ICINCO-RA最新文献

{"title":"Eye and gaze tracking algorithm for collaborative learning system","authors":"D. Merad, S. Metz, S. Miguet","doi":"10.5220/0001207503260333","DOIUrl":"https://doi.org/10.5220/0001207503260333","url":null,"abstract":"Our work focuses on the interdisciplinary field of detailed analysis of behaviors exhibited by individuals during sessions of distributed collaboration. With a particular focus on ergonomics, we propose new mechanisms to be integrated into existing tools to enable increased productivity in distributed learning and working. Our technique is to record ocular movements (eye tracking) to analyze various scenarios of distributed collaboration in the context of computer-based training. In this article, we present a low-cost oculometric device that is capable of making ocular measurements without interfering with the natural behavior of the subject. We expect that this device could be employed anywhere that a natural, non-intrusive method of observation is required, and its low-cost permits it to be readily integrated into existing popular tools, particularly E-learning campus.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127943344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Toward 3D free form object tracking using skeleton","authors":"D. Merad, Jean-Yves Didier","doi":"10.5220/0001207400740081","DOIUrl":"https://doi.org/10.5220/0001207400740081","url":null,"abstract":"In this paper we describe an original method for the 3D free form object tracking in monocular vision. The main contribution of this article is the use of the skeleton of an object in order to recognize, locate and track this object in real time. Indeed, the use of this kind of representation made it possible to avoid difficulties related to the absence of prominent elements in free form objects (which makes the matching process easier). The skeleton is a lower dimension representation of the object, it is homotopic and it has a graph structure. This allowed us to use powerful tools of the graph theory in order to perform matching between scene objects and models (recognition step). Thereafter, we used skeleton extremities as interest points for the tracking.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121565041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The lagr project - integrating learning into the 4D/RCS control hierarchy","authors":"J. Albus, R. Bostelman, T. Hong, Tommy Chang, W. Shackleford, M. Shneier","doi":"10.5220/0001210701540161","DOIUrl":"https://doi.org/10.5220/0001210701540161","url":null,"abstract":"The National Institute of Standards and Technology's (NIST) Intelligent Systems Division (ISD) is a par- ticipant in the Defense Advanced Research Project Agency (DARPA) LAGR (Learning Applied to Ground Robots) Project. The NIST team's objective for the LAGR Project is to insert learning algorithms into the modules that make up the 4D/RCS (Four Dimensional/Real-Time Control System), the standard reference model architecture to which ISD has applied to many intelligent systems. This paper describes the 4D/RCS structure, its application to the LAGR project, and the learning and mobility control methods used by the NIST team's vehicle.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133871345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Multiple mobile robots motion-planning: An approach with space-time MCA","authors":"F. Marchese","doi":"10.5220/0001218103980403","DOIUrl":"https://doi.org/10.5220/0001218103980403","url":null,"abstract":"In this paper is described a fast Path-Planner for Multi-robot composed by mobile robots having generic shapes and sizes (user defined) and different kinematics. We have developed an algorithm that computes the shortest collision-free path for each robot, from the starting pose to the goal pose, while considering their real shapes, avoiding the collisions with the static obstacles and the other robots. It is based on a directional (anisotropic) propagation of attracting potential values in a 4D Space-Time, using a Multilayered Cellular Automata (MCA) architecture. This algorithm makes a search for all the optimal collision-free trajectories following the minimum valley of a potential hypersurface embedded in a 5D space.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114709824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Performance evaluation of a controlled flow-shop system with a timed petri net model","authors":"Loic Plassart, P. L. Parc, Frank Singhoff, L. Marcé","doi":"10.5220/0001206704940499","DOIUrl":"https://doi.org/10.5220/0001206704940499","url":null,"abstract":"This paper presents an original performance analysis applied to a flow-shop system driven by a set of local command units and a central controller. The performance evaluation is done with a timed coloured Petri net model. Simulation results show needs for bounding the controller response time in order to meet production targets.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124665212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Global optimization of performance of a 2PRR parallel manipulator for cooperative tasks","authors":"H. Moreno, José Alfonso Pámanes García, P. Wenger, D. Chablat","doi":"10.5220/0001213505160522","DOIUrl":"https://doi.org/10.5220/0001213505160522","url":null,"abstract":"In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted manipulator allows globally optimize the condition number of the jacobian matrix during the accomplishment of a desired task. Consequently, the accuracy of the manipulator is maximized and singular or degenerate poses are avoided. A case of study is presented to show the effectiveness of our approach.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128764615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A path planning strategy for obstacle avoidance","authors":"G. Blanc, Y. Mezouar, P. Martinet","doi":"10.5220/0001211604380444","DOIUrl":"https://doi.org/10.5220/0001211604380444","url":null,"abstract":"This paper presents an obstacle avoidance module dedicated to non-holonomic wheeled mobile robots. Chained system theory and deformable virtual zone principle are coupled to design an original framework based on path following formalism. The proposed strategy allows to correct the control output provided by a navigation module to preserve the robot security while assuring the navigation task. First, local paths and control inputs are derived from the interaction between virtual zones surrounding the robot and obstacles to efficiently prevent from collisions. The resulting control inputs and the ones provided by the navigation module are then adequately merged to ensure the success of the navigation task. Experimental results using a cart-like mobile robot equipped with a sonar sensors belt confirm the relevance of the approach.