| Records |
| Author |
Ma. Paz Velarde; Erika Perugachi; Dennis G. Romero; Ángel D. Sappa; Boris X. Vintimilla |
| Title |
Análisis del movimiento de las extremidades superiores aplicado a la rehabilitación física de una persona usando técnicas de visión artificial. |
Type |
Journal Article |
| Year |
2015 |
Publication |
Revista Tecnológica ESPOL-RTE |
Abbreviated Journal |
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| Volume |
Vol. 28 |
Issue |
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Pages |
pp. 1-7 |
| Keywords |
Rehabilitation; RGB-D Sensor; Computer Vision; Upper limb |
Abstract  |
Comúnmente durante la rehabilitación física, el diagnóstico dado por el especialista se basa en observaciones cualitativas que sugieren, en algunos casos, conclusiones subjetivas. El presente trabajo propone un enfoque cuantitativo, orientado a servir de ayuda a fisioterapeutas, a través de una herramienta interactiva y de bajo costo que permite medir los movimientos de miembros superiores. Estos movimientos son capturados por un sensor RGB-D y procesados mediante la metodología propuesta, dando como resultado una eficiente representación de movimientos, permitiendo la evaluación cuantitativa de movimientos de los miembros superiores. |
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| Publisher |
ESPOL |
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| Language |
English |
Summary Language |
English |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
39 |
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| 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 |
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| Volume |
Vol. 35 |
Issue |
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Pages |
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. |
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| Publisher |
Escuela Politécnica Nacional |
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Editor |
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| Language |
Español |
Summary Language |
Español |
Original Title |
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no |
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cidis @ cidis @ |
Serial |
32 |
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| 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 |
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| Volume |
Vol. 35 |
Issue |
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Pages |
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. |
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| Publisher |
Escuela Politécnica Nacional |
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| Language |
Español |
Summary Language |
Español |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
33 |
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| 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 |
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Issue |
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Pages |
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. |
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| Publisher |
IEEE |
Place of Publication |
Hamburg, Germany |
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English |
Summary Language |
English |
Original Title |
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Conference |
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Notes |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
41 |
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| 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 |
| Keywords |
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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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English |
Summary Language |
English |
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no |
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cidis @ cidis @ |
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42 |
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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 |
Abbreviated Journal |
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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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Thesis |
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| Publisher |
IEEE |
Place of Publication |
Palermo, Italy |
Editor |
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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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| 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 |
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Issue |
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Pages |
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. |
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IEEE |
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English |
Summary Language |
English |
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Conference |
2015 Asia-Pacific Conference on Computer Aided System Engineering |
| Notes |
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Approved |
no |
| Call Number |
cidis @ cidis @ |
Serial |
36 |
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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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Springer International Publishing Switzerland 2016 |
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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 |
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. |
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Issue |
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Pages |
253-258 |
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| 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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no |
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cidis @ cidis @ |
Serial |
37 |
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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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English |
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cidis @ cidis @ |
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44 |
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