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IEEE International Conference on Imaging systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

关键词： Simultaneous localization and mapping Area measurement Robustness computer vision Robot vision systems Cameras Robot sensing systems robotics.and automation Image analysis Algorithm design and analysis

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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Reducing stick-slip motion in one-dimensional nano manipulation by real-time feedback control

Reducing stick-slip motion in one-dimensional nano manipulat...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Jing Miao, Lei Wu, Re-Bing Xi, Ning Li, Chun-Wen Wang, Yue-Chao Tarn, Tzyh-Jong Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology Tsinghua National Laboratory for Information Science and Technology Beijing 100084 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Beijing 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Department of Electrical and Systems Engineering Washington University St. Louis MO 63130 United States

ISBN: (纸本)9781424470334

When a micro cantilever with a nanoscale tip is manipulated on a substrate with atomic roughness, e.g., pushing an atomic-scale sample or etching the surface of the substrate to draw desired patterns, the periodical lateral frictional forces with stochastic fluctuations will induce stick-slip motion of the cantilever tip, which may greatly influence the precision of the nano manipulation. To reduce such a stick-slip motion, we propose a feedback control strategy based on the position estimation of the cantilever tip to compensate the periodical frictional force. Numerical simulations show that the motion of the cantilever tip under feedback control can track the desired trajectory asymptotically. Our proposal can aL be extended to the case when the cantilever tip moves over a Gaussian-shape defection on the substrate and when the stochastic fluctuations in the lateral force are with non-zero correlation time. ©2010 IEEE.

关键词： Feedback control

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On asymptotic consensus value in directed random networks

On asymptotic consensus value in directed random networks

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IEEE Conference on Decision and Control

作者： Victor M. Preciado Alireza Tahbaz-Salehi Ali Jadbabaie Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA General Robotics Automation Sensing and Perception (GRASP) Laboratory Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia PA USA

ISBN: (纸本)9781424477456

We study the asymptotic properties of distributed consensus algorithms over switching directed random networks. More specifically, we focus on consensus algorithms over independent and identically distributed, directed random graphs, where each agent can communicate with any other agent with some exogenously specified probability. While different aspects of consensus algorithms over random switching networks have been widely studied, a complete characterization of the distribution of the asymptotic value for general asymmetric random consensus algorithms remains an open problem. In this paper, we derive closed-form expressions for the mean and an upper bound for the variance of the asymptotic consensus value, when the underlying network evolves according to an i.i.d. directed random graph process.

关键词： Eigenvalues and eigenfunctions Switches Markov processes Silicon Upper bound Closed-form solution Convergence

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Grasping simulation of an underactuated finger mechanism for larm hand

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International Journal of Modelling and Simulation 2010年第1期30卷 87-97页

作者： Yao, S. Wu, L. Ceccarelli, M. Carbone, G. Lu, Z. School of Automation Science and Electrical Engineering Beihang University Beijing China College of Information Engineering Central University for Nationalities Beijing China State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing University of Aeronautics and Astronautics China and University of Cassino Italy LARM: Laboratory of Robotics and Mechatronics Cassino United States

In this paper, the grasp operation of an underactuated finger mechanism is simulated with the aim to characterize and analyze its performance. The design of the proposed mechanism is based on spring systems that give suitable underactuation characteristics. A cad model is proposed and then it is used in a procedure for numerical simulation. Simulation results show suitable capability for grasping a wide range of objects in size and shape by operating the mechanism inside the finger body. The achieved grasp has been simulated as a human-like functionality with a grasp contact in each phalanx.

关键词： computer aided design

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity Intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Accelerometer-based control of an industrial robotic arm

Accelerometer-based control of an industrial robotic arm

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Pedro Neto J. Norberto Pires A. Paulo Moreira Industrial Robotics Laboratory-Mechanical Engineering Department POLO II University of Coimbra Coimbra Portugal Institute of Systems and Robotics (ISR)-Department of Electrical and Computer Engineering University of Porta Porto Portugal

Most of industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. In this paper is proposed an accelerometer-based system to control an industrial robot using two low-cost and small 3-axis wireless accelerometers. These accelerometers are attached to the human arms, capturing its behavior (gestures and postures). An Artificial Neural Network (ANN) trained with a back-propagation algorithm was used to recognize arm gestures and postures, which then will be used as input in the control of the robot. The aim is that the robot starts the movement almost at the same time as the user starts to perform a gesture or posture (low response time). The results show that the system allows the control of an industrial robot in an intuitive way. However, the achieved recognition rate of gestures and postures (92%) should be improved in future, keeping the compromise with the system response time (160 milliseconds). Finally, the results of some tests performed with an industrial robot are presented and discussed.

关键词： Industrial control Service robots electrical equipment industry Defense industry Educational robots Robot control Control systems Accelerometers Artificial neural networks Delay

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A comparative study of invariant descriptors for shape retrieval

A comparative study of invariant descriptors for shape retri...

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IEEE International Workshop on Imaging systems and Techniques (IST)

作者： A. Amanatiadis V.G. Kaburlasos A. Gasteratos S.E. Papadakis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Division of Computing Systems Department of Industrial Informatics Technological Educational Institute of Kavala Kavala Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper presents a comparative study between scale, rotation and translation invariant descriptors for shape representation and retrieval. Specifically, we studied Fourier, angular radial transform and image moment descriptors for shape representation. Since shape is one of the most widely used image feature exploited in content-based image retrieval systems, we studied for each descriptor, the number of coefficients needed for indexing and their retrieval performance. Results showed that moment descriptors present the best performance in both terms of shape representation quality as well as in the amount of required coefficients.

关键词： Shape Fourier transforms Image retrieval Subspace constraints Laboratories Character recognition Content based retrieval Data mining computer industry electrical products industry

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Camera handoff with adaptive resource management for multi-camera multi-target surveillance

Camera handoff with adaptive resource management for multi-c...

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IEEE 5th International Conference on Advanced Video and Signal Based Surveillance, AVSS 2008

作者： Chen, Chung-Hao Yi, Yao Page, David Abidi, Besma Koschan, Andreas Abidi, Mongi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering and Computer Science University of Tennessee Knoxville TN 37996 United States GE Global Research Center Niskayuna NY 12309 United States

ISBN: (纸本)9780769533414

Camera handoff is a crucial step to generate a continuously tracked and consistently labeled trajectory of the object of interest in multi-camera surveillance systems. Most existing camera handoff algorithms concentrate on data association, namely consistent labeling, where images of the same object are matched across different cameras. However, most real-time object tracking systems see a decrease in the system's frame rate as the number of tracked objects increases. To address this issue, we propose to incorporate an adaptive resource management mechanism into camera handoff. In so doing, cameras' resources can be dynamically allocated to multiple objects according to their priorities and hence the required minimum frame rate can be maintained. Experimental results illustrate that the proposed camera handoff algorithm is capable of maintaining a constant frame rate and of achieving a substantially improved handoff success rate by approximately 20% in comparison with the algorithm presented by Khan and Shah. © 2008 IEEE.

关键词： Cameras

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