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Tangent Barrier Lyapunov Functions for the Control of Output-Constrained Nonlinear Systems

IFAC Proceedings Volumes 2013年第20期46卷 449-455页

作者： Zhong-Liang Tang Keng Peng Tee Wei He Institute of Intelligent Systems and Information Technology (ISIT) and School of Computer and Science Engineering University of Electronic Science and Technology of China Chengdu 611731 China Institute for Infocomm Research A *STAR Singapore 138632 Singapore Robotics Institute (RI) and School of Automation Engineering University of Electronic Science and Technology of China Chengdu 611731 China

In this paper, we present a systematic control design for strict-feedback nonlinear systems with output constraints using tangent Barrier Lyapunov Functions (BLFs-Tan). Both symmetric and asymmetric BLF-Tan based backstepping control design methods are developed. It is proved that with the proposed approach and Lyapunov synthesis, the output constraints are not violated, all signals in the closed-loop systems are bounded, and asymptotical tracking is achieved. Through the simulation, we also perform a comparison study between BLF-Tan and the logarithmic BLF (BLF-Log) to illustrate the difference in control performance, and show that the performance of asymmetric BLF-Tan based controller depends on the position of initial tracking error with respect to the transformed constraint boundary.

关键词： Output Constraints Tangent Barrier Lyapunov Functions Backstepping Design

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An improved parameterized approach for real time optimal motion planning of AUV moving in dynamic environment

An improved parameterized approach for real time optimal mot...

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2013 6th IEEE Conference on robotics, Automation and Mechatronics, RAM 2013

作者： Luo, Wenhao Peng, Jun Wang, Jing Department of Automation Shanghai Jiao Tong University Ministry of Education of China Shanghai 200240 China School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410083 China Computer Engineering Program Bethune-Cookman University Daytona Beach FL 32114 United States

ISBN: (纸本)9781479911998

In this paper, we present an improved analytic method to the optimal trajectory generation of an autonomous underwater vehicle (AUV) in a dynamic environment. The proposed approach explicitly incorporates both the AUV kinematic and the geometric constraints due to dynamic obstacles and the terrain while rendering the near-shortest path by a performance index related to the path length. In particular, the proposed design is based on a family of parameterized trajectories determined by three adjustable parameters, which provides a unified way to reformulate the geometric constraints and performance index into a set of parameterized constraint equations. To that end, such a constrained optimization problem boils down to optimize those adjustable parameters, which can be analytically solved in the parameter space. The proposed solution enhances the methodologies of real-time path planning for robots in 3D environment. Simulation results verify the effectiveness of the proposed method. © 2013 IEEE.

关键词： Autonomous underwater vehicles

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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Congress on Evolutionary Computation

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

ISBN: (纸本)9781479904532

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.

关键词： Robot kinematics Robot sensing systems Mobile ad hoc networks Complexity theory Spread spectrum communication Force

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Robot emotions generated and modulated by visual features of the environment

Robot emotions generated and modulated by visual features of...

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IEEE Workshop on Affective Computational Intelligence (WACI)

作者： Aaron S.W. Wong Steven Nicklin Kenny Hong Stephan K. Chalup Peter Walla Newcastle Robotics Laboratory School of Electrical Engineering and Computer Science University of Newcastle Australia School of Psychology Centre for Translational Neuroscience and Mental Health Research University of Newcastle Australia

Emotions are generated and modulated by many factors in the ever-changing surrounding environment. A new and challenging task is to emulate emotional responses on a robot that are caused by visual stimuli, such that the robot's responses mirror that of the human user. This paper presents the initial stage of an affective system that has been trained on-line using reinforcement learning to generate and modulate emotions. The inputs of the system comprise a subset of emotionally relevant visual features extracted from the environment: colours, fractal dimension, and facial pareidolia. These inputs are mapped onto an output that expresses the associated emotion in terms of language. Pilot experiments demonstrate how a humanoid robot tries to learn through interaction with a human companion to express emotions associated with different environmental scenes in a (near) human-like manner.

