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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

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Quality-of-service guarantees using positioning information in a wireless distributed environment

Quality-of-service guarantees using positioning information ...

引用

conference on sensor fusion and distributed robotic agents

作者： Lumpp, JE Yavatkar, R Griffioen, JN Seales, WB Univ. of Kentucky (United States)

ISBN: (纸本)0819423076

This paper describes a system to support a wireless vision platform moving within a large space spanned by multiple wireless cells. The system offers a cost effective and scalable design for a distributed active vision system consisting of mobile cameras, a compute cluster of high-performance workstations interconnected by a high bandwidth network, and a wireless network divided into distinct cells that connects mobile platforms with the computing cluster. Position information available at the mobile platforms (e.g., via the NAVSTAR global positioning (GPS) system) together with our ''position-aware'' vision algorithms, and routing protocol ensures continuous quality-of-service (QoS) as the mobile platforms move from cell to cell. This paper extends a real-time QoS communication protocol developed in our earlier work(3) to provide continuous quality of service. We also present vision algorithms that minimize the hardware needed on the mobile platforms using the GPS position information and by off-loading computation to the compute cluster.

关键词： active stereo vision focus multimedia protocols wireless communication compressed video

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Point-and-click objective specification for a remote, semiautonomous robot system

Point-and-click objective specification for a remote, semiau...

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conference on sensor fusion and distributed robotic agents

作者： Seelinger, M GonzalezGalvan, E Skaar, SB Robinson, M Univ. of Notre Dame (United States)

ISBN: (纸本)0819423076

The paper is directed toward describing a practical new means by which a remote user can, with a single image of the object surface of interest, specify objectives of a task which may be described in terms of positioning particular tool junctures relative to user-specified surface points. Also included in the paper is a robust means by which an uncalibrated, remote system - consisting of a manipulator, two or more cameras, and a pan/tilt-mounted laser pointer - may be used to carry out the maneuver with very high precision and reliability. This means is based upon the method of ''camera-space manipulation'', wherewith use is made of a conveniently located but uncalibrated laser pointer. The laser pointer is placed upon an uncalibrated, autonomously actuated, pan/tilt unit, and is used to create the compatible maneuver objectives in participating remote cameras, as required by camera-space manipulation. The paper discusses the range of tasks which should be achievable with the paradigm under discussion, as well as some comparisons between this paradigm and alternatives such as teleoperation and virtual-reality-based approaches. Finally, results from several experimental implementations of the method are presented.

关键词： Cameras Calibration Imaging systems Etching Reliability robotic systems Data modeling Kinematics Computing systems robotics

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Machine perception and intelligent control architecture for multi-robot coordination based on biological principals

Machine perception and intelligent control architecture for ...

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conference on sensor fusion and distributed robotic agents

作者： Thomopoulos, SCA Braught, G INTELNET Inc. (United States)

ISBN: (纸本)0819423076

Intelligent control, inspired by biological and AI (artificial intelligence) principles, has increased the understanding of controlling complex processes without precise mathematical model of the controlled process. Through customized applications, intelligent control has demonstrated that it is a step in the right direction. However, intelligent control has yet to provide a complete solution to the problem of integrated manufacturing systems via intelligent reconfiguration of the robotics systems. The aim of this paper is to present an intelligent control architecture and design methodology based on biological principles that govern self-organization of autonomous agents. Two key structural elements of the proposed control architecture have been tested individually on key pilot applications and shown promising results. The proposed intelligent control design is inspired by observed individual and collective biological behavior in colonies of living organisms that are capable of self-organization into groups of specialized individuals capable of collectively achieving a set of prescribed or emerging objectives. The nervous and brain system in the proposed control architecture is based on reinforcement learning principles and conditioning and modeled using adaptive neurocontrollers. Mathematical control theory (e.g. optimal control, adaptive control, and neurocontrol) is used to coordinate the interactions of multiple robotics agents.

关键词： robotics Robots Control systems sensors Nervous system Adaptive control Mathematical modeling Process control robotic systems Manufacturing

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Object oriented methods for modular robotic systems

Object oriented methods for modular robotic systems

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sensor fusion and distributed robotic agents

作者： Fryer, James A. McKee, Gerard T. University of Reading Department of Computer Science Reading RG6 6AY United Kingdom

Object orientation has been widely used in the development of robotic systems for its benefits of modularity and reusability. Modular robotics systems are designed to be flexible, reusable, easily extendible sets of robotic resources that may be structured in various fashions to solve tasks. We describe the role of object oriented methods in the development of a modular robotic system and show how such a system supports collaborative working through a networked laboratory environment. We present an architectural framework for modular robotics, which employs and emphasizes object oriented techniques. ©2005 Copyright SPIE - The International Society for Optical Engineering.

关键词： Reusability

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Everywhere-in-focus image fusion using controlablle cameras

Everywhere-in-focus image fusion using controlablle cameras

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sensor fusion and distributed robotic agents

作者： Seales, W. Brent Dutta, Sandeep Department of Computer Science University of Kentucky Lexington KY 40506 United States

Imaging parameters such as focus strongly influence data quality and the performance of content extraction techniques. Narrow depth of field gives clear focus but only over a short range of depths. This paper shows results from an algorithm that uses computer-controlled focus and pan camera movement in order to obtain a scene image that is a composite which is in focus at every point. The goal is to explore the possible algorithms for using both intrinsic (focus) and extrinsic (pan and tilt) camera movements to generate an image sequence and then efficiently obtain a fused composite. ©2005 Copyright SPIE - The International Society for Optical Engineering.

关键词： Image fusion

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New framework of distributed multisensor fusion for intelligent systems

New framework of distributed multisensor fusion for intellig...

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Proceedings of the IEEE International conference on Industrial Technology

作者： Guo, Cheng-He Wang, Xiao-Gang Qian, Wen-Han Lin, Cai-Xing Shanghai Jiao-Tong Univ Shanghai China

To tackle the complexity of robotic multiple sensor fusion a suitable system structure is urgently required. Most structures at present have a fusion center to deal with information from various sensors located at different points, but unfortunately have no necessary connections between low-level sensors. Consequently the fusion center has more responsibility for communication and signal interpretation, which causes bottle-neck problem. Moreover sensors cannot help each other to improve the task environment recognition efficiency. To overcome the above drawbacks we define the concept of smart sensor at first. Each smart sensor should have five abilities, that is prediction, planning, updating, communication and assimilation. Then we discuss the algorithm of a perception system which consists of several smart sensors. At last we take two application case study as examples to illustrate our new idea.

关键词： sensor data fusion

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distributed microscopy: Toward a 3D computer graphic-based multi user microscopic manipulation, imaging and measurement system

Distributed microscopy: Toward a 3D computer graphic-based m...

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sensor fusion and distributed robotic agents

作者： Sulzmann, Armin Carlier, Jerome Jacot, Jacques CH-1015 Lausanne Switzerland

The aim of this project is to telecontrol the movements in 3D-space of a microscope in order to manipulate and measure microsystems or micro parts aided by multi-user virtual reality (VR) environments. Presently microsystems are gaining in interest. Microsystems are small, independent modules, incorporating various functions, such as electronic, micro mechanical, data processing, optical, chemical, medical and biological functions. Though improving the manufacturing technologies, the measurement of the small structures to insure the quality of the process is a key information for the development. So far to measure the micro structures strong microscopes are needed. The use of highly magnifying computerized microscopes is expensive. To insure high quality measurements and distribute the acquired information to multi-user our proposed system is divided into three parts: the virtual reality microscopic environment (VRME)-based user-interface on a SGI workstation to prepare the manipulations and measurements. Secondly the computerized light microscope with the vision system inspecting the scene and getting the images of the specimen. Newly developed vision algorithms are used to analyze micro structures in the scene corresponding to the known a priori model. This vision is extracting position and shape of the objects and then transmitted as feedback to the user of the VRME-system to update his virtual environment. The internet demon is the third part of the system and distributes the information about the position of the micro structures, their shape and the images to the connected users who themselves may interact with the microscope (turn and displace the specimen on the back of a moving platform, or adding their structures to the scene and compare). The key idea behind our project VRME is to use the intuitiveness and the 3D visualization of VR environments coupled with a vision system to perform measurements of micro structures at a high accuracy. The direct feedback

关键词： Computer vision

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A new framework of distributed multisensor fusion for intelligent systems

A new framework of distributed multisensor fusion for intell...

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IEEE International conference on Industrial Technology (ICIT)

作者： Cheng-He Guo Xiao-Gang Wang Wen-Han Qian Cai-Xing Lin Research Institute of Robotics Shanghai Jiaotong University Shanghai China School of Mechatronic Engineering Shanghai University China

ISBN: (纸本)0780331044

关键词： Intelligent systems Intelligent sensors sensor fusion Intelligent robots Mobile robots Central Processing Unit sensor systems Robot sensing systems Level control sensor phenomena and characterization

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Multiagent-based distributed manipulator control

Multiagent-based distributed manipulator control

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International conference on Multisensor fusion and Integration for Intelligent Systems (MFI)

作者： A. Mori F. Naya N. Osato T. Kawaoka NTT Communication Science Laboratories Kyoto Japan Department of Knowledge Engineering and Computer Science Doshisha University Kyoto Japan

This paper describes a type of multiagent-based distributed manipulator control in which the execution of a task involves the interaction between multiple software modules called agents. The intent of this work is to integrate a model-based approach and a behavior-based approach under a multiagent control paradigm. This paradigm is applied to a manipulator control problem without the use of inverse kinematics. A conventional manipulator is thought of as a system composed of a group of spatially distributed freedoms, each of which is independently controllable. Our manipulator control system has multiple functional agents each of which individually attempts to contribute in a positive way toward improving the degree of the given task achievement. The experimental system for multiagent-based distributed control includes a Lisp machine, two types of sensors (force/vision) and a manipulator. An attempt is made to evaluate our control paradigm by giving the system an example task that involves the end-effector movement between two points. agents are implemented as multiple concurrent processes programmed in Lisp.

关键词： distributed control Control systems Manipulators Robot control Kinematics Mechanical variables control Communication system control sensor systems Actuators Intelligent sensors

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Statistical decision theory for mobile robotics: theory and application

Statistical decision theory for mobile robotics: theory and ...

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International conference on Multisensor fusion and Integration for Intelligent Systems (MFI)

作者： G. Kamberova R. Mandelbaum M. Mintz GRASP Laboratory University of Pennsylvania Philadelphia USA

In this paper we pioneer a method which, given an input of mobile robot pose measurements by a sensor-based localization algorithm, produces a minimax risk fixed-size confidence set estimate for the pose of the agent. This work constitutes the first application to the mobile robotics domain of optimal fixed-size confidence-interval decision theory. The approach is evaluated in terms of theoretical capture probability and empirical capture frequency during actual experiments with the mobile agent. The method is compared to several other procedures including the Kalman filter (minimum mean squared error estimate) and the maximum likelihood estimator (MLE). The minimax approach is found to dominate all the other methods in performance. In particular, for the minimax approach, a very close agreement is achieved between theoretical capture probability and empirical capture frequency. This allows performance to be accurately predicted, greatly facilitating the design of mobile robotic systems, and delineating the tasks that may be performed with a given system.

关键词： Decision theory Mobile robots State estimation Uncertainty Minimax techniques Robot kinematics Robot sensing systems Frequency Mobile agents Motion estimation

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