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IEEE International Conference on Intelligent Transportation systems

作者： Johannes Rabe Martin Meinke Marc Necker Christoph Stiller Daimler AG Research & Development Institute of Measurement and Control Systems Karlsruhe Institute of Technology

ISBN: (纸本)9781509018901

We propose a method for ego-lane estimation that can robustly determine the currently used lane as required by future lane-precise navigation systems. It employs a lane-level map-matching on a digital road map through least-squares optimization and only requires sensors available in current production vehicles, such as GPS, odometry, visual lane-marking detection and radars. Radar data is used in a RANSAC-based filtering step for lane hypotheses and, together with camera data, in the determination of the reliability of each lane hypothesis. Detailed evaluation in actual traffic in urban scenarios shows very low error rates below 0.2%.

关键词： Lanes Error analysis radar data Navigation systems odometry current production Road maps radar

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Dynamics over signed networks

arXiv

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arXiv 2017年

作者： Shi, Guodong Altafini, Claudio Baras, John S. Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering University of Sydney NSW Australia Division of Automatic Control Department of Electrical Engineering Linköping University LinköpingSE-58183 Sweden Institute for Systems Research Department of Electrical and Computer Engineering University of Maryland College ParkMD20742 United States

A signed network is a network with each link associated with a positive or negative sign. Models for nodes interacting over such signed networks, where two different types of interactions take place along the positive and negative links, respectively, arise from various biological, social, political, and economic systems. As modifications to the conventional DeGroot dynamics for positive links, two basic types of negative interactions along negative links, namely the opposing rule and the repelling rule, have been proposed and studied in the literature. This paper reviews a few fundamental convergence results for such dynamics over deterministic or random signed networks under a unified algebraic-graphical method. We show that a systematic tool of studying node state evolution over signed networks can be obtained utilizing generalized Perron-Frobenius theory, graph theory, and elementary algebraic recursions. Copyright © 2017, The Authors. All rights reserved.

关键词： Algebra

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Ego-lane estimation for lane-level navigation in urban scenarios

Ego-lane estimation for lane-level navigation in urban scena...

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IEEE Symposium on Intelligent Vehicle

作者： Johannes Rabe Marc Necker Christoph Stiller Research and Development Sindelfingen Germany Institute of Measurement and Control Systems Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781509018222

Future lane-precise navigation systems will recommend lane changes to drivers if needed. To achieve this, robust lane-level localization on a navigable map is essential. We propose an ego-lane estimation algorithm to robustly determine the ego-lane in urban scenarios based on a particle filter approach. The method only requires sensors available in a current production car, i.e. visual lane-marking detection, radar, and GPS, and a digital map describing road geometry and topology. Extensive experimental validation has shown an error rate of less than 0.75% with an availability of 95% of the total time and below 0.4% at 96% availability in situations most relevant for navigation. The influence of the used sensors has been evaluated.

关键词： Sensors Roads Vehicles Global Positioning System Radar Atmospheric measurements

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Preface

Advances in Intelligent Systems and Computing

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Advances in Intelligent systems and Computing 2018年 620卷 v-vi页

作者： Omatu, Sigeru Rodríguez, Sara Villarrubia, Gabriel Faria, Pedro Sitek, Pawel Prieto, Javier Faculty of Engineering Department of Electronics Information and Communication Engineering Osaka Institute of Technology OsakaOsaka Japan Faculty of Science Department of Computer Science and Automation Control University of Salamanca Salamanca Spain GECAD – Research Group on Intelligent Engineering and Computing for Advanced Innovation and Development Instituto Superior de Engenharia do Porto Porto Portugal Faculty of Electrical Engineering and Computer Science Department of Control and Management Systems Department of Information Systems Kielce University of Technology Kielce Poland

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Dating the Cryptococcus gattii dispersal to the North American Pacific Northwest

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mSphere 2018年第1期3卷 e00499-17页

作者： Roe, Chandler C. Bowers, Jolene Oltean, Hanna DeBess, Emilio Dufresne, Philippe J. McBurney, Scott Overy, David P. Wanke, Bodo Lysen, Colleen Meyer, Tom Chillerh Wieland Thompson, George R. Lockhart, Shawn R. Hepp, Crystal M. Engelthaler, David M. Translational Genomics Research Institute Flagstaff AZ United States Washington State Department of Health Shoreline WA United States Public Health Division Oregon Health Authority Salem OR United States Laboratoire de Santé Publique du Québec Institut National de Santé Publique du Québec Charlottetown PE Canada Canadian Wildlife Health Cooperative Atlantic Veterinary College University of Prince Edward Island Charlottetown PE Canada Agriculture and Agrifood Canada Ottawa Research and Development Centre Ottawa ON Canada National Institute of Infectious Diseases Evandro Chagas FIOCRUZ Rio de Janeiro Brazil Mycotic Disease Branch Centers for Disease Control and Prevention Atlanta GA United States Molecular Mycology Research Laboratory Center for Infectious Diseases and Microbiology Marie Bashir Institute for Emerging Infections and Biosecurity Westmead Clinical School Sydney Medical School The University of Sydney Westmead NSW Australia Westmead Hospital Westmead Institute for Medical Research Westmead NSW Australia University of California Davis Davis CA United States School of Informatics Computing and Cyber Systems Northern Arizona University Flagstaff AZ United States

