DEEC-UC) University of Coimbra

ISBN: (纸本)9781538679814

This paper presents an approach to robot-assisted navigation on a mobility assistance context, by learning from the user while helping him navigate efficiently and safely in complex environments. Assistive robots such as robotic walkers provide the ability to support a user's body weight on the upper limbs while walking. However, walkers can add an extra layer of distress due to their specific manipulation constraints. For the users of such devices, lack of dexterous upper limb control can be a considerable problem as it means they may be unable to operate these devices efficiently;users may also have visual impairments that reduce their navigational efficiency. The proposed approach uses a Reinforcement Learning (RL) model and a dynamic window-based local motion planning algorithm. It aims to learn needed corrections in the motion command based on the surrounding environment and the user's intent. The proposed solution handles corrections and guides the user through the environment without collisions while learning and aiding the user when he is unable to operate the device efficiently. The RL based approach was tested in indoor scenarios with a robotic walker platform showing preliminary promising results.

关键词： Consumers Walkers Learning Upper Extremity Visual Impairment ambient environment navigation Pedestrians Distress Stressing Environments

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Wheels for staircases 12th

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12th Portuguese Conference on Automatic Control, CONTROLO 2016

作者： Leite, Fátima Silva Batista, Jorge Krakowski, Krzysztof Carvalho, André Cruz, Tiago Domingues, Eduardo Lizardo, André Saraiva, Gonçalo Institute of Systems and Robotics University of Coimbra Coimbra3030-290 Portugal Department of Mathematics University of Coimbra Coimbra3001-501 Portugal Department of Electrical Engineering and Computers University of Coimbra Coimbra3030-290 Portugal Wydzial Matematyczno-Przyrodniczy Uniwersytet Kardynala Stefana Wyszyńskiego ul. Dewajtis 5 Warsaw01-815 Poland Department of Informatics Engineering University of Coimbra Coimbra3030-290 Portugal Department of Electrical Engineering and Computers University of Lisbon Lisboa1049-001 Portugal

ISBN: (纸本)9783319436708

Our objective is to design innovative robot wheels capable of rolling on staircases, without sliding and without bouncing. This is the first step to reach the ultimate goal of building wheelchairs capable to overcome the obstacles imposed by staircases on people with limited mobility. We show that, given a staircase with equal steps, there is an infinite number of wheels that roll over it, with the constraints of no-sliding and no-bouncing. Some of these wheels appear to be very interesting for real applications. We also present an algorithm for the construction of a wheel, which depends only on the measures of the tread (the part of the staircase that is stepped on) and the riser (the vertical portion between each tread) of the step. © Springer International Publishing Switzerland 2017.

关键词： Wheels

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Discrete-time distributed Kalman filter design for multi-vehicle systems

Discrete-time distributed Kalman filter design for multi-veh...

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American Control Conference

作者： Daniel Viegas Pedro Batista Paulo Oliveira Carlos Silvestre Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau China Institute for Systems and Robotics (ISR) Instituto Superior Tecnico Universidade de Lisboa Portugal ISR and IDMEC Instituto Superior Tecnico Universidade de Lisboa Portugal

ISBN: (纸本)9781509045839

This paper addresses the problem of distributed state estimation in a multi-vehicle framework. In the scenario envisioned in this work, each vehicle aims to estimate its own state by implementing a local state observer which relies on locally available measurements and limited communication with other vehicles in the vicinity. The dynamics of the problem are formulated as a more general discrete-time Kalman filtering problem with a sparsity constraint on the gain and, based on this formulation, a method for computation of steady-state observer gains for arbitrary fixed measurement topologies is introduced. The proposed method consists in the optimization of the time-varying distributed Kalman filter over a finite time window to approximate steady-state behavior and compute well-performing steady-state observer gains. To assess the performance of the proposed solution, simulation results are detailed for the practical case of a formation of Autonomous Underwater Vehicles (AUVs).

