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检索条件"机构=Advanced Robotics Development"

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Contribution to contours closing by a Markovian approach

Contribution to contours closing by a Markovian approach

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ACS/IEEE International Conference on Computer Systems and Applications

作者： N. Zenati K. Achour Robotics Laboratory & Artificial Intelligence Development Center of Advanced Technologies Algeria

Summary form only given. A major problem in edge detection operators is the one of low detection. In some cases, detected contours are fragmented or are not closed. This is because some elements are difficult to extract like corners and multiple contours junctions. To overcome this inconvenience, a basic solution is to connect all neighboring contours segments having the distance between closer extremities inferior to an empirical threshold. This method presents the disadvantage of closing also the contours that mustn't be, even as it can't shut contours that must be and this is in the case where the distance between the segments exceeds the chosen threshold. To overcome this problem, we present a new method for contours closing based on a Markovian modellization. This method transforms the contours closing problem into a labeling one that we solve with an ameliorated simulated annealing. Our contours closing scheme yields good results on both real and synthetic images since most of elements as corners and multiple junctions are clearly closed regarding to the criteria we impose.

关键词： Intelligent robots Laboratories Artificial intelligence Image edge detection Labeling Simulated annealing Extremities

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Vision-guided mobile robot navigation using neural network

Vision-guided mobile robot navigation using neural network

引用

International Symposium on Image and Signal Processing and Analysis

作者： O. Djekoune K. Achour Advanced Technologies Development Center Robotics Laboratory and Artificial Intelligence Algiers Algeria

ISBN: (纸本)9539676940

We propose a new approach to solve the correspondence problem for a set of segments extracted from a pair of stereo images. The problem is first formulated as an optimization task where a cost function, which represents the constraints on the solution, is to be minimized. The optimization problem is then performed by means of a two-dimensional Hopfield neural network. Each image of a pair of stereo images is represented by an adjacency graph to eliminate the possibility of choosing segments that have no chance of being a candidate for a match. To reduce the computation burden of the onboard computer, a system architecture has been developed to provide segment feature information for the stereo correspondence process. Finally, we show numerous results obtained with this approach.

关键词： Mobile robots Navigation Neural networks Image segmentation Cost function Hopfield neural networks Intelligent robots Laboratories Layout Feature extraction

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Restoration method using a neural network model

Restoration method using a neural network model

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ACS/IEEE International Conference on Computer Systems and Applications

作者： N. Zenati K. Achour Robotics Laboratory and Artificial Intelligence Development Center of Advanced Technologies Algiers Algeria

ISBN: (纸本)0769511651

Considers the problem of image restoration degraded by a shift-invariant blur function and corrupted by white Gaussian noise. We propose a modified Hopfield neural network-based image restoration. Two algorithms with two updating modes using the modified Hopfield neural network are presented: (1) sequential updates, and (2) n-simultaneous updates. In the sequential algorithm, only one element of the state is updated at time (t+1), while the rest are left unchanged. In the n-simultaneous algorithm, all elements of the state are updated simultaneously. Lastly, we present some image restoration results which attest to the efficiency of our method.

关键词： Neural networks Image restoration Degradation Hopfield neural networks Artificial intelligence Gaussian noise Image processing Digital images White noise Nonlinear distortion

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Visual guidance control based on the Hough transform

Visual guidance control based on the Hough transform

引用

IEEE Symposium on Intelligent Vehicle

作者： A.O. Djekoune K. Achour Robotics and Artificial Intelligence Laboratory Development Center of Advanced Technologies Algiers Algeria

In this paper, a new method using the Hough transform (HT) to correct the drift of the mobile robot CESA is presented. The corrections are made by direct observation; a unique on-board camera is utilized and rotation/translation parameters are computed taking into account the robot neighborhood parameters. As illustration an algorithm implemented is detailed and experiment results for CESA navigation in our laboratory's corridor and free trajectory generation are given. This paper describes too the structure of the vehicle and its associated sensors.

关键词： Mobile robots Laboratories Robot sensing systems Navigation Wheels Robot vision systems robotics and automation Intelligent robots Vehicles Artificial intelligence

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The PC and its influence on robot controllers

The PC and its influence on robot controllers

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Rutledge Advanced Product Development FANUC Robotics Inc. Rochester Hills MI USA

For 20 years, discussion of the challenges in robot controller design has centered on mass, motion, vibration, and programmability. These factors, while still important and still receiving attention, have been overshadowed by the impact of the information age. The evolution of the PC has and will continue to dramatically impact the way that robot controllers are designed. In order to understand these effects, it is important to understand the factors that characterize the robot and PC environments, how robot controllers have already been influenced and the possibility of further changes to better meet the needs of the market place.

