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Marta Diaz, Dennys Paillacho, & Cecilio Angulo. (2015). Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum. International Journal of Humanoid Robotics, Vol. 12.
Abstract: This paper describes an exploratory study on group interaction with a robot-guide in an open large-scale busy environment. For an entire week a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face to face communication in a populated environment are analyzed in terms of guide- visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot’s spatial behavior in dense crowded scenarios.
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Mildred Cruz, Cristhian A. Aguilera, Boris X. Vintimilla, Ricardo Toledo, & Ángel D. Sappa. (2015). Cross-spectral image registration and fusion: an evaluation study. In 2nd International Conference on Machine Vision and Machine Learning (Vol. 331). Barcelona, Spain: Computer Vision Center.
Abstract: This paper presents a preliminary study on the registration and fusion of cross-spectral imaging. The objective is to evaluate the validity of widely used computer vision approaches when they are applied at different spectral bands. In particular, we are interested in merging images from the infrared (both long wave infrared: LWIR and near infrared: NIR) and visible spectrum (VS). Experimental results with different data sets are presented.
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Ricardo Cajo, & Wilton Agila. (2015). Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System. In Computer Aided System Engineering (APCASE), 2015 Asia-Pacific Conference on, Quito, 2015 (pp. 214–219). IEEE.
Abstract: In this paper the linear and nonlinear PID control algorithms are analyzed and for a twin rotor MIMO system (TRMS), whose characteristic is not linear with two degrees of freedom and cross-links. The aim of this work is to stabilize the TRMS, to achieve a particular position and follow a trajectory in the shortest time. Mathematical modeling of helicopter model is simulated using MATLAB / Simulink, the two degrees of freedom are controlled both horizontally and vertically through the proposed controllers. Also nonlinear segmented observers for each degree of freedom are designed in order to measure statements required by the nonlinear controller. Followed, a comparative analysis of both algorithms is presented to evaluate their performance in the real TRMS.
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Miguel Realpe, Boris X. Vintimilla, & L. Vlacic. (2015). Towards Fault Tolerant Perception for autonomous vehicles: Local Fusion. In IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Siem Reap, 2015. (pp. 253–258).
Abstract: Many robust sensor fusion strategies have been developed in order to reliably detect the surrounding environments of an autonomous vehicle. However, in real situations there is always the possibility that sensors or other components may fail. Thus, internal modules and sensors need to be monitored to ensure their proper function. This paper introduces a general view of a perception architecture designed to detect and classify obstacles in an autonomous vehicle's environment using a fault tolerant framework, whereas elaborates the object detection and local fusion modules proposed in order to achieve the modularity and real-time process required by the system.
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