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检索条件"任意字段=26th International Conference on Methods and Models in Automation and Robotics"

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Learning linear dynamical systems without sequence information 09

Learning linear dynamical systems without sequence informati...

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26th Annual international conference on Machine Learning, ICML'09

作者： Huang, Tzu-Kuo Schneider, Jeff Machine Learning Department Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 United States

ISBN: (纸本)9781605585161

Virtually all methods of learning dynamic systems from data start from the same basic assumption: that the learning algorithm will be provided with a sequence, or trajectory, of data generated from the dynamic system. In this paper we consider the case where the data is not sequenced. the learning algorithm is presented a set of data points from the system's operation but with no temporal ordering. the data are simply drawn as individual disconnected points. While making this assumption may seem absurd at first glance, we observe that many scientic modeling tasks have exactly this property. In this paper we restrict our attention to learning linear, discrete time models. We propose several algorithms for learning these models based on optimizing approximate likelihood functions and test the methods on several synthetic data sets. Copyright 2009.

关键词： Learning algorithms

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Perception for mobile manipulation and grasping using active stereo

Perception for mobile manipulation and grasping using active...

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9th IEEE-RAS international conference on Humanoid Robots, HUMANOIDS09

作者： Rusu, Radu Bogdan Holzbach, Andreas Diankov, Rosen Bradski, Gary Beetz, Michael Intelligent Autonomous Systems Technische Universität München Boltzmannstr. 3 Garching Bei München Germany Robotics Institute Carnegie Mellon University Pittsburgh PA United States Willow Garage Inc. 68 Willow Road Menlo Park CA United States

ISBN: (纸本)9781424445882

In this paper we present a comprehensive perception system with applications to mobile manipulation and grasping for personal robotics. Our approach makes usc of dense 3D point cloud data acquired using stereo vision cameras by projecting textured light onto the scene. To create models suitable for grasping, we extract the supporting planes and model object clusters with different surface geometric primitives. the resultant decoupled primitive point clusters are then reconstructed as smooth triangular mesh surfaces, and their use is validated in grasping experiments using OpenRAVE [1]. To annotate the point cloud data with primitive geometric labels we make use of our previously proposed Fast Point Feature Histograms [2] and probabilistic graphical methods (Conditional Random Fields), and obtain a classification accuracy of 98.27% for different object geometries. We show the validity of our approach by analyzing the proposed system for the problem of building object models usable in grasping applications with the PR2 robot (sec Figure 1). ©2009 IEEE.

关键词： Stereo vision

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Integrating semantic world modeling, 3D-simulation, Virtual Reality and remote sensing techniques for a new class of interactive GIS-based simulation systems

Integrating semantic world modeling, 3D-simulation, Virtual ...

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international conference on Geoinformatics

作者： Jurgen Rossmann Michael Schluse Martin Hoppen Ralf Waspe Institute of Man Machine Interaction (MMI) RWTH Aachen University Germany

Integrating well known GIS functionalities, object-oriented modeling, 3D simulation, virtual reality, space robotics and remote sensing methods with new semantic world modeling techniques, from the point of view of an... 详细信息

ISBN: (纸本)9781424445622

关键词： Virtual reality Remote sensing Object oriented modeling Geographic Information Systems Service robots robotics and automation Robot sensing systems Computational modeling Orbital robotics Analytical models

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Object separation using active methods and multi-view representations

Object separation using active methods and multi-view repres...

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IEEE international conference on robotics and automation

作者： Welke, Kai Asfour, Tamim Dillmann, Ruediger Univ Karlsruhe TH IAIM Inst Comp Sci & Engn CSE D-76128 Karlsruhe Germany

ISBN: (纸本)9781424416462

Daily life objects reveal natural similarities, which cannot be resolved with the perception of a single view. In this paper, we present an approach for object separation using active methods and multi-view object representations. By actively rotating an object, the coherence between controlled path, inner models, and percept is observed and used to reject implausible object hypotheses. Using the resulting object hypotheses, pose and object correspondence are determined. the proposed approach allows for the separation of different object candidates, which have similar views to the current percept. With the benefit of active methods the perceptual task can be solved using even coarse features, which facilitates a compact multi-view object representation. Furthermore, the approach is independent from a specific visual feature descriptor and thus suitable for multi-modal object recognition.

关键词： Object recognition

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An Improved Frequency Weighted Balancing Related Technique with Error Bounds

An Improved Frequency Weighted Balancing Related Technique w...

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10th international conference on Control, automation, robotics and Vision

作者： Sreeram, Victor Sahlan, Shafishuhaza Univ Western Australia Nedlands WA 6009 Australia

ISBN: (纸本)9781424422869

In this paper, we present an improved frequency weighted balanced related techniques which is based on a combination of the unweighted balanced techniqe with the Lin and Chin's frequency weighted balanced Technique. the reduced order models which are guaranteed to be stable in case of double-sided weighting, are obtained by direct truncation. A simple, elegant and easily calculatable a priori error bounds are also derived. A numerical example and comparison with other well-known techniques show the effectiveness of the proposed technique.

关键词： Numerical methods

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Rivers water quality monitoring modeling and simulation of pollutants propagation

Rivers water quality monitoring modeling and simulation of p...

