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International Conference on Industrial Electronics, Control and Instrumentation

作者： O. Dessoude C. Olivier B. Zavidovique Laboratoire Système de Perception ETCA Arcueil France

The study of perception, an essential function for autonomous robotics, has led to new developments in the fields of modeling, stochastic data processing, and control. The authors describe a surveillance robot dedicated to heterogeneous data fusion algorithms' implementation and real-size real-time testing, which has become necessary to validate these emerging techniques in a realistic environment. This robot holds various sensors mounted on rotational units and provides a multi-degree-of-freedom command. The design includes original distributed hardware and software architectures encompassing the specific data processing, fusion, and feedback control. Modularity and a user-friendly interface allow easy design of perception control applications.< >

关键词： Robot sensing systems Data processing Stochastic processes Process control Surveillance Testing Hardware Software architecture Feedback control Application software

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FEASIBILITY OF LOCAL-POWER LOSSES DETERMINATION IN THE TJ-ii HELIAC USING MOVABLE BOLOMETERS

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IEEE TRANSACTIONS ON PLASMA SCIENCE 1989年第2期17卷 316-322页

作者： OCHANDO, MA NAVARRO, AP VEGA, JA Ministerio de Industria y Energia Centro de Investigaciones Energeticas Medioambientales y Tecnologicas Asociación EURATOM-CIEMAT Para Fusion Madrid Spain

A method to fully diagnose energy losses in plasma devices with a reduced experimental setup is presented. This technique is based on the use of single movable detectors instead of full detector arrays, and it is especially suitable for devices with large toroidal and/or poloidal asymmetries, such as the TJ-ii flexible heliac, that would require a large number of measurements at different positions. Local distributions of the plasma losses are deduced from the bolometer signals by using general tomography algorithms. The number of lines of sight is only limited by the sensitivity of the detector and the number of reproducible shots in the device, and, as a consequence, the possibility of obtaining a well-defined mapping of the plasma energy losses can be even better than in the standard case based on the use of detector arrays with a fixed number of detectors. The method has been tested in the TJ-I tokamak and the results obtained are presented, together with a simulation of its application to the TJ-ii heliac.< >

关键词： Detectors Plasma devices Gunshot detection systems Energy loss sensor arrays Plasma measurements Position measurement Bolometers Tomography Plasma applications

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Design and implementation of two concurrent multi-sensor integration algorithms for mobile robots

Design and implementation of two concurrent multi-sensor int...

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sensor fusion ii: Human and Machine Strategies

作者： Jones, J.P. Beckerman, M. Mann, R.C. Oak Ridge Natl Lab United States

Two multi-sensor integration algorithms useful in mobile robotics applications are reviewed. A minimal set of utilities are then developed which enable implementation of these algorithms on a distributed memory concur... 详细信息

关键词： Computer Programming

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Information fractals for approximate reasoning in sensor-based robot grasp control

Information fractals for approximate reasoning in sensor-bas...

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作者： Erkmen, Aydan Muserref George Mason University

学位级别：Ph.D.

This research is concerned with the intelligent control of autonomous robot systems in unstructured, highly uncertain environments. We show that the theory of fractal sets is a useful tool for approximate machine reasoning at multiple levels of precision. We first derive an algorithm for the classification and combination of incomplete and imprecise patterns of evidence. We also derive a new algorithm for belief propagation across incompatible frames. These algorithms are then applied to the sensorimotor control of robotic systems. The first application is to a sensor fusion problem, involving the recognition of 3D objects from a combination of vision and touch data. The second application is to sensor based grasping with multifingered hands. These applications integrate high and low level representations of (i) irregular and sparse sensory patterns and (ii) preshaped grasp control under uncertainty.

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Real-time blackboards for sensor fusion 1

Real-time blackboards for sensor fusion 1

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sensor fusion ii 1989

作者： Johnson, Don Shaw, Scott Reynolds, Steven Himayat, Nageen Computer and Information Technology Institute Department of Electrical and Computer Engineering Rice University HoustonTX United States SRI International Menlo ParkCA United States

Multi- sensor fusion, at the most basic level, can be cast into a concise, elegant model. Reality demands, however, that this model be modified and augmented. These modifications often result in software systems that are confusing in function and difficult to debug. This problem can be ameliorated by adopting an object-oriented, data-flow programming style. For real-time applications, this approach simplifies data communications and storage management. The concept of object-oriented, data-flow programming is conveniently embodied in the blackboard style of software architecture. Blackboard systems allow diverse programs access to a central data base. When the blackboard is described as an object, it can be distributed over multiple processors for real-time applications. Choosing the appropriate parallel architecture is the subject of ongoing research. A prototype blackboard has been constructed to fuse optical image regions and Doppler radar events. The system maintains tracks of simulated targets in real time. The results of this simulation have been used to direct further research on real-time blackboard systems. © 1989 SPIE. All rights reserved.

关键词： Parallel architectures

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Signal Processing and Data fusion for Autonomous Undersea Vehicles

Signal Processing and Data Fusion for Autonomous Undersea Ve...

