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World Congress on intelligent Control and Automation (WCICA)

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

In this paper, we present a N200 model for control of a humanoid robot with mind. N200 is a major component of the motion visual evoked potential (mVEP) which can be used to detect the subject's intention. In order to acquire N200, we design a visual stimulus interface in which the activation of a stimulus is a bar scanning above the image of a humanoid robot behavior. By analyzing brain signals induced by this kind of stimulus and calculating some system indexes, the results of this study demonstrate that the designed interface can induce prominent N200 potentials, and another component P300 induced by this experiment can be considered as another characteristic of the feature vector to contribute to the classification. To our best knowledge, this paper would be the first report on an application of N200 model to control a humanoid robot with visual feedback in real time.

关键词： Visualization Accuracy Humanoid robots Feature extraction Support vector machine classification Legged locomotion

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Human Activity Recognition using Smart Phone Embedded Sensors: A Linear Dynamical systems Method

Human Activity Recognition using Smart Phone Embedded Sensor...

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International Joint Conference on Neural Networks

作者： Wen Wang Huaping Liu Lianzhi Yu Fuchun Sun School of Optical-Electrical and Computer Engineering University of Shanghai for Science and Technology Shanghai China Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Beijing China

This paper presents a novel framework of human activity recognition with time series collected from inertial sensors. We model each action sequence with a collection of Linear Dynamic systems (LDSs), each LDS describing a small patch of the sequence. A codebook is formed by using the K-medoids clustering algorithm and a Bag-of-systems (BoS) is developed to represent the time series. A great advantage of this method is that the complicated feature design procedure is avoided and the LDSs can well capture the dynamics of the time series. Our experiment validation on public dataset shows the promising results.

关键词： Time series analysis Feature extraction Smart phones intelligent sensors Sensor systems Support vector machine classification

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Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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IFAC Proceedings Volumes 2014年第3期47卷 5145-5150页

作者： Francisco Rego Jorge M. Soares António Pascoal A. Pedro Aguiar Colin Jones Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico University of Lisbon Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Porto Portugal Institute of Mechanical Engineering School of Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland Distributed Intelligent Systems and Algorithms Laboratory School of Architecture Civil and Environmental Engineering École Polytechnique Fédérale de Lausanne Lausanne Switzerland National Institute of Oceanography Dona Paula Goa India

This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

关键词： Autonomous Vehicles Marine systems Control Laws Formation Control Station Keeping Triangular Formations

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A New Approach for Simultaneous Localization of UAV and RF Sources (SLUS)

A New Approach for Simultaneous Localization of UAV and RF S...

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International Conference on Unmanned Aircraft systems

作者： Seyyed M. Mehdi Dehghan Hadi Moradi Advanced Robotics and Intelligent Systems laboratory Control and Intelligent Processing Center School of Electrical and Computer Engineering University of Tehran

ISBN: (纸本)9781479923779

In this paper, a new approach for Simultaneous Localization of UAV and RF Sources (SLUS) is proposed. In the UAV-based localization of RF sources, such as a cell phone in a search and rescue mission, the UAV navigation errors are a significant source of localization error. Although the use of GPS can reduce UAV localization error significantly resulting in more accurate RF source localization, however, if the GPS is not available temporarily or permanently, the accuracy of UAV-based localization decreases rapidly. The proposed approach solves these two connected problems, i.e. UAV localization and RF source localization, simultaneously to decrease the error of UAV position estimation and the error of RF sources localization. The prediction of UAV pose is done in parallel to RF source position prediction first. Then the predicted states are augmented and the augmented predicted state information is corrected in SLUS using the range and bearing observations. The simulation results show that this method can reduce RF source's position estimation error and prevent the divergence of UAV navigation in latitude and longitude channels. In the other words, the RF features available in the environment can be used to improve the UAV navigation.

关键词： RF source localization UA V navigation SLAM Kalman filter RSSI AOA

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A multi-step Gaussian filtering approach to reduce the effect of non-Gaussian distribution in aerial localization of an RF source in NLOS condition

A multi-step Gaussian filtering approach to reduce the effec...

