66documents trouvés
Broadband variations of the MUSIC high-resolution method for sound source localization in robotics
S.ARGENTIERI, P.DANES
RAP
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego (USA), 29 Octobre - 2 Novembre 2007, pp.2009-2014 , N° 07257
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Abstract
The MUSIC algorithm (MUltiple SIgnal Classification) is a well-known high-resolution method to sound source localization. However, as it is essentially narrowband, several extensions can be envisaged when dealing with broadband sources like human voice. This paper presents such extensions and proposes a comparative study w.r.t. specific robotics constraints. An online beamspace MUSIC method, together with a recently developed beamforming scheme, are shown to constitute a mathematically sound and potentially efficient solution.
Convex optimization and modal analysis for beamforming in robotics: theoratical and implementation issues
S.ARGENTIERI, P.DANES
RAP
Manifestation avec acte : 15th European Signal Processing Conference (EUSIPCO 2007), Poznan (Pologne), 3-7 Septembre 2007, 5p. , N° 07340
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Abstract
This paper deals with sound source localization in mobile robotics. This context opens new areas of research as it involves some specific constraints such as real time performance or embeddability. Quite often, broadband beamforming techniques are sought for, exploiting small-sized microphone arrays. A new approach to the design of broadband nearfield or farfield beamformers is first described, based on modal analysis and convex optimization. Original considerations related to the involvment of the theoretical beampattern into the real integrated acoustic sensor are then presented, which lead to alleviate some constraints during the optimization process and enable the use of smaller arrays. The whole method is illustrated on an example.
Mots-Clés / Keywords
Convex optimization; Beamforming; Robotics;
An optical link for microwave clock distribution using optical carrier suppression and DC drift compensation
B.ONILLON, P.DANES, B.BENAZET, O.LLOPIS
MOST, RAP, ALCATEL ASPI
Revue Scientifique : Microwave and Optical Technology Letters , Vol.49, N°7, pp.1634-1637, Juillet 2007 , N° 07091
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Abstract
Bias electrode DC drift of LiNbO3 optical modulators becomes a critical problem when these devices operate over a long time period. This article presents a novel system of DC drift compensation for optical microwave transmissions using optical carrier suppression technique. In our case, such a system is dedicated to the optical distribution of high spectral purity microwave signals in future satellite payloads.
Mots-Clés / Keywords
Clock distribution; Electro-optic modulator ; Microwave optical antenna; Microwave optics ; Optical fibers;
Filtrage particulaire pour la capture de mouvement dédiée à l'interaction homme-robot
M.FONTMARTY, F.LERASLE, P.DANES, P.MENEZES
RAP, University of Coimbr
Manifestation avec acte : 11ème congrès francophone des jeunes chercheurs en vision par ordinateur (ORASIS 2007), Obernai (France), 4-8 Juin 2007, 8p. , N° 07222
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110923Piecewise Lyapunov functions to the stability analysis of rational systems subject to multiple state constraints
D.F.COUTINHO, P.DANES
Porto Alegre, RIA
Manifestation avec acte : 45th IEEE Conference on Decision and Control (CDC'2006), San Diego (USA), 13-15 Décembre 2006, pp.5801-5806 , N° 06198
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108625Modal analysis based beamforming for nearfield or farfield speaker localization in robotics
S.ARGENTIERI, P.DANES, P.SOUERES
GEPETTO, RAP
Manifestation avec acte : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2006), Beijing (Chine), 9-12 Octobre 2006, 6p. , N° 06646
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108260Rackham: an interactive robot-guide
A.CLODIC, S.FLEURY, R.ALAMI, R.CHATILA, G.BAILLY, L.BRETHES, M.COTTRET, P.DANES, X.DOLLAT, F.ELISEI, I.FERRANE, M.HERRB, G.INFANTES, C.LEMAIRE, F.LERASLE, J.MANHES, P.MARCOUL, P.MENEZES, V.MONTREUIL
RIA, 2I, IRIT-UPS, ICP, RIS
Manifestation avec acte : 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN'2006), Hatfield (GB), 6-8 Septembre 2006, pp.502-509 , N° 06572
Lien : http://hal.archives-ouvertes.fr/hal-00480381/fr/
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Abstract
Rackham is an interactive robot-guide that has been used in several places and exhibitions. This paper presents its design and reports on results that have been obtained after its deployment in a permanent exhibition. The project is conducted so as to incrementally enhance the robot functional and decisional capabilities based on the observation of the interaction between the public and the robot. Besides robustness and efficiency in the robot navigation abilities in a dynamic environment, our focus was to develop and test a methodology to integrate human-robot interaction abilities in a systematic way. We first present the robot and some of its key design issues. Then, we discuss a number of lessons that we have drawn from its use in interaction with the public and how that will serve to refine our design choices and to enhance robot efficiency and acceptability.
Multicriteria analysis of visual servos via biquadratic Lyapunov functions
P.DANES, D.F.COUTINHO
RIA, Porto Alegre
Manifestation avec acte : 5th IFAC Symposium on Robust Control Design (ROCOND'2006), Toulouse (France), 5-7 Juillet 2006, 6p. , N° 05523
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108482Mid-term key experiment specification and implementation status
R.ALAMI, L.BRETHES, R.CHATILA, A.CLODIC, M.COTTRET, G.CCOVO, P.DANES, M.DEVY, N.DO HUU, X.DOLLAT, S.FLEURY, M.FONTMARTY, M.HERRB, I.HERRERA AGUILAR, C.LEMAIRE, F.LERASLE, E.LOPEZ DAMIAN, J.MANHES, P.MARCOUL, L. F.MARIN URIAS, V.MONTREUIL, R.PHILIPPSEN, D.SIDOBRE, E.A.SISBOT, F.J.TRUJILLO ROMERO
RIA, 2I, GESTION
Rapport de Contrat : COGNIRON, Project FP6-IST-002020, Juin 2006, 30p. , N° 06425
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107067Particle filtering strategies for visual tracking dedicated to H/R interaction
L.BRETHES, F.LERASLE, P.DANES
RIA
Manifestations avec acte à diffusion limitée : International Workshop on Vision Based Human-Robot Interaction, Palerme (Italie), 16-18 Mars 2006, 10p. , N° 06199
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