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A Human Gait Analyzer

A Human Gait Analyzer

引用

IEEE International Symposium on Intelligent Signal Processing

作者： Joao P. Ferreira Manuel Crisostomo A. Paulo Coimbra David Carnide Antonio Marto Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

ISBN: (纸本)9781424408290;1424408296

With this work, it is intended to do the tracking and analysis of the human motion, more specifically the gait. By using computational vision, it has been acquired the trajectories of defined control points in individuals' body, throughout time and space. These results are to be used afterwards in gait specification of biped robots. Several types of movement and the phases that compose a common system of capture and analysis of movement are referenced. Then, methods used in image processing and a description of existing gait types are detailed. Finally, the implemented software is presented and the results analyzed.

关键词： Humans Service robots Medical robotics Computer vision Intelligent robots Biomedical imaging Kinematics Data mining Image processing Aerospace industry

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A Lidar and Vision-based Approach for Pedestrian and Vehicle Detection and Tracking

A Lidar and Vision-based Approach for Pedestrian and Vehicle...

引用

International Conference on Intelligent Transportation

作者： Cristiano Premebida Goncalo Monteiro Urbano Nunes Paulo Peixoto Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This paper presents a sensorial-cooperative architecture to detect, track and classify entities in semi-structured outdoor scenarios for intelligent vehicles. In order to accomplish this task, information provided by in-vehicle Lidar and monocular vision is used. The detection and tracking phases are performed in the laser space, and the object classification methods work both in laser space (using a Gaussian Mixture Model classifier) and in vision spaces (AdaBoost classifier). A Bayesian-sum decision rule is used in order to combine the results of both classification techniques, and hence a more reliable object classification is achieved. Experiments confirm the effectiveness of the proposed architecture.

关键词： Laser radar Vehicle detection Object detection Cameras Bayesian methods Intelligent transportation systems Intelligent vehicles Laser modes Machine vision Space technology

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Linear solution for the pose estimation of noncentral catadioptric systems

Linear solution for the pose estimation of noncentral catadi...

引用

International Conference on Computer Vision (ICCV)

作者： Nuno Goncalves Helder Araujo Institute of Systems and Robotics-Coimbra Department Electrical and Computers Engineering University of Coimbra Coimbra Portugal

This paper presents a linear method to estimate the pose of a noncentral catadioptric system with a quadric shaped mirror in relation to a world reference frame (or local reference frame without loss of generality). The vision system is assumed to be calibrated. The method uses also as input data the structure of the scene. It is proved that any reflection point should belong to an analytical quadric that intersects the mirror quadric itself. This constraint can be written linearly in the 3D scene point coordinates (in the camera reference frame). The unknown pose screw transformation that relates camera and world reference frames can then be used in the linear model, allowing for the construction of a linear equation in the pose transformation elements. Additional constraints are used to force the estimated rotation elements to build an orthogonal matrix. Tests with simulated data and also on real images with different mirrors proved the method to be consistent and to estimate the pose accurately. However, it was also observed that the method is sensitive to noise. The results are compared with another method.

关键词： Cameras Mirrors Machine vision Robot kinematics Optical sensors Robot vision systems Polynomials Layout Optical reflection Testing

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Synchronization in multi-agent systems with switching topologies and non-homogeneous communication delays

Synchronization in multi-agent systems with switching topolo...

