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Proceedings of the thirteenth annual symposium on computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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PARALLEL GENETIC ALGORITHM ON PVM

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Wuhan University Journal