关键词： Robots Fractals Image color analysis Feature extraction Visualization Image edge detection Detectors

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Human Touch Behavior Classification to Therapy Robot using SOM

Human Touch Behavior Classification to Therapy Robot using S...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Koji Makino Wasantha Samarathunga Hubais Abdelrahman Jin-Hua She Yasuhiro Ohyama Hiroshi Hashimoto Graduate school of medicine and Engineering University of Yamanashi School of Computer Science Tokyo University of Technology Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology

ISBN: (纸本)9781479902255

In this research, a classification method for human touching behaviors to haptic therapy robot is proposed. It is difficult to apply explicit discrete representation for human touch behaviors such as "slap", "pat" due to the existence of intermediate touch behavioral patterns. Therefore a new classification approach for human touch behaviors using Self Organizing Map (SOM) is proposed, using its ability to classify the nearby data in to a group. Further in this research the axis of out put maps are defined to be meaningful by specifying the initial placement of the input data during the training process.

关键词： Touch self-organising feature maps GRHL3 gene Classification Methods incoming data Robot Axis Human maps Medicine

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Testing usability and acceptability of a web application to promote physical activity (iCanFit) among older adults

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JMIR Human Factors 2014年第1期1卷 e2页

作者： Hong, Yan Goldberg, Daniel Dahlke, Deborah Vollmer Ory, Marcia G. Cargill, Jessica S. Coughlin, Rachel Hernandez, Edgar Kellstedt, Debra K. Peres, S. Camille School of Public Health Texas A&M Health Science Center College Station TX United States Department of Geography Texas A&M University College Station TX United States Department of Computer Science and Engineering Texas A&M University College Station TX United States DVD Associates Austin TX United States St Joseph Regional Health Center Bryan TX United States Environmental Geosciences Program Texas A&M University College Station TX United States

Background: Most older Americans do not exercise regularly and many have chronic conditions. Among an increasing number of fitness mobile and Web apps, few are designed for older adults with chronic conditions despite high ownership rates of mobile tools and Internet access in this population. We designed a mobile-enabled Web app, iCanFit, to promote physical activity in this population. Objective: This study aimed to test the usability and acceptability of iCanFit among older adults in a community setting. Methods: A total of 33 older adults (aged 60 to 82 years) were recruited from communities to test iCanFit. Of these 33, 10 participants completed the usability testing in a computer room of a senior community center. A research assistant timed each Web application task and observed user navigation behavior using usability metrics. The other 23 participants used the website on their own devices at home and provided feedback after 2-3 weeks by completing a user-experience survey assessing ease of use, helpfulness, and satisfaction with iCanFit. Results: Participants completed all 15 tasks on the iCanFit site in an average of 31 (SD 6.9) minutes;some tasks required more time or needed assistance. Participants' comments were addressed to improve the site's senior friendliness and ease of use. In the user-experience survey, participants reported high levels of usefulness and satisfaction. More than 56% (13/23) of participants indicated they would continue using the program and recommend it to their families or friends. Conclusions: Testing usability and acceptability is a very important step in developing age-appropriate and user-friendly Web apps, especially for older adults. Testing usability and acceptability in a community setting can help reveal users' experiences and feedback in a real-life setting. Our study suggested that older adults had a high degree of acceptance of iCanFit and could use it easily. The efficacy trial of iCanFit is currently underway. © Yan

关键词： Mobile health, older adults Physical activity Usability testing User experience

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Cross-camera complementary vehicle matching via feature expandsion for video forensics

Cross-camera complementary vehicle matching via feature expa...

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IEEE International Symposium on Consumer Electronics (ISCE)

作者： Chao-Yung Hsu Chih-Yang Lin Li-Wei Kang Hong-Yuan Mark Liao Institute of Information Science Academia Sinica Taipei Taiwan Department of Computer Science and Information Engineering Asia University Taichung Taiwan Graduate School of Engineering Science and Technology-Doctoral Program and Department of Computer Science and Information Engineering National Yunlin University of Science and Technology Yunlin Taiwan

ISBN: (纸本)9781467361989

In this paper, we will investigate a more challenging vehicle matching problem. The problem is formulated as invariant image feature matching among opposite viewpoints of cameras, i.e. complementary object matching. For example, a front vehicle object may be given as a query to retrieve a rear vehicle object of the same vehicle. To solve the complementary object matching, invariant image feature is first extracted based on ASIFT (affine and scale-invariant feature transform) for each detected vehicle in a camera network. Then, the ASIFT feature is expanded via a special vehicle database. As a result, cross-camera vehicle matching with the help of complementary part can be greatly improved. Experimental results demonstrate the effectiveness of the proposed algorithm and the feasibility to video forensics applications.

