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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： GUPTA, MM HOCKLEY, D UNIV SASKATCHEWAN COLL ENGNINTELLIGENT SYST RES LABSASKATOON S7N 0W0SASKATCHEWANCANADA

ISBN: (纸本)0819413208

A programmable dynamic neuron with a biologically motivated design has been implemented using analog current-mode techniques. The circuit can exhibit several different processing modes with only slight adjustment in the model parameters. The relevant parameters are varied using electronically modifiable current mirrors. The circuit is very compact, and requires only around 20 transistors. In addition the circuit can be configured as a traditional neuron simply by leaving the sampling switches closed. The initial design allows that all the model parameters can be adjusted. Presently the dynamic neuron is restricted to only the nearest neighborhood connections on a chip, but this lack of connectivity can be alleviated by adopting a multiple chip processing scheme in a pyramidal architecture.

关键词： Neurons Transistors Mirrors Machine vision Switches computer vision technology Robot vision robots Visual process modeling computer simulations

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Human-robotic exploration of space and enabling technologies

Human-robotic exploration of space and enabling technologies

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Conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Schenker, PS CALTECH Jet Prop Lab Pasadena CA 91109 USA

ISBN: (纸本)081945561X

Following on recent robotic exploration of Mars by twin Exploration Rovers (MER), the National Aeronautics and Space Administration (NASA) is now moving into a new program of human-robotic (H-R) exploration. This "National Space vision" was introduced in January 2004 by the US White House. The range of such exploration spans the inner planets and Earth moon, to outer planets, their moons and small bodies. Applicable systems and technologies include autonomous mobile robots operating on-and-near solar system bodies, telerobotic servicers, and ultimately, H-R work crews operating at lower and higher gravitational libration points as well as sustaining outposts on lunar and planetary bodies. In this invited talk, we give a brief technical perspective on the evolution from robotic to H-R space exploration.

关键词： space robotics space exploration mobile robots telerobotics human-robotic systems intelligent robots

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Advances in learning for intelligent mobile robots

Advances in learning for intelligent mobile robots

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Conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Hall, EL Ghaffari, M Liao, XS Ali, SMA Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)081945561X

intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths to accomplish a variety of tasks. Such machines have many potential useful applications in medicine, defense, industry and even the home so that the design of such machines is a challenge with great potential rewards. Even though intelligent systems may have symbiotic closure that permits them to make a decision or take an action without external inputs, sensors such as vision permit sensing of the environment and permit precise adaptation to changes. Sensing and adaptation define a reactive system. However, in many applications some form of learning is also desirable or perhaps even required. A further level of intelligence called understanding may involve not only sensing, adaptation and learning but also creative, perceptual solutions involving models of not only the eyes and brain but also the mind. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots with examples of adaptive, creative and perceptual learning. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to important beneficial applications.

关键词： intelligent robots adaptive control robust control reinforcement learning adaptive critic creative control perceptual control

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Prototype system for automated sorting and removal of bags of hazardous waste

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 271-277页

作者： Howard, Ayanna M. Bekey, George A. Univ. of Southern California Pasadena CA USA

ISBN: (纸本)0819423068;9780819423061

In this paper, we present a low-cost vision based system for handling of hazardous waste in an unstructured environment. The prototype system described shows the feasibility of sorting and removal of randomly mixed and oriented flexible objects from a bin using inexpensive and widely available hardware. Our experiments show that the utilization of even the simplest constructs is sufficient for the manipulation of flexible objects.

关键词： computer vision

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Scatterometry for machine vision

Proceedings of SPIE - The International Society for Optical ...

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Proceedings of SPIE - The International Society for Optical Engineering 1996年 2904卷 505-516页

作者： Volcy, Jerry Dickerson, Stephen L. Georgia Inst. of Technology Atlanta GA USA

ISBN: (纸本)0819423068;9780819423061

Specifications and design are provided for a low-cost scatterometer build to study the relationship between optical scatter and image formation. Design principles and considerations are discussed as they relate to digital imaging. Specifications and instrument limitations both mechanical and optical are examined and certain design choices are explained. The process of calibrating the instrument is considered and methods of noise suppression both electronic and optical are discussed. Finally, some measured data is presented.

关键词： computer vision

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MISCIBILITY MATRICES EXPLAIN THE BEHAVIOR OF GRAYSCALE TEXTURES GENERATED BY GIBBS RANDOM-FIELDS

MISCIBILITY MATRICES EXPLAIN THE BEHAVIOR OF GRAYSCALE TEXTU...

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CONF ON intelligent robots AND computer vision 9 : algorithms AND techniques

作者： ELFADEL, IM PICARD, RW Massachusetts Institute of Technology (United States)

ISBN: (纸本)0819404489

This paper describes an original approach to the analysis and prediction of graylevel textures generated as equilibrium states of Gibbs/Markov random fields. This approach is physically motivated by the analogy that exists between the graylevel textures and the miscibility patterns of multiphase flows. The physics of the situation is captured using miscibility matrices that are related to the co-occurrence matrices classically used for texture discrimination. Simulations are provided to motivate and illustrate our approach.

关键词： Matrices Magnetorheological finishing robots computer vision technology Machine vision Robot vision Optimization (mathematics) Binary data Physics computer programming

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Processing real-time stereo video for an autonomous robot using disparity maps and sensor fusion

Processing real-time stereo video for an autonomous robot us...

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Conference on intelligent robots and computer vision XXII - algorithms, techniques and Active vision

作者： Rosselot, D Hall, EL Univ Cincinnati Ctr Robot Res Dept Mech Ind & Nucl Engn Cincinnati OH 45221 USA

ISBN: (纸本)081945561X

The Bearcat "Cub" Robot is an interactive, intelligent, Autonomous Guided Vehicle (AGV) designed to serve in unstructured environments. Recent advances in computer stereo vision algorithms that produce quality disparity and the availability of low cost high speed camera systems have simplified many of tasks associated with robot navigation and obstacle avoidance using stereo vision. Leveraging these benefits, this paper describes a novel method for autonomous navigation and obstacle avoidance currently being implemented on the UC Bearcat Robot. The core of this approach is the synthesis of multiple sources of real-time data including stereo image disparity maps, tilt sensor data, and LADAR data with standard contour, edge, color, and line detection methods to provide robust and intelligent obstacle avoidance. An algorithm is presented with Matlab code to process the disparity maps to rapidly produce obstacle size and location information in a simple format, and features cancellation of noise and correction for pitch and roll. The vision and control computers are clustered with the Parallel Virtual Machine (PVM) software. The significance of this work is in presenting the methods needed for real time navigation and obstacle avoidance for intelligent autonomous robots.

关键词： autonomous robot stereo vision disparity map sensor fusion parallel computing

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intelligent CONTROL OF ROBOTIC PAINT STRIPPING USING COLOR-vision FEEDBACK 12

INTELLIGENT CONTROL OF ROBOTIC PAINT STRIPPING USING COLOR-V...

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12th Conference on intelligent robots and computer vision: algorithms and techniques

作者： HARVEY, DN ROGERS, TW MTS SYST CORP EDEN PRAIRIEMN 55344

ISBN: (纸本)0819413208

A robotic work cell for stripping paint from both large and small aircraft is currently under development at Pratt & Whitney - Waterjet Systems (formerly USBI Co., Advanced Programs). The primary objectives for this system are to reduce the time required to strip an aircraft, improve the quality and consistency of the stripping operation, and reduce the need for environmentally objectionable stripping processes such as chemical methods. One of the keys to the overall success of this automated paint stripping system is the integration of a sensor that will provide for adaptive process control. This sensor must be able to indicate when a layer of paint has been completely stripped from the aircraft, and measure the approximate size of any remaining unstripped patches. The sensor should also be able to indicate when surface roughening is occurring on the material beneath the paint.

关键词： Sensors Machine vision Process control Video RGB color model Cameras Robotics robots Color vision computer vision technology

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intelligent robot trends and predictions for the first year of the new millennium

Intelligent robot trends and predictions for the first year ...

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Conference on intelligent robots and computer vision XIX: algorithms, techniques, and Active vision

作者： Hall, EL Univ Cincinnati Ctr Robot Res Cincinnati OH 45221 USA

ISBN: (纸本)0819438626

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

关键词： intelligenr robots mechatronics industrial robots artificial intelligence

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PATTERN SPECTRUM MORPHOLOGY FOR TEXTURE-DISCRIMINATION AND OBJECT RECOGNITION

PATTERN SPECTRUM MORPHOLOGY FOR TEXTURE-DISCRIMINATION AND O...

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CONF ON intelligent robots AND computer vision 9 : algorithms AND techniques

作者： LEE, BG TOM, VT Atlantic Aerospace Electronics Corp. (United States)

ISBN: (纸本)0819404489

The pattern spectrum describes the shape and size of structures in an n-dimensional signal. Measurement of the pattern spectrum is based on morphological operations which use a variety of structuring elements to filter a signal at multiple spatial scales. This paper reports on the use of pattern spectra in the grayscale domain for classifying different textures and in the binary domain for object recognition. The advantage of morphological image processing is that it is based on highly parallel primitive operations which are amenable to large-scale implementation in real-time signal processing hardware.

关键词： Image filtering Binary data computer vision technology Machine vision Optical filters Robot vision robots Electronic filtering Image classification Buildings

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