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Surveillance robotics: analyzing scenes by colors analysis and clustering

Surveillance robotics: analyzing scenes by colors analysis a...

引用

ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： M. Castelnovi P. Musso A. Sgorbissa R. Zaccaria Laboratorium DIST University of Genova Italy

We describe a surveillance system which allows a mobile robot, operating within a familiar setting, to detect unexpected changes in the environment (i.e., presence or absence of objects or persons, unexpectedly opened/closed doors or windows, etc.). To achieve this, the robot "looks at" the environment through a TV camera; next, it compares what "it sees" in a specific moment with what "it should see" at that same location. In particular, an approach is proposed for images comparison which requires to find color clusters in the color histograms corresponding to the images to be compared: by analyzing the color clusters in the two images, the systems detects similarities or differences between them and consequently deduces if something has changed in the scene. Since the techniques proposed in literature usually rely on the geometrical characteristics of the objects to be detected (besides cromination), "ad hoc" algorithms have been implemented for color clusters comparison; the proposed techniques can be used alone or in cooperation with existing pattern recognition methods in order to increase the performance of the whole system.

关键词： Surveillance Layout Image color analysis Object detection Mobile robots TV Robot vision systems Cameras Histograms Image analysis

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Behavior selection architecture for tangible agent

Behavior selection architecture for tangible agent

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Kyung-Joong Kim Sung-Bae Cho Sang-Rok Oh Department of Computer Science Yonsei University South Korea Intelligent System Control Research Center KIST South Korea

ISBN: (纸本)0780378660

Tangible agent (TA) is a new medium that communicates the senses of sight, hearing, touch, smell, and taste of human to computer. Intelligent behavior is a key property to realize the agent because it must interact with human to grasp all the information. We have adopted a behavior-based approach for high-level behaviors such as navigation of office, conversation with human, and cleaning of room. Behavior-based method can control unexpected situation without prior knowledge and generate high-level behavior with behavior selection. However, TA requires improvements of behavior selection architecture for better communication with human. In this paper, we propose an intelligent behavior selection architecture that contains interferencing, learning and planning capability to TA. In this paper, overview of technical details and experimental results on physical device (Khepera robot) are presented. Preliminary results show the possibility of the proposed behavior selection for TA.

关键词： Humans Intelligent robots Robot kinematics Intelligent agent Bayesian methods Animals Computer architecture Robot sensing systems Artificial intelligence Fuzzy cognitive maps

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Automated micro handling

Automated micro handling

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Suzuki Y. Mae T. Tanikawa T. Arai K. Inoue Graduate School of Engineering Science Osaka University Toyonaka Japan Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Japan

Biotechnologies demand high quality micro robotics including micromanipulation, micro machining, micro assembling, and other required micro operations. Most of them are done manually under microscope, and it might be an obstacle to increasing the efficiency of the operation. The automated micromanipulation (or automicromanipulation) system will be useful for reducing human tasks and improving the efficiency. We develop an auto-micromanipulation system including auto-calibration and auto-handling. Auto-calibration requires recognition of fingertip position in three-dimensional space. The fingertip position is detected by the combination of the one-dimensional search in depth using auto-focusing and the two-dimensional search in depth using auto-focusing and the two-dimensional search in the focused plane using the correlation matching. The color information processing is adopted for the auto-focusing. Using the calibrated micromanipulator, we achieved some micro tasks, picking up, rotating and so on. We developed an auto-micromanipulation system that can recognize and pick up a micro object automatically. The experimental results show the efficiency of our system.

关键词： Micromanipulators Robotic assembly Humans Calibration Focusing Intelligent robots Biotechnology robotics and automation Machining Microscopy

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A new landmark framework for mobile robot localization and asynchronous sensor fusion

A new landmark framework for mobile robot localization and a...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： Tao Bai J. Gu Gong Cheng O. Majdalawieh P.X. Liu Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada Department of Systems and Computer Engineering Carleton University Ottawa ONT Canada

This paper presents a new landmark framework for mobile robot localization in which we use a combination of obstacle vertical edge and its corresponding plane angle, that appear in practically all indoor environments, to realize mobile robot localization. Sensor data is assumed to be provided in the form of a Gaussian distribution over the space of the robot poses. We propose a new fusion strategy asynchronous sensor fusion (ASF), which either creates complementaries or adds more redundancy for asynchronous sensor data set will also be presented in this paper. This strategy, combined with dead reckoning, enables mobile robots to asynchronously utilize incomplete information captured by range sensors to localize themselves and simultaneously accomplish map building in a partially known indoor environment.

关键词： Mobile robots Sensor fusion Robot sensing systems Robot kinematics Sensor systems Indoor environments Robot vision systems Wheels Gaussian distribution Orbital robotics

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Object position/pose estimation using CAD models for navigation of manipulator with a single CCD camera

Object position/pose estimation using CAD models for navigat...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： K. Nakao K. Kondo S. Kobashi Y. Hata T. Yagi T. Hayashi Division of Computer Engineering Graduate School of Engineering Himeji Institute of Technology Himeji Hyogo Japan Mitsubishi Electric Engineering Company Limited Himeji Hyogo Japan

We propose the method for position/pose identification and manipulator navigation to the desired position using one camera and three-dimensional CAD model. In position/pose estimation, instead of simultaneous estimation of all position/pose parameters of target object, the parameters are severally estimated with image features. Thus, our method consists of position parameters estimation; pose parameters estimation and manipulator navigation to the desired position. The position parameters are estimated approximately with image features, and then pose parameters are estimated. And then, a manipulator to the desired position based on the estimates is moved. Both estimation and movement are repeated until the manipulator reaches to the desired position. This gradual approach achieves manipulator navigation concerning automation works with improvement in speed and accuracy.

关键词： Navigation Charge coupled devices Charge-coupled image sensors Parameter estimation Manipulators Cameras robotics and automation Robot vision systems Stereo vision Yagi-Uda antennas

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Solving the inverse dynamics problem by self-organizing maps

Solving the inverse dynamics problem by self-organizing maps

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： G. Vachkov Y. Kiyota K. Komatsu Department of Reliability-based Information Systems Engineering Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

In this paper a recursive computation procedure for recovering the inputs of a dynamic process based on a preliminary assumed number of measured discrete outputs is proposed and analyzed. A specially constructed self-organizing map is first trained in off-line mode and is further used in real-time as a tool for classification and revealing the existing input and the measured outputs. The proposed computation procedure gives a discrete solution of the inverse problem constrained within the preliminary assumed discrete levels of the input. The number of these levels is directly connected to the final computation accuracy. The consistency of the proposed computation scheme for solving the inverse problem is extensively analyzed on a test dynamic process. Simulation results show its applicability for solving different backward tracking problems, including fault diagnosis problems that heavily rely on a robust and plausible solution of the inverse problem.

关键词： Inverse problems Fault diagnosis Self organizing feature maps Reliability engineering Information systems Systems engineering and theory Information analysis Testing computational modeling Robustness

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Current situations and problems of software counselling

Current situations and problems of software counselling

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： H. Fujino Faculty of Education Tokyo Gakugei University Japan

There are two major contemporary counseling paradigms in the human mental health area, i.e., the client-centered approach and the cognitive-behavioral approach. Both have been adapted to software counseling. Though the former was unsuccessful, the latter has been obtaining generally good results. The client-centered approach seeks to construct an empathic relationship through open dialogue, which is difficult to realize in a computer program. On the other hand, the cognitive-behavioral approach involves systematic instructions using a binary logic. It is programmable and suitable for an expert system. Computer-assisted counseling has some advantages compared with traditional human counseling, e.g., it is cost-effective and highly accessible, but a computer cannot replace the human clinician totally, because total clinical judgments must be generated by unformulizable human skills. Computers can only handle some stages of the whole counseling process as assistants.

关键词： Employee welfare Humans Software systems Logic Expert systems History Artificial intelligence Process design Decision making Sufficient conditions

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Perceptual system for a mobile robot under a dynamic environment

Perceptual system for a mobile robot under a dynamic environ...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： S. Hashimoto F. Kojima N. Kubota Department of System Function Science Graduate School of Science and Technology Kobe University Kobe Japan Interaction and Intelligence PRESTO Japan Science and Technology Corporation Japan Department of Human and Artificial Intelligent Systems Fukui University of Technology Fukui Japan

This paper deals with a perceptual system for a mobile robot under a dynamic environment. The mobile robot is controlled by the coupling mechanism of perceptual system and action system. Action system of the mobile robot is based on fuzzy controller. In the proposed approach, evolutionary computation is adopted to generate functions used for perceptual system which translates sensing information into perceptual information. The mobile robot can adapt to its dynamic environment by the translation using those functions without modifying current behavioral knowledge. The effectiveness of the proposal approach is demonstrated by computer experiments for obstacle avoidance problem under a dynamic environment which contains several obstacles.

关键词： Mobile robots Fuzzy systems Control systems Fuzzy control Path planning Robot control Intelligent robots Robot sensing systems Evolutionary computation Motion planning

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Evolutionary synthesis of dynamic motion and reconfiguration process for a modular robot M-TRAN

Evolutionary synthesis of dynamic motion and reconfiguration...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： E. Yoshida S. Murata A. Kamimura K. Tomita H. Kurokawa S. Kokaji Intelligent Systems Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Yokohama Kanagawa Japan Intelligent Systems Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba-shi Ibaraki Japan

In this paper we present a couple of evolutionary motion generation methods using genetic algorithms (GA) for self-reconfigurable modular robot M-TRAN and demonstrate their effectiveness through hardware experiments. Using these methods, feasible solutions with sufficient performance can be derived for a motion generation problem with high complexity coming from huge configuration and motion possibilities of the robot. The first method called ERSS (Evolutionary Reconfiguration Sequence Synthesis) applies GA (Genetic Algorithm) to evolution of motion sequence including configuration changes though natural genetic representation. The effectiveness of the generated full-body dynamic motions are verified through hardware experiments. The second method called ALPG (Automatic Locomotion Pattern Generation) Method seeks locomotion pattern using a neural oscillator as a CPG (Central Pattern Generator) model and GA to optimize the parameters for locomotion. A number of efficient locomotion patterns has been derived, which are also experimentally verified.

关键词： Hardware Genetic algorithms robotics and automation Orbital robotics Mobile robots Intelligent robots Service robots computational intelligence Oscillators Magnets

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Fusion of soft computing and hard computing techniques for power energy system

Fusion of soft computing and hard computing techniques for p...

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ieee international symposium on computational intelligence in robotics and automation (CIRA)

作者： A. Kamiya K. Shimada M. Kato S. Kobayashi Department of Information Engineering Kushiro National College of Technology Japan Toshiba Corporation Japan Power and Industrial Systems Research and Development Center Toshiba Corporation Japan Department of Computational Intelligence and Systems Science Tokyo Institute of Technology Japan

A power energy system normally consists of a number of power plants distributed over a wide area, connected by an electric power grid. Optimal operation of such a system involves the short-term load forecasting problem, the unit commitment problem and the start-up scheduling problem. All these problems are highly nonlinear and the optimization problems contain a number of local optima, making them difficult to solve by the conventional "hard computing" techniques alone. Thus, an approach based on a fusion of different types of techniques is required. This paper presents an overview of a fusion of soft computing and hard computing techniques, which the authors have developed so far aiming at achieving an optimal load dispatch and automatic power plant start-up control system.

关键词： Power generation Load forecasting Control systems Optimal control Fossil fuels Power engineering computing Power systems Processor scheduling Power system economics Power generation economics

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