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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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Path planning for robot navigation using view sequences

Path planning for robot navigation using view sequences

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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)9789881701299

Navigation based on visual memories is very common among humans. However, planning long trips requires also a more sophisticated representation of the environment, such as a topological map. This paper describes a system that learns paths by storing sequences of images and image information in a Sparse Distributed Memory. Connections between paths are detected by exploring similarities in the images, and a topological representation of the connections is created. The robot is then able to plan paths and skip from one path to another at the connection points. The system was tested under reconstitutions of country and urban environments, and it was able to successfully plan paths and navigate.

关键词： Motion planning

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Probabilistic LMA-based classification of human behaviour understanding using Power Spectrum technique

Probabilistic LMA-based classification of human behaviour un...

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作者： Khoshhal, Kamrad Aliakbarpour, Hadi Quintas, João Drews, Paulo Dias, Jorge Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9780982443811

This paper proposes a new approach for the Power Spectrum (PS)-based feature extraction applied to probabilistic Laban Movement Analysis (LMA), for the sake of human behaviour understanding. A Bayesian network is presented to understand human action and behaviour based on 3D spatial data and using the LMA concept which is a known human movement descriptor. We have two steps for the classification process. The first step is estimating LMA parameters which are built to describe human motion situation by using some low level features. Then by having these parameters, it is possible to classify different human actions and behaviours. Here, a sample of using 3D acceleration data of six body parts to obtain some LMA parameters and understand some performed actions by human is shown. A new approach is applied to extract features from a signal data such as acceleration using the PS technique to achieve some of LMA parameters. A number of actions are defined, then a Bayesian network is used in learning and classification process. The experimental results prove that the proposed method is able to classify actions.

关键词： Bayesian networks

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Platooning of autonomous vehicles with intervehicle communications in SUMO traffic simulator

Platooning of autonomous vehicles with intervehicle communic...

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International IEEE Conference on Intelligent Transportation systems

作者： Fernandes, Pedro Nunes, Urbano Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra 3030-290 Coimbra Portugal

ISBN: (纸本)9781424476572

An approach to increase road capacity consists in making vehicles move much closer to each other, i.e. using platoons, and to avoid the constant stop-and-go in urban traffic. This paper addresses the studies of new models to allow the research of cooperative and autonomous communication-enabled vehicles, with platooning capabilities, and the addition of new features in SUMO (Simulation for Urban MObility) to allow the simulation of those models. Simulations results of vehicle platoons using constant spacing instead of the more common constant time headway, with intervehicle communications, are reported in the paper. The platoon leaders are controlled by an external application and the simulation platform works at the subsecond level. ©2010 IEEE.

关键词： Vehicles

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Feature extraction and selection for automatic sleep staging using EEG

Feature extraction and selection for automatic sleep staging...

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作者： Simões, Hugo Pires, Gabriel Nunes, Urbano Silva, Vitor Institute of Systems and Robotics University of Coimbra Coimbra Portugal Department of Electrical Engineering University of Coimbra - Polo II Coimbra Portugal

ISBN: (纸本)9789898425027

Sleep disorders affect a great percentage of the population. The diagnostic of these disorders is usually made by a polysomnography, requiring patient's hospitalization. Low cost ambulatory diagnostic devices can in certain cases be used, especially when there is no need of a full or rigorous sleep staging. In this paper, several methods to extract features from 6 EEG channels are described in order to evaluate their performance. The features are selected using the R-square Pearson correlation coefficient (Guyon and Elisseeff, 2003), providing this way a Bayesian classifier with the most discriminative features. The results demonstrate the effectiveness of the methods to discriminate several sleep stages, and ranks the several feature extraction methods. The best discrimination was achieved for relative spectral power, slow wave index, harmonic parameters and Hjorth parameters.

关键词： Correlation methods

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Exploration of Kinematic Optimal Control on the Lie Group SO (3) *

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IFAC Proceedings Volumes 2010年第14期43卷 1302-1307页

作者： Alessandro Saccon John Hauser A. Pedro Aguiar Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisboa Dept. of Electrical Computer and Energy Engineering University of Colorado Boulder

In this paper, we investigate a generalization of the infinite time horizon linear quadratic regulator (LQR) for systems evolving on the special orthogonal group SO(3). Using Pontryagin's Maximum Principle, we derive the necessary conditions for optimality and the associated Hamiltonian equations. For a special class of weighting matrices, we show that the optimal feedback can be computed explicitly and we prove that the non differentiable value function is the viscosity solution of an appropriate Hamiltn-Jacobi-Bellman equation on SO(3). For arbitrary positive definite weighting matrices, numerical simulations allow us to explore the relationship between the optimal trajectories and weighting matrices, and in particular to highlight nontrivial non differentiability properties of the value function.