The emergence of Cryptococcus gattii, previously regarded as a predominantly tropical pathogen, in the temperate climate of the North American Pacific Northwest (PNW) in 1999 prompted several questions. The most prevalent among these was the timing of the introduction of this pathogen to this novel environment. Here, we infer tip-dated timing estimates for the three clonal C. gattii populations observed in the PNW, VGIIa, VGIIb, and VGIIc, based on whole-genome sequencing of 134 C. gattii isolates and using Bayesian evolutionary analysis by sampling trees (BEAST). We estimated the nucleotide substitution rate for each lineage (1.59 × 10^-8, 1.59 × 10^-8, and 2.70 × 10^-8, respectively) to be an order of magnitude higher than common neutral fungal mutation rates (2.0 × 10^-9), indicating a microevolutionary rate (e.g., successive clonal generations in a laboratory) in comparison to a species' slower, macroevolutionary rate (e.g., when using fossil records). The clonal nature of the PNW C. gattii emergence over a narrow number of years would therefore possibly explain our higher mutation rates. Our results suggest that the mean time to most recent common ancestor for all three sublineages occurred within the last 60 to 100 years. While the cause of C. gattii dispersal to the PNW is still unclear, our research estimates that the arrival is neither ancient nor very recent (i.e., < 25 years ago), making a strong case for an anthropogenic introduction. © 2018 Roe et al.

关键词： Cryptococcus Genomics Molecular epidemiology Mycology

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Corrigendum to "Initial assessment of the economic burden of major parasitic helminth infections to the ruminant livestock industry in Europe" [Prev. Vet. Med. 182 (2020) 105103]

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Preventive veterinary medicine 2021年 188卷 105213页

作者： J Charlier L Rinaldi V Musella H W Ploeger C Chartier H Rose Vineer B Hinney G von Samson-Himmelstjerna B Băcescu M Mickiewicz T L Mateus M Martinez-Valladares S Quealy H Azaizeh B Sekovska H Akkari S Petkevicius L Hektoen J Höglund E R Morgan D J Bartley E Claerebout Kreavet H. Mertensstraat 17 9150 Kruibeke Belgium. Electronic address: jcharlier@***. Department of Veterinary Medicine and Animal Production CREMOPAR University of Naples Federico II 80137 Napoli Italy. Department of Health Sciences University of Catanzaro "Magna Græcia" CISVetSUA 88100 Catanzaro Italy. Department of Infectious Diseases and Immunology Clinical Infectiology Division Faculty of Veterinary Medicine Utrecht University Yalelaan 1 3584 CL Utrecht The Netherlands. INRAE Oniris BIOEPAR 44307 Nantes France. Department of Infection Biology and Microbiomes Institute of Infection Veterinary and Ecological Sciences University of Liverpool Leahurst Neston Cheshire CH64 7TE UK. Institute of Parasitology Department of Pathobiology University of Veterinary Medicine Vienna Veterinaerplatz 1 1210 Wien Austria. Freie Universität Berlin Institute for Parasitology and Tropical Veterinary Medicine Robert-von-Ostertag-Str. 7-13 14163 Berlin Germany. Faculty of Veterinary Medicine Spiru Haret University Blv. Basarabia 256 Bucharest Romania. Division of Veterinary Epidemiology and Economics Institute of Veterinary Medicine Warsaw University of Life Sciences Nowoursynowska 159c 02-786 Warsaw Poland. CISAS - Center for Research and Development in Agrifood Systems and Sustainability Escola Superior Agrária Instituto Politécnico de Viana do Castelo Rua Escola Industrial e Comercial Nun'Álvares 4900-347 Viana do Castelo Portugal EpiUnit - Instituto de Saúde Pública da Universidade do Porto Rua das Taipas 135 4050-091 Porto Portugal. Instituto de Ganadería de Montaña (CSIC-Universidad de León) Departamento de Sanidad Animal 24236 Grulleros León Spain. VirtualVet Grenan Upper Kilmacthomas Co. Waterford Ireland. Institute of Applied Research University of Haifa The Galilee Society P.O. Box 437 Shefa-Amr 20200 Israel Tel Hai College Department of Environmental Sciences Upper Galilee 12210 Israel. Faculty of Veterinary Medicine University St. Cyril and Metho

