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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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A comparison of adaptive PID methodologies controlling a DC motor with a varying load

A comparison of adaptive PID methodologies controlling a DC ...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Luís Osório Jérôme Mendes Rui Araújo Tiago Matias Institute for Systems and Robotics (ISR-UC) and Department of Electrical and Computer Engineering (DEEC-UC) University of Coimbra Coimbra Portugal

This work addresses the problem of controlling unknown and time varying plants for industrial applications. To deal with such problem several Self-Tuning Controllers with a Proportional Integral and Derivative (PID) structure have been chosen. The selected controllers are based on different methodologies, and some use implicit identification techniques (Single Neuron and Support Vector Machine) while the others use explicit identification (Dahlin, Pole placement, Deadbeat and Ziegler-Nichols) based in the Least Squares Method. The controllers were tested on a real DC motor with a varying load. The results have shown that all the tested methods were able to properly control an unknown plant with varying dynamics.

关键词： Vectors DC motors Support vector machines Heuristic algorithms Neurons Process control Adaptation models

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Sensor-based globally asymptotically stable range-only simultaneous localization and mapping

Sensor-based globally asymptotically stable range-only simul...

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52nd IEEE Conference on Decision and Control, CDC 2013

作者： Lourenço, Pedro Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Universidade de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau China

ISBN: (纸本)9781467357173

Range-only simultaneous localization and mapping is addressed in this paper, through the design, analysis, and experimental validation of a globally asymptotically stable (GAS) filter. A nonlinear sensor-based system is designed and its dynamics augmented so that the proposed formulation can be considered as linear time-varying for the purpose of observability analysis. This allows the establishment of observability results related to the original nonlinear system that naturally lead to the design of a Kalman filter with GAS error dynamics. The performance of the proposed algorithm is assessed resorting to a set of realistic simulations and to the results obtained from experimental tests. © 2013 IEEE.

关键词： Observability

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GAS Decentralized Navigation Filters in a Continuous-Discrete Fixed Topology Framework

GAS Decentralized Navigation Filters in a Continuous-Discret...

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Mediterranean Conference on Control & Automation

作者： Daniel Viegas Pedro Batista Paulo Oliveira Carlos Silvestre Institute for Systems and Robotics Instituto Superior Tecnico Institute for Systems and Robotics and the Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau

ISBN: (纸本)9781479909964

This paper addresses the problem of state estimation in formations of autonomous vehicles. The approach considered here consists in the implementation of a local state observer in each vehicle relying only on locally available measurements and data communicated by neighboring agents, resulting in a decentralized state observer which features lower computational and communication loads than comparable centralized solutions. A method for computing observer gains which yield globally asymptotically stable error dynamics is presented for fixed topology formations, as well as an iterative algorithm for improving the decentralized estimator's performance when the measurements are corrupted by noise. The proposed framework is particularized to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and a continuous-discrete formulation is achieved for the local state observers, to take into account the difference in sampling rates between on-board instrumentation and positioning systems. To assess the performance of the solution, simulation results are presented and discussed for different formation topologies.

关键词： Observers Vehicles Position measurement Vehicle dynamics Noise measurement Topology Estimation error

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Fast and Accurate Calibration of a Kinect Sensor

Fast and Accurate Calibration of a Kinect Sensor

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： Carolina Raposo João Pedro Barreto Urbano Nunes Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

The article describes a new algorithm for calibrating a Kinect sensor that achieves high accuracy using only 6 to 10 image-disparity pairs of a planar checkerboard pattern. The method estimates the projection parameters for both color and depth cameras, the relative pose between them, and the function that converts kinect disparity units (kdu) into metric depth. We build on the recent work of Herrera et. al [8] that uses a large number of input frames and multiple iterative minimization steps for obtaining very accurate calibration results. We propose several modifications to this estimation pipeline that dramatically improve stability, usability, and runtime. The modifications consist in: (i) initializing the relative pose using a new minimal, optimal solution for registering 3D planes across different reference frames, (ii) including a metric constraint during the iterative refinement to avoid a drift in the disparity to depth conversion, and (iii) estimating the parameters of the depth distortion model in an open-loop post-processing step. Comparative experiments show that our pipeline can achieve a calibration accuracy similar to [8] while using less than 1/6 of the input frames and running in 1/30 of the time.

关键词： Cameras Calibration Image color analysis Accuracy Robot sensing systems Three-dimensional displays Estimation

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Improved Semantic-based Human Interaction Understanding Using Context-based knowledge

Improved Semantic-based Human Interaction Understanding Usin...

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IEEE International Conference on systems, Man, and Cybernetics

作者： Kamrad Khoshhal Roudposhti Jorge Dias Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal.

ISBN: (纸本)9781479906505

This paper proposes a descriptive approach for context-based human activity analysis through an hierarchical framework in a scene understanding application. Each human movement with respect to himself, others and scene, can arise different layers of human activities analysis, which usually investigated separately depend on the application. Human behaviour can not be analysed properly, since the all different layers of information were not considered. The effect of using the different layers of information to increase the accuracy of the analysis is presented in the study. The contributions are, using different information layers such as human body parts movement and human-object interaction, in 3D space, to improve human activity analysis, and proposing a probabilistic and descriptive model, based on a well-known human movement descriptor and Bayesian Network (BN) approach. Thus, based on the mentioned framework, the model is generalizable and flexible which are necessary for having such an applicable system. The capability of the proposed approach is presented in the experiment's section.

