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Control Schemes for Passive Teleoperation systems over Wide Area Communication Networks with Time Varying Delay

International Journal of Automation and computing 2014年第1期11卷 100-108页

作者： Shafiqul Islam Xiaoping P.Liu Abdulmotaleb El Saddik Lakmal Seneviratne Jorge Dias School of Information Technology and Engineering University of Ottawa School of Engineering and Applied Sciences Harvard University Robotics and Mechanical Engineering Khalifa University of Science & Technology Department of Systems and Computer Engineering Carleton University Electrical Engineering New York University Division of Engineering Kings College London Robotics and Electrical and Computer Engineering Khalifa University of Science & Technology Institute of Systems and Robotics University of Coimbra

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is *** design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave *** adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave ***-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation *** stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote ***,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.

关键词： Teleoperation telerobotics Lyapunov-Krasovskii functional time varying delay passive systems

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Exploring long-range correlations for text classification using a sparse distributed memory

Exploring long-range correlations for text classification us...

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2013 World Congress on engineering, WCE 2013

作者： Mendes, Mateus Coimbra, A. Paulo Crisostomo, Manuel M. Rodrigues, Jorge Polytechnic Institute of Coimbra ESTGOH Portugal Dept. of Electrical and Computer Engineering ISR - Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9789881925282

The present paper describes exploratory work in which a Sparse Distributed Memory (SDM) was applied as a text classifier. The SDM is a type of associative memory based on the properties of high-dimensional spaces, where data are stored based on pattern similarity. The results obtained with the SDM are surprisingly good, for they can be achieved with little or none pre-processing. They are far superior to the performance of a "dumb classifier," though still inferior to the results obtained with other modern methods.

关键词： Classification (of information)

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ADAPTIVE MULTISCALE FEATURE-EXTRACTION FROM RANGE DATA

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COMPUTER VISION GRAPHICS AND IMAGE PROCESSING 1989年第3期45卷 346-356页

作者： PARVIN, B MEDIONI, G Institute of Robotics and Intelligent Systems Department of Electrical Engineering Powel Hall 233 University of Southern California Los Angeles California 90089-0272 USA

We present a method to extract meaningful features from range images which introduces some novel ideas: Firstm our primitives are a richer set than the usual one, as we not only extract high frequences events, which correspond to jump boundaries and sharp creases, but also low frequency events such as smooth ridges and ravines. These last features are generally discarded as they tend to hide in noise; however, they provide a coarse descriotion of the shape, and we believe they may help in inferring volumetric description. The method works at multiple scales to improve reliability, and we have designed a control strategy to automatically select the most appropriate mask size. We present results on images of different levels of complexity from three different sensors.

关键词： Image Processing

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Kinematic analysis and position/force control of the anthrobot dextrous hand

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS PART B-CYBERNETICS 1997年第1期27卷 95-104页

作者： Kyriakopoulos, KJ VanRiper, J Zink, A Stephanou, HE New York State Center for Advanced Technology in Automation and Robotics and Electrical Department of Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments, A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation, A dynamic model of the fingers is identified and used to develop the control laws, The experimental results of applying the control to the Anthrobot are discussed.

关键词： Kinematics Force control Fingers robotics and automation Robots Humans Thumb Anthropomorphism Vehicle dynamics Power system modeling

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Visual Behaviors for Real-Time Control of a Binocular Active Vision System

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IFAC Proceedings Volumes 1997年第3期30卷 167-172页

作者： Jorge Batista Paulo Peixoto Helder Araújo ISR - Institute of Systems and Robotics Department of Electrical Engineering - FCTUC University of Coimbra Portugal

An active vision system has to enable the implementation of reactive visual processes and of elementary visual behaviors in real time. Therefore the control architecture is extremely important. In this paper we discuss a number of issues related with the implementation of a real-time control architecture and describe the architecture we are using with our camera heads. Even though in most applications a fully calibrated system is not required, we also describe a methodology for calibrating the camera head, taking advantage of its degrees of freedom. These calibration parameters are used to evaluate the performance of the system. Another important issue of the operation of active vision binocular heads is their integration into more complex robotic systems. We claim that higher levels of autonomy and integration can be obtained by designing the system architecture based on the concept of purposive behavior. At the lower levels we consider vision as a sensor and integrate it in control systems (both feed-forward and servo loops) and several visual processes are implemented in parallel, computing relevant measures for the control process. At higher levels the architecture is modeled as a state transition system. Finally we show how this architecture can be used to implement a pursuit behavior using optical flow. Simultaneously vergence control can also be performed using the same visual processes.

关键词： Active Vision Real-Time Tracking Smooth-Pursuit

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Physiological assessment of brain, cardiovascular, and respiratory changes in multimodal motor imagery brain-computer interface training

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Brain-Computer Interfaces 2025年第1期12卷

作者： Evangelos Georgaras Athanasios Vourvopoulos a Electrical and Computer Engineering Department National Technical University of Athens Athens Greece b Bioengineering Department Institute for Systems and Robotics - Lisboa Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal

ABSTRACTBrain-Computer Interfaces (BCIs) can provide a non-muscular communication channel for individuals with motor impairments. When integrated with virtual reality (VR) and haptic feedback, motor imagery (MI)-based BCIs can augment the rehabilitation outcome for patients with severe motor impairments. However, the physiological impact of these protocols beyond brain-related signals, that reflect autonomic nervous system (ANS) activity, remains underexplored. This study aims to investigate variations in a broader range of physiological signals besides electroencephalography (EEG) – including electrocardiography (ECG), photoplethysmography (PPG), and respiration – across different experimental conditions and to identify the factors driving these changes. 19 healthy subjects underwent MI training across five combinations of feedback conditions: abstract vs. realistic feedback, head-mounted display (HMD) vs. monitor, and the presence or absence of haptic feedback, compared with motor execution data. PPG results were compared with ECG results to assess the reliability of the finger-clip PPG sensor regarding its ability to replace ECG in cases where ease of use and unobtrusiveness in heart monitoring are required. Current findings show that VR-based MI with haptic feedback, results in increased modulation of Beta and Gamma bands, while all conditions may impose a greater mental burden than motor execution, as indicated by the increased respiration rate and decreased heart-rate variability.

关键词： Brain-computer interfaces autonomic nervous system motor imagery virtual reality haptic feedback

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Electric vehicle simulator for energy consumption studies in electric mobility systems

Electric vehicle simulator for energy consumption studies in...

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2011 IEEE Forum on Integrated and Sustainable Transportation systems, FISTS 2011

作者： Maia, Ricardo Silva, Marco Araujo, Rui Nunes, Urbano ISR-Institute of Systems and Robotics University of Coimbra Portugal DEEC - Department of Electrical and Computer Engineering University of Coimbra Portugal IPC-ISEC - Polytechnic Institute of Coimbra Coimbra Portugal

ISBN: (纸本)9781457709906

One of the most important environmental problems in large cities is the vehicular emission. Electric Vehicles (EVs) are a growing alternative for internal combustion engine (ICE) vehicles. Since this kind of vehicle has low autonomy yet, it is important to optimize energy consumption, for instance by planning a suitable infrastructure of battery recharge and/or battery-switch stations. This paper presents an architecture for EV simulation, important to analyze traffic flow, its dynamics and the performance when there are obstructions or Intense traffic. There are several tools for traffic simulation, SUMO (Simulation of Urban MObility) is one of them. But none of the existing traffic simulators integrates models of EV that allow, for example, perform simulation studies regarding energy consumption. SUMO is a portable open source simulator with multi-modal traffic feature capabilities that permit the simulation of various types of vehicles. This work is an extension of the SUMO, two-dimensional (2D) vehicular simulation package. To allow the simulation of energy consumption of EV, two extensions were incorporated in SUMO: EV models and modeling of altitude, transforming SUMO into a three-dimensional (3D) simulator. The energy model effectiveness and correctness with 3D capabilities has been validated using two driving schedules (Urban Dynamometer Driving Schedule and Highway Fuel Economy Driving Schedule). This new tool will also support the study of better routes choice in 3D environment with EV aiming minimum energy consumption. © 2011 IEEE.

关键词： Energy utilization

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Dexterity optimization of a three degrees of freedom DELTA parallel manipulator 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Silva, Vitor Gaspar Tavakoli, Mahmoud Marques, Lino Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9783319036526

This paper demonstrates dexterity optimization of a Deltalike three degrees of freedom (3 DOF) spatial parallel manipulator. The parallel manipulator consists of three identical chains and is able to move on all three translational axes. In order to optimize the manipulator in term of dexterity, a Genetic Algorithm (GA) global search method was applied. This algorithm aims to propose the best design parameters such as the length of the links which results in a better dexterity. Results of the optimization are presented. © Springer International Publishing Switzerland 2014.

关键词： Manipulators

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Comparison of different cooling fan designs for electric motors

Comparison of different cooling fan designs for electric mot...

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2017 IEEE International Electric Machines and Drives Conference, IEMDC 2017

作者： Roffi, Michele Ferreira, Fernando J. T. E. De Almeida, Anibal T. Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781509042814

Worldwide electric motor market is moving towards Premium/IE3, Super-Premium/IE4 and Ultra-Premium/IE5 efficiency classes. Therefore, motor manufacturers are constantly improving the overall design of three-phase asynchronous and synchronous motors and all the details with impact in the losses count, even if, individually, they just lead to efficiency gains of a fraction of a percentage point. In industry, most of the self-ventilated motors are driving unidirectional applications, such as fans, pumps, and compressors, and, therefore, the replacement of the typical bidirectional centrifugal fans of the external cooling system with a unidirectional axial fan may lead to a decrease in the acoustic noise and to a gain in the overall motor efficiency. In this paper, numerical simulations and experimental tests of different designs of axial fans and the respective comparison with the traditional centrifugal fans are presented. The tested axial fan prototypes were printed in plastic using a 3D printer. One of the novel axial fan designs led to a slight gain in the motor efficiency, maintaining the same operating temperature. That axial fan can be further optimized in order to require less power, have a better dynamic airflow, and produce less acoustic noise. © 2017 IEEE.

关键词： Energy efficiency

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A cascade classifier applied in pedestrian detection using laser and image-based features

A cascade classifier applied in pedestrian detection using l...

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International IEEE Conference on Intelligent Transportation systems

作者： Premebida, Cristiano Ludwig, Oswaldo Silva, Marco Nunes, Urbano Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9781424476572

In this paper we present a multistage method applied in pedestrian detection using information from a LIDAR and a monocular-camera mounted on an electric vehicle driving in urban scenarios. The proposed method is a cascade of classifiers trained in two subsets of features, one with laser-based features and the other with a set of image-based features. A specific training approach was developed to adjust the cascade stages in order to enhance the classification performance. The proposed method differs from the conventional cascade regarding the way the selected samples are propagated through the cascade. Thus, the subsequent stages of the proposed cascade receive both negatives and positives from previous ones, relying on a decision margin process. Experiments were conducted in off-line mode, for a set of single component classifiers and for the proposed cascade technique. The results are compared in terms of classification performance metrics and ROC curves. ©2010 IEEE.

关键词： Image classification

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