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Kalman Filters are utilised for filtering and estimation in a large set of application. Here, this methodology is utilised for trajectory estimation of an underwater robot. In this work, three Kalman Filter methods are proposed for trajectory estimation. There are: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Central Difference Kalman Filter (CDKF). Simulation results are presented...
The human visual system employs an information selection mechanism, visual attention, so that higher-level cognitive processes can be restricted to a potentially important subset of the incoming information. This mechanism is amenable to efficient computational implementation and, consequently, it has been incorporated into many technological applications. Among these applications is autonomous mobile...
In this paper, an impedance control strategy is proposed for a rigid robot collaborating with human by considering impedance learning and human motion intention estimation. The least square method is used in human impedance identification, and the robot can adjust its impedance parameters according to human impedance model for guaranteeing compliant collaboration. Neural networks (NNs) are employed...
In recent years, service robots have advanced toward having to the ability to move autonomously in an environment in which they co-exist with humans. Thus, the robots must engage in obstacle avoidance to arrive at their goal point. In our previous research, we developed the artificial potential based method that the robot to plans an effective path simulating pedestrian characteristics by gently changing...
Optimization of anti-windup controller design is achieved for non-linear systems with actuator saturation. The systems are represented as Euler-Lagrange systems, and the proportional and integral (PI) controller, in which the gravity term is cancelled by a non-linear compensation technique, is used. The goal of optimization is to minimize the saturated input, i.e., the difference between the control...
This paper describes the design of a control strategy for robotic rehabilitation devices, aimed at recovering the motor skills of patients affected by particular diseases that damage the neuromuscular apparatus of the human body. There are two different but related activities in the project here described. At first, a non-linear parameter identification procedure, based on the Recursive Least Square...
First, the received signal strength indications (RSSIs) of the three tags on a triangular apparatus surrounding a target human (TH) are read by two perpendicular antennas with one reader. These 6 RSSIs and their corresponding pose and the azimuth angle of the TH with respect to the autonomous guided vehicle (AGV) or antenna are attained. Since the relations of these pairs of input and output are nonlinear,...
This paper presents a novel nonlinear velocity estimation method for robotic joints based on inverse hyperbolic sine tracing differential algorithm. Unlike the conventional methods that using the motor-side position measurements to obtain the joint velocity, this paper addresses the problem of joint velocity estimation that using the link-side absolute encoder data, so that the kinematic error caused...
Motivated by product detection in supermarkets, this paper studies the problem of object proposal generation in supermarket images and other natural images. We argue that estimation of object scales in images is helpful for generating object proposals, especially for supermarket images where object scales are usually within a small range. Therefore, we propose to estimate object scales of images before...
Optimization of dynamic anti-windup is achieved for non-linear planner robot systems with actuator saturation. The static anti-windup scheme is expanded to a dynamic scheme based on passivity. The systems are represented as Euler-Lagrange systems without the gravity term, and the proportional and integral (PI) controller is used. The goal of optimization is to minimize the saturated input, i.e., the...
In personal fabrication, novel fabrication frameworks that promote fabrications that satisfy individuals' creative preferences will become indispensable. To realize such a framework, it is necessary to study the following: (1) estimation of the emotion that is expressed when performing the creative work and (2) adaptive recommendations based on those emotion estimates. In this study, we performed...
This work presents a study to determine the improvement of the simultaneous position estimations of several Mobile Robots (MRs) adding the relative distances between them, regarding independent position estimations for each MR. To evaluate the performance of the proposal, it is supposed that the localization scenario is composed of an Ultrasonic Local Positioning System (ULPS) and two MRs with odometry...
The accuracy of indoor positioning systems is commonly computed as a metric based on the Euclidean distance from estimated locations to actual locations. This paper suggests that positioning error distances should be computed as the lengths of the paths that a person may follow when going from wrongly estimated positions to the real positions. The paper proposes a method that calculates the paths...
This paper deals with a discrete predictive control design for motion control of robotic systems. The design considers time-varying state-space robot model. It is assumed that used robot state has to be estimated from measured robot outputs. These outputs represent controlled quantities including a bounded noise. Considering this arrangement, the paper introduces a novel solution to the state and...
We present a method to model and classify trajectory data that come from surveillance videos. Observations of the locations of moving entities are used to estimate their expected velocity in the scene. Such estimation is performed by a Gaussian process regression that enables to approximate probabilistically the expected velocity of entities given some observed evidence in the scene. Subsequently,...
This paper presents a method for estimating the number, as well as the activity periods of spatially distributed sound sources using an uncalibrated microphone array. This methodology is applied for the purposes of speaker diarization. In general, speaker diarization has difficulty with: 1) estimating the number of sound sources (speakers), and 2) activity detection of multiple sound sources including...
Provides an abstract for each of the presentations and may include a brief professional biography of each presenter. The complete presentations were not made available for publication as part of the conference proceedings.
This study presents an age and gender estimation system that considers ethnic difference in face images using a Convolutional Neural Network(CNN) and Support Vector Machine(SVM). Most age and gender estimation systems using face images are trained on ethnicity-biased databases. Therefore, these systems show limited performance on face images of ethnic groups occupying a small proportion of the training...
We propose a SNS Agency Robot that can be used for the interactive communication between elderly people and younger generation via existing Social Networking Service (SNS). This robot system has been implemented on a cloud service and a single board computer embedded in a human-type robot, which is equipped with a microphone, camera, speaker, sensors, and network access function, so that elderly people...
In this paper, the task of Mission 7 of International Aerial Robotics Competition (IARC) is investigated. The quadrotor is required to autonomously navigate in a GPS-denied environment, and accomplish physical interaction with ground moving targets. In order to estimate the position of the quadrotor, a multi-sensor-compensation based method is designed and individual measurement errors are compensated...
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