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Dehghan, Seyyed M. Mehdi Moradi, Hadi Advanced Robotics and Intelligent Systems Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467358118

The hybrid localization using Angle of Arrival (AOA) and Received Strength Signal Indicator (RSSI) of an RF source, such as a cell phone in a search and rescue mission, with unknown power and None Line Of Sight (NLOS) condition have been proven to be advantageous compared to using each method separately. The hybrid approach has been proposed to benefit from both RSSI and AOA measurements. In this paper, the initial hybrid method, which was implemented using particle filters due to the multi-modal/non-Gaussian nature of localization in NLOS condition, has been replaced by a multi-step Gaussian filtering approach which provides nearly similar accuracy with better performance. The proposed method has been implemented using extended Kalman filter and Unscented Kalman filter. The simulation results show that the multi-step Gaussian filtering is comparable to particle filter in all cases with better performance. For further evaluation, the effects of uncertainty in the propagation parameters have been studied to show the robustness of each filter to these uncertainties. © 2013 IEEE.

关键词： Extended Kalman filters

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Path planning for localization of an RF source by multiple UAVs on the Crammer-Rao lower bound

Path planning for localization of an RF source by multiple U...

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Dehghan, Seyyed M. Mehdi Tavakkoli, Mohammad Saberi Moradi, Hadi Advanced Robotics and Intelligent Systems Laboratory School of Electrical and Computer Engineering University of Tehran Tehran Iran

ISBN: (纸本)9781467358118

This paper presents a path planning approach of several UAVs for Radio Frequency (RF) source localization in None Line Of Sight (NLOS) propagation condition using the Received Signal Strength Indication (RSSI). The paths are planned such that the lower bound of standard deviation of localization error, which is equivalent to the Cramer-Rao Lower Bound (CRLB) of the estimation, minimized at any time. Due to the complexity of Jacobin calculation to perform global CRLB optimization, the local values of CRLBs in the current waypoint and next probable waypoints are used in the steepest decent approach to determine the best path. Furthermore, the complexity is reduced by discretizing the space for UAVs to make the computation feasible. The effect of NLOS propagation on the RSSI measurements is simulated by a log-normal distribution and the last estimation of radio source location is used to calculate the local CRLBs. The proposed approach has been simulated and compared with the basic bio-inspired approach of going toward the sensed direction of the source. The result shows better performance than the basic approach. © 2013 IEEE.

关键词： Antennas

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Triangular Geometry based Optimal Motion Planning using RRT*-Motion Planner

Triangular Geometry based Optimal Motion Planning using RRT*...

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International Workshop on Advanced Motion Control

作者： Ahmed Hussain Qureshi Saba Mumtaz Khawaja Fahad Iqbal Yasar Ayaz Mannan Saeed Muhammad Osman Hasan Whoi Yul Kim Moonsoo Ra Robotics And Intelligent Systems Engineering (RISE) Lab SMMENational University of Sciences And Technology. Islamabad Pakistan Department of Electronic Engineering College of Engineering Hanyang University Seoul South Korea School of Electrical Engineering And Computer Sciences (SEECS) National University of Sciences And Technology. Islamabad Pakistan

ISBN: (纸本)9781479957637

RRT* is a recent and improved variant of the RRT path finding algorithm. While RRT concentrates on simply finding an initial obstacle-free path, RRT* guarantees eventual convergence to an optimum, collision-free path for any given geometrical environment. On the other hand, the main limitations of RRT* include its slow processing rate and high memory utilization due to the large number of iterations required to achieve optimal path solution. This paper presents Triangular Geometerised-RRT* (TG-RRT*) which incorporates Triangular geometrical methods in the RRT* algorithm and improves its processing time by decreasing the number of iterations required for optimal solution. Simulation results under different environments demonstrate an improved convergence rate of TG-RRT*, in comparison with RRT*.

关键词： RRT Sampling based Optimal Motion Planning Directed Sampling

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Predicting the Speed of a Wave Glider Autonomous Surface Vehicle from Wave Model Data

Predicting the Speed of a Wave Glider Autonomous Surface Veh...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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