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Segregation in swarms of e-puck robots based on the Brazil nut effect

Segregation in swarms of e-puck robots based on the Brazil n...

11th International Conference on Autonomous Agents and Multiagent systems 2012: Innovative Applications Track, AAMAS 2012

作者： Chen, Jianing Gauci, Melvin Price, Michael J. Groß, Roderich Natural Robotics Lab. Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781627481564

When a mixture of particles with different attributes undergoes vibration, a segregation pattern is often observed. For example, in muesli cereal packs, the largest particles-the Brazil nuts-tend to end up at the top. For this reason, the phenomenon is known as the Brazil nut effect. In previous research, an algorithm inspired by this effect was designed to produce segregation patterns in swarms of simulated agents that move on a horizontal plane. In this paper, we adapt this algorithm for implementation on robots with directional vision. We use the e-puck robot as a platform to test our implementation. In a swarm of e-pucks, different robots mimic disks of different sizes (larger than their physical dimensions). The motion of every robot is governed by a combination of three components: (i) attraction towards a point, which emulates the effect of a gravitational pull, (ii) random motion, which emulates the effect of vibration, and (iii) repulsion from nearby robots, which emulates the effect of collisions between disks. The algorithm does not require robots to discriminate between other robots;yet, it is capable of forming annular structures where the robots in each annulus represent disks of identical size. We report on a set of experiments performed with a group of 20 physical e-pucks. The results obtained in 100 trials of 20 minutes each show that the percentage of incorrectly-ordered pairs of disks from different groups decreases as the size ratio of disks in different groups is increased. In our experiments, this percentage was, on average, below 0.5% for size ratios from 3.0 to 5.0. Moreover, for these size ratios, all segregation errors observed were due to mechanical failures that caused robots to stop moving. Copyright © 2012, International Foundation for Autonomous Agents and Multiagent systems (***). All rights reserved.

关键词： Multipurpose robots

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Task-based grasp adaptation on a humanoid robot

Task-based grasp adaptation on a humanoid robot

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Bohg, Jeannette Welke, Kai León, Beatriz Do, Martin Song, Dan Wohlkinger, Walter Madry, Marianna Aldóma, Aitor Przybylski, Markus Asfour, Tamim Martí, Higinio Kragic, Danica Morales, Antonio Vincze, Markus Humanoids and Intelligence Systems Lab. Institute for Anthropomatics KIT Germany Autonomous Motion Lab. MPI for Intelligent Systems Germany Robotic Intelligence Laboratory Department of Computer Science and Engineering UJI Spain Computer Vision and Active Perception Lab. KTH Sweden Automation and Control Institute TUW Austria

ISBN: (纸本)9783902823113

In this paper, we present an approach towards autonomous grasping of objects according to their category and a given task. Recent advances in the field of object segmentation and categorization as well as task-based grasp inference have been leveraged by integrating them into one pipeline. This allows us to transfer task-specific grasp experience between objects of the same category. The effectiveness of the approach is demonstrated on the humanoid robot ARMAR-IIIa. © 2012 IFAC.

关键词： Anthropomorphic robots

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A generic graph-based multidimensional recommendation framework and its implementations

A generic graph-based multidimensional recommendation framew...

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21st Annual Conference on World Wide Web, WWW'12

作者： Lee, Sangkeun Intelligent Data Systems Lab. School of Computer Science and Engineering Seoul National University Seoul Korea Republic of

ISBN: (纸本)9781450312301

As the volume of information on the Web is explosively growing, recommender systems have become essential tools for helping users to find what they need or prefer. Most existing systems are two-dimensional in that they only exploit User and Item dimensions and perform a typical form of recommendation 'Recommending Item to User'. Yet, in many applications, the capabilities of dealing with multidimensional information and of adapting to various forms of recommendation requests are very important. In this paper, we take a graph-based approach to accomplishing such requirements in recommender systems and present a generic graph-based multidimensional recommendation framework. Based on the framework, we propose two homogeneous graph-based and one heterogeneous graph-based multidimensional recommendation methods. We expect our approach will be useful for increasing recommendation performance and enabling flexibility of recommender systems so that they can incorporate various user intentions into their recommendation process. We present our research result that we have reached and discuss remaining challenges and future work. Copyright is held by the International World Wide Web Conference Committee (IW3C2).

