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International Conference on intelligent Transportation

作者： Andrew Phan Frank Ferrie Center for Intelligent Machines Department of Electrical and Computer Engineering McGill University Canada

A major challenge for traffic management systems is the inference of traffic flow in regions of the network for which there is little data. In this paper, GPS-based vehicle locator data from a fleet of 40-60 roving ambulances are used to estimate traffic congestion along a network of 20,000 streets in the city of Ottawa, Canada. Essentially, the road network is represented as a directed graph and a belief propagation algorithm is used to interpolate measurements from the fleet. The system incorporates a number of novel features. It makes no distinctions between freeways and surface streets, incorporates both historical and live sensor data, handles user inputs such as road closures and manual speed overrides, and is computationally efficient - providing updates every 5 to 6 minutes on commodity hardware. Experimental results are presented which address the key issue of validating the performance and reliability of the system.

关键词： Global Positioning System Velocity measurement Telecommunication traffic Roads Vehicles Cities and towns Belief propagation intelligent transportation systems intelligent networks Fluid flow measurement

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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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The Third International Conference on human-robot interaction

The Third International Conference on human-robot interactio...

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作者： Fong, Terry Dautenhahn, Kerstin Scheutz, Matthias Demiris, Yiannis Intelligent Robotics Group NASA Ames Research Center Department of Artificial Intelligence School of Computer Science University of Herfordshire Herfordshire United Kingdom Adaptive Systems Research Group University of Herfordshire Herfordshire United Kingdom Department of Cognitive Science Computer Science and Informatics Cognitive Science Program Indiana University Bloomington IN United States Intelligent Robotics Team Department of Electrical Engineering Imperial College London London United Kingdom

The third international conference on Human-Robot Interaction (HRI-2008) was held in Amsterdam, The Netherlands, March 12-15, 2008. The theme of HRI-2008, "living with robots," highlights the importance of the technical and social issues underlying human-robot interaction with companion and assistive robots for long-term use in everyday life and work activities. More than 250 researchers, practitioners, and exhibitors attended the conference, and many more contributed to the conference as authors or reviewers. HRI-2009 will be held in San Diego, California, from March 11-13, 2009. Copyright © 2008, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Human robot interaction

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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 Conference on Advanced Video and Signal Based Surveillance (AVSS)

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

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.

关键词： Resource management Surveillance Labeling Real time systems intelligent robots USA Councils Videoconference Robot vision systems Smart cameras Robot kinematics

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Multimodal human-robot interaction in an assistive technology context

Multimodal human-robot interaction in an assistive technolog...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Harte, Elizabeth Jarvis, Professor Raymond Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia ARC Centre for Perceptive and Intelligent Machines in Complex Environments Australia

ISBN: (纸本)9780958758390

In this paper, we present a prototype robotic system that captures, processes and fuses speech, vision and laser-depth data to more accurately interpret and perform simple tasks in a domestic environment. We can never assume that any one of these inputs are completely accurate, but by using a combination, a more accurate interpretation could be found. For each speech, gesture recognition and object recognition input, an associated probability of correctness is calculated. Using these probabilities, a predefined associative map between specific words and gestures, and contextual information, we update the associated probability until some threshold has been reached. This contextual information includes the history of recently uttered phrases, as well as the information about known objects in the environment. Once an interpretation, complete or otherwise, is found, a response is formulated. This system has been developed using a Mitsubishi Heavy Industries robot, Wakamaru, as a platform.

关键词： Probability

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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Forward kinematics of a macro-micro parallel manipulator

Forward kinematics of a macro-micro parallel manipulator

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： Hamid D. Taghirad Meyer A. Nahon Advanced Robotics and Automated Systems (ARAS) Department of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Center for Intelligent Machines (CIM) Department of Mechanical Engineering McGill University Montreal QUE Canada

In this paper the kinematic analysis of a macro-micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of large adaptive reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable-driven. Inverse and forward kinematic analysis of this structure is presented in this paper. It is shown that unique closed form solution to the inverse kinematic problem of such structure exists. However, the forward kinematic solution is derived using numerical methods, and simulation results are reported to illustrate the integrity and accuracy of the solution.

关键词： Kinematics Optical design Councils Telescopes Winches Radio astronomy Frequency Reflector antennas Antenna accessories Receiving antennas

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Jacobian analysis of a macro-micro parallel manipulator

Jacobian analysis of a macro-micro parallel manipulator

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

In this paper the Jacobian analysis of a macro- micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of Large Adaptive Reflector (LAR), the Canadian design of next generation giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at macro and micro level, which both are cable- driven. The Jacobian matrices of the manipulator at macro and micro level are derived and a thorough singularity and sensitivity analysis of the system is presented. It is shown that due to the crossed cable structure used in the design, the macro micro manipulator experiences no singularity at the required workspace.

关键词： Jacobian matrices Optical design Telescopes Radio astronomy Councils Winches Reflector antennas Antenna accessories Packaging Receivers

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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A new architecture to execute CAs-based path-planning algorithm in mobile robots

A new architecture to execute CAs-based path-planning algori...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Akbarimajd, Adel Lucas, Caro Robotics and AI Lab. Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)0780397134

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts;it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts © 2006 IEEE.

关键词： Algorithms

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