Home << 1 2 >>
List View
 | 
Citations
 | 
Details
   web
Records
Author M. Oliveira; L. Seabra Lopes; G. Hyun Lim; S. Hamidreza Kasaei; Angel D. Sappa; A. Tomé
Title Concurrent Learning of Visual Codebooks and Object Categories in Open- ended Domains Type Conference Article
Year 2015 Publication Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, Hamburg, Germany, 2015 Abbreviated Journal
Volume Issue Pages (down) 2488 - 2495
Keywords Birds, Training, Legged locomotion, Visualization, Histograms, Object recognition, Gaussian mixture model
Abstract In open-ended domains, robots must continuously learn new object categories. When the training sets are created offline, it is not possible to ensure their representativeness with respect to the object categories and features the system will find when operating online. In the Bag of Words model, visual codebooks are usually constructed from training sets created offline. This might lead to non-discriminative visual words and, as a consequence, to poor recognition performance. This paper proposes a visual object recognition system which concurrently learns in an incremental and online fashion both the visual object category representations as well as the codebook words used to encode them. The codebook is defined using Gaussian Mixture Models which are updated using new object views. The approach contains similarities with the human visual object recognition system: evidence suggests that the development of recognition capabilities occurs on multiple levels and is sustained over large periods of time. Results show that the proposed system with concurrent learning of object categories and codebooks is capable of learning more categories, requiring less examples, and with similar accuracies, when compared to the classical Bag of Words approach using codebooks constructed offline.
Address
Corporate Author Thesis
Publisher IEEE Place of Publication Hamburg, Germany Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Notes Approved no
Call Number cidis @ cidis @ Serial 41
Permanent link to this record
 
 
Author Wilton Agila; Ricardo Cajo; Douglas Plaza
Title Experts Agents in PEM Fuel Cell Control Type Conference Article
Year 2015 Publication 4ta International Conference on Renewable Energy Research and Applications Abbreviated Journal
Volume Issue Pages (down) 896 - 900
Keywords s- PEM Fuel Cell; Expert Agent; Perceptive Agents; Acting Agent; Fuzzy Controller
Abstract In the control of the PEM (Proton Exchange Membrane) fuel cell, the existence of both deliberative and reactive processes that facilitate the tasks of control resulting from a wide range of operating scenarios and range of conditions it is required. The latter is essential to adjust its parameters to the multiplicity of circumstances that may occur in the operation of the PEM stack. In this context, the design and development of an expert-agents based architecture for autonomous control of the PEM stack in top working conditions is presented. The architecture integrates perception and control algorithms using sensory and context information. It is structured in a hierarchy of levels with different time window and level of abstraction. The monitoring model and autonomic control of PEM stack has been validated with different types of PEM stacks and operating conditions demonstrating high reliability in achieving the objective of the proposed energy efficiency. Dynamic control of the wetting of the membrane is a clear example.
Address
Corporate Author Thesis
Publisher IEEE Place of Publication Palermo, Italy Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference 2015 International Conference on Renewable Energy Research and Applications (ICRERA)
Notes Approved no
Call Number cidis @ cidis @ Serial 46
Permanent link to this record
 
 
Author Julien Poujol; Cristhian A. Aguilera; Etienne Danos; Boris X. Vintimilla; Ricardo Toledo; Angel D. Sappa
Title A visible-Thermal Fusion based Monocular Visual Odometry Type Conference Article
Year 2015 Publication Iberian Robotics Conference (ROBOT 2015), International Conference on, Lisbon, Portugal, 2015 Abbreviated Journal
Volume 417 Issue Pages (down) 517-528
Keywords Monocular Visual Odometry; LWIR-RGB cross-spectral Imaging; Image Fusion
Abstract The manuscript evaluates the performance of a monocular visual odometry approach when images from different spectra are considered, both independently and fused. The objective behind this evaluation is to analyze if classical approaches can be improved when the given images, which are from different spectra, are fused and represented in new domains. The images in these new domains should have some of the following properties: i) more robust to noisy data; ii) less sensitive to changes (e.g., lighting); iii) more rich in descriptive information, among other. In particular in the current work two different image fusion strategies are considered. Firstly, images from the visible and thermal spectrum are fused using a Discrete Wavelet Transform (DWT) approach. Secondly, a monochrome threshold strategy is considered. The obtained representations are evaluated under a visual odometry framework, highlighting their advantages and disadvantages, using different urban and semi-urban scenarios. Comparisons with both monocular-visible spectrum and monocular-infrared spectrum, are also provided showing the validity of the proposed approach.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 44
Permanent link to this record
 
 
Author Miguel Oliveira; Vítor Santos; Angel D. Sappa; Paulo Dias
Title Scene representations for autonomous driving: an approach based on polygonal primitives Type Conference Article
Year 2015 Publication Iberian Robotics Conference (ROBOT 2015), Lisbon, Portugal, 2015 Abbreviated Journal
Volume 417 Issue Pages (down) 503-515
Keywords Scene reconstruction, Point cloud, Autonomous vehicles
Abstract In this paper, we present a novel methodology to compute a 3D scene representation. The algorithm uses macro scale polygonal primitives to model the scene. This means that the representation of the scene is given as a list of large scale polygons that describe the geometric structure of the environment. Results show that the approach is capable of producing accurate descriptions of the scene. In addition, the algorithm is very efficient when compared to other techniques.
Address
Corporate Author Thesis
Publisher Springer International Publishing Switzerland 2016 Place of Publication Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference Second Iberian Robotics Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 45
Permanent link to this record
 
 
Author Dennis G. Romero; A. Frizera; Angel D. Sappa; Boris X. Vintimilla; T.F. Bastos
Title A predictive model for human activity recognition by observing actions and context Type Conference Article
Year 2015 Publication ACIVS 2015 (Advanced Concepts for Intelligent Vision Systems), International Conference on, Catania, Italy, 2015 Abbreviated Journal
Volume Issue Pages (down) 323 - 333
Keywords Edge width, Image blu,r Defocus map, Edge model
Abstract This paper presents a novel model to estimate human activities – a human activity is defined by a set of human actions. The proposed approach is based on the usage of Recurrent Neural Networks (RNN) and Bayesian inference through the continuous monitoring of human actions and its surrounding environment. In the current work human activities are inferred considering not only visual analysis but also additional resources; external sources of information, such as context information, are incorporated to contribute to the activity estimation. The novelty of the proposed approach lies in the way the information is encoded, so that it can be later associated according to a predefined semantic structure. Hence, a pattern representing a given activity can be defined by a set of actions, plus contextual information or other kind of information that could be relevant to describe the activity. Experimental results with real data are provided showing the validity of the proposed approach.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 43
Permanent link to this record
 
 
Author Miguel Realpe; Boris X. Vintimilla; L. Vlacic
Title Towards Fault Tolerant Perception for autonomous vehicles: Local Fusion. Type Conference Article
Year 2015 Publication IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Siem Reap, 2015. Abbreviated Journal
Volume Issue Pages (down) 253-258
Keywords
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.
Address
Corporate Author Thesis
Publisher Place of Publication Editor
Language Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 37
Permanent link to this record
 
 
Author Ricardo Cajo; Wilton Agila
Title Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System Type Conference Article
Year 2015 Publication Computer Aided System Engineering (APCASE), 2015 Asia-Pacific Conference on, Quito, 2015 Abbreviated Journal
Volume Issue Pages (down) 214-219
Keywords Twin Rotor MIMO System (TRMS); Proportional-Integral-Derivative (PID); Linear PID Controller; Nonlinear PID Controller; Nonlinear Observer
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.
Address
Corporate Author Thesis
Publisher IEEE Place of Publication Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference 2015 Asia-Pacific Conference on Computer Aided System Engineering
Notes Approved no
Call Number cidis @ cidis @ Serial 36
Permanent link to this record
 
 
Author Cristhian A. Aguilera; Angel D. Sappa; R. Toledo
Title LGHD: A feature descriptor for matching across non-linear intensity variations Type Conference Article
Year 2015 Publication IEEE International Conference on, Quebec City, QC, 2015 Abbreviated Journal
Volume Issue Pages (down) 178 - 181
Keywords Feature descriptor, multi-modal, multispectral, NIR, LWIR
Abstract This paper presents a new feature descriptor suitable to the task of matching features points between images with nonlinear intensity variations. This includes image pairs with significant illuminations changes, multi-modal image pairs and multi-spectral image pairs. The proposed method describes the neighbourhood of feature points combining frequency and spatial information using multi-scale and multi-oriented Log- Gabor filters. Experimental results show the validity of the proposed approach and also the improvements with respect to the state of the art.
Address
Corporate Author Thesis
Publisher IEEE Place of Publication Quebec City, QC, Canada Editor
Language English Summary Language English Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference 2015 IEEE International Conference on Image Processing (ICIP)
Notes Approved no
Call Number cidis @ cidis @ Serial 40
Permanent link to this record
 
 
Author Dennys Paillacho; F. Novillo; W. Agila.; V. Huilcapi
Title Impacto de las redes de comunicaciones en los Sistemas Robóticos de Control Type Journal Article
Year 2015 Publication Revista Politécnica Abbreviated Journal
Volume Vol. 35 Issue Pages (down) pp. 97-102
Keywords Ethernet, CAN, Swichted Ethernet, Sistemas de control en red, Ciclo de comunicación, Control de ajuste de trayectoria
Abstract El análisis de incidencia que tienen las redes de comunicaciones sobre el comportamiento de los sistemas robóticos de control en red muestra grandes dificultades cuando se quieren hacer evaluaciones de tipo analítico. Por tal razón, en este trabajo un análisis que utiliza una aproximación basada en simulación es propuesto, de manera que el comportamiento temporal y espacial de un sistema robótico de control en red pueda ser evaluado. Para tal efecto, se propone un entorno de validación mediante el cual una red de comunicaciones permita distribuir mensajes de control entre el controlador principal y los controladores remotos ubicados en cada articulación angular del robot manipulador planar. Las interacciones entre los componentes del sistema han sido modeladas mediante un sistema de capas. Dicho modelo es llevado a un entorno de simulación con la finalidad de analizar el impacto de distintos parámetros de comunicaciones (i.e. tipo de red, tasa de datos y tamaño de datos) sobre el ciclo de comunicación y el error de seguimiento de trayectoria en un sistema robótico.
Address
Corporate Author Thesis
Publisher Escuela Politécnica Nacional Place of Publication Editor
Language Español Summary Language Español Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 33
Permanent link to this record
 
 
Author Ortiz J.; Londono J.; Novillo F.; Ampuno A.; Chávez M.
Title Determinación de Invariantes en Grandes Centros de Datos basados en Topología Fat-Tree Type Journal Article
Year 2015 Publication Revista Politécnica Abbreviated Journal
Volume Vol. 35 Issue Pages (down) pp. 91-96
Keywords Invariantes de red, topologías, Fat-tree, simulación, emulación
Abstract Durante los últimos años ha existido un fuerte incremento en el acceso a internet, causando que los centros de datos ( DC) deban adaptar dinámicamente su infraestructura de red de cara a enfrentar posibles problemas de congestión, la cual no siempre se da de forma oportuna. Ante esto, nuevas topologías de red se han propuesto en los últimos años, como una forma de brindar mejores condiciones para el manejo de tráfico interno, sin embargo es común que para el estudio de estas mejoras, se necesite recrear el comportamiento de un verdadero DC en modelos de simulación/emulación. Por lo tanto se vuelve esencial validar dichos modelos, de cara a obtener resultados coherentes con la realidad. Esta validación es posible por medio de la identificación de ciertas propiedades que se deducen a partir de las variables y los parámetros que describen la red, y que se mantienen en las topologías de los DC para diversos escenarios y/o configuraciones. Estas propiedades, conocidas como invariantes, son una expresión del funcionamiento de la red en ambientes reales, como por ejemplo la ruta más larga entre dos nodos o el número de enlaces mínimo que deben fallar antes de una pérdida de conectividad en alguno de los nodos de la red. En el presente trabajo se realiza la identificación, formulación y comprobación de dos invariantes para la topología Fat-Tree, utilizando como software emulador a mininet. Las conclusiones muestran resultados concordantes entre lo analítico y lo práctico.
Address
Corporate Author Thesis
Publisher Escuela Politécnica Nacional Place of Publication Editor
Language Español Summary Language Español Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN ISBN Medium
Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 32
Permanent link to this record