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International IEEE Conference on Intelligent Transportation systems

作者： Alireza Asvadi Paulo Peixoto Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9781467365970

Autonomous vehicles require a reliable perception of their environment to operate in real-world conditions. Awareness of moving objects is one of the key components for the perception of the environment. This paper proposes a method for detection and tracking of moving objects (DATMO) in dynamic environments surrounding a moving road vehicle equipped with a Velodyne laser scanner and GPS/IMU localization system. First, at every time step, a local 2.5D grid is built using the last sets of sensor measurements. Along time, the generated grids combined with localization data are integrated into an environment model called local 2.5D map. In every frame, a 2.5D grid is compared with an updated 2.5D map to compute a 2.5D motion grid. A mechanism based on spatial properties is presented to suppress false detections that are due to small localization errors. Next, the 2.5D motion grid is post-processed to provide an object level representation of the scene. The detected moving objects are tracked over time by applying data association and Kalman filtering. The experiments conducted on different sequences from KITTI dataset showed promising results, demonstrating the applicability of the proposed method.

关键词： environment sensor measurements generated grids Environments grids Moving tracking road vehicles Environmental models Grid Autonomous Vehicles Grates environmental perception

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A trajectory tracking LQR controller for a quadrotor: Design and experimental evaluation

A trajectory tracking LQR controller for a quadrotor: Design...

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IEEE Region 10 International Conference TENCON

作者： Xie Heng David Cabecinhas Rita Cunha Carlos Silvestre Xu Qingsong Department of Electromechanical Engineering Avenida da Universidade Taipa Macau China Department of Electrical and Computer Engineering Institute for Systems and Robotics (ISR/IST) Macao China Electrical and Computer Engineering Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering University of Lisbon Macao China

ISBN: (纸本)9781479986422

This paper addresses the problem of driving a quadrotor vehicle along a predefined 3-D trimming path. The proposed solution relies on the definition of a path-dependent error space to express the dynamic model of the vehicle, which results in linear time-invariant dynamics for the error system. The controller synthesis problem is then formulated as a linear quadratic regulator problem for LTI systems. The control strategy adopts the D-methodology integrated with the anti-windup technique in order to achieve zero static error for the integral states and to avoid actuator saturation. Experimental results where a quadrotor follows a trimming trajectory are presented to illustrate the performance of the proposed controller.

关键词： Vehicles Trajectory Aerospace electronics Vehicle dynamics Force Aerodynamics Angular velocity

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Sufficient Condition for Survival of the Fittest in a Bi-virus Epidemics

Sufficient Condition for Survival of the Fittest in a Bi-vir...

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Asilomar Conference on Signals, systems and Computers

作者： Augusto Santos Jose M. F. Moura Joao M. F. Xavier Dep. of Electrical and Computer Engineering Carnegie Mellon University Institute for Systems and Robotics (ISR/IST) LARSyS Instituto Superior Tecnico Universidade de Lisboa

ISBN: (纸本)9781467385770

We study the spread of two strains of virus competing for space in a network modeled by the classical logistic ordinary differential equations. In large-scale complex networks, the underlying nonlinear dynamical system is high-dimensional and performing qualitative analysis of the differential equation becomes prohibitive. The study of such systems is often deferred to numerical simulations or local analysis about equilibrium points of the system. In this paper, we extend the work developed in [1], to formally establish a simple sufficient condition for (exponentially fast) survival of the fittest in a bi-layer weighted digraph: the weaker strain dies out regardless of the initial conditions if its maximum in-flow rate of infection across nodes is smaller than the minimum in-flow rate of the stronger strain. We bound any solution of the logistic ODE by one-dimensional solutions over certain homogeneous networks, for which the system is well understood. Our global stability approach via bounds readily applies to the discrete-time logistic model counterpart.

关键词： natural selection Sufficient conditions complex networks Epidemic INITIAL CONDITIONS Differential equations Sufficient

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On Robustness Properties in Empirical Centroid Fictitious Play

On Robustness Properties in Empirical Centroid Fictitious Pl...

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IEEE Annual Conference on Decision and Control

作者： BRIAN SWENSON SOUMMYA KAR JOAO XAVIER Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA 15213 USA Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) Technical University of Lisbon Portugal

ISBN: (纸本)9781479978878

Empirical Centroid Fictitious Play (ECFP) is a generalization of the well-known Fictitious Play (FP) algorithm designed for implementation in large-scale games. In ECFP, the set of players is subdivided into equivalence classes with players in the same class possessing similar properties. Players choose a next-stage action by tracking and responding to aggregate statistics related to each equivalence class. This setup alleviates the difficult task of tracking and responding to the statistical behavior of every individual player, as is the case in traditional FP. Aside from ECFP, many useful modifications have been proposed to classical FP, e.g., rules allowing for network-based implementation, increased computational efficiency, and stronger forms of learning. Such modifications tend to be of great practical value;however, their effectiveness relies heavily on two fundamental properties of FP: robustness to alterations in the empirical distribution step size process, and robustness to best-response perturbations. The main contribution of the paper is to show that similar robustness properties also hold for the ECFP algorithm. This result serves as a first step in enabling practical modifications to ECFP, similar to those already developed for FP.

关键词： Equivalence classes Players Centroid practical value tracking Robustness Computational efficiency First Step

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Augmented reality on robot navigation using non-central catadioptric cameras

Augmented reality on robot navigation using non-central cata...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： T. Dias P. Miraldo N. Goncalves P. U. Lima Department of Electrical and Computer Engineering University of Coimbra Portugal Institute for Systems and Robotics (LARSyS) University of Lisbon Portugal

In this paper we present a framework for the application of augmented reality to a mobile robot, using non-central camera systems. Considering a virtual object in the world with known local 3D coordinates, the goal is to project this object into the image of a non-central catadioptric imaging device. We propose a solution to this problem which allows us to project textured objects to the image in real-time (up to 20 fps): projection of 3D segments to the image;occlusions;and illumination. In addition, since we are considering that the imaging device is on a mobile robot, one needs to take into account the real-time localization of the robot. To the best of our knowledge this is the first time that this problem is addressed (all state-of-the-art methods are derived for central camera systems). To evaluate the proposed framework we test the solution using a mobile robot and a non-central catadioptric camera (using a spherical mirror).

关键词： Cameras Three-dimensional displays Robot vision systems Mirrors Augmented reality

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FPAA-based Control of Bilateral Teleoperation systems

FPAA-based Control of Bilateral Teleoperation Systems

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

Discretizing the continuous-time controller of a master-slave teleoperation system can simplify control implementation. However, in teleoperation systems, discrete-time control can cause a performance degradation compared to continuous-time control. In digitally controlled bilateral teleoperation systems, there exist stability-imposed bounds on the gains of the discrete-time controller and the sampling period, and a trade-off between the two. This means that given a sampling period, it is impossible for the discretized controller to have gains above a threshold, which may well be necessary for successful performance of teleoperated tasks requiring highly accurate master-slave position tracking. In a teleoperation system with analog controller, however, stability does not impose any upper bound on the control gains, thus facilitating the performance of tasks that do require highly accurate master-slave position tracking. Inspired by this advantage of analog control, in this paper we develop a Field Programmable Analog Arrays(FPAA) based controller for bilateral teleoperation, which can achieve higher control gain than its discrete-time counterpart. We present the results of a user study measuring the human performance for a task involving flipping a stiff switch through a teleoperation system. We experimentally show that large sampling periods, necessitating low control gains for maintaining stability, lead to unacceptable task performance. We then show that humans can successfully perform the same task with the FPAA-based controller for the teleoperation system.

关键词： Bilateral teleoperation,stability,discrete-time control,FPAA-based control,task performance

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An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency

An Analysis of Sampling Effect on Bilateral Teleoperation Sy...

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第三十四届中国控制会议

作者： Ting YANG Yi Li FU Mahdi TAVAKOI State Key Laboratory of Robotics and Systems Harbin Institute of Technology Department of Electrical and Computer Engineering University of Alberta

ISBN: (纸本)9781467374439

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance.

关键词： Bilateral teleoperation,hybrid parameters,discrete-time control,continuous-time control,system performance

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25th Annual Computational Neuroscience Meeting CNS-2016, Seogwipo City, South Korea, July 2-7, 2016 Abstracts

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BMC NEUROSCIENCE 2016年第1期17卷 1-112页

作者： [Anonymous] Computational Neurobiology Laboratory The Salk Institute for Biological Studies San Diego USA UNIC CNRS Gif sur Yvette France The European Institute for Theoretical Neuroscience (EITN) Paris France ATR Computational Neuroscience Laboratories Kyoto Japan Krembil Research Institute University Health Network Toronto Canada Department of Physiology University of Toronto Toronto Canada Department of Medicine (Neurology) University of Toronto Toronto Canada Department of Physics University of New Hampshire Durham USA Department of Neurophysiology Nencki Institute of Experimental Biology Warsaw Poland Department of Theory Wigner Research Centre for Physics of the Hungarian Academy of Sciences Budapest Hungary Department of Mathematical Sciences KAIST Daejoen Republic of Korea Department of Mathematics University of Houston Houston USA Department of Biochemistry & Cell Biology and Institute of Biosciences and Bioengineering Rice University Houston USA Department of Biology and Biochemistry University of Houston Houston USA Grupo de Neurocomputación Biológica Dpto. de Ingeniería Informática Escuela Politécnica Superior Universidad Autónoma de Madrid Madrid Spain Department of Biological Sciences University of Southern California Los Angeles USA Center for Neuroscience Korea Institute of Science and Technology Seoul South Korea Department of Neurology Albert Einstein College of Medicine Bronx USA Center for Neuroscience KIST Seoul South Korea Department of Neuroscience University of Science and Technology Daejon South Korea Systems Neuroscience Group QIMR Berghofer Medical Research Institute Herston Australia Department of Psychology Yonsei University Seoul South Korea Department of Psychiatry Kyung Hee University Hospital at Gangdong Seoul South Korea Department of Psychiatry Veterans Administration Boston Healthcare System and Harvard Medical School Brockton USA Department of Electrical and Electronic Engineering The University of Melbourne Parkvil

A1 Functional advantages of cell-type heterogeneity in neural circuits Tatyana O. Sharpee A2 Mesoscopic modeling of propagating waves in visual cortex Alain Destexhe A3 Dynamics and biomarkers of mental disorders Mitsuo Kawato F1 Precise recruitment of spiking output at theta frequencies requires dendritic h-channels in multi-compartment models of oriens-lacunosum/moleculare hippocampal interneurons Vladislav Sekulić, Frances K. Skinner F2 Kernel methods in reconstruction of current sources from extracellular potentials for single cells and the whole brains Daniel K. Wójcik, Chaitanya Chintaluri, Dorottya Cserpán, Zoltán Somogyvári F3 The synchronized periods depend on intracellular transcriptional repression mechanisms in circadian clocks. Jae Kyoung Kim, Zachary P. Kilpatrick, Matthew R. Bennett, Kresimir Josić O1 Assessing irregularity and coordination of spiking-bursting rhythms in central pattern generators Irene Elices, David Arroyo, Rafael Levi, Francisco B. Rodriguez, Pablo Varona O2 Regulation of top-down processing by cortically-projecting parvalbumin positive neurons in basal forebrain Eunjin Hwang, Bowon Kim, Hio-Been Han, Tae Kim, James T. McKenna, Ritchie E. Brown, Robert W. McCarley, Jee Hyun Choi O3 Modeling auditory stream segregation, build-up and bistability James Rankin, Pamela Osborn Popp, John Rinzel O4 Strong competition between tonotopic neural ensembles explains pitch-related dynamics of auditory cortex evoked fields Alejandro Tabas, André Rupp, Emili Balaguer-Ballester O5 A simple model of retinal response to multi-electrode stimulation Matias I. Maturana, David B. Grayden, Shaun L. Cloherty, Tatiana Kameneva, Michael R. Ibbotson, Hamish Meffin O6 Noise correlations in V4 area correlate with behavioral performance in visual discrimination task Veronika Koren, Timm Lochmann, Valentin Dragoi, Klaus Obermayer O7 Input-location dependent gain modulation in cerebellar nucleus neurons Maria Psarrou, Maria Schilstra, Neil Davey, Benjamin Torben-Ni

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Applying probabilistic Mixture Models to semantic place classification in mobile robotics

Applying probabilistic Mixture Models to semantic place clas...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： C. Premebida D. R. Faria F. A. Souza U. Nunes Department of Electrical and Computer Engineering’ Institute of Systems and Robotics University of Coimbra Portugal Dept. of Electrical Engineering Univ. Federal of Ceara Brazil

In this paper a study is made of the problem of classifying scenarios, in terms of semantic categories, based on data gathered from sensors mounted on-board mobile robots operating indoors. Once the data are transformed to feature space, supervised classification is performed by a probabilistic approach called Dynamic Bayesian Mixture Models (DBMM). This approach combines class-conditional probabilities from supervised learning models and incorporates past inferences. In this work, several experiments on multi-class semantic place classification are reported based on publicly available datasets. Such experiments were conducted in a such way that generalization aspects are emphasized, which is particularly important in real-world applications. Benchmark results show the effectiveness and competitive performance of the DBMM method, in terms of classification rates, using features extracted from 2D range data and from a RGB-D (Kinect) sensor.

关键词： Feature extraction Semantics Robot kinematics Mixture models Sensors Probabilistic logic

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A Behavior-based Architecture for Multi-Robot Chemical Source Localization and its Implementation with Evolutionary Computation

A Behavior-based Architecture for Multi-Robot Chemical Sourc...

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IEEE International Conference on robotics and Biomimetics

作者： Meng-Li Cao Qing-Hao Meng Wei Li Ying-Jie Liu Ming Zeng Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China and Department of Computer and Electrical Engineering California State University Bakersfield CA 933311 USA

ISBN: (纸本)9781467396769

Chemical source localization (CSL) is significant for the protection of public security. In typical CSL problems, a collaborative group of multiple robots are expected to perform better than a single robot. This paper proposes a behavior-based multi-robot chemical source localization (BbMR-CSL) architecture. It includes three group behaviors, i.e., the chemical finding, chemical source tracing (CST), and chemical source declaration behaviors, among which the CST behavior is further divided into two individual behaviors. A hierarchical behavior selection method is designed for coordinating the behaviors in the BbMRCSL architecture. Then, a method framework is also proposed for combining evolutionary computation (EC) with the BbMRCSL architecture. Based on the proposed framework, three typical EC algorithms (i.e., the genetic algorithm, the artificial bee colony algorithm (ABC), and the global-best-guided ABC) are implemented in the BbMR-CSL architecture. The resulting behavior-based CSL methods were tested and compared in a simulated filamentous plume environment.

关键词： CSL significant protection

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