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133857390","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Distributed Hardware-software Architecture for Control an Autonomous Mobile Robot","authors":"Ricardo S. Britto, A. M. Santana, A. Souza, A. Medeiros, P. Alsina","doi":"10.5220/0001498401690174","DOIUrl":"https://doi.org/10.5220/0001498401690174","url":null,"abstract":"In this paper, we introduce a hardware-software architecture for controlling the autonomous mobile robot Kapeck. The Kapeck robot is composed of a set of sensors and actuators organized in a CAN bus. Two embedded computers and eigth microcontroller-based boards are used in the system. One of the computers hosts the vision system, due to the significant processing needs of this kind of system. The other computer is used to coordinate and access the CAN bus and to accomplish the other activities of the robot. The microcontrollerbased boards are used with the sensors and actuators. The robot has this distributed configuration in order to exhibit a good real-time behavior, where the response time and the temporal predictability of the system is important. We adopted the hybrid deliberative-reactive paradigm in the proposed architecture to conciliate the reactive behavior of the sensors-actuators net and the deliberative activities required to accomplish more complex tasks.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123044740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Evolutionary path planning for unmanned aerial vehicles cooperation","authors":"I. Nikolos, N. Tsourveloudis","doi":"10.5220/0001642200670075","DOIUrl":"https://doi.org/10.5220/0001642200670075","url":null,"abstract":"We suggest an evolutionary based off-line/on-line path planner for cooperating Unmanned Aerial Vehicles (UAVs) that takes into account the environment characteristics and the flight envelope and mission constraints of the cooperating UAVs. The scenario under consideration is the following: a number of UAVs are launched from the same or different known initial locations. The main issue is to produce 3-D trajectories that ensure a collision free operation with respect to mission constraints. The path planner produces curved routes that are represented by 3-D B-Spline curves. Two types of planner are discussed: The off-line planner generates collision free paths in environments with known characteristics and flight restrictions. The on-line planner, which is based on the off-line one, generates collision free paths in unknown static environments, by using acquired information from the UAV’s on-board sensors. This information is exchanged between the cooperating UAVs in order to maximize the knowledge of the environment. Both off-line and on-line path planning problems are formulated as optimization problems, with a Differential Evolution algorithm to serve as the optimizer.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116699265","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Inclusion of ellipsoids","authors":"R. Pepy, Eric Pierre","doi":"10.5220/0001645200980102","DOIUrl":"https://doi.org/10.5220/0001645200980102","url":null,"abstract":"Nowadays, path planning for mobile robots has taken a new dimension. Due to many failures when experimenting the following of geometrical paths, determined by the first generation of planners (Latombe, 1991), with real robots, searchers concluded that those too simple paths were no longer enough. Planning method must now guarantee that the paths proposed are safe, i.e. that the robot will be able to follow a path without any risk of failure, or at least in warranting a high success rate. To achieve this goal, some parameters must be considered : uncertainties of the model used (not-so-perfect mapping, inaccuracy of the sensors, slipping of the robot on the floor, etc.). Collision detection is very important in mobile robotic and furthermore when trying to find a safe path in an uncertain-configuration space. Thus, searchers tend to integrate evolved collision detection in their planners. Thus, after having used circular disk to approximate the shape taken by the mobile robot, more and more searchers use elliptic disks as they offer a better accuracy. Used in the context of safepath planning (Pierre and Lambert, 2006; Lozano-Pérez and Wesley, 1979; Gonzalez and Stentz, 2005; Pepy and Lambert, 2006), ellipsoids allow to approximate the shape of the set of positions where the mobile could be(ellipsoids thus take the mobile robot’s geometry and the uncertainties on its position into account). The the Safe A* with Towers of Uncertainty (SATU*) planner (Pierre and Lambert, 2006) is one of those safe path planner that use ellipsoid to approximate the shape of the set of positions where the mobile could be. Ellipsoids are used in the SATU* to perform collision detection between the mobile robot and its environment. However, the authors of the SATU* have also proposed a new mean of organising the performing of the planner so that the ellipsoids can be used to detect very early beginning of useless paths. In order to achieve this goal, inclusion detection must be performed between two ellipsoids (that correspond to two different ways to come to the same position). In this paper, we are going to present an algebraic method using the resultant of Sylvester (Lang, 1984) to solve this problem. The SATU* algorithm (Alg. 1) has already been presented in (Pierre and Lambert, 2006) and three tests of inclusion of uncertainties (lines 7, 26 and 36) are used. However the authors did not explain how they implemented those tests nor give the algorithms used. As the model of uncertainties used in the SATU* corresponds to an ellipsoid in 3 dimensions, this test of inclusion of uncertainties can be seen as a test of inclusion of ellipsoids. In the present paper, we are going to propose an algorithm of test of inclusion of ellipsoids. In a first part, the uncertain configuration space will be described. Then, Sylvester’s resultant will be used to defined a ready for use inclusion detection test.","PeriodicalId":302311,"journal":{"name":"ICINCO-RA","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125956071","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}