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Mobile robot localization using incomplete maps for change detection in a dynamic environment

Mobile robot localization using incomplete maps for change d...

引用

IEEE/ASME (AIM) International conference on Advanced Intelligent Mechatronics

作者： Hongbin Zha K. Tanaka T. Hasegawa Graduate School of Information Science and Electrical Engineering Kyushu University Fukuoka Japan

Summary form only given. We have developed a system in which a mobile robot can modify maps of an indoor environment automatically through change detection at planned locations. The robot is a car-like one equipped with sonar sensors. The indoor space is assumed to be surrounded by walls and has some movable objects of planar surfaces perpendicular to the floor. In the map updating process, the robot moves to a planned observation location and collect range data on the local region around itself by using the sonar range sensors. The robot's position is estimated by a localization method, and visible changes are detected by comparison of structural range descriptions with the original and partially updated maps. As the result, the map is further modified and a new observation location is selected. In this paper, we present a method by which a mobile robot estimates its position at each location it reaches by using information from dead reckoning, real sonar range data and the partially outmoded map. simulation experiments show the method is efficient enough for localization in a changeable complex environment.

关键词： Mobile robots Robot sensing systems Robotics and automation Sonar navigation Orbital robotics Information science Indoor environments Detection algorithms

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Application-driven synthesis of core-based systems 97

Application-driven synthesis of core-based systems

引用

proceedings of the 1997 IEEE/ACM international conference on Computer-aided design

作者： Darko Kirovski Chunho Lee Miodrag Potkonjak William Mangione-Smith Computer Science Department University of California Los Angeles CA Electrical Engineering Department University of California Los Angeles CA

ISBN: (纸本)9780818682001

We developed a new hierarchical modular approach for synthesis of area-minimal core-based data-intensive systems. The optimization approach employs a novel global least-constraining most-constrained heuristic to minimize the instruction cache misses for a given application, instruction cache size and organization. Based on this performance optimization technique, we constructed a strategy to search for a minimal-area processor core, and an instruction and data cache which satisfy the performance characteristics of a set of target applications. The synthesis platform integrates the existing modeling, profiling, and simulation tools with the developed system-level synthesis tools. The effectiveness of the approach is demonstrated on a variety of modern real-life multimedia and communication applications.

关键词： application-specific system-level synthesis system modeling and performance evaluation cache line coloring

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An enhanced 2D buddy strategy for submesh allocation in mesh networks

An enhanced 2D buddy strategy for submesh allocation in mesh...

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IEEE International conference on Algorithms and Architectures for Parallel Processing (ICAP)

作者： Tong-Ying Tony Juang Yu-Chee Tseng Yuh-Shyan Chen Department of Computer Science Chung Hua University Hsinchu Taiwan Department of Computer Science and Information Engineering National Central University Chungli Taiwan

ISBN: (纸本)0780342291

The efficient allocation problem plays an important role in partitionable multiprocessor system. It is critical to the performance of parallel computers, especially for large-scale parallel computers. In this paper, we propose a new enhanced two-dimensional buddy system (E2DBS) strategy which overcomes the drawbacks of previous two-dimensional buddy system (2DBS) strategy, such as four non-buddy submeshes can be allocated, the requesting tasks and the system needs not be square. In E2DBS, we propose an adaptive data structure, called free sub-mesh matrix (FSM), to maintain the free submeshes, which can allocate and deallocate processors easily. simulation results indicate that our strategy outperforms the previous ones, i.e. 2DBS strategy and best fit strategy, in terms of system processor utilization and average waiting time under various system loads for rectangle requesting tasks with side lengths are powers of 2.

关键词： Intelligent networks Mesh networks Computer science Electronic mail Concurrent computing Data structures Multiprocessing systems Large-scale systems Scalability Modular construction

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Virtual testing of agile manufacturing software using 3D graphical simulation

Virtual testing of agile manufacturing software using 3D gra...

引用

IEEE International conference on Robotics and Automation (ICRA)

作者： J.-Y. Jo Y. Kim A. Podgurski W.S. Newman Computer Engineering & Science Department Case Western Reserve University Cleveland OH USA

The need to rapidly reconfigure an agile manufacturing system makes it especially difficult to test the system's control software. Although thorough testing is essential for system reliability, the time available for testing may be short. With a simulator, however, the software can be developed and tested independently from the actual workcell, while production continues or the workcell is reconfigured for the next target product. To facilitate testing of agile manufacturing software, a 3D graphical simulator has been developed at Case Western Reserve University. It permits workcell control software to be tested with a virtual workcell, which exhibits much of the behavior of the real workcell. The simulator has been extensively used in the Agile Manufacturing Project at Case Western Reserve University (CWRU), and most of the actual control software was tested and debugged with it. Considerable time and effort have been saved by simulating various workcell scenarios, some of which are difficult to create in a real workcell, e.g., device failure. In this paper, the architecture of the graphical simulator is described, and a framework for virtual testing is presented. Actual errors found during virtual testing are also described.

关键词： Software testing Agile manufacturing Software safety Robot programming Computational modeling Application software Robot control Error correction Humans Computer simulation

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Source enumeration using a signal-selective information theoretic criterion

Source enumeration using a signal-selective information theo...

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MILCOM, Military Communications conference

作者： T.E. Shrimpton S.V. Schell Department of Computer Science and Elec. Engineering University of Maryland Baltimore USA Department of Electrical Engineering University of California Davis USA

We propose a novel signal-selective approach to enumerating the signals of interest (SOIs) impinging upon an array of antennas. This new signal selective information theoretic criterion (SSITC) is derived by formulating the likelihood function for parameters of second-order cyclostationary signals in unknown stationary interference plus noise, and then applying Rissanen's MDL principle. We demonstrate through computer simulations that SSITC is able to perform correctly when there are more signals than sensors, the angular separations among the interferers and the signals of interest are arbitrarily small, and directional (spatially colored) noise is present. Thus, SSITC is an appropriate source enumerator to use in conjunction with cyclostationarity-exploiting direction-finding algorithms, such as cyclic MUSIC, and cyclostationarity-exploiting blind adaptive spatial filtering algorithms, such as SCORE and PCCA.

关键词： Sensor arrays Direction of arrival estimation Multiple signal classification Navigation Testing Solid modeling Narrowband Antenna arrays Interference Computer simulation

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Performance analysis of localization algorithms

Performance analysis of localization algorithms

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IEEE International conference on Robotics and Automation (ICRA)

作者： Y.X. Chu J.B. Gou B. Kang K.T. Woo Z.X. Li Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Kowloon Hong Kong China

Workpiece localization, with novel applications such as workpiece setup, refixturing and dimensional inspections, is a problem of permanent importance in manufacturing. Using the popular least square formulation, several geometric algorithms have been developed for workpiece localization over the last few years. In this paper, we analyze and compare the performance of three localization algorithms based on the following criteria: (a) robustness with respect to variations in initial conditions; (b) accuracy of computed results; and (c) computational efficiency. We develop an approach for improving the robustness of the algorithms for workpieces with sculptured surfaces for which the region of convergence is typically small. Based on simulation results, we also discuss sensitivity of the algorithms with respect to the number of measurement points and give a lower bound on this number for recovering a Euclidean transformation with certain accuracy.

关键词： Performance analysis Machining Least squares methods Robustness Computational efficiency Probes Algorithm design and analysis Computational modeling Coordinate measuring machines Position measurement

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Design procedure and performance evaluations of utility-interactive bidirectional resonant DC link three phase ZVS-PWM power conditioner

Design procedure and performance evaluations of utility-inte...

引用

Power Conversion conference

作者： T. Shimizu M. Kurokawa Y. Matsumoto A. Chibani M. Nakaoka The Graduate School of Engineering and Science Yamaguchi University Ube Yamaguchi Japan

This paper describes an operating principle and features of a newly-developed parallel resonant DC link circuit with an active voltage clamped PWM control scheme. In particular, a new conceptual design procedure of the resonant DC link treated here is illustrated and discussed including a practical design example under zero voltage and zero current soft switching. In this paper, a bidirectional power flow three-phase voltage-fed PWM power converter using a resonant DC link which is applied to a utility-interfaced battery energy storage system is analyzed for load leveling, battery charging, reactive current compensation and active filtering schemes. Finally, the system performances of this converter mode or inverter mode and the effectiveness of this resonant DC link circuit topology and resonant DC link power processor are demonstrated on the basis of simulation results.

关键词： Resonance Pulse width modulation Batteries RLC circuits Voltage control Zero voltage switching Bidirectional power flow Pulse width modulation converters Energy storage Load flow analysis

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Dynamic scheduling of real-time messages over an optical network

Dynamic scheduling of real-time messages over an optical net...

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International conference on Computer Communications and Networks (ICCCN)

作者： Cheng-Chi Yu S. Bhattacharya Computer Science and Engineering Department Arizona State University Tempe AZ USA Honeywell Technology Center AZ USA

This paper proposes real-time traffic management algorithms over a multihop optical network. Our algorithms consider dynamic scheduling of (time, wavelength) slots in a multihop TWDM transmission schedule, so that a set of time-critical messages can meet their hard (and, soft) deadlines. Hard real-time messages are assigned to the highest priority level, while soft real-time messages are assigned to user-defined, progressively lower priority levels. The objective is to schedule these messages, all or as many as possible following the priority ordering. Previous research in this direction are either static scheduling policies (which cannot adapt to varying traffic conditions), or dynamic scheduling but for non-realtime traffic. Performance is measured in simulation. Where input factors include load, proximity of the deadline values, relative mix of hard and soft real-time messages, and priority levels of the messages.

关键词： Dynamic scheduling Optical fiber networks Communication system traffic control Network topology Processor scheduling WDM networks Time division multiplexing Traffic control Centralized control Optical noise

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A simple discrete-time robot model and its control application

A simple discrete-time robot model and its control applicati...

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International conference on Industrial Electronics, Control and Instrumentation

作者： R. Lai F. Ohkawa Department of Control Engineering and Science Kyushu Institute of Technology Japan

This paper presents a new discrete-time robot model. In general, the discrete-time robot models are derived by using discretizing methods to robot dynamical differential equations. The obtained models are very complex in structure, and are thus difficult to implement in practical applications. In this study, a simple discrete-time robot model is developed by using the trapezoid rule to approximate the integration part of continuous-time robot equation, and then successfully eliminating the nonlinear force terms and external force term from the robot equation. The proposed discrete-time robot model has very simple structure, and the controller based on this model owns inherent robustness to external forces. Both pole placement control and adaptive control schemes are designed for a 2-link manipulator. simulation results demonstrate the validity of the proposed model, and verify its property of robust to external forces.

关键词： Robots Nonlinear equations Force control Adaptive control Robust control Manipulators Robustness Couplings Programmable control Sampling methods

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Performance and fairness comparison between EFCI and ERF flow control schemes for the ABR service in ATM networks

Performance and fairness comparison between EFCI and ERF flo...

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IEEE International conference on Communications (ICC)

作者： M. Zukerman P.W. Tse Department of Electrical & Electronic Engineering University of Melbourne VIC Australia Department of Computer Science Monash University VIC Australia

In this paper we compare, by simulation based on real traffic traces, the EFCI (explicit forward congestion indication) and the ERF (explicit rate feedback) rate-based flow control algorithms for the available bit rate (ABR) service in ATM networks. The factors under consideration are: (1) distance from source to destination and (2) rate of resource management (RM) cells. Although no significant fairness throughput problem has been identified in both EFCI and ERF, sources with high end-to-end propagation delay will experience higher queueing delay and loss probability. In this paper, we have also shown that although EFCI can lead to considerably lower utilisation than ERF if the parameters are set arbitrarily, it can perform as good as or close to ERF if there were complementary software which can compute the optimal parameters for EFCI based on the on-line measurement of traffic streams.

关键词： Traffic control Propagation delay Communication system traffic control Feedback Bit rate Resource management Throughput Propagation losses Performance evaluation Software performance

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