关键词： Robot control Plugs Computer aided manufacturing Manufacturing industries History Silicon Internet Product development Motion control Weight control

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Characteristics of optimal solutions in resolving manipulator redundancy under inequality constraints

Characteristics of optimal solutions in resolving manipulato...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Ki-Cheol Park Pyung-Hun Chang Seung-Ho Kim Department of Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea

Presents our finding of a critical point that has not been reported thus far in the inverse kinematics of redundant manipulators under inequality constraints. The critical point, named algorithmic barrier was first encountered in the form of peculiar phenomena in our experiment with an 8-DOF robot, which we believe to have significance in the order of so-called algorithmic singularity. In addition, the paper deals with the characteristics of optimal solutions (COS) in resolving manipulator redundancy under inequality constraints. In order to analyze the COS, analytic functions of sufficient conditions and critical point conditions are derived. As a result, we find that COS is drastically affected by the introduction of inequality constraints. That is, COS under no inequality constraints is known to change only at algorithmic singularity while COS under inequality constraints turns out to change at semi-singularity and algorithmic barrier as well as algorithmic singularity. We prove the existence the critical points and present their analytical properties by using a planar 3-DOF manipulator.

关键词： Kinematics Manipulators Robots Mechanical engineering Algorithm design and analysis Topology Path planning Constraint optimization Jacobian matrices Extraterrestrial measurements

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A multiscale stereovision algorithm for a mobile robot

A multiscale stereovision algorithm for a mobile robot

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Annual Conference of Industrial Electronics Society

作者： K. Achour L. Mahiddine Artificial Intelligence and Robotics Laboratory Advanced Technologies and Development center Alger Algeria

We are interested in matching stereoscopic images. In this context we present a multiscale stereovision algorithm based on primitives of type "contour chain points". We use a pyramidal image as a data structure. The resolution is reduced with a consolidation. We consider a pyramid at its four uppermost levels. The consolidation is done on a 2/spl times/2 neighborhood. The matching process is done at each resolution. The research process is done at a low resolution and becomes finer at the upper ones. The primitives we use are groups of connected edge points called contour chains points. These primitives are rich in information and then easier to match. The contour chain depicts the primitive support and allows verification of the disparity smoothness. In order to have an efficient algorithm able to match the large structures of the scene as well as the details, we have developed a multiscale edge detection algorithm based on the multifractal approach providing high quality contour images and keeping the richness and the details of the scene.

关键词： Mobile robots Image edge detection Fractals Layout Data structures Geometry Artificial intelligence Intelligent robots Laboratories Chemical technology

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The enhanced compact QP method for redundant manipulators using practical inequality constraints 15

The enhanced compact QP method for redundant manipulators us...

引用

15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Park, Ki Cheol Chang, Pyung Hun Kim, Seung Ho Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 373-1 Gusong-dong Yusorig-gu Taejon Korea Republic of Department of Advanced Robotics Development Korea Atomic Energy Research Institute 150 Deokjin-dong Yusong-gu Taejon Korea Republic of

ISBN: (纸本)078034300X

For resolving the manipulator redundancy under inequality constraints, the compact QP method (including the improved Compact QP method) is very effective and efficient. From a viewpoint of practical applications, however, it turns out, we found, to have some performance limitations such as unrealistically high torque due to joint angle limit constraints and tracking errors due to joint torque limit constraints under parameter variation and disturbance. Remedying the limitations, the enhanced compact QP method is developed by using the practical inequality constraints with p-step-ahead predictor and time delay estimation. Through dynamic simulation results, it is verified that the enhanced compact QP method significantly improves the compact QP method in terms of efficiency and effectiveness for the real-time control of redundant manipulators under physical limits. © 1998 IEEE.

关键词： Redundant manipulators

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The enhanced compact QP method for redundant manipulators using practical inequality constraints

The enhanced compact QP method for redundant manipulators us...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ki Cheol Park Pyung Hun Chang Seung Ho Kim Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Taejon South Korea Department of Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea

ISBN: (纸本)078034300X

关键词： Quadratic programming Redundancy Kinematics Manipulator dynamics Delay estimation Mechanical engineering Torque control Velocity control Trajectory Constraint optimization

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Task based design of modular robot manipulator using efficient genetic algorithm

Task based design of modular robot manipulator using efficie...

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IEEE International Conference on robotics and Automation (ICRA)

作者： W.K. Chung Jeongheon Han Y. Youm S.H. Kim Robotics Laboratory School of Mechanical Engineering Pohang University of Science and Technology South Korea POSTECH South Korea Advanced Robotics Development Korea Atomic Energy Research Institute Taejon South Korea

A modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes a task based design method of modular robot manipulators. A locking mechanism which provides quick coupling and decoupling is developed and a parallel connection method is devised reducing the number of components on each module. To automatically determine the optimal link lengths of a modular manipulator for a given, task, the algorithm is two step: determine the necessary configuration of the robot using kinematic equations and then determine the optimal link length using the proposed efficient genetic algorithm. Some of design examples are shown.

关键词： Algorithm design and analysis Robots Manipulators Genetic algorithms Robotic assembly Prototypes robotics and automation Kinematics Engine cylinders Mechanical engineering

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