Search results for "1707"
showing 10 items of 274 documents
Automatic place detection and localization in autonomous robotics
2007
This paper presents an approach for the simultaneous learning and recognition of places applied to autonomous robotics. While noteworthy results have been achieved with respect to off-line training process for appearance-based navigation, novel issues arise when recognition and learning are simultaneous and unsupervised processes. The approach adopted here uses a Gaussian mixture model estimated by a novel incremental MML-EM to model the probability distribution of features extracted by image-preprocessing. A place detector decides which features belong to which place integrating odometric information and a hidden Markov model. Tests demonstrate that the proposed system performs as well as …
Conceptual representations of actions for autonomous robots
2001
An autonomous robot involved in long and complex missions should be able to generate, update and process its own plans of action. In this perspective, it is not plausible that the meaning of the representations used by the robot is given from outside the system itself. Rather, the meaning of internal symbols must be firmly anchored to the world through the perceptual abilities and the overall activities of the robot. According to these premises, in this paper we present an approach to action representation that is based on a "conceptual" level of representation, acting as an intermediate level between symbols and data coming from sensors. Symbolic representations are interpreted by mapping …
Anchoring symbols to conceptual spaces: the case of dynamic scenarios.
2003
In recent years, there have been several proposals for the realization of models inspired to biological solutions for pattern recognition. In this work we propose a new approach, based on a hierarchical modular structure, to realize a system capable to learn by examples and recognize objects in digital images. The adopted techniques are based on multiresolution image analysis and neural networks. Performance on two different data sets and experimental timings on a single instruction multiple data (SIMD) machine are also reported.
Experiments with an adaptive Bayesian restoration method
1989
Abstract This paper describes a Bayesian restoration method applied to two-dimensional measured images, whose detector response function is not completely known. The response function is assumed Gaussian with standard deviation depending on the estimate of the local density of the image. The convex hull of the K -nearest neighbours ( K NN) of each ‘on’ pixel is used to compute the local density. The method has been tested on ‘sparse’ images, with and without noise background.
Stabilization and lx -gain analysis of switched positive systems with actuator saturation
2014
This paper is concerned with the problems of stability and l 1 -gain analysis for a class of switched positive systems with time-varying delays and actuator saturation. Firstly, a convex hull representation is used to describe the saturation behavior. By constructing a multiple co-positive Lyapunov functional, sufficient conditions are provided for the closed-loop system to be locally asymptotically stable at the origin of the state space under arbitrary switching. Then, the l 1 -gain performance analysis in the presence of actuator saturation is developed. Finally, two numerical examples are provided to demonstrate the effectiveness of the proposed method.
Structural modelling and mechanical tests supporting the design of the ATHENA X-IFU thermal filters and WFI optical blocking filter
2018
Copyright 2018 Society of Photo-Optical Instrumentation Engineers (SPIE). One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. ATHENA is a Large high energy astrophysics space mission selected by ESA in the Cosmic Vision 2015-2025 Science Program. It will be equipped with two interchangeable focal plane detectors: the X-Ray Integral Field Unit (X-IFU) and the Wide Field Imager (WFI). Both detectors require x-ray transparent filters to fully exploit their sensitivity. In order to maximize the X-ray tra…
The TES-based cryogenic anticoincidence detector for IXO: First results from large area prototypes
2010
The technique which combines high resolution spectroscopy with imaging capability is a powerful tool to extract fundamental information in X-ray Astrophysics and Cosmology. TES (Transition Edge Sensors)-based microcalorimeters match at best the requirements for doing fine spectroscopy and imaging of both bright (high count rate) and faint (poor signal-to-noise ratio) sources. For this reason they are considered among the most promising detectors for the next high energy space missions and are being developed for use on the focal plane of the IXO (International X-ray Observatory) mission. In order to achieve the required signal-to-noise ratio for faint or diffuse sources it is necessary to r…
Baseline design of the thermal blocking filters for the X-IFU detector on board ATHENA
2014
ATHENA is an advanced X-ray observatory designed by a large European consortium to address the science theme "Hot and Energetic Universe" recently selected by ESA for L2 – the second Large-class mission within the Cosmic Vision science program (launch scheduled in 2028). One of the key instruments of the mission is the X-ray Integral Field Unit (X-IFU), an array of Transition Edge Sensor (TES) micro-calorimeters with high energy resolution (2.5 eV @ 6 keV) in the energy range 0.2÷12 keV, operating at the focal plane of a large effective area high angular resolution (5" HEW) grazing incidence X-ray telescope. The X-IFU operates at temperatures below 100 mK and thus requires a sophisticated c…
Thermal modelling of the ATHENA X-IFU filters
2018
Copyright 2018 Society of Photo-Optical Instrumentation Engineers (SPIE). One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. The X-IFU instrument of the ATHENA mission requires a set of thermal filters to reduce the photon shot noise onto its cryogenic detector and to protect it from molecular contamination. A set of five filters, operating at different nominal temperatures corresponding to the cryostat shield temperatures, is currently baselined. The knowledge of the actual filter temperature profi…
Radio frequency shielding of thin aluminized plastic filters investigated for the ATHENA X-IFU detector
2018
Copyright 2018 Society of Photo-Optical Instrumentation Engineers (SPIE). One print or electronic copy may be made for personal use only. Systematic reproduction and distribution, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper are prohibited. The X-ray Integral Field Unit (X-IFU) is one of the two detectors of the ATHENA astrophysics space mission approved by ESA in the Cosmic Vision 2015-2025 Science Programme. The X-IFU consists of a large array of transition edge sensors (TES) micro-calorimeters covering a field of view of 5' diameter, sensitive in the energy range 0.2-12 keV, and providing a spectral resolution…