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IAENG International Journal of computer science 2013年第3期40卷 134-142页

作者： Gorbenko, Anna Popov, Vladimir Ural Federal University Department of Intelligent Systems Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

A large number of landmarks selection techniques has been proposed. However, finding optimal solutions requires to solve some hard problems. In this paper, we consider the P- minimum overlapping region decomposition problem that was proposed for landmarks selection. This problem is NP-complete. We describe an approach to solve the problem optimally. This approach is based on an explicit reduction from the problem to the satisfiability problem. Also, we consider some greedy algorithms for solution of the problem.

关键词： Optimization

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On the constrained longest common subsequence problem

IAENG International Journal of Computer Science

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IAENG International Journal of computer science 2013年第4期40卷 266-273页

作者： Gorbenko, Anna Ural Federal University Department of Intelligent Systems Robotics of Mathematics and Computer Science Institute 620083 Ekaterinburg Russia

The problem of the longest common subsequence is a classical distance measure for strings. There have been several attempts to accommodate longest common subsequences along with some other distance measures. There are a large number of different variants of the problem. In this paper, we consider the constrained longest common subsequence problem for two strings and arbitrary number of constraints. In particular, we consider an explicit reduction from the problem to the satisfiability problem and present experimental results for different satisfiability algorithms. It should be noted that different regularities in experimentally obtained data reveal important information about the underlying physical system. In this paper, we consider the problem of systematic monitoring of passenger flows. In particular, we use constrained longest common subsequences for tracking the image features.

关键词： Genetic algorithms

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Pedestrian Classification Using K-means and Random Decision Forests

Pedestrian Classification Using K-means and Random Decision ...

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IEEE Latin American robotics Symposium, LARS

作者： Francisco A.R. Alencar Carlos Massera Filho Diego Gomes da Silva Denis F. Wolf Mobile Robotics Laboratory Institute of Mathematics and Computer Science University of Sao Paulo (USP) Sao Carlos Brazil Mobile Robot. Lab. Universidade de Sao Paulo Sao Paulo SÃ£o Paulo BR

In field of autonomous and intelligent vehicles, the goal of pedestrian classification is to reduce amount of accidents. The object classification accuracy depends on the type of classifier and the extracted object features used for classification. Support Vector Machines (SVM), is considered the most effective classifier for this task. However, it depends on a number of factors that require researchers to perform several modifications to obtain a good result with adequate performance. This study presents a promising alternative with fewer parameters, which works on large datasets, and reduced runtime. It also has the advantage of allowing the data analysis between every step of the algorithm. Differently from SVM, which can be considered as a black box approach, our method uses a k-means cluster technique combined with a radial basis function to transform data into a smaller and more relevant set, where the classification is performed using random decision forest. Experimental results show very satisfactory classification, efficient computational performance, simplicity of use, and reduced setup.

关键词： Support vector machines Kernel Training Transforms Accuracy Runtime Clustering algorithms

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Exact computation of median surfaces using optimal 3D graph search

Exact computation of median surfaces using optimal 3D graph ...

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9th IAPR-TC-15 International Workshop on Graph-Based Representations in Pattern Recognition, GbRPR 2013

作者： Wu, Zhengwang Jiang, Xiaoyi Zheng, Nanning Liu, Yuehu Cheng, Dachuan Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China Department of Mathematics and Computer Science University of Münster Germany Department of Biomedical Imaging China Medical University Taiwan

ISBN: (纸本)9783642382208

In this paper we formulate the generalized median surface problem and present its exact solution by means of an optimal 3D graph search algorithm. In addition to the general interest in median surface computation our work is also motivated by the task of parameter space exploration without ground truth, which is an effective means of dealing with the difficult parameter problem. A concrete application in this context will be demonstrated on artery boundary detection in ultrasound data. It will be shown that the median computation can not only avoid the parameter training, but also potentially achieve even better results than with trained parameters. Particularly in situations with no available ground truth, the median-based approach can thus be a good alternate. © 2013 Springer-Verlag.

关键词： Parameter estimation

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Multi-robot forest coverage for unweighted terrain

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AIP Conference Proceedings 2013年第1期1558卷 2083-2086页

作者： Vladimir Popov Ural Federal University Department of Intelligent Systems and Robotics Mathematics and Computer Science Institute Lenin st. 51 620083 Ekaterinburg Russia

Different planning problems for mobile robots are of considerable interest for many years. Frequently, such problems require to solve different hard computational problems. Multi-robot forest coverage is one of such computational problems. In this paper, we consider an efficient approach to solve the problem of multi-robot forest coverage for unweighted terrain. In particular, we consider an explicit reduction from the decision version of the problem of multi-robot forest coverage for unweighted terrain to the satisfiability problem. For different satisfiability algorithms, the results of computational experiments are presented.