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A novel magnetic gear for high speed motor system

A novel magnetic gear for high speed motor system

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2017 IEEE International Electric Machines and Drives Conference, IEMDC 2017

作者： Aiso, Kohei Akatsu, Kan Aoyama, Yasuaki Shibaura Institute of Technology Functional Control Systems 3-7-5 Toyosu Koto-ku Tokyo Japan Shibaura Institute of Technology Department of Electrical Engineering 3-7-5 Toyosu Koto-ku Tokyo Japan Hitachi Ltd. Research and Development Group Center for Technology Innovation Controls 1-1 Omika-cho 7-chome Hitachi-shi Ibaraki319-1292 Japan

ISBN: (纸本)9781509042814

In the industrial field, the drive system integrated the high speed motor and the gear is required to effectively utilize the limited space. However, mechanical gears often require their lubrication and cooling, they generate whilst noise and vibration. To overcome these problems, the magnetic gears have been expected. Magnetic gears achieve the system with maintenance-free, low noise and low vibration characteristics by contact-less power transformation. However, conventional magnetic gears are not suitable system for high speed motors because the mechanical strength is weak due to permanent magnets of the high speed rotor. This paper presents a novel reluctance magnetic gear and flux switching magnetic gear for the super high speed motor. The high speed rotor of the proposed magnetic gears is constructed by only iron core. Therefore, the structure is very simple and robust and it is possible to rotate in the high speed region. Moreover, the reluctance magnetic gear realizes high efficiency compared with the conventional surface permanent magnet (SPM) magnetic gear because the magnet eddy current loss on high speed rotor is not generated. While, the flux switching magnetic gear realizes the high torque density by utilizing the magnetomotive force of stationary field magnets. In this paper, the performances of these proposed magnetic gears including torque density, the system size, loss and efficiency are evaluated. © 2017 IEEE.

关键词： Permanent magnets

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Incremental bootstrapping of parameterized motor skills

Incremental bootstrapping of parameterized motor skills

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IEEE-RAS International Conference on Humanoid Robots

作者： Jeffrey Frederic Queißer René Felix Reinhart Jochen Jakob Steil Universitat Bielefeld Bielefeld Nordrhein-Westfalen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Institute for Robotics and Process Control Technical University Braunschweig Braunschweig Germany Research Institute for Cognition and Robotics (CoR-Lab) Bielefeld University Bielefeld Germany

Many motor skills have an intrinsic, low-dimensional parameterization, e.g. reaching through a grid to different targets. Repeated policy search for new parameterizations of such a skill is inefficient, because the structure of the skill variability is not exploited. This issue has been previously addressed by learning mappings from task parameters to policy parameters. In this work, we introduce a bootstrapping technique that establishes such parameterized skills incrementally. The approach combines iterative learning with state-of-the-art black-box policy optimization. We investigate the benefits of incrementally learning parameterized skills for efficient policy retrieval and show that the number of required rollouts can be significantly reduced when optimizing policies for novel tasks. The approach is demonstrated for several parameterized motor tasks including upper-body reaching motion generation for the humanoid robot COMAN.

关键词： Optimization Trajectory Training Learning (artificial intelligence) End effectors Humanoid robots

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Continuous task-priority rearrangement during motion execution with a mixture of torque controllers

Continuous task-priority rearrangement during motion executi...

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IEEE-RAS International Conference on Humanoid Robots

作者： Niels Dehio René Felix Reinhart Jochen J. Steil Technische Universitat Braunschweig Braunschweig Niedersachsen DE Fraunhofer IEM Research Institution for Mechatronic Systems Design Paderborn Germany Research Institute for Robotics and Process Control (IPR) Technical University Braunschweig Germany

ISBN: (纸本)9781509047192

When controlling highly redundant humanoid robots multiple motion tasks can be accomplished simultaneously by employing several reactive torque-control modules. Flexible task-prioritization for these modules during motion generation is an open research problem. Null-space based approaches for redundant robots implement a strict, hierarchical prioritization and are not suited for changing the priority-order of the underlying control modules. In contrast, the mixture of controller approach superposes torques from several control modules and thereby enables flexible and continuous task-priority rearrangement. Here we show how to react to environmental changes by blending the corresponding priorities during motion execution. Additionally, we investigate the advantage of regularization when learning new mixture coefficients. The proposed framework is demonstrated for the full 11 DOF upper body of the compliant humanoid robot COMAN in simulation.

关键词： Aerospace electronics Robot sensing systems Optimization Humanoid robots Jacobian matrices Trajectory

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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