关键词： Scene understanding hierarchical framework human interaction analysis Bayesian approach human movement analysis descriptive model Human locomotion Bayes methods Human Activities activity analysis

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Divergence-based odor source declaration

Divergence-based odor source declaration

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Asian Control Conference

作者： Gonçalo Cabrita Lino Marques Department of Electrical and Computer Engineering Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper explores the use of the divergence operator for odor source declaration in swarm-based algorithms. A set of simulations of a swarm of robots running the decentralized asynchronous particle swarm optimization, bacterial foraging optimization and ant colony optimization algorithms was used to generate multiple wind and odor biased vector fields to investigate the effectiveness of the divergence operator in odor source declaration. A set of real world experiments were also performed using the same swarm algorithms on a controlled environment to ascertain if the divergence operator can also be used on real data. The sparse gas sensor data acquired by the robots was interpolated using the Nadaraya-Watson estimator by means of a wind and odor biased kernel before the application of the divergence. Results show that the divergence operator excels at odor source declaration.

关键词： Chemicals Robot sensing systems Vectors Robot kinematics Equations Mathematical model

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Interaction effects of temperature and stress on matched-mode gyroscope frequencies

Interaction effects of temperature and stress on matched-mod...

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2013 17th International Conference on Solid-State Sensors, Actuators and Microsystems, TRANSDUCERS and EUROSENSORS 2013

作者： Tatar, E. Guo, C. Mukherjee, T. Fedder, G.K. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States Institute for Complex Engineered Systems Carnegie Mellon University Pittsburgh PA United States Robotics Institute Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)9781467359818

We present our initial results toward understanding the interaction of temperature and stress on resonant frequencies of a matched-mode SOI-MEMS gyroscope. We also validate a new electrostatic frequency tuning design for gyroscopes that works over large displacements. A stress and temperature gradient is formed on the gyroscope die by using on-chip silicon heaters, affecting the gyroscope frequencies. Simulation and measurements of the gyroscope frequencies under different gradient conditions are compared. We also show that the orientation of the die with respect to an asymmetric package plays an important role in frequency response of the gyroscope to environmental conditions. © 2013 IEEE.

关键词： Gyroscopes

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Bi-state control of a duffing microresonator on the falling edge of the instability

Bi-state control of a duffing microresonator on the falling ...

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2013 17th International Conference on Solid-State Sensors, Actuators and Microsystems, TRANSDUCERS and EUROSENSORS 2013

作者： Guo, Congzhong Fedder, Gary K. Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA United States Institute for Complex Engineered Systems Carnegie Mellon University Pittsburgh PA United States Robotics Institute Carnegie Mellon University Pittsburgh PA United States

ISBN: (纸本)9781467359818

This work is the first investigation of a bi-state control technique capable of servoing on the falling edge of the microelectromechanical Duffing resonant bifurcation setpoint. The Duffing microresonator, fabricated in an SOI-MEMS process, features a sharp jump in oscillation amplitude at the bifurcation and is, therefore, ideal for ultrasensitive detection of mass or stress shifts that modify the resonance frequency and hence the jump frequency. The resonator instability tongue is characterized to identify the bifurcation points as a function of drive gain. The control system states are set through the AC drive gain while operating at a fixed drive frequency such that one of the system states is within this instability tongue whereas the second state resides outside of this tongue. The amplitude servo point is chosen at the maximum on amplitude prior to the jump event. The states are driven by 300 kHz pulse width modulation that is set much faster than the amplitude response dynamics and inhibits the system from latching off as would happen in static operation. © 2013 IEEE.

关键词： Voltage control

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Beyond induction motors — Technology trends to move up efficiency

Beyond induction motors — Technology trends to move up effi...

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Annual Meeting Industrial and Commercial Power systems Technical Conference

作者： Aníbal T. de Almeida Fernando J. T. E. Ferreira Ge Baoming Institute of Systems and Robotics University of Coimbra (ISR-UC) Coimbra Portugal Dep. of Electrical Engineering Polytechnic Institute of Coimbra (IPC/ISEC) Coimbra Portugal School of Electrical Engineering Beijing Jiaotong University Beijing China

Premium (IEC IE3 Class) efficiency Motors are now mandatory in North America. Super-Premium (IEC IE4 Class) and IE5 Ultra-Premium efficiency classes are defined in the second edition of Standard IEC 60034-30. For line-start fixed-speed applications, Super-Premium IE4-Class Line-Start Permanent-Magnet Motors and Squirrel-Cage Induction Motors are recent entrances in the industrial motor market. For variable-speed applications, IE4-Class Variable-Reluctance Synchronous Motors are also a recent entrance in the market. For the low power range, moving from IE4 to IE5 class, may require moving away from radial-flux induction motor technology, into to the permanent magnet and reluctance technology, either using Rare-Earth or Ferrite magnets. In this paper, efficiency analysis on the best available electric motors and emerging motor technologies, such as axial-flux permanent-magnet synchronous motors, is presented. The potential efficiency gain associated with several design options as well as a study on the theoretical efficiency limit achievable taking into account those existing design options are described.

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