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IEEE Symposium on intelligent Vehicle

作者： Luciano Oliveira Urbano Nunes Intelligent Vision Research Laboratory Federal University Bahia Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Portugal

The most standard image object detectors are usually comprised of one or multiple feature extractors or classifiers within a sliding window framework. Nevertheless, this type of approach has demonstrated a very limited performance under datasets of cluttered scenes and real life situations. To tackle these issues, LIDAR space is exploited here in order to detect 2D objects in 3D space, avoiding all the inherent problems of regular sliding window techniques. Additionally, we propose a relational parts-based pedestrian detection in a probabilistic non-iid framework. With the proposed framework, we have achieved state-of-the-art performance in a pedestrian dataset gathered in a challenging urban scenario. The proposed system demonstrated superior performance in comparison with pure sliding-window-based image detectors.

关键词： Detectors Laser radar Feature extraction Support vector machines Training Probabilistic logic Vectors

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Shared control for motion compensation in robotic beating heart surgery

Shared control for motion compensation in robotic beating he...

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IEEE International Conference on robotics and Automation (ICRA)

作者： George P. Moustris Andreas I. Mantelos Costas S. Tzafestas School of Electrical and Computer Engineering Intelligent Robotics & Automation Laboratory National Technical University of Athens Athens Greece

ISBN: (纸本)9781467356404

This paper presents a shared control approach for motion compensation in robotic beating heart surgery. Motion compensation consists of three main tasks; motion synchronization, image stabilization and shared control. The paper discusses a unifying framework under which the three tasks combine seamlessly. In this work, the planar 1-manifold case is considered, where a strip-wise affine map is performed to achieve image stabilization onto a canonical space, where shared control emerges naturally. A prototype teleoperation system is also described, implementing the algorithms. Experiments were performed with medically trained users, and the positive effect of motion compensation is analyzed.

关键词： Surgery Robot kinematics Heart Cameras Motion compensation Robot vision systems

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An analysis of regression models for predicting the speed of a wave glider autonomous surface vehicle

An analysis of regression models for predicting the speed of...

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2013 Australasian Conference on robotics and Automation, ACRA 2013

作者： Ngo, Phillip Al-Sabban, Wesam Thomas, Jesse Anderson, Will Das, Jnashewar Smith, Ryan N. Electrical Engineering and Computer Science Queensland University of Technology BrisbaneQLD Australia Liquid Robotics Inc. Sunnyvale SunnyvaleCA United States Robotics Embedded Systems Laboratory University of Southern California Los AngelesCA United States Physics and Engineering Department Fort Lewis College DurangoCO United States

ISBN: (纸本)9780980740448

An important aspect of robotic path planning for is ensuring that the vehicle is in the best location to collect the data necessary for the problem at hand. Given that features of in- terest are dynamic and move with oceanic cur- rents, vehicle speed is an important factor in any planning exercises to ensure vehicles are at the right place at the right time. Here, we examine different Gaussian process models to find a suitable predictive kinematic model that enable the speed of an underactuated, au- tonomous surface vehicle to be accurately pre- dicted given a set of input environmental pa-rameters.

关键词： Motion planning

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Efficient serial and parallel SVM training using coordinate descent

Efficient serial and parallel SVM training using coordinate ...

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IEEE Symposium on Computational Intelligence for engineering Solutions (CIES)

作者： Emmanuel Liossis Intelligent Systems Laboratory School of Electrical and Computer Engineering National Technical University of Athens Greece

Eliminating the bias term of the Support Vector Machine (SVM) classifier permits substancial simplification to training algorithms. Using this elimination, the optimization invloved in training can be decomposed to update as low as one coordinate at a time. This paper explores two directions of improvements which stem from this simplification. The first one is about the options available for choosing the coordinate to optimize during each optimization iteration. The second one is about the parallelization schemes which the simplified optimization facilitates.

关键词： Computational intelligence Decision support systems Handheld computers

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Corrections to “Percolation Theory-Based Exposure-Path Prevention for Wireless Sensor Networks Coverage in Internet of Things” [Oct 13 3625-3636]

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IEEE Sensors Journal 2014年第3期14卷 926-926页

作者： Liang Liu Xi Zhang Huadong Ma Beijing University of Posts and Telecommunications Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia Beijing China Department of Electrical and Computer Engineering Networking and Information Systems Laboratory College Station TX USA

In the above paper (ibid., vol. 13, no. 10, pp. 3625-3636, Oct. 2013), Fig. 15 is incorrect. The correct Fig. 15 is presented here.

关键词： Wireless sensor networks Internet Stochastic processes

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Cooperative AUV motion planning using terrain information

Cooperative AUV motion planning using terrain information

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OCEANS 2013 MTS/IEEE Bergen: The Challenges of the Northern Dimension

作者： Hausler, Andreas J. Saccon, Alessandro Pascoal, Antonio M. Hauser, John Aguiar, A. Pedro Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Técnico Lisbon Portugal Department of Mechanical Engineering Eindhoven University of Technology Netherlands Electrical Computer and Energy Engineering Department University of Colorado at Boulder Colorado United States Faculdade de Engenharia University of Porto Portugal

ISBN: (纸本)9781479900015

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes. © 2013 IEEE.