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IEEE international conference on automation, Quality and Testing, robotics (AQTR 2008)

作者： Stoian, I. Ungureanu, G. Mircea, M. Moldovan, Z. Cristea, M. V. Imre, A. IPA R and D Institute for Automation Cluj Subsidiary INCDTIM National Institute for R and D of Isotopic and Molecular Technologies Cluj Babes Bolyai University

ISBN: (纸本)9781424425761

Rapid environmental changes as well as potential risks for the human health call for water quality continuous surveillance and on-line decision making. Information and communication technologies can be valuable in these areas. In this paper we present an intelligent system for water quality assessment. Some models used for pollutants propagation, the system architecture, the functional description, the distributed acquisition subsystems are presented. the main concepts are the integration of distributed and diverse information resources through wide area networking methods, but with an easy-to-use interface that makes the technical complexity completely hidden for the user. Menu driven, graphical and supported by an embedded expert system, the interface makes interaction with complex models easy. the system provides a powerful, but simple tool for river water quality management, and decision making, according to European environmental policy, guidelines, and regulations.

关键词： Intelligent systems

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Exploring the textural parameters obtained from ultrasound images for modeling the liver pathological stages in the evolution towards hepatocellular carcinoma

Exploring the textural parameters obtained from ultrasound i...

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IEEE international conference on automation, Quality and Testing, robotics (AQTR 2008)

作者： Mitrea, D. Nedevschi, S. Lupsor, M. Badea, R. Tech Univ Cluj Napoca Dept Comp Sci Baritiu Str 26-28 Cluj Napoca Romania Univ Med & Pharm Cluj Napoca Romania

ISBN: (纸本)9781424425761

the purpose of this study is to characterize the evolution of the liver diseases towards hepatocellular carcinoma (HCC), by finding the relevant textural features obtained from ultrasound images, which accurately surprise the changes of the liver tissue in the context of this evolution. For the computation of the textural features, the following methods are used: first and second order statistics, edge-based statistics, fractal-based methods and multiresolution methods;specific methods for feature-selection are applied in order to determine the exhaustive set of independent and relevant features for each evolution phase. the specific values of these parameters, corresponding to each evolution phase, will be estimated through statistical methods. We will focus on modeling the cirrhosis and hepatocellular carcinoma, but the normal state and chronic viral hepatitis (CVH) are also taken into consideration. the final purpose is that of providing a reliable method for non-invasive characterization of the evolution towards HCC, in order to prevent this malignant tumor.

关键词： Ultrasonics

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Optimal control with adaptive internal dynamics models

Optimal control with adaptive internal dynamics models

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5th international conference on Informatics in Control, automation and robotics

作者： Mitrovic, Djordje Klanke, Stefan Vijayakumar, Sethu Univ Edinburgh Inst Percept Act & Behav Sch Informat Edinburgh Midlothian Scotland

ISBN: (纸本)9789898111302

Optimal feedback control has been proposed as an attractive movement generation strategy in goal reaching tasks for anthropomorphic manipulator systems. the optimal feedback control law for systems with non-linear dynamics and non-quadratic costs can be found by iterative methods, such as the iterative Linear Quadratic Gaussian (iLQG) algorithm. So far this framework relied on an analytic form of the system dynamics, which may often be unknown, difficult to estimate for more realistic control systems or may be subject to frequent systematic changes. In this paper, we present a novel combination of learning a forward dynamics model within the iLQG framework. Utilising such adaptive internal models can compensate for complex dynamic perturbations of the controlled system in an online fashion. the specific adaptive framework introduced lends itself to a computationally more efficient implementation of the iLQG optimisation without sacrificing control accuracy-allowing the method to scale to large DoF systems.

关键词： learning dynamics optimal control adaptive control robot simulation

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Flooding process analysis by ¹³C cryogenic separation column

Flooding process analysis by <SUP>13</SUP>C cryogenic separa...

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IEEE international conference on automation, Quality and Testing, robotics (AQTR 2008)

作者： Festila, Cl. Pop, C. I. Dulf, E. H. Baldea, A. Gligan, M. Tech Univ Cluj Napoca Dept Automat Control 26-28 Gh Baritiu Str Cluj Napoca 400027 Romania Natl Inst Res & Dev Isotopes Cluj Napoca 400293 Romania Molecular Technol INCDTIM Cluj Napoca Cluj Napoca 400293 Romania

ISBN: (纸本)9781424425761

the applications of stable isotopes from different chemical elements are well-known. Based on specific properties, a great diversity of isotope concentration (separation) methods have been developed, one of them being the cryogenic separation for (C-13). After a short description of the separation equipment (separation column), the authors deal with the arising of the flooding process. Based on simplified equations, the evolution of an intended flooding is studied, divided in more stages: normal mode of operation, pre-flooding, "discharge" period, flooding period and flooding damping. the next step of study will analyze the possibilities to avoid the flooding process.

关键词： cryogenic isotope separation hydrodynamic model flooding analysis and simulation

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Manufacturing systems of the future: A multi-disciplinary approach

Manufacturing systems of the future: A multi-disciplinary ap...

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8th IFIP international conference on Information Technology for Balanced automation Systems

作者： Frei, Regina Barata, Jose Univ Nova Lisboa Dept Electrotech Engn Lisbon Portugal

ISBN: (纸本)9780387094915

Successful manufacturing systems for the future have to be based on know-how originating from more than the traditional manufacturing domains. Approaches such as Reconfigurable Manufacturing Systems, the Agile Assembly Architecture and Holonic Manufacturing Systems go into the right direction;combined with approaches known from Mobile robotics, Collective Artificial Intelligence and Complexity Science, there is considerable potential for creative solutions to the problems of low volume - high change productions. Systems must be enabled to self-organize, take profit of emergence and become more autonomous. More due to human factors than due to technical reasons, system autonomy and emergence belong to industry's worst nightmares. It is therefore crucial to address this fear while at the same time working on reliable methods and tools.

关键词： Evolvable Assembly Systems reconfigurable production systems automation autonomous systems emergence

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