引用

Proceedings of the 46th IEEE Conference on Decision and Control, Pages 4593-5051

作者： Reza Ghabcheloo A. Pedro Aguiar Antonio Pascoal Carlos Silvestre Department Electrical Engineering and Computers and the Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal

ISBN: (纸本)9781424414970;1424414970

We study the synchronization problem for n single state agents with linear continuous time dynamics. The agent states are required to synchronize and travel at a desired common speed. This problem arises naturally in the design of coordinated path-following algorithms problem [9] and in studies on the synchronization of Kuramoto oscillator networks [17]. When the desired speed is zero or there are no time delays, it has been shown in the literature that a so-called neighboring control rule makes the states synchronize asymptotically under some connectivity conditions on the union of the underlying communication graphs. We will show that when both the desired speed and the communication delay are non-zero, the behavior of the synchronization system changes significantly. We start by considering asymmetric networks and switching topologies with homogeneous time delays. We then address some issues related to the behavior of the synchronization system in the presence of heterogeneous time delays. We provide connectivity conditions under which the synchronization problem is solved and introduce synchronization laws that compensates for the effect of non-zero speed and time delays. Simulations illustrate the synchronization of three agents.

关键词： synchronous system desired speed Multi-agent systems topology control rule time delay zero speed Communication Research

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Coordinated Path-Following Control for Nonlinear systems with Logic-Based Communication

Coordinated Path-Following Control for Nonlinear Systems wit...

引用

Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5052-5510

作者： A. Pedro Aguiar Antonio M. Pascoal Department Electrical Engineering and Computers and the Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal

ISBN: (纸本)9781424414970;1424414970

We address the problem of designing decentralized feedback laws to force the outputs of decoupled nonlinear systems (agents) to follow geometric paths while holding a desired formation pattern. To this effect we propose a general framework that takes into account i) the topology of the communication links among the agents, ii) the fact that communications do not occur in a continuous manner, and iii) the cost of exchanging information. We provide conditions under which the resulting overall closed loop system is input-to-state stable and apply the methodology for two cases: agents with nonlinear dynamics in strict feedback form and a class of underactuated vehicles. Furthermore, we address explicitly the case where the communications among the agents occur with non-homogenous, possibly varying delays. A coordinated path-following algorithm is derived for multiple underactuated autonomous underwater vehicles. Simulation results are presented and discussed.

关键词： Communication Research Nonlinear systems Closed loop systems Agents Nonlinear Dynamics Standing Orders Autonomous underwater vehicles Feedback Telecommunication links

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On Weighting of Data Matrix in Subspace Identification

On Weighting of Data Matrix in Subspace Identification

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 5971-6447

作者： Yoshinori Takei Hidehito Nanto Shunshoku Kanae Zi-Jiang Yang Kiyoshi Wada Department Robotics Kanazawa Institute of Technology Ishikawa Japan Department of Electrical and Electronic Systems Engineering Kyushu University Fukuoka Japan

ISBN: (纸本)9781424414970;1424414970

The MOESP types of the subspace algorithms which are originally proposed by Verhaegen are considered at the point of view from the weighting of the data matrices. We have proposed an interpretation of these types of subspace algorithms by using the Schur complement (SC) of the data product moment and derive a unified framework for the subspace-based identification. This paper shows the proposed unified approach for the subspace identification will be reviewed at the point of view from the results of the Subspace-based identification using instrumental variables (SIV) approach by Gustafsson. Furthermore, we consider the introduction of exponential forgetting factor which windows the data matrices to apply the algorithms to the slowly time-varying system. The data matrix is windowed to reduce the influence of old data, which the forgetting factor or the sliding window can be used. Here it will show that the window weighting can also be reformed as the weighting of the data product moment and the proposed unified framework still kept consequently.

关键词： Weighing Subspace weighting point of view data products matrices sliding windows algorithms forgetting

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Simulation control of a biped robot with Support Vector Regression

Simulation control of a biped robot with Support Vector Regr...

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IEEE International Symposium on Intelligent Signal Processing

作者： Joao P. Ferreira Manuel Crisostomo A. Paulo Coimbra Bernardete Ribeiro Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal CISUC Department of Informatics Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)1424408296;97

This paper describes the control of an autonomous biped robot that uses the Support Vector Regression (SVR) method for its longitudinal balance. This SVR uses the Zero Moment Point (ZMP) position and its variation as input and the longitudinal correction of the robot's body is obtained as the output. The SVR was trained based on simulation data that was confirmed with the real robot. This method showed to be faster (with similar accuracy) than a recurrent network or a neuro-fuzzy control of the biped balance.