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Real-Time Dense Multi-Scale Workspace Modeling on a Humanoid Robot

Real-Time Dense Multi-Scale Workspace Modeling on a Humanoid...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Rene Wagner Udo Frese Berthold Bauml DLR Institute of Robotics and Mechatronics 82234 Wessling Germany Faculty 3 - Mathematics and Computer Science University of Bremen 28359 Bremen Germany

ISBN: (纸本)9781467363563

Without a precise and up-to-date model of its environment a humanoid robot cannot move safely or act usefully. Ideally, the robot should create a dense 3D environment model in real-time, all the time, and respect obstacle information from it in every move it makes as well as obtain the information it needs for fine manipulation with its fingers from the same map. We propose to use a multi-scale truncated signed distance function (TSDF) map consisting of concentric, nested cubes with exponentially decreasing resolution for this purpose. We show how to extend the KinectFusion real-time SLAM algorithm to the multi-scale case as well as how to compute a multi-scale Euclidean distance transform (EDT) thereby establishing the link to optimization-based planning. We overcome the inability of KinectFusion's localization to handle scenes without enough constraining geometry by switching to mapping-with-known-poses based on forward kinematics. The latter is always available and we know when it is precise. The resulting map has the desired properties: It is computed in real-time (7.5 ms per depth frame for a (8 m)~3 multi-scale TSDF volume), covers the entire laboratory, does not depend on scene properties (geometry, texture, etc.) and is precise enough to facilitate grasp planning for fine manipulation tasks - all in a single map.

关键词： Humanoid robots multi-scale maps Workplace

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A new algorithm for linearization up to multi-output and multi-input injection for a class of systems with implicitly defined outputs

A new algorithm for linearization up to multi-output and mul...

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European Control Conference (ECC)

作者： Sérgio S. Rodrigues A. Pedro Aguiar Öaw Institute for Computational and Applied Mathematics (RICAM) Linz Austria Department of Electrical and Computer Engineering Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Lisbon Portugal

ISBN: (纸本)9781479901890

Given a class of nonlinear systems with implicitly defined outputs, we provide a new algorithm to find appropriate local coordinates, in which the resulting system takes a desired target form that is state-affine, up to output and input injection. Once in the target form, it is possible to construct a state-space observer with linear, possibly time-varying, error dynamics.

关键词： Vectors Equations Observers Gold Geometry Nonlinear dynamical systems

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Model-Driven Robot-Software Design using integrated Models and Co-Simulation

Model-Driven Robot-Software Design using integrated Models a...

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International Conference on Embedded computer Systems - Architectures, Modeling and Simulation (IC-SAMOS)

作者： Broenink, Jan F. Ni, Yunyun Robotics and Mechatronics group CTIT institute faculty of Electrical Engineering Mathematics and Computer Science University of Twente The Netherlands

ISBN: (纸本)9781467322973

The work presented here is on a methodology for design of hard real-time embedded control software for robots, i.e. mechatronic products. The behavior of the total robot system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use two appropriate Models of Computation, which represent continuous-time equations for the machine / robot part, and discrete event / discrete time equations for the control software part. To compute (simulate) such combined models, co-simulation of these models is used. The design work can be done as a stepwise refinement process, whereby each step is verified via co-simulation. This in general yields a shorter design time, and a better quality product. The tools pass model-specific information between each other via parametrized tokens in the generated, high-level code to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. The method is illustrated with a case study using the tools, some of which are at the prototype level. Especially the structuring of the models and regularly doing simulations (of which some can be 'repeated' as real experiments), is beneficial, shortening the development time and producing better models. Future work is to test the method on more complex cases, and to extend the method by detailing out the electronics and mechanics sub design flows.

关键词： Robot hard real-time machine IO Robot software computer software Software design computer programs MACHINE TOOL CONTROL Robot System Microelectromechanical devices Equation discrete-time

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Adaptive obstacle representations for dynamical navigation

Adaptive obstacle representations for dynamical navigation

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25th International Florida Artificial Intelligence Research Society Conference, FLAIRS-25

作者： Aaron, Eric Mendoza, Juan Pablo Nichols, Foster Dept. of Mathematics and Computer Science Wesleyan University United States Robotics Institute Carnegie Mellon University United States

ISBN: (纸本)9781577355588

This paper suggests and supports a design idea for improving dynamical navigation: adding an intermediary, adaptive obstacle representation level between perception and repeller representations. We illustrate our idea with our specific example of an adaptive obstacle representation level, which cleanly integrates into multiple existing navigation systems, treating each perceived obstacle entity as a locally sensitive, obstacle-valued function that returns an obstacle representation upon which steering and obstacle avoidance are based. Moreover, other elements of the navigation systems remain unaltered, thus preserving and extending original design virtues such as behavioral flexibility, computational efficiency, and dynamic responsiveness. Extensive simulations, validated with tests of real robots, demonstrate that our new representations compare favorably to previously employed representations on measures of effectiveness within a tested scenario, robustness over varying scenarios and ranges of parameter values, and computational efficiency. Copyright © 2012, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Navigation systems

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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