The proceedings contain 40 papers. The topics discussed include: face recognition with illumination and pose variations using MINACE filters;retinex software or diffractive-optical correlator hardware: the basis of hu...
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The proceedings contain 40 papers. The topics discussed include: face recognition with illumination and pose variations using MINACE filters;retinex software or diffractive-optical correlator hardware: the basis of human color vision?;two and three view geometry based on noisy data: an experimental evaluation;foreground object segmentation from binocular stereo video;a simple approach to a vision-guided unmanned vehicle;design and simulation of a motion controller for a wheeled mobile-robot autonomous navigation;the spectrum enhancement algorithm for feature extraction and pattern recognition;development of written music-recognition system using Java and open source technologies;and kinematics analysis on a spherical robot.
A new navigation method is described for an indoor mobile robot. The robot system is composed of a Radio Frequency Identification (RFID) tag sensor and a commercial three-wheel mobile platform with ultrasonic rangefin...
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ISBN:
(纸本)0819460303
A new navigation method is described for an indoor mobile robot. The robot system is composed of a Radio Frequency Identification (RFID) tag sensor and a commercial three-wheel mobile platform with ultrasonic rangefinders. The RFID tags are used as landmarks for navigation and the topological relation map which shows the connection of scattered tags through the environment is used as course instructions to a goal. The robot automatically follows paths using the ultrasonic rangefinders until a tag is found and then refers the next movement to the topological map for a decision. Our proposed technique would be useful for real-world robotic applications such as intelligent navigation for motorized wheelchairs.
Spherical robot, rolling by altering its' barycenter with the inside actuating device, has a spherical or spheroid housing, the motivity of which is supplied by the friction force between the housing and the groun...
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Spherical robot, rolling by altering its' barycenter with the inside actuating device, has a spherical or spheroid housing, the motivity of which is supplied by the friction force between the housing and the ground while it rolling. Particular attention is paid to the research of spherical robot in recent years. This paper presents a new omnidirectional bi-driver spherical robot droved by two motors that directly drive the balancer to rotate about two orthogonal axes. The spherical robot is a nonholonomic system with 3 DOF while it rolls on the ground, so the spherical presented in this paper is a nonholonomic under-actuated system, featuring omnidirectional movement, simple configuration, and so on.
The purpose of this paper is to describe the concept and architecture for an intelligent robot system that can adapt, learn and predict the future. This evolutionary approach to the design of intelligentrobots is the...
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The purpose of this paper is to describe the concept and architecture for an intelligent robot system that can adapt, learn and predict the future. This evolutionary approach to the design of intelligentrobots is the result of several years of study on the design of intelligent machines that could adapt using computervision or other sensory inputs, learn using artificial neural networks or genetic algorithms, exhibit semiotic closure with a creative controller and perceive present situations by interpretation of visual and voice commands. This information processing would then permit the robot to predict the future and plan its actions accordingly. In this paper we show that the capability to adapt, and learn naturally leads to the ability to predict the future state of the environment which is just another form of semiotic closure. That is, predicting a future state without knowledge of the future is similar to making a present action without knowledge of the present state. The theory will be illustrated by considering the situation of guiding a mobile robot through an unstructured environment for a rescue operation. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots.
A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism,...
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A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles of gait.
intelligent tactical behaviors of robots and UGVs cannot be achieved without a perception system that is similar to human vision. The traditional linear bottom-up "segmentation-grouping-learning-recognition"...
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intelligent tactical behaviors of robots and UGVs cannot be achieved without a perception system that is similar to human vision. The traditional linear bottom-up "segmentation-grouping-learning-recognition" approach to image processing and analysis cannot provide a reliable separation of an object from its background or clutter, while human vision unambiguously solves this problem. The nature of informational processes in the visual system does not allow separating from the informational processes in the top-level knowledge system. An Image/Video Analysis that is based on Network-Symbolic approach is a combination of recursive hierarchical bottom-up and top-down processes. Instead of precise computations of 3-dimensional models a Network-Symbolic system converts image information into an "understandable" Network-Symbolic format that is similar to the relational knowledge models. The logic of visual scenes can be captured in the Network-Symbolic models and used for the reliable disambiguation of visual information, including object detection and identification. View-based object recognition is a hard problem for traditional algorithms that directly match a primary view of an object to a model. In Network-Symbolic Models, the derived structure and not the primary view is a subject for recognition. Such recognition is not affected by local changes and appearances of the object from a set of similar views, and a robot can better interpret images and video for intelligent tactical behavior.
This paper presents the development and testing of a sensor payload for use on unmanned helicopters. This payload is designed to be used to detect and geo-position unexploded ordnance termed UXOs. This technology will...
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This paper presents the development and testing of a sensor payload for use on unmanned helicopters. This payload is designed to be used to detect and geo-position unexploded ordnance termed UXOs. This technology will be beneficial to explosive ordnance disposal personnel in their test range clearance operations. This payload is capable of gathering image, attitude, and position information during flight, and a suite of software programs was developed capable of modeling, classifying, and geo-positioning UXOs.
In comparison to other mobile robots, spherical rolling robots offer greater mobility, stability, and scope for operation in hazardous environments. Spherical rolling robots have been attracting much attention in not ...
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In comparison to other mobile robots, spherical rolling robots offer greater mobility, stability, and scope for operation in hazardous environments. Spherical rolling robots have been attracting much attention in not only mechanical but also control literature recently, due to both their relevance to practical applications, and to the difficulties in the analysis and control of these robots. The positioning of a spherical rolling robot at an arbitrary pose and at any time is one of the fundamental and difficult problems in the research of spherical rolling robots. Because spherical rolling robot touches the floor at a point, the positioning is difficult, especially when it moves at a high speed. Up to now, this problem has not been solved perfectly. In this paper, we present an efficient positioning approach for a spherical rolling robot. Based on the approach, a moving spherical rolling robot can be positioned at an arbitrary pose and at any time.
The use of on-board vision with small autonomous robots has been made possible by the advances in the field of Field Programmable Gate Array (FPGA) technology. By connecting a CMOS camera to an FPGA board, on-board vi...
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The use of on-board vision with small autonomous robots has been made possible by the advances in the field of Field Programmable Gate Array (FPGA) technology. By connecting a CMOS camera to an FPGA board, on-board vision has been used to reduce the computation time inherent in visionalgorithms. The FPGA board allows the user to create custom hardware in a faster, safer, and more easily verifiable manner that decreases the computation time and allows the vision to be done in real-time. Real-time vision tasks for small autonomous robots include object tracking, obstacle detection and avoidance, and path planning. Competitions were created to demonstrate that our algorithms work with our small autonomous vehicles in dealing with these problems. These competitions include Mouse-Trapped-in-a-Box, where the robot has to detect the edges of a box that it is trapped in and move towards them without touching them;Obstacle Avoidance, where an obstacle is placed at any arbitrary point in front of the robot and the robot has to navigate itself around the obstacle;Canyon Following, where the robot has to move to the center of a canyon and follow the canyon walls trying to stay in the center;the Grand Challenge, where the robot had to navigate a hallway and return to its original position in a given amount of time;and Stereo vision, where a separate robot had to catch tennis balls launched from an air powered cannon. Teams competed on each of these competitions that were designed for a graduate-level robotic vision class, and each team had to develop their own algorithm and hardware components. This paper discusses one team's approach to each of these problems.
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