Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729279
H. A. Lamti, M. B. Ben Khelifa, P. Gorce, A. Alimi
The goal of Brain Eyes WHEELchair Interface (BEWHEELI) project is to command and control a powered wheelchair throughout thoughts and gaze. For this purpose, a bi-modal real time collaborative system should be put in place, so it can enhance severely disabled people mobility in hostile indoor environment.
{"title":"The use of brain and thought in service of handicap assistance: Wheelchair navigation","authors":"H. A. Lamti, M. B. Ben Khelifa, P. Gorce, A. Alimi","doi":"10.1109/ICBR.2013.6729279","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729279","url":null,"abstract":"The goal of Brain Eyes WHEELchair Interface (BEWHEELI) project is to command and control a powered wheelchair throughout thoughts and gaze. For this purpose, a bi-modal real time collaborative system should be put in place, so it can enhance severely disabled people mobility in hostile indoor environment.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126086103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729276
Emna Baklouti, M. Jallouli, L. Amouri, N. Ben Amor
This paper describes teleoperation systems for remote control of robot and the use of 3D virtual reality. It presents the adopted architecture and describes the experimental implementation through simulation results for mobile robot Khepera.
{"title":"Remote control of mobile robot through 3D virtual reality environment","authors":"Emna Baklouti, M. Jallouli, L. Amouri, N. Ben Amor","doi":"10.1109/ICBR.2013.6729276","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729276","url":null,"abstract":"This paper describes teleoperation systems for remote control of robot and the use of 3D virtual reality. It presents the adopted architecture and describes the experimental implementation through simulation results for mobile robot Khepera.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116871899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729282
S. Chtourou, M. Kharrat, N. Ben Amor, M. Jallouli, Mohamed Abid
We are now witnessing the beginning of Ubiquitous Computing era with the success of several start up to find early adopters among the general public for their home automation solutions through crow funding campaigns. We believe that in the near future, more and more people will come out with new ideas in relation with ubiquitous computing to make our daily life more and more easy. However, most of them face the challenge to manipulate electronics and to program microcontrollers in their early stage prototypes. Which is not easy for people without solid electronic manipulation background. Today we notice a lack for platforms that facilitates the development of Ubiquitous systems. New approaches helping programming microcontrollers have to be created. One of applications with high potential in ubiquitous computing is robotics. This paper applies the concept of ubiquitous computing for programming and controlling robots in an easy way taking examples of programming robots on the hardware and software level using Arduino and IOIO board.
{"title":"Evolution of robot programming, towards the Ubiquitous Computing era","authors":"S. Chtourou, M. Kharrat, N. Ben Amor, M. Jallouli, Mohamed Abid","doi":"10.1109/ICBR.2013.6729282","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729282","url":null,"abstract":"We are now witnessing the beginning of Ubiquitous Computing era with the success of several start up to find early adopters among the general public for their home automation solutions through crow funding campaigns. We believe that in the near future, more and more people will come out with new ideas in relation with ubiquitous computing to make our daily life more and more easy. However, most of them face the challenge to manipulate electronics and to program microcontrollers in their early stage prototypes. Which is not easy for people without solid electronic manipulation background. Today we notice a lack for platforms that facilitates the development of Ubiquitous systems. New approaches helping programming microcontrollers have to be created. One of applications with high potential in ubiquitous computing is robotics. This paper applies the concept of ubiquitous computing for programming and controlling robots in an easy way taking examples of programming robots on the hardware and software level using Arduino and IOIO board.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124374909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729277
Haifa Souilem, Y. Bouteraa, N. Derbel
This study is interested in the pressure error correction of a vehicle wheels using fuzzy logic controller. The proposed approach focus on strategies allowing the system control and the sliding avoidance of vehicle mainly in the wheels failure case. Simulation results show the effectiveness of the developed approach.
