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IEEE International Conference on robotics and Biomimetics

作者： Mengfan Li Wei Li Jing Zhao Qinghao Meng Fuchun Sun Genshe Chen The Institute of Robotics and Autonomous Systems Tianjin University Tianjin China Department of Computer & Electrical Engineering and Computer Science California State University Bakersfield California USA the Institute of Robotics and Autonomous Systems Tianjin University Tianjin China Department of Computer Science and Technology Tsinghua University Beijing China The Intelligent Fusion Technology Inc. Germantown MD

ISBN: (纸本)9781479927456

This paper presents a P300 model for controlling a humanoid robot with mind, including an off-line phase with a fixed trial number for training the model and an on-line phase with an adaptive strategy for generating commands to the humanoid robot. Our control scheme includes a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects' mental activities regarding robot-walking behavior. Our study shows that the adaptive model is fast and practical to control humanoid robot via brainwaves.

关键词： Adaptation models Humanoid robots Accuracy Context Brain modeling Testing

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Finding Objects with Segmentation Strategy based Multi Robot Exploration in Unknown Environment

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Procedia - Social and Behavioral Sciences 2013年 97卷 580-586页

作者： Reza Arezoumand Syamsiah Mashohor Mohammad Hamiruce Marhaban Intelligent System and Robotics Laboratory Institute of Advanced Technology Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Computer & Communication Systems Faculty of Engineering Universiti Putra Malaysia 43400 Serdang Selangor Malaysia Department of Electrical and Electronic Engineering University Putra Malaysia 43400 Serdang Selangor Malaysia

In this paper we address exploration algorithm in flat experimental environment with colored objects for multi robots system. The aim of exploration in unknown environment is finding target points like mine detection in outdoor environment without any positioning device. Two algorithms were investigated in this paper one is frontier based random search algorithm and the second is efficient algorithm based on segmentation strategy. To improve efficiency, each robot had to go to different regions to avoid cumulating robots in one region. Constructed maps for all four regions could be shared and navigation could be done more effectively. For constructing map robot can use on built range finder sensor or using vision based systems. Also the algorithm using segmentation strategy is using frontier base algorithm for exploring divided area. Both algorithm implemented and analyzed in Player/Stage simulation. The result was compared and showed the efficiency of the designed algorithm based segmentation strategy. In simulation this algorithm is tested with different number of robots to achieve better view of efficiency for proposed algorithm in different type of environment like harsh environment as possibility of losing some robots.

关键词： Multi-robot exploration Flocking Exploration ratio Trajectory prediction

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Bayesian 3D independent motion segmentation with IMU-aided RBG-D sensor

Bayesian 3D independent motion segmentation with IMU-aided R...

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2012 IEEE International Conference on Multisensor Fusion and Integration for Intelligent systems, MFI 2012

作者： Lobo, Jorge Ferreira, Joao Filipe Trindade, Pedro Dias, Jorge Department of Electrical and Computer Engineering University of Coimbra Portugal ISR - Institute of Systems and Robotics University of Coimbra Portugal Robotics Institute Khalifa University Abu Dhabi United Arab Emirates

ISBN: (纸本)9781467325110

In this paper we propose a two-tiered hierarchical Bayesian model to estimate the location of objects moving independently from the observer. Biological vision systems are very successful in motion segmentation, since they efficiently resort to flow analysis and accumulated prior knowledge of the 3D structure of the scene. Artificial perception systems may also build 3D structure maps and use optical flow to provide cues for ego- and independent motion segmentation. Using inertial and magnetic sensors and an image and depth sensor (RGB-D) we propose a method to obtain registered 3D maps, which are subsequently used in a probabilistic model (the bottom tier of the hierarchy) that performs background subtraction across several frames to provide a prior on moving objects. The egomotion of the RGB-D sensor is estimated starting with the angular pose obtained from the filtered accelerometers and magnetic data. The translation is derived from matched points across the images and corresponding 3D points in the rotation-compensated depth maps. A gyro-aided Lucas Kanade tracker is used to obtain matched points across the images. The tracked points can also used to refine the initial sensor based rotation estimation. Having determined the camera egomotion, the estimated optical flow assuming a static scene can be compared with the observed optical flow via a probabilistic model (the top tier of the hierarchy), using the results of the background subtraction process as a prior, in order to identify volumes with independent motion in the corresponding 3D point cloud. To deal with the computational load CUDA-based solutions on GPUs were used. Experimental results are presented showing the validity of the proposed approach. © 2012 IEEE.