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International Symposium on Unmanned Untethered Submersible Technology

作者： J.W. Irza M.N. Desai Draper Laboratory Inc. Cambridge MA USA

The strategic and tactical applications for autonomous submersibles place great demands on the platforms' passive sonar signal and data processing abilities. It is necessary to overcome the limited acoustic aperture and lack of human supervision by exploiting synergism between front-end signal processing functions and back-end data fusion algorithms. An Information Management System Architecture is presented which represents the relationship between the Information Extraction (signal processing and data fusion), Situation Assessment, and Mission Planner. The information extraction requirements (essentially the emulation of manned platform detection, classification, and localization) drive the design of the signal and data processing architectures. The signal processing architecture is partitioned into a generic, multifunction (e.g. sonar, comm, navigation) processor complemented by an ancillary signal processor which supports the knowledge-based signal interpretation function of information fusion.

关键词： Signal processing Remotely operated vehicles Mobile robots Data mining sensor arrays Signal processing algorithms Data processing Acoustic signal processing Sonar navigation Laboratories

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Optical Mass Data Storage ii

Optical Mass Data Storage II

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Advanced algorithms and architectures for Signal Processing I 1986

The proceedings contain 33 papers. The topics discussed include: signal processing computational needs;the use of pivoting to improve the numerical performance of toeplitz solvers;stability, strong stability, and weak stability of algorithms for solving linear equations;a conjugate gradient method for the solution of equality constrained least squares problems;parallel QR decomposition of toeplitz matrices;on the implementation of a fully parallel algorithm for the symmetric eigenvalue problem;systolic array computation of the SVD of complex matrices;highly parallel eigenvector update methods with applications to signal processing;a systolic array for linearly constrained least-squares problems;analysis of a recursive least squares signal processing algorithm;and a subspace approach to determining sensor gain and phase with applications to array processing.

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Block transform image compression by power spectrum fitting

Block transform image compression by power spectrum fitting

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architectures and algorithms for Digital Image Processing ii 1985

作者： Granrath, Douglas J. Science Applications International Corporation 5151 E. Broadway TucsonAZ85711 United States

A new approach to the quantization of discrete cosine transformed subimage data is discussed. It is shown that physical modeling of the sensor in combination with a power spectrum model of the scene leads to a direct means of generating the bit and variance maps necessary for coefficient quantization. Preliminary results indicate that good image quality can be maintained down to 1/4 bit-per-pixel, depending upon the Optical Transfer Function (OTF) and scene information content involved. A unique feature of this approach is that algorithm training is unnecessary since the bit and variance maps are computed directly from subimage data. © 1985 SPIE. All rights reserved.

关键词： Power spectrum

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sensor-Based Robots: algorithms and architectures 1

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丛书名： NATO ASI Subseries F:

1000年

作者： C. S. George Lee

ISBN: (数字)9783642755309

ISBN: (纸本)9783642755323

Most industrial robots today have little or no sensory capability. Feedback is limited to information about joint positions, combined with a few interlock and timing signals. These robots can function only in an environment where the objects to be manipulated are precisely located in the proper position for the robot to grasp (i. e. , in a structured environment). For many present industrial applications, this level of performance has been adequate. With the increasing demand for high performance sensor-based robot manipulators in assembly tasks, meeting this demand and challenge can only be achieved through the consideration of: 1) efficient acquisition and processing of intemaVextemal sensory information, 2) utilization and integration of sensory information from various sensors (tactile, force, and vision) to acquire knowledge in a changing environment, 3) exploitation of inherent robotic parallel algorithms and efficient VLSI architectures for robotic computations, and finally 4) system integration into a working and functioning robotic system. This is the intent of the Workshop on sensor-Based Robots: algorithms and architectures - to study the fundamental research issues and problems associated with sensor-based robot manipulators and to propose approaches and solutions from various viewpoints in improving present day robot manipula tors in the areas of sensor fusion and integration, sensory information processing, and parallel algorithms and architectures for robotic computations.

关键词： Artificial Intelligence Pattern Recognition Simulation and Modeling Complexity Control, Robotics, Mechatronics Engineering Economics, Organization, Logistics, Marketing

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A Survey of Autonomous Driving from a Deep Learning Perspective

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ACM Computing Surveys 1000年

作者： Jingyuan Zhao Yuyan Wu Rui Deng Susu Xu Jinpeng Gao Andrew Burke University of California Davis Davis United States Stanford University Stanford United States Johns Hopkins University Baltimore United States

Autonomous driving represents a significant advancement in the transportation industry, enhancing vehicle intelligence, optimizing traffic management, and improving user experiences. Central to these innovations is deep learning, which enables systems to handle complex data and make informed decisions. Our survey explores critical applications of deep learning in autonomous driving, such as perception and detection, localization and mapping, and decision-making and control. We investigate specialized deep learning techniques, including convolutional neural networks, recurrent neural networks, self-attention transformers, and their variants, among others. These methods are applied within various learning paradigms—supervised, unsupervised and reinforcement learning—to suit the specific needs of autonomous driving. Our analysis evaluates the effectiveness, benefits, and limitations of these technologies, focusing on their integration with other intelligent algorithms to enhance system performance. Furthermore, we examine the architectures of autonomous systems, analyzing how knowledge and information are organized from modular, pipeline-based frameworks to comprehensive end-to-end models. By presenting an exhaustive overview of the progressing domain of autonomous driving and bridging various research areas, our survey aims to synthesize diverse research threads into a unified narrative. This effort not only aims to enhance our understanding but also pushes the boundaries of what is achievable in this interdisciplinary field.

关键词： autonomous driving deep learning perception trajectory planning decision-making reinforcement learning simulation sensor fusion end-to-end real-world algorithms Design Experimentation Performance Reliability

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