{"title":"Tire fault correction using fuzzy logic controller","authors":"Haifa Souilem, Y. Bouteraa, N. Derbel","doi":"10.1109/ICBR.2013.6729277","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729277","url":null,"abstract":"This study is interested in the pressure error correction of a vehicle wheels using fuzzy logic controller. The proposed approach focus on strategies allowing the system control and the sliding avoidance of vehicle mainly in the wheels failure case. Simulation results show the effectiveness of the developed approach.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123734943","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729283
Boughariou Jihene, Zouch Wassim, Ben Hamida Ahmed
The electroencephalography is a widely used technique with a better temporal resolution, which measures the potential difference between various locations on the scalp. The EEG inverse problem for localization of neural electrical current is an ill-posed problem, that is to say, an infinite number of current distribution in the head volume can produce the same potential distribution on the surface. To this end, many resolution methods exist. This paper presents a spatio-temporal resolution of the Inverse Problem (IP). In fact, the study of the temporal component is important to improve the localization performances. Since, we will focus on the conventional method: Minimum norm solution MN, weighted minimum norm solution WMN and standardized Low resolution brain electromagnetic tomography sLORETA. The main objective of this study is to highlight the effect of the temporal component on the brain activity localization. We demonstrated that the integration of the time component could reduce the localization error value.
{"title":"Effect of Introducing time component on the EEG inverse problem","authors":"Boughariou Jihene, Zouch Wassim, Ben Hamida Ahmed","doi":"10.1109/ICBR.2013.6729283","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729283","url":null,"abstract":"The electroencephalography is a widely used technique with a better temporal resolution, which measures the potential difference between various locations on the scalp. The EEG inverse problem for localization of neural electrical current is an ill-posed problem, that is to say, an infinite number of current distribution in the head volume can produce the same potential distribution on the surface. To this end, many resolution methods exist. This paper presents a spatio-temporal resolution of the Inverse Problem (IP). In fact, the study of the temporal component is important to improve the localization performances. Since, we will focus on the conventional method: Minimum norm solution MN, weighted minimum norm solution WMN and standardized Low resolution brain electromagnetic tomography sLORETA. The main objective of this study is to highlight the effect of the temporal component on the brain activity localization. We demonstrated that the integration of the time component could reduce the localization error value.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"13 24","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113942217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729275
F. Ben Taher, N. Ben Amor, M. Jallouli
This paper presents a description of an intelligent control method for controlling an electric wheelchair for several disabled persons. It also describes a non invasive approach based on EEG brain signal that can command the wheelchair with cognitive data, eye movements and head gestures. Our technique aim is to cover the largest number of handicapped person.
{"title":"EEG control of an electric wheelchair for disabled persons","authors":"F. Ben Taher, N. Ben Amor, M. Jallouli","doi":"10.1109/ICBR.2013.6729275","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729275","url":null,"abstract":"This paper presents a description of an intelligent control method for controlling an electric wheelchair for several disabled persons. It also describes a non invasive approach based on EEG brain signal that can command the wheelchair with cognitive data, eye movements and head gestures. Our technique aim is to cover the largest number of handicapped person.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114613199","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729273
Naceur Chafroud, N. Khraief, N. Braiek
This electronic document presents the application of a novel method of bipedal walking pattern generation assured by “the liquid level model” and the preview control of zero-moment-point (ZMP). In this method, the trajectory of the center of mass (CoM) of the robot is generated assured by the preview controller to maintain the ZMP at the desired location knowing that the robot is modeled as a running liquid level model on a tank. The proposed approach combines the preview control theory with simple model “the liquid level model”, to assure a stable dynamic walking. Simulations results show that the proposed pattern generator guarantee not only to walk dynamically stable but also good performance.
{"title":"Dynamic walking control by using the liquid level model and the preview of zero-moment-point","authors":"Naceur Chafroud, N. Khraief, N. Braiek","doi":"10.1109/ICBR.2013.6729273","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729273","url":null,"abstract":"This electronic document presents the application of a novel method of bipedal walking pattern generation assured by “the liquid level model” and the preview control of zero-moment-point (ZMP). In this method, the trajectory of the center of mass (CoM) of the robot is generated assured by the preview controller to maintain the ZMP at the desired location knowing that the robot is modeled as a running liquid level model on a tank. The proposed approach combines the preview control theory with simple model “the liquid level model”, to assure a stable dynamic walking. Simulations results show that the proposed pattern generator guarantee not only to walk dynamically stable but also good performance.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"98 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124534502","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729268
Abdelhak Chatty, P. Gaussier, I. Kallel, A. Alimi
In this paper, we present the interest of coupling learning capability and imitation strategy on individual and population levels in the field of Multi-Robot System. Particularly, we show that in an unknown environment adding a simple imitation capability to our bio-inspired architecture leads to a positive effect in the improvement the overall performance of the whole system. Indeed, our motivations is to optimize the robots goals discovery time and to improve the survival rate of agents. To analyze and validate our hypothesis, a series of experiments has been performed with and without a low level imitation strategy in a simulated multi-robot system. We will conclude with robotics' experiments which will feature how our approach applies accurately to real life environments.