关键词： Optimal control Special orthogonal group SO(3) Rotation matrices Lie groups Pontryagin's Maximum Principle Hamilton-Jacobi-Bellman equation

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Looking around with your brain in a virtual world

Looking around with your brain in a virtual world

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IEEE Symposium on Computational Intelligence, Cognitive Algorithms, Mind, and Brain (CCMB)

作者： Danny Plass-Oude Bos Matthieu Duvinage Oytun Oktay Jaime Delgado Saa Huseyin Guruler Ayhan Istanbullu Marijn van Vliet Bram van de Laar Mannes Poel Linsey Roijendijk Luca Tonin Ali Bahramisharif Boris Reuderink HMI group Faculty of EEMCS University of Twente Netherlands TCTS Laboratory Electrical Engineering University of Mons Belgium Electronics and Communications Corlu Engineering Namik Kemal Üniversitesi Turkey IEE Group of Robotics and Intelligent Systems Universidad del Norte Colombia Faculty of Engineering and Natural Sciences VPA Laboratory Sabanci University Turkey Department of Electronics and Computer Education Faculty of Technical Education Mugla University Turkey Faculty of Computer Engineering Balikesir University Turkey Donders Institute for Brain Cognition and Behaviour Radboud University Nijmegen Nijmegen Netherlands CNBI École Polytechnique Fédérale de Lausanne Switzerland Institute for Computing and Information Sciences Radboud University Nijmegen Nijmegen Netherlands

Offline analysis pipelines have been developed and evaluated for the detection of covert attention from electroen-cephalography recordings, and the detection of overt attention in terms of eye movement based on electrooculographic measurements. Some additional analysis were done in order to prepare the pipelines for use in a real-time system. This real-time system and a game application in which these pipelines are to be used were implemented. The game is set in a virtual environment where player is a wildlife photographer on an uninhabited island. Overt attention is used to adjust the angle of the first person camera, when the player is tracking animals. When making a photograph, the animal will flee when it notices it is looked at directly, so covert attention is required to get a good shot. Future work will entail user tests with this system to evaluate usability, user experience, and characteristics of the signals related to overt and covert attention when used in such an immersive environment.

关键词： Pipelines Accuracy Electrooculography Electrodes Training Electroencephalography Games

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Distributed detection over time varying networks: Large deviations analysis

Distributed detection over time varying networks: Large devi...

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Annual Allerton Conference on Communication, Control, and Computing

作者： Dragana Bajović Dušan Jakovetić João Xavier Bruno Sinopoli José M. F. Moura The Institute for Systems and Robotics (ISR) Instituto Superior Técnico (IST) Lisbon Portugal The Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Institute of Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal

We apply large deviations theory to study asymptotic performance of running consensus distributed detection in sensor networks. Running consensus is a stochastic approximation type algorithm, recently proposed. At each time step k, the state at each sensor is updated by a local averaging of the sensor's own state and the states of its neighbors (consensus) and by accounting for the new observations (innovation).We assume Gaussian, spatially correlated observations. We allow the underlying network be time varying, provided that the graph that collects the union of links that are online at least once over a finite time window is connected. This paper shows through large deviations that, under stated assumptions on the network connectivity and sensors' observations, the running consensus detection asymptotically approaches in performance the optimal centralized detection. That is, the Bayes probability of detection error (with the running consensus detector) decays exponentially to zero as k → ∞ at the Chernoff information rate-the best achievable rate of the asymptotically optimal centralized detector.

关键词： Detectors Data models Detection algorithms Approximation algorithms Testing Symmetric matrices Approximation methods

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Optimal control on non-compact lie groups: A projection operator approach

Optimal control on non-compact lie groups: A projection oper...

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IEEE Conference on Decision and Control

作者： Alessandro Saccon John Hauser A. Pedro Aguiar Institute of Systems and Robotics (ISR) Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of Colorado Boulder USA

ISBN: (纸本)9781424477456

Many nonlinear systems of practical interest evolve on Lie groups or on manifolds acted upon by Lie groups. Examples range from aircraft and underwater vehicles to quantum mechanical systems. In this paper, we develop the mathematical machinery needed for projection operator based trajectory exploration and optimization (optimal control) for systems defined on non-compact Lie groups.

关键词： Trajectory Manifolds Digital TV Approximation methods Optimization Algebra Nonlinear systems

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Embedding a Neural Network into WSN furniture

Embedding a Neural Network into WSN furniture

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2010 10th International Conference on Hybrid Intelligent systems, HIS 2010

作者： Soares, Symone Gomes Da Rocha, Adson Ferreira De A. Barbosa, Talles Marcelo G. De Matos Araújo, Rui Alexandre Systems and Robotics Institute University of Coimbra Coimbra Portugal Department of Electrical Engineering University of Brasília Brasília Brazil Department of Computing Pontifical Catholic University of Goiás Goiânia Brazil

ISBN: (纸本)9781424473656

Wireless Sensor Networks (WSN) is an emerging technology that is developed with a large number of useful applications. On the other hand, Artificial Neural Networks (ANN) have found many successful applications in nonlinear system and control, digital communication, pattern recognition, pattern classification, etc. There are many similarities between WSN and ANN. For example, the sensor node itself can be seen as a neuron since the WSN application show characteristics such as distributed processing, massive parallelism, adaptively, inherent contextual information processing, fault tolerance and low computation. This paper examines the possibility of embedding ANN and WSN into a Smart Table. Prototypal results have shown that ANN models are good candidates for using it deployed into low cost System-on-a-Chip (SoC). © 2010 IEEE.

关键词： Neural networks

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