关键词： discrete-time Kalman filters Observers State estimation Distribute vehicle filter design Time windows Steady state Autonomous underwater vehicles space vehicle system Launching vehicle systems

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3D Object Tracking using RGB and LIDAR Data

3D Object Tracking using RGB and LIDAR Data

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IEEE International Conference on Intelligent Transportation systems

作者： Alireza Asvadi Pedro Girao Paulo Peixoto Urbano Nunes Institute of Systems and Robotics (ISR) Department of Electrical and Computer Engineering (DEEC) University of Coimbra

ISBN: (纸本)9781509018901

Object tracking is one of the key components of the perception system of autonomous cars and ADASs. With tracking, an ego-vehicle can make a prediction about the location of surrounding objects in the next time epoch and plan for next actions. Object tracking algorithms typically rely on sensory data (from RGB cameras or LIDAR). In fact, the integration of 2D-RGB camera images and 3D-LIDAR data can provide some distinct benefits. This paper proposes a 3D object tracking algorithm using a 3D-LIDAR, an RGB camera and INS (GPS/IMU) sensors data by analyzing sequential 2D-RGB, 3D point-cloud, and the ego-vehicle's localization data and outputs the trajectory of the tracked object, an estimation of its current velocity, and its predicted location in the 3D world coordinate system in the next time-step. Tracking starts with a known initial 3D bounding box for the object. Two parallel mean-shift algorithms are applied for object detection and localization in the 2D image and 3D point-cloud, followed by a robust 2D/3D Kalman filter based fusion and tracking. Reported results, from both quantitative and qualitative experiments using the KITTI database demonstrate the applicability and efficiency of the proposed approach in driving environments.

关键词： red-green-blue colour model Lidar two dimentional images Cameras Current velocity Object detection Three Dimensions tracking objects

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Influence of slot geometry on air gap magnetic flux density of rotating machines 16

Influence of slot geometry on air gap magnetic flux density ...

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

作者： De Lima, Rodrigo Alves Coimbra, A. C. Paulo Almeida, Tony Gomes, Viviane Margarida Pereira, Thiago Martins Alves, Aylton Jose Calixto, Wesley Pacheco Program in Electronic Systems and Automation PGEA Department of Electrical Engineering ENE University of Brasilia UnB Brazil Institute of Systems and Robotics ISR University of Coimbra UC Portugal Experimental and Technological Research and Study Group NExT Federal Institute of Goias IFG Brazil

ISBN: (纸本)9781509023196

The objective of this work is to investigate the influence of slotted air gap constructive parameters on magnetic flux density of rotating machines. For this purpose, different approaches were used to solve the air gap field diagram using finite element method and the magnetic field distribution uniformity was evaluated by Carter's factor calculation. Sensitivity analysis of slot constructive parameters was performed and results show that slot geometry modifies the magnetic flux on air gap and shifts the air gap magnetic equipotential midline of double slotted machines. © 2016 IEEE.

关键词： Finite element method

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Webcam-Based Tachometer for In-Field Induction Motor Load Estimation

Webcam-Based Tachometer for In-Field Induction Motor Load Es...

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International Conference on electrical Machines

作者： Fernando J. T. E. Ferreira Fernando J. P. Lopes Institute of Systems and Robotics (ISR-UC) Department of Electrical and Computer Engineering University of Coimbra Dep. of Electrical Engineering Polytechnic Institute of Coimbra (IPC/ISEC)

ISBN: (纸本)9781509025398

Rotational speed measurement is a key issue in most industries, either for process control, characterization or fault diagnosis. In electric motor driven systems it can be used, for example, to estimate the motor load or pulley-belt transmission slip. Encoders and resolvers are typically used for continuous speed monitoring, requiring mechanical coupling with the rotating shaft/part. If the speed is to be measured at a given instant or during a few moments, noninvasive contactless optical tachometers can be used, using optical reflection or stroboscopic principles. In most cases, stroboscopic tachometers require no reflective elements/strips in the rotating part. However, if the user wants to continuously measure the speed of a given rotating part during the audit/characterization period, with real-time data logging and without sticking reflective strips or introducing shaft-coupled encoders/resolvers, there is no low-cost commercial solution to perform such task. For example, if the user's aim is to continuously estimate the load variation of an induction motor over a day or week, on the basis of the slip/speed value, it is not possible with conventional commercial low-cost contactless equipment, unless the user uses expensive online-operation equipment estimating the speed by means of input voltage/current. Moreover, in some rotating systems/parts not directly driven by an electric motor, the online equipment cannot be used and it is not practical, and in some cases even impossible, to couple an encoder/resolver or stick some reflective strips. In this paper, an innovative nonintrusive low-cost webcam-based tachometer is proposed, developed and experimentally tested. It can be used to easily estimate and record the speed over time in, for example, electrical motors, pulleys, shafts and wind turbines.

