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IEEE International Conference on Industrial Technology (ICIT)

作者： N. Martins J. Dias Department de Engineering Informática e de Sistemas Instituto Superior de Engenharia de Coimbra Portugal Robotics and Systems Institute Electrical Engeneering Department University of Coimbra Portugal

This article addresses the problem of recovering a tridimensional scene from only one uncalibrated static camera and images from planar mirrors. We present a linear solution for 3D Euclidean reconstruction based on multiocular geometry, epipolar geometry and projective geometric properties. From the recovered points of the scene we can obtain information related with distances, areas, curvatures, dimensions and even volumes of its objects. A system based on this technique could be applied on the industry, in tasks of great importance, such as the quality tests and metrology inspection. The system is simple, low cost and could achieve good performance.

关键词： Inspection Image reconstruction Layout Cameras Robot vision systems Computational geometry Mirrors Ear System testing Metrology

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Path Following for Autonomous Marine Craft ⋆

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IFAC Proceedings Volumes 2000年第21期33卷 117-122页

作者： P. Encarnação A. Pascoal M. Arcak Institute for Systems and Robotics and Dept. Electrical Eng. Instituto Superior Técnico Av. Rovisco Pais 1 1049-001 Lisboa Portugal Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560 USA

A new methodology is proposed for the design of path following systems for autonomous marine craft in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following systems Nonlinear Control Backstepping Techniques

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Path Following for Marine Vehicles in the Presence of Unknown Currents 1

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IFAC Proceedings Volumes 2000年第27期33卷 507-512页

A new methodology is proposed for the design of path following systems for autonomous marine vehicles in the presence of constant but unknown currents. Convergence to reference paths is achieved with a nonlinear control strategy that takes explicitly into account the dynamics of the vehicle as well as those of a current estimator. Formal convergence proofs are indicated. Simulation results with the model of a prototype marine craft are presented to illustrate the performance of the path following system derived.

关键词： Autonomous Vehicles Marine Craft Path Following systems Nonlinear Control Backstepping Techniques

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Application of nonlinear filtering to navigation system design using nonlinear passive sensors

Application of nonlinear filtering to navigation system desi...

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IEEE Conference on Decision and Control

作者： O. Yakimenko I. Kaminer A. Pascoal Wei Kang National Research Council Fellow at the Department of Aeronautical and Astronautical Engineering Naval Postgraduate School Montreal CA USA Department of Aeronautical and Astronautical Engineering Naval Postgraduate School Montreal CA USA Department of Electrical Engineering and Institute for Systems and Robotics Instituto Superior Technico Lisboa Portugal Department of Mathematics Naval Postgraduate School Montreal CA USA

ISBN: (纸本)0780366387

Addresses the problem of navigation system design for autonomous aircraft landing. Nonlinear filter structures are introduced to estimate the position of an aircraft with respect to a possibly moving landing site, such as a naval vessel, based on measurements provided by airborne vision and inertial sensors. Original results that address this problem are presented in Kaminer et al. (1999). In this paper these results are extended to include stereo vision. A detailed example that illustrates the use of the filters is also included.

关键词： Passive filters Filtering Sensor systems and applications Marine vehicles Aircraft navigation Stereo vision Kinematics Aerospace engineering Symmetric matrices Sensor systems

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Multi-Robot Path Planning by Predicting Structure in a Dynamic Environment

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IFAC Proceedings Volumes 2000年第26期33卷 555-560页

作者： C. Spence Olive Mahesh Saptharishi John M. Dolan Ashitey Trebi-Ollennu Pradeep K. Khosla Dept. of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Institute for Complex Engineered Systems Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 The Robotics Institute Carnegie Mellon University 5000 Forbes Ave. Pittsburgh PA 15213 Jet Propulsion Laboratory California Institute of Technology 4800 Oak Grove Drive Mail-Stop 82-105 Pasadena California 91109-8099

Path planning for multiple mobile robots is complicated by the presence of a dynamic environment, in which obstacles and other robots are moving. Centralized approaches are too computationally intensive for real-time response. Decoupled approaches which perform individual preplanning, conflict resolution, and reactive obstacle avoidance for each robot, can be globally inefficient. We propose a novel mission coordination architecture, CP AD (Checkpoint/Priority/Action Database), which performs path planning via checkpoint and dynamic priority assignment, using statistical estimates of the environment’s motion structure in order to make both preplanning and reactive behaviors more efficient. Simulation is used to validate and illustrate the approach

关键词： robot navigation path planning co-operation checkpoints estimation prediction uncertainty neural nets on-line learning

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Improving 3D active visual tracking 1st

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1st International Conference on Computer Vision systems, ICVS 1999

作者： Barreto, João Peixoto, Paulo Batista, Jorge Araujo, Helder Institute of Systems and Robotics Dept. Electrical Engineering University of Coimbra Coimbra3030 Portugal