关键词： Vehicles Cameras Databases Feature extraction Visualization Digital forensics

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Cross-camera vehicle tracking via affine invariant object matching for video forensics applications

Cross-camera vehicle tracking via affine invariant object ma...

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IEEE International Conference on Multimedia and Expo (ICME)

作者： Chao-Yung Hsu Li-Wei Kang Hong-Yuan Mark Liao Institute of Information Science Academia Sinica Taipei Taiwan Graduate School of Engineering Science and Technology-Doctoral Program and Department of Computer Science and Information Engineering National Yunlin University of Science and Technology Yunlin Taiwan

ISBN: (纸本)9781479900145

The recent deployment of very large-scale camera networks consisting of fixed/moving surveillance cameras and vehicle video recorders, has led to a novel field in object tracking problem. The major goal is to detect and track each vehicle within a large area, which can be applied to video forensics. For example, a suspected vehicle can be automatically identified for mining digital criminal evidences from a large amount of video data. In this paper, we propose an efficient cross-camera vehicle tracking technique via affine invariant object matching. More specifically, we formulate the problem as invariant image feature matching among different viewpoints of cameras. To achieve vehicle matching, we first extract invariant image feature based on ASIFT (affine and scale-invariant feature transform) for each detected vehicle in a camera network. Then, to improve the accuracy of ASIFT feature matching between images from different viewpoints, we propose to efficiently match feature points based on our observed spatially invariant property of ASIFT, as well as the min-hash technique. As a result, cross-camera vehicle tracking can be efficiently and accurately achieved. Experimental results demonstrate the efficacy of the proposed algorithm and the feasibility to video forensics applications.

关键词： Vehicles Visualization Cameras Feature extraction Transforms Robustness Forensics

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Modelling the recovery of acute stroke survivors during adaptive rob ot-assisted training

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Gait & Posture 2014年 40卷 S28-S29页

作者： Tamagnone, I. Sterpi, I. Squeri, V. Basteris, A. Casadio, M. Sanguineti, V. Sessarego, P. Dept. Informatics Bioengineering Robotics and System Engineering University of Genoa Italy Service of Rehabilitation Eng. IRCCS Salvatore Maugeri Foundation Pavia Italy Dept. of Robotics Brain and Cognitive Sciences Italian Institute of Technology Genoa Italy School of Computer Science Hertfordshire UK Rehabilitation Institute IRCCS Salvatore Maugeri Foundation Genoa Italy

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Vision guided path planning system for vehicles using infrared landmark

Vision guided path planning system for vehicles using infrar...

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IEEE International Conference on robotics and Biomimetics

作者： Malik Saad Sultan Xiaopeng Chen Nouman Qadeer Tongtong Zhang Huang Qiang Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing China Lab of Intelligent Information and Technology School of Computer Science and Technology Beijing Institute of Technology Beijing China

Infrared-landmark based vision navigation system is proposed to reliably guide drivers from starting point to goal following a feasible shortest path in a known indoor or outdoor environment no matter whether it is day or night. What's more, this system is capable of warning drivers about the dangerous zones “like no right turn, no U-turn, damaged road ahead etc” conditions when no visible light is available for human beings, mostly at night. The system consists of Basler camera, designed Infra-Red landmark, our developed software, IR filter and an industrial computer. Each infrared landmark contains a unique ID. Address information and important notes are attached to each ID. Once a landmark is efficiently detected and its ID is recognized, location information related to the corresponding ID is presented. And then Dijkstra's algorithm is efficiently utilized to find a possible shortest path to destination. After that, path is followed with the aid of vision system. Experimental results demonstrate suitability, effectiveness and feasibility in intelligent transportation system.

关键词： Cameras Vehicles Reliability Algorithm design and analysis Optical filters Machine vision Filtering algorithms

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