{"title":"Optimization through coupling learning capability and imitation strategy in a Multi-Robot System","authors":"Abdelhak Chatty, P. Gaussier, I. Kallel, A. Alimi","doi":"10.1109/ICBR.2013.6729268","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729268","url":null,"abstract":"In this paper, we present the interest of coupling learning capability and imitation strategy on individual and population levels in the field of Multi-Robot System. Particularly, we show that in an unknown environment adding a simple imitation capability to our bio-inspired architecture leads to a positive effect in the improvement the overall performance of the whole system. Indeed, our motivations is to optimize the robots goals discovery time and to improve the survival rate of agents. To analyze and validate our hypothesis, a series of experiments has been performed with and without a low level imitation strategy in a simulated multi-robot system. We will conclude with robotics' experiments which will feature how our approach applies accurately to real life environments.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131321608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729278
A. Hussein, A. Khamis
This paper presents a market-based approach used for solving the Multi-robot Task Allocation (MRTA) problem that arises in the context of Multi-robot Systems (MRS). The proposed approach is used to find the best allocation of a number of heterogeneous robots to a number of heterogeneous tasks. The approach was extensively tested over a number of test scenarios in order to test its capability of handling complex constrained MRS applications that included extended number of tasks and robots. Finally a comparative study is implemented between the proposed market-based approach and two optimization-based approaches, the results show that the optimization-based approaches outperformed the market-based approach in terms of best allocation and computational time, however, in terms of capabilities matching the difference between both algorithms is very minimal.
{"title":"Market-based approach to Multi-robot Task Allocation","authors":"A. Hussein, A. Khamis","doi":"10.1109/ICBR.2013.6729278","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729278","url":null,"abstract":"This paper presents a market-based approach used for solving the Multi-robot Task Allocation (MRTA) problem that arises in the context of Multi-robot Systems (MRS). The proposed approach is used to find the best allocation of a number of heterogeneous robots to a number of heterogeneous tasks. The approach was extensively tested over a number of test scenarios in order to test its capability of handling complex constrained MRS applications that included extended number of tasks and robots. Finally a comparative study is implemented between the proposed market-based approach and two optimization-based approaches, the results show that the optimization-based approaches outperformed the market-based approach in terms of best allocation and computational time, however, in terms of capabilities matching the difference between both algorithms is very minimal.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"158 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124493634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/ICBR.2013.6729265
Amara Fatma, Kaaniche Khaled, F. Zemzemi
Omnidirectional cameras are becoming increasingly popular in computer vision and robotics. Before performing any task, camera calibration is a step involving metric scene measurement, required in nearly all robotics tasks. In recent years many different methods have been developed to calibrate central omnidirectional cameras. They are based on different camera models and often limited to a specific mirror shape. In this paper we present a design research, manufacture and calibration of an omnidirectional vision sensor. Based on unified approaches, a model of image formation is adopted for our sensor which is made in our School. We have continued the process by a calibration of the sensor, i.e extraction of the parameter allowing the 2D/3D and 3D/2D passages.
{"title":"Design, construction and calibration of an omnidirectional camera","authors":"Amara Fatma, Kaaniche Khaled, F. Zemzemi","doi":"10.1109/ICBR.2013.6729265","DOIUrl":"https://doi.org/10.1109/ICBR.2013.6729265","url":null,"abstract":"Omnidirectional cameras are becoming increasingly popular in computer vision and robotics. Before performing any task, camera calibration is a step involving metric scene measurement, required in nearly all robotics tasks. In recent years many different methods have been developed to calibrate central omnidirectional cameras. They are based on different camera models and often limited to a specific mirror shape. In this paper we present a design research, manufacture and calibration of an omnidirectional vision sensor. Based on unified approaches, a model of image formation is adopted for our sensor which is made in our School. We have continued the process by a calibration of the sensor, i.e extraction of the parameter allowing the 2D/3D and 3D/2D passages.","PeriodicalId":269516,"journal":{"name":"2013 International Conference on Individual and Collective Behaviors in Robotics (ICBR)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127052387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：