Intelligent trajectory planner and generalised proportional integral control for two carts equipped with a red-green-blue depth sensor on a circular rail

Published on Jan 1, 2020in Integrated Computer-aided Engineering4.827
· DOI :10.3233/ICA-200622
Ramón Panduro3
Estimated H-index: 3
,
Eva Segura5
Estimated H-index: 5
(UCLM: University of Castilla–La Mancha)
+ 4 AuthorsRafael Morales18
Estimated H-index: 18
(UCLM: University of Castilla–La Mancha)
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Abstract
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2011ICIC: International Conference on Intelligent Computing
1 Author (Ruixian Li)
References48
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Traditional and classical methods of facial expression recognition are mainly based on intensity image and are prone to be disturbed by illumination, poses, and disguise. This research aims to develop a robust facial expression recognition method using RGB-D images and multichannel features. Based on image entropy and visual saliency, facial texture features are firstly extracted from RGB images and depth images to construct the Histogram of Oriented Gradient (HOG) descriptors. And then, we extr...
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Abstract Given the driving advances on CNNs (Convolutional Neural Networks) [1], deep neural networks being deployed for accurate detection and semantic reconstruction in SLAM (Simultaneous Localization and Mapping) has become a trend. However, as far as we know, almost all existing methods focus on design a specific CNN architecture for single task. In this paper, we propose a novel framework which employs a general object detection CNN to fuse with a SLAM system towards obtaining better perfor...
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#1Lidia M. Belmonte (UCLM: University of Castilla–La Mancha)H-Index: 4
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This article introduces a framework for assisting dependent people at home through a vision-based autonomous unmanned aerial vehicle (UAV). Such an aircraft equipped with onboard cameras can be useful for monitoring and recognizing a dependent’s activity. This work is focused on the problem of planning the flight path of a quadrotor to perform monitoring tasks. The objective is to design a trajectory planning algorithm that allows the UAV to position itself for the sake of capturing images of th...
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#1Ramón Panduro (UCLM: University of Castilla–La Mancha)H-Index: 3
#2Eva Segura (UCLM: University of Castilla–La Mancha)H-Index: 5
Last. Rafael Morales (UCLM: University of Castilla–La Mancha)H-Index: 18
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This paper presents a motorised circular rail that generates the motion of two carts with an RGB-D sensor each. The objective of both carts’ trajectory generation is to track a person’s physical rehabilitation exercises from two points of view and his/her emotional state from one of these viewpoints. The person is moving freely his/her position and posture within the circle drawn by the motorised rail. More specifically, this paper describes the calculation of trajectories for safe motion of the...
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This paper introduces a novel spatial method for human action recognition that is discriminative without needing temporal information or action key poses. First, skeletal data is acquired with the Microsoft Kinect v2 sensor and undergoes a Pose Invariant Normalization (PIN) process. The PIN process translates, rotates and scales the various observed poses to eliminate body differences and positional differences between subjects. Second, the method uses a Body Related Occupancy Map (BROM), that d...
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This paper applies a robust generalised proportional integral (GPI) controller to address the problems of stabilisation and position tracking in voltage-controlled magnetic levitation systems, with consideration of the system’s physical parameters, non-linearities and exogenous disturbance signals. The controller has been developed using as a basis a model of the tangent linearised system around an arbitrary unstable equilibrium point. Since the approximate linearised system is differentially fl...
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This work is part of an ongoing research project to develop an unmanned flying social robot to monitor dependants at home in order to detect the person’s state and bring the necessary assistance. In this sense, this paper focuses on the description of a virtual reality (VR) simulation platform for the monitoring process of an avatar in a virtual home by a rotatory-wing autonomous unmanned aerial vehicle (UAV). This platform is based on a distributed architecture composed of three modules communi...
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