关键词： Control systems Stability Nonlinear control systems Computational modeling Robot control Mathematical model Humans Kinematics Torso Computer simulation

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An Outdoor Guidepath Navigation System for AMRs Based on Robust Detection of Magnetic Markers

An Outdoor Guidepath Navigation System for AMRs Based on Rob...

引用

12th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2007), vol.2

作者： Ana C. Lopes Fernando Moita Urbano Nunes Razvan Solea ISR-Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

This paper presents an outdoor guidepath navigation system for autonomous mobile robots (AMR) that use permanent magnetic markers embedded in the ground. The odometric data provided by the wheel encoders is fused with the data from magnetic markers. The extended Kalman filter (EKF) was chosen for the fusion process. The AMR is equipped with a magnetic sensing ruler (MSR) developed at isr-UC that is able to perform a robust detection of magnetic markers. The detection is based on a 3-D algorithm that includes longitudinal-fitting detection (LFD), and cross-fitting detection (CFD). Both, the LFD and the CFD are based on the least squares fitting (LSF) of the measurement data with the 3-D model of the vertical magnetic field. The experimental results with Robchair (intelligent wheelchair being developed at isr-UC) primarily show that the detection system is robust, since it is able to detect true magnetic markers, and to eliminate noisy magnetic distortions and false markers. The design, and implementation of the navigation algorithm in the Robchair were carried out, and results are presented.

关键词： Navigation Robustness Magnetic separation Computational fluid dynamics Magnetic field measurement Mobile robots Wheels Least squares methods Distortion measurement Wheelchairs

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Job shop scheduling problems with Genetic Algorithms

Job shop scheduling problems with Genetic Algorithms

引用

International Conference on Computer engineering and systems

作者： Antonio Ferrolho Manuel Crisostomo Robert Wojcik Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Electrical Engineering Superior School of Technology of Viseu Polytechnic Institute of Viseu Viseu Portugal Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

ISBN: (纸本)1424413656;9781424413652

The Job-Shop Scheduling Problem (JSSP) is an extremely difficult problem because it requires very large combinational search space and the precedence constraint between machines. A software tool called Hybrid and Flexible Genetic Algorithm (HybFlexGA) was developed for solving the JSSP. Computational results demonstrate that the proposed HybFlexGA is very efficient and potentially useful in solving the JSSP. The results obtained with standard JSSP benchmark demonstrate its efficiency.

关键词： Job shop scheduling Genetic algorithms Artificial neural networks Space technology Simulated annealing Control engineering computing Genetic engineering Robot control Control systems Orbital robotics

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Vision-based control for rigid body stabilization

Vision-based control for rigid body stabilization

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 2759-3219

作者： Rita Cunha Carlos Silvestre Joao Hespanha A. Pedro Aguiar Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)9781424414970;1424414970

This paper addresses the problem of stabilizing to a desired equilibrium point an eye-in-hand system, which consists of a single camera mounted on a rigid body free to move in SE(3). It is assumed that there is a collection of landmarks fixed in the environment and that the image coordinates of those landmarks are provided to the system by an on-board CCD camera. The proposed method addresses not only the problem of stabilization but also that of maintaining feature visibility along the system's trajectory. The resulting solution consists of a feedback control law based on the image coordinates and reconstructed depth information that guarantees i) almost global asymptotic stability of the desired equilibrium point;ii) positive invariance of a conveniently defined subset of SE(3), to enforce feature visibility;and iii) exponential stability of an error vector directly defined in the image plane.

关键词： landmarks image plane Error vector equilibrium point Rigid Global Asymptotic Stability Imagery (Psychotherapy) images control law Coordinates Visual servoing Body Statement Public Speaking visibility

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