关键词： Recommender systems

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Soft impact assessment methodology for hybrid structure aerospace engines 50

Soft impact assessment methodology for hybrid structure aero...

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50th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition

作者： Siddens, Aaron Bayandor, Javid Lab. Center for Intelligent Material Systems and Structures Department of Mechanical Engineering VA 24061-0238 United States

ISBN: (数字)9781600869365

Jet engines commonly ingest birds and other foreign objects during flight. Engine manufacturers currently rely on costly, time-consuming physical tests to develop bird strike-resistant engine designs. As composites and hybrid metal-reinforced-composite structures are being progressively incorporated into primary engine components, novel computational approaches are needed to reduce the reliance on experiments to evaluate the soft impact damage tolerance of the new generation engines. A crashworthiness analysis methodology is proposed for assessing damage and failure in hybrid structures engine forward sections using an explicit finite element platform. Critical soft impact scenarios consistent with the Federal Aviation Regulations for bird strike certification were considered for a modern propulsion design and the resulting key progressive damage mechanisms explored and examined within the context of certification guidelines. Copyright © 2012 by the American Institute of Aeronautics and Astronautics, Inc.

关键词： Finite element method

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control of Nonlinear systems Using Multiple Model Black-Box Identification

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IFAC Proceedings Volumes 2013年第23期46卷 582-587页

作者： Sergey Kolyubin Denis Efimov Vladimir Nikiforov Alexey Bobtsov Department of Control Systems and Informatics Saint Petersburg National Research University of Information Technologies Mechanics and Optics Kronverkskiy pr. 49 St. Petersburg 197101 RUSSIA Department of Engineering Cybernetics Norwegian University of Science and Technology NO-7491 Trondheim NORWAY Non-A INRIA — LNE Pare Scientique de la Haute Borne 40 avenue Halley Bat. A Park Plaza 59650 Villeneuve dAscq FRANCE Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering RAS Bolshoy pr. V.O. 61 St. P etersburg 199178 RUSSIA

The paper is devoted to development of control algorithms for nonlinear paramet-rically uncertain systems. Original system dynamics is approximated by a set of local NARX models combined by a special mixing rule. Algorithm for local models' parameters estimation and structure adjustment has been developed. Proposed approach allows straightforward designing of the combined feedforward/feedback controller.

关键词： Identification NARX model switching algorithms feedforward control

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External localization system for mobile robotics

External localization system for mobile robotics

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International Conference on Advanced Robotics (ICAR)

作者： Tomáš Krajník Matías Nitsche Jan Faigl Tom Duckett Marta Mejail Libor Přeučil University of Lincoln Lincoln Lincolnshire GB Lab. of Robotics and Emb. Systems Univ. of Buenos Aires Argentina Dpt. of Computer Science and Engineering FEE Czech Technical Univ. in Prague Lincoln Centre for Autonomous Systems Univ. of Lincoln United Kingdom Intelligent and Mobile Robotics Group FEE Czech Technical Univ. in Prague

We present a fast and precise vision-based software intended for multiple robot localization. The core component of the proposed localization system is an efficient method for black and white circular pattern detection. The method is robust to variable lighting conditions, achieves sub-pixel precision, and its computational complexity is independent of the processed image size. With off-the-shelf computational equipment and low-cost camera, its core algorithm is able to process hundreds of images per second while tracking hundreds of objects with millimeter precision. We propose a mathematical model of the method that allows to calculate its precision, area of coverage, and processing speed from the camera's intrinsic parameters and hardware's processing capacity. The correctness of the presented model and performance of the algorithm in real-world conditions are verified in several experiments. Apart from the method description, we also publish its source code; so, it can be used as an enabling technology for various mobile robotics problems.

关键词： Cameras Three-dimensional displays Robots Mathematical model Estimation Equations Detectors

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User QoE-based adaptive routing system for future internet CDN

User QoE-based adaptive routing system for future internet C...