关键词： Optical flows

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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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IEEE Annual Conference on Decision and Control

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

ISBN: (纸本)9781467357159

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.

关键词： design analysis simultaneous localization and mapping Kalman filters asymptotic Observability realistic simulation dynamics Sensor systems gas filters

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Improved SDM-based robot navigation using image processing techniques

Improved SDM-based robot navigation using image processing t...

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2012 World Congress on engineering, WCE 2012

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

ISBN: (纸本)9789881925213

Intelligent robot navigation is a broad area of research. Vision-based approaches deserve special attention, for being biologically inspired, inexpensive and powerful. However, problems such as illumination changes, scenario changes and noise are difficult to overcome. In previous work the authors developed algorithms to navigate a robot based on sequences of visual memories stored into a Sparse Distributed Memory—a kind of associative memory suitable to work with high-dimensional binary vectors, which also exhibits behaviours in many aspects similar to those of the human brain. This paper analyses the impact of using different image processing techniques on the images used: histogram equalisation, contrast normalisation and smoothing using a Gaussian filter. The results show that equalisation and smoothing have a positive effect on the performance of the system. © 2012 Newswood Limited. All rights reserved.

关键词： Equalizers

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Global Trajectory Tracking for a Class of Underactuated Vehicles

Global Trajectory Tracking for a Class of Underactuated Vehi...

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American Control Conference

作者： Pedro Casau Ricardo G. Sanfelice Rita Cunha David Cabecinhas Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa 1049-001 Lisboa Portugal Department of Aerospace and Mechanical Engineering University of Arizona 1130 N. Mountain Ave AZ 85721

ISBN: (纸本)9781479901777

In this paper, we address the problem of trajectory tracking for a class of underactuated vehicles with full torque actuation and only one dimensional force actuation (thrust). For this class of vehicles, the desired thrust is defined by a saturated control law that achieves global asymptotic stabilization of the position tracking error. The proposed control law also assures that the third component of the angular velocity is regulated to zero. To accomplish this task we propose a hybrid controller that is designed using backstepping techniques and recent developments on synergistic Lyapunov functions. Simulations validating the results are also provided.

关键词： position tracking error angular velocity is regulated to zero results are also provided trajectory tracking Location tracking vehicle peak torque Classes control law ANGULAR VELOCITY Activation thrust saturating control

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A New Graph Model with Random Edge Values: Connectivity and Diameter

A New Graph Model with Random Edge Values: Connectivity and ...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Richard J. La Maya Kabkab the Department of Electrical & Computer Engineering (ECE) and the Institute for Systems Research (ISR) University of MarylandCollege Park MD 20742.

ISBN: (纸本)9781479934119

We introduce a new random graph model. In our model, n, n ≥ 2, vertices choose a subset of potential edges by considering the (estimated) benefits or utilities of the edges. More precisely, each vertex selects k, k ≥ 1, incident edges it wishes to set up, and an edge between two vertices is present in the graph if and only if both of the end vertices choose the edge. First, we examine the scaling law of the smallest k needed for graph connectivity with increasing n and prove that it is θ(log(n)). Second, we study the diameter of the random graph and demonstrate that, under certain conditions on k, the diameter is close to log(n)/ log(log(n)) with high probability. In addition, as a byproduct of our findings, we show that, for all sufficiently large n, if k > β* log(n), where β*≈ 2.4626, there exists a connected Erd?s-Rényi random graph that is embedded in our random graph with high probability.