关键词： Motion planning

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Computational Intelligence in Control António E Ruano 1

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IFAC Proceedings Volumes 2014年第3期47卷 8867-8878页

作者： Shuzhi Sam Ge Thierry Marie Guerra Frank L Lewis Jose C Principe Matjaž Colnarič Centre for Intelligent Systems IDMEC IST and Univ of Algarve 8005-139 Faro Portugal Social Robotics Laboratory Inter. Digital Media Inst. and Dep Electrical & Computer Eng. Nat Univ of Singapore Singapore 117576 Univ Valenciennes Hainaut-Cambresis LAMIH UMR CNRS 8201 Le Mont Houy Valenciennes France Univ Texas Arlington Automat & Robot Res Inst 7300 Jack Newell Blvd S Ft Worth TX 76118 USA Univ Florida Dept Elect & Comp Engn Gainesville FL 32611 USA Univ of Maribor Fac for El Eng and Comp Sci Smetanova 17 2000 Maribor Slovenia

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.

关键词： computers for Control Computational Intelligence Neural Networks Fuzzy systems Reinforcement Learning Brain Machine Interfaces

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Joint ASV/AUV range-based formation control: Theory and experimental results

Joint ASV/AUV range-based formation control: Theory and expe...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Soares, Jorge M. Aguiar, A. Pedro Pascoal, Antonio M. Martinoli, Alcherio Laboratory of Robotics and Systems in Engineering and Science Instituto Superior Técnico Technical University of Lisbon Av. Rovisco Pais 1049-001 Lisbon Portugal Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Rua Dr. Roberto Frias 4200-465 Porto Portugal CH-1015 Lausanne Switzerland

ISBN: (纸本)9781467356411

The use of groups of autonomous marine vehicles has enormous potential in numerous marine applications, perhaps the most relevant of which is the surveying and exploration of the oceans, still widely unknown and misunderstood. In many mission scenarios requiring the concerted operation of multiple marine vehicles carrying distinct, yet complementary sensor suites, relative positioning and formation control becomes mandatory. However, the constraints placed by the medium make it hard to both communicate and localize vehicles, even in relation to each other. In this paper, we deal with the challenging problem of keeping an autonomous underwater vehicle in a moving triangular formation with respect to 2 leader vehicles. We build upon our previous theoretical work on range-only formation control, which presents simple feedback laws to drive the controlled vehicle to its intended position in the formation using only ranges obtained to the leading vehicles with no knowledge of the formation path. We then introduce the real-world constraints associated with the use of autonomous underwater vehicles, especially the low frequency characteristics of acoustic ranging and its unreliability. We discuss the required changes to implement the solution in our vehicles, and provide simulation results using a full dynamic and communication model. Finally, we present the results of real world trials using MEDUSA-class autonomous marine vehicles. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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Dynamic performance model of wind turbine generators

Dynamic performance model of wind turbine generators

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IEEE Symposium on Computational Intelligence Applications In Smart Grid (CIASG)

作者： Prajwal K. Gautam Ganesh K. Venayagamoorthy Real-Time Power and Intelligent Systems Laboratory Holcombe Department of Electrical and Computer Engineering Clemson University Clemson SC USA

To characterize the power performance of wind turbine generators (WTGs), the International Electrotechnical Commission provides a power curve for each one based on ten minutes average. This approach causes the problem of systematic errors because of the nonlinear relationship between power and wind speed. In this paper, recurrent neural networks are introduced as an alternative approach to model this nonlinear relationship. Based on actual wind speed input and wind power output, an input-output relationship is established for a permanent magnet synchronous machine based wind power generator. Experimental studies are carried out to the develop power curve that characterize dynamic power performance of the wind turbine generator. These dynamic power performance models of wind turbine generators can be used as operational and planning models in control centers. Some preliminary results on the integration of a neural network wind generator model in a micro-grid simulation is presented.

关键词： Wind turbines Wind speed Wind power generation Generators Neural networks Testing

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A new algorithm for linearization up to multi-output and multi-input injection for a class of systems with implicitly defined outputs

A new algorithm for linearization up to multi-output and mul...

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European Control Conference (ECC)

作者： Sérgio S. Rodrigues A. Pedro Aguiar Öaw Institute for Computational and Applied Mathematics (RICAM) Linz Austria Department of Electrical and Computer Engineering Laboratory of Robotics and Systems in Engineering and Science (LARSyS) Lisbon Portugal

ISBN: (纸本)9781479901890

Given a class of nonlinear systems with implicitly defined outputs, we provide a new algorithm to find appropriate local coordinates, in which the resulting system takes a desired target form that is state-affine, up to output and input injection. Once in the target form, it is possible to construct a state-space observer with linear, possibly time-varying, error dynamics.

关键词： Vectors Equations Observers Gold Geometry Nonlinear dynamical systems

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