关键词： In-field speed measurement Motor speed Noninvasive speed measurement Rotational speed Tachometer Video camera Webcam Motor load estimation

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Computationally efficient learning in large-scale games: Sampled fictitious play revisited

Computationally efficient learning in large-scale games: Sam...

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Asilomar Conference on Signals, systems & computers

作者： Brian Swenson Soummya Kar João Xavier Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute for Systems and Robotics (ISR/IST) Universidade de Lisboa Portugal

ISBN: (纸本)9781538639559

Fictitious Play (FP) is a popular algorithm known to achieve Nash equilibrium learning in certain large-scale games. However, for games with many players, the computational demands of the FP algorithm can be prohibitive. Sampled FP (SFP) is a variant of FP that mitigates computational demands via a Monte Carlo approach. While SFP does mitigate the complexity of FP, it can be shown that SFP still uses information in an inefficient manner. The paper generalizes the SFP convergence result and studies a stochastic-approximation-based variant that significantly reduces the complexity of SFP.

关键词： Games Convergence Monte Carlo methods Approximation algorithms Complexity theory Probability distribution Nash equilibrium

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Influence of slot geometry on air gap magnetic flux density of rotating machines

Influence of slot geometry on air gap magnetic flux density ...

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IEEE International Conference on Environment and electrical engineering

作者： Rodrigo Alves de Lima A. C. Paulo Coimbra Tony Almeida Viviane Margarida Gomes Thiago Martins Pereira Aylton José Alves Wesley Pacheco Calixto Program in Electronic Systems and Automation PGEA Department of Electrical Engineering ENE University of Brasilia UnB Institute of Systems and Robotics ISR University of Coimbra UC Experimental & Technological Research and Study Group NExT Federal Institute of Goias IFG

ISBN: (纸本)9781509023219

关键词： Carter's factor finite elements method rotating machines

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Optimal search strategies for pollutant source localization

Optimal search strategies for pollutant source localization

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Behzad Bayat Naveena Crasta Howard Li Auke Ijspeert BioRobotics Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) Switzerland Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton E3B 5A3 Canada

ISBN: (纸本)9781509037636

This paper is aimed at developing optimal motion planning for a single autonomous surface vehicle (ASV) equipped with an on-board pollutant sensor that will maximize the sensor-related information available for source seeking. The ASV uses a nonlinear diffusion model of the pollutant source to estimate the intensity/level of the pollution at the present ASV location. The rate of detection of particles depends on the relative distance between the ASV and the source. First, we use a probabilistic map of the source location built through the sensor information for a dynamic motion planning of source seeking based on an entropy reduction formulation, where an appropriately defined Fisher information matrix (FIM) is used for entropy reduction or information gain. We derive the FIM for the set-up and investigate optimal trajectories. Next, we present an online nonlinear Monte Carlo algorithm that uses the obtained sensor information about pollutant at different vehicle locations to update a probabilistic uncertainty map of pollutant source location. As the mission unfolds the ASV motion is computed by considering a moving-horizon interval of decision, which will allow for the inclusion of new information available for optimal motion planning. The proposed motion planning approach is extended to take into account external disturbances and it is able to minimize the uncertainty in the pollutant source. Finally, we provide two case studies to demonstrate efficacy of the proposed motion planning algorithm.

关键词： Position measurement Pollution measurement Uncertainty Planning Probabilistic logic Robot sensing systems Pollution

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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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