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2012 Computing, Communications and Applications Conference, ComComAp 2012

作者： Tran, Hai Anh Mellouk, Abdelhamid Hoceini, Said Souihi, Sami Image Signal and Intelligent Systems Lab.-LiSSi Lab. Transport Infrastructure and Network Control Group - TINC 122 rue Paul Armangot 94400 Vitry sur Seine France

ISBN: (纸本)9781457717178

The most important tendency of future Internet architectures is maintaining the best Quality of Experience (QoE), which represents the subjective perception of end-users using network services with network functions such as admission control, resource management, routing, traffic control, etc. Among of them, we focus on routing mechanism driven by QoE end-users. Nowadays, most existing routing protocols have encountered NP-complete problem when trying to satisfy multi QoS constraints criteria simultaneously. With the intention for avoiding the classification problem of these multiple criteria reducing the complexity problem for the future Internet, we propose a protocol based on user QoE measurement in routing paradigm to construct an adaptive and evolutionary system. Our approach, namely QQAR (QoE Q-learning based Adaptive Routing), is based on Q-Learning, a Reinforcement Learning algorithm. QQAR uses Pseudo Subjective Quality Assessment (PSQA), a real-time QoE assessment tool based on Random Neural Network, to evaluate QoE. Experimental results showed a significant performance against over other traditional routing protocols. © 2012 IEEE.

关键词： Quality of service

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On the information transmission ability measurement of neurons via fuzzy method

On the information transmission ability measurement of neuro...

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2012 International Conference on System Science and engineering, ICSSE 2012

作者： Wu, Chia-Chou Chen, Bor-Sen Department of Electrical Engineering Lab. of Control and Systems Biology National Tsing Hua University Hsinchu Taiwan

ISBN: (纸本)9781467309455

Information processing is an important characteristic of biological neurons. Here, we proposed a method to measure the information transmission ability of neurons. Due to the nonlinear dynamics of neuron, which is experimentally verified, we have to solve the Hamilton-Jacobi inequalities (HJIs) to get the information transmission ability of neuron. Instead of directly solving HJIs, fuzzy interpolation method was employed to help us to systematically measure information transmission ability by solving a set of linear matrix inequalities (LMIs). The information transmission ability measurement method will provide an insight into the mechanism of information processing in neurons. © 2012 IEEE.

关键词： Linear matrix inequalities

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Dosimetry of Typical Electronic Article Surveillance Device with Multi-Guards

Dosimetry of Typical Electronic Article Surveillance Device ...

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第七届电磁辐射与健康国际研讨会

作者： Mai Lu Shoogo Ueno Mikael Persson Key Lab of Opt-Electronic Technology and Intelligent Control of Ministry of Education Lanzhou Jiaotong University Lanzhou 730070 P.R.China Department of Applied Quantum Physics Graduate School of Engineering Kyushu University Fukuoka 812-8581 Japan Department of Signals and Systems Chalmers University of Technology SE-412 96 Gothenburg Sweden

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A smile can reveal your age: Enabling facial dynamics in age estimation

A smile can reveal your age: Enabling facial dynamics in age...

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20th ACM International Conference on Multimedia, MM 2012

作者： Dibeklioǧlu, Hamdi Gevers, Theo Salah, Albert Ali Valenti, Roberto Intelligent Systems Lab. Amsterdam University of Amsterdam Amsterdam Netherlands Department of Computer Engineering Boǧaziçi University Istanbul Turkey

ISBN: (纸本)9781450310895

Estimation of a person's age from the facial image has many applications, ranging from biometrics and access control to cosmetics and entertainment. Many image-based methods have been proposed for this problem. In this paper, we propose a method for the use of dynamic features in age estimation, and show that 1) the temporal dynamics of facial features can be used to improve image-based age estimation;2) considered alone, static image-based features are more accurate than dynamic features. We have collected and annotated an extensive database of face videos from 400 subjects with an age range between 8 and 76, which allows us to extensively analyze the relevant aspects of the problem. The proposed system, which fuses facial appearance and expression dynamics, performs with a mean absolute error of 4.81 (4.87) years. This represents a significant improvement of accuracy in comparison to the sole use of appearance-based features. © 2012 ACM.

关键词： Dynamics

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