Papers by Valentin Lunati
Robots are usually equipped with advanced capabilities in order to autonomously adapt to real and... more Robots are usually equipped with advanced capabilities in order to autonomously adapt to real and dynamic environments and to interact with humans. Robot Perception is being inspired by new embodied cognition approaches that redefine the notions of perception, cognition and action, basic processes of intelligent behaviour. Enactive approaches consider the perceptual act as a consequence in action of the structural coupling between the organism and its environment in seek of significance. There is a growing interest in the development of robot perception systems based on new architectures to materialize naturally these action-perception functions. In this direction, we propose an evolution of the EAR sensor [4], which fulfills the constraints of mobile robot audition, such as embeddability, synchronous multichannel acquisition and real-time execution. Using Systems-on-a-Programmable-Chip (SoPCs) methodology, this sensor incorporates a novel architecture that offers all the basic calc...
Proceedings of Meetings on Acoustics, 2016
En la actualidad existe un gran interes cientifico y tecnologico por el desarrollo de sistemas de ... more En la actualidad existe un gran interes cientifico y tecnologico por el desarrollo de sistemas de percepcion robotica con arquitecturas que permitan materializar de manera mas “natural” -esto es, tal como un organismo se desempena en su propio medio- funciones percepcion de bajo nivel. Estas arquitecturas deben poseer una gran versatilidad y capacidad de computo que satisfaga los requerimientos de autonomia energetica y dimensiones para ser implementado en un sistema robotico movil. En particular, ciertos algoritmos de audicion robotica requieren la ejecucion secuencial de un gran numero de operaciones matriciales a variable compleja, sobre volumenes importantes de datos y en tiempo real. En este trabajo se presenta una metodologia de diseno para la implementacion de este tipo de funciones utilizando FPGA (del ingles Field Programmable Gate Array) a partir de la integracion de un procesador RISC (Reduced Instruction Set Computer) estandar y modulos de hardware especificamente disenado...
A versatile System-on-a-Programmable-Chip for array processing and binaural robot audition
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
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Papers by Valentin Lunati