关键词： graph edge scaling law

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Parameterizing interpersonal behaviour with Laban movement analysis - A Bayesian approach

Parameterizing interpersonal behaviour with Laban movement a...

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2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2012

作者： Roudposhti, Kamrad Khoshhal Santos, Luís Aliakbarpour, Hadi Dias, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781467316118

In this paper we propose a probabilistic model to parameterize human interactive behaviour from human motion. To Support the model taxonomy, we use Laban Movement Analysis (LMA), proposed by Rudolph Laban [11], to characterize human non-verbal communication. In interpersonal communication, body motion carries a lot of meaningful information, useful to analyse group dynamic behaviors in a wide range of social scenarios (e.g. behaviour analysis of human interpersonal activities and surveillance system). Taking the advantage of interpretation of social signals defined by Alex Pentland [19], and the descriptive body movement analysis proposed by Laban, we identified characteristics allowing both works to complement each other. To explore in group dynamics, we attempt to show the existent connections between Pentland's descriptions for Interpersonal Behaviours (IBs), and LMA parameters for human body part motions. Those relations are the keys to characterize the interpersonal communication. Given the uncertainty of the phenomenon, Bayesian's methodology is applied. The results present LMA parameters as reliable indicators for IBs, allowing us to generalize the model. © 2012 IEEE.

关键词： Bayesian networks

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Hand gesture recognition using color and depth images enhanced with hand angular pose data

Hand gesture recognition using color and depth images enhanc...

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

作者： Pedro Trindade Jorge Lobo João P. Barreto ISR-Institute of Systems and Robotics University of Coimbra Portugal ISR-Institute of Systems and Robotics and the Department of Electrical and Computer Engineering University of Coimbra Portugal

In this paper we propose a hand gesture recognition system that relies on color and depth images, and on a small pose sensor on the human palm. Monocular and stereo vision systems have been used for human pose and gesture recognition, but with limited scope due to limitations on texture, illumination, etc. New RGB-Depth sensors, that reply on projected light such as the Microsoft Kinect, have overcome many of those limitations. However, the point clouds for hand gestures are still in many cases noisy and partially occluded, and hand gesture recognition is not trivial. Hand gesture recognition is much more complex than full body motion, since we can have the hands in any orientation and can not assume a standing body on a ground plane. In this work we propose to add a tiny pose sensor to the human palm, with a minute accelerometer and magnetometer that combined provide 3D angular pose, to reduce the search space and have a robust and computationally light recognition method. Starting with the full depth image point cloud, segmentation can be performed by taking into account the relative depth and hand orientation, as well as skin color. Identification is then performed by matching 3D voxel occupancy against a gesture template database. Preliminary results are presented for the recognition of Portuguese Sign Language alphabet, showing the validity of the approach.

关键词： Gesture recognition Image color analysis Iterative closest point algorithm Skin Libraries Robot sensing systems

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Rolling motions of pseudo-orthogonal groups

Rolling motions of pseudo-orthogonal groups

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51st IEEE Conference on Decision and Control, CDC 2012

作者： Crouch, Peter Silva Leite, Fatima Department of Electrical Engineering University of Hawai'i United States Institute of Systems and Robotics University of Coimbra Portugal

ISBN: (纸本)9781467320658

The classical definition of a rolling map, describing the rolling motion, without slip or twist, of one Euclidean submanifold over another of the same dimension, as given in Sharpe [8], is generalized for the situation when the embedded space is equipped with a pseudo-Riemannian metric and applied to derive the kinematic equations for the constrained rolling motion of a connected pseudo-Riemannian orthogonal group over its affine tangent spaces at a point. The kinematic equations are solved explicitly when the curve along which the first manifold rolls is a geodesic. We also show that rolling motions along a curve with non-holonomic constraints of not-wist and no-slip encode parallel transport, and derive formulas for the tangent and normal parallel transport of a vector along geodesics. Finally, we make a brief reference on how rolling motions can be used to generate smooth interpolating curves on pseudo-orthogonal groups. © 2012 IEEE.

关键词： Kinematics

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