ISBN: (纸本)3540654593

Tracking in 3D with an active vision system depends on the performance of both motor control and vision algorithms. Tracking is performed based on different visual behaviors, namely smooth pursuit and vergence control. A major issue in a system performing tracking is its robustness to partial occlusion of the target as well as its robustness to sudden changes of target trajectory. Another important issue is the reconstruction of the 3D trajectory of the target. These issues can only be dealt with if the performance of the algorithms is evaluated. The evaluation of such performances enable the identification of the limits and weaknesses in the system behavior. In this paper we describe the results of the analysis of a binocular tracking system. To perform the evaluation a control framework was used both for the vision algorithms and for the servo-mechanical system. Due to the geometry changes in an active vision system, the problem of defining and generating system reference inputs has specific features. In this paper we analyze this problem, proposing and justifying a methodology for the definition and generation of such reference inputs. As a result several algorithms were improved and the global performance of the system was also enhanced. This paper proposes a methodology for such an analysis (and resulting enhancements) based on techniques from control theory. © Springer-Verlag Berlin Heidelberg 1999.

关键词： Robustness (control systems)

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The independent components of characters are 'strokes' 5

The independent components of characters are 'strokes'

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5th International Conference on Document Analysis and Recognition, ICDAR 1999

作者： Srinivasan, S.H. Ramakrishnan, K.R. Bhagavathy, S. Institute for Robotics and Intelligent Systems Bangalore560 001 India Department of Electrical Engineering Indian Institute of Science Bangalore560 001 India Karnataka Regional Engineering College Suratkal India

ISBN: (纸本)0769503187

What are the natural features of handwritten characters and how to arrive at them automatically? We apply independent components analysis on handwritten characters. Independent components analysis extracts the underlying statistically independent signals from a mixture of them. We expect strokes to be the independent components of handwritten characters. Our findings show that stroke-like features emerge as a result of the analysis confirming the above intuition. This finding is significant since it gives automatic procedures for extracting stroke-like features from multilingual character data sets. We use these features for handwritten digit recognition using a very simple classifier. The classifier is chosen to be simple so that the quality of the input feature set can be evaluated. The recognition results indicate that the features arrived at by independent component analysis are useful. © 1999 IEEE.

关键词： Independent component analysis

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Sensor fusion for skill transfer systems

Sensor fusion for skill transfer systems

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ISR) University of Coimbra Coimbra Portugal German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

Describes how to design a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is done, to achieve a "model-free" equation capable of following arbitrary variables. An engineering approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and could easily be extended to any arbitrary system. It was successfully tested in the institute of robotics and System Dynamics at the DLR.

关键词： Sensor fusion Robot sensing systems Humans Filtering Equations Vehicle dynamics Aerodynamics Sensor systems Intelligent robots Training data

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Data fusion design for skill transfer systems

Data fusion design for skill transfer systems

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ER) University of Coimbra Coimbra Portugal German AeroSpace Center (DLR) Institute for Robotics and Systems Dynamics Wessling Germany

In modern robotics, the robot is seen not as a mechanical unit, but instead as an intelligent unit, with planning and cognitive structures that are capable of making intelligent decisions and of helping human beings in high-level and interactive tasks. A new generation of robots is ready to emerge: human-oriented robots. In the near future, they should be able to perform perfect human-robot symbiosis, such as helping disabled people in their basic day-to-day problems. A key issue to accomplish this goal is the development of robust skill transfer systems, in order to teach some basic tasks in a natural way. This paper describes the design of a data fusion module for skill transfer applications. It consists of two independent modules for optimal fusion and filtering. A different interpretation of the Kalman filter equations is made, in order to achieve a "model-free" equation that is capable of following arbitrary variables. The presented fusion algorithm is global, and could easily be extended to any arbitrary system. It was successfully tested in the institute of robotics and System Dynamics at the German Aerospace Centre (DLR).

关键词： Cognitive robotics Intelligent robots Human robot interaction Intelligent structures Differential equations Aerospace testing Fusion power generation Symbiosis Robustness Filtering

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Multisensor data fusion for skill transfer systems

Multisensor data fusion for skill transfer systems

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International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： R. Cortesao R. Koeppe Electrical Engineering Department Institute of Systems and Robotics (ER.) University of Coimbra Coimbra Portugal

The paper describes the design of a data fusion module for skill transfer purposes. The data fusion paradigm is addressed. It consists of two independent modules for optimal fusion and filtering. A new interpretation of the Kalman filter equations is given to achieve a "model-free" equation capable of following arbitrary variables. A stochastic approach is used to tune the parameters of interest for a certain task. The fusion algorithm presented is global, and can easily be extended to any arbitrary system. It was successfully tested in The institute of robotics and System Dynamics at the DLR.

关键词： Robot sensing systems Filtering Robustness Training data Humans Erbium Filters System testing Fuzzy logic Navigation

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