| Records |
| Author |
Miguel Realpe; Boris X. Vintimilla; Ljubo Vlacic |
| Title |
Sensor Fault Detection and Diagnosis for autonomous vehicles |
Type |
Conference Article |
Year  |
2015 |
Publication |
2nd International Conference on Mechatronics, Automation and Manufacturing (ICMAM 2015), International Conference on, Singapur, 2015 |
Abbreviated Journal |
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| Volume |
30 |
Issue |
MATEC Web of Conferences |
Pages |
1-6 |
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| Abstract |
In recent years testing autonomous vehicles on public roads has become a reality. However, before having autonomous vehicles completely accepted on the roads, they have to demonstrate safe operation and reliable interaction with other traffic participants. Furthermore, in real situations and long term operation, there is always the possibility that diverse components may fail. This paper deals with possible sensor faults by defining a federated sensor data fusion architecture. The proposed architecture is designed to detect obstacles in an autonomous vehicle’s environment while detecting a faulty sensor using SVM models for fault detection and diagnosis. Experimental results using sensor information from the KITTI dataset confirm the feasibility of the proposed architecture to detect soft and hard faults from a particular sensor. |
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| Publisher |
EDP Sciences |
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| Language |
English |
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English |
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no |
| Call Number |
cidis @ cidis @ |
Serial |
42 |
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| 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 |
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Issue |
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Pages |
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. |
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no |
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cidis @ cidis @ |
Serial |
43 |
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| 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 |
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| Volume |
417 |
Issue |
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Pages |
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. |
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English |
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no |
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cidis @ cidis @ |
Serial |
44 |
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| 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 |
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| Volume |
417 |
Issue |
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Pages |
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. |
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| Publisher |
Springer International Publishing Switzerland 2016 |
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| Language |
English |
Summary Language |
English |
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Conference |
Second Iberian Robotics Conference |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
45 |
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| 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 |
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Issue |
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Pages |
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. |
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| Publisher |
IEEE |
Place of Publication |
Palermo, Italy |
Editor |
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| Language |
English |
Summary Language |
English |
Original Title |
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Conference |
2015 International Conference on Renewable Energy Research and Applications (ICRERA) |
| Notes |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
46 |
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