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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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Percolation theory-based exposure-path prevention for wireless sensor networks coverage in internet of things

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IEEE Sensors Journal 2013年第10期13卷 3625-3636页

作者： Liu, Liang Zhang, Xi Ma, Huadong Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing University of Posts and Telecommunications Beijing 100876 China Networking and Information Systems Laboratory Department of Electrical and Computer Engineering Texas AandM University College Station TX 77843 United States

Deriving the critical density to achieve region coverage for random sensor deployment is a fundamentally important problem in the area of Internet of Things (IoT). Most of the existing works on sensor coverage mainly concentrate on the full coverage models, which ensure that all points in the deployment region are covered at the expense of high complexity and cost. In contrast, many applications of IoT focus on the exposure-path prevention, which does not require full coverage sensor deployment, and instead it only needs the partial coverage, because the exposure paths are prevented as long as no moving objects or phenomena can go through a deployment region without being detected. Finally, we focus on the partial coverage by applying the percolation theory to solve the exposure path problem for the network of sensors in IoT. Most of the existing percolation-based schemes apply the continuum-percolation theory, which, however, suffers from the loose lower and upper bounds on the critical density. To overcome this problem, we propose a bond-percolation theory based scheme by mapping the exposure path problem into a bond percolation model. Using this model, we derive the critical densities for both omnidirectional sensor networks and directional sensor networks under random sensor deployment where sensors are deployed according to a two-dimensional Poisson process. The rigorous modeling/analyses and extensive simulations show that our proposed scheme can yield much tighter upper and lower bounds on the critical densities as compared with those generated by continuum-percolation. © 2001-2012 IEEE.

关键词： Wireless sensor networks

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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20th International Conference on Language Processing and intelligent Information systems, IIS 2013

作者： Stratogiannis, Georgios Siolas, Georgios Stafylopatis, Andreas Department of Electrical and Computer Engineering Intelligent Systems Laboratory National Technical University of Athens Zografou Campus Iroon Polytexneiou 9 15780 Zografou Greece

ISBN: (纸本)9783642386336

We present a system that performs Related Entity Finding, that is, Question Answering that exploits Semantic Information from the WWW and returns URIs as answers. Our system uses a search engine to gather all candidate answer entities and then a linear combination of Information Retrieval measures to choose the most relevant. For each one we look up its Wikipedia page and construct a novel vector representation based on the tokenization of the Wikipedia category names. This novel representation gives our system the ability to compute a measure of semantic relatedness between entities, even if the entities do not share any common category. We use this property to perform a semantic clustering of the candidate entities and show that the biggest cluster contains entities that are closely related semantically and can be considered as answers to the query. Performance measured on 20 topics from the 2009 TREC Related Entity Finding task shows competitive results. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Search engines

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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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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

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

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.

关键词： Jacobian matrices Noise

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Active motion compensation in robotic cardiac surgery

Active motion compensation in robotic cardiac surgery

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European Control Conference (ECC)

作者： G. P. Moustris A. I. Mantelos C. S. Tzafestas School of Electrical & Computer Engineering Intelligent Robotics & Automation Laboratory Athens GR

ISBN: (纸本)9781479901890

Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.

关键词： Robots Surgery Aerospace electronics Manifolds Cameras Heart Tracking

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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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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

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 Tehran Iran

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.

关键词： Shadow mapping Atmospheric measurements Particle measurements Scattering Measurement uncertainty Particle filters Equations

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Computational intelligence in control 19

Computational intelligence in control

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19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

作者： Ruano, António E. Ge, Shuzhi Sam Guerra, Thierry Marie Lewis, Frank L. Principe, Jose C. Colnari, Matja Centre for Intelligent Systems IDMEC IST Univ. of Algarve Faro Portugal Social Robotics Laboratory Inter. Digital Media Inst. Dep. Electrical and Computer Eng. Singapore Singapore Univ. Valenciennes Hainaut-Cambresis LAMIH UMR CNRS 8201 Le Mont Houy Valenciennes France Univ. Texas Arlington Automat and Robot Res. Inst. 7300 Jack Newell Blvd S Ft WorthTX United States Univ. Florida Dept. Elect. and Comp. Engn. GainesvilleFL United States Univ. of Maribor Fac. for El Eng. and Comp. Sci. Smetanova 17 Maribor Slovenia

ISBN: (纸本)9783902823625

This milestone report addresses first the position of the areas of computers, computational intelligence and communications within IFAC. Subsequently, it addresses the role of computational intelligence in control. It focuses on four topics within the Computational intelligence area: neural network control, fuzzy control, reinforcement learning and brain machine interfaces. Within these topics the challenges and the relevant theoretical contributions are highlighted, as well as expected future directions are pointed out. © IFAC.

关键词： Brain machine interfaces Computational intelligence computers for control Fuzzy systems Neural networks Reinforcement learning

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Experimental Testing of a Traction Control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on Control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction Control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Enhancing Surgical Accuracy Using Virtual Fixtures and Motion Compensation in Robotic Beating Heart Surgery

Enhancing Surgical Accuracy Using Virtual Fixtures and Motio...

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Mediterranean Conference on Control & Automation

作者： G. P. Moustris A. I. Mantelos C. S. Tzafestas School of Electrical & Computer Engineering National Technical University of Athens Intelligent Robotics & Automation Laboratory

ISBN: (纸本)9781479909964

This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using a trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.

关键词： Surgery Robots Fixtures Force Heart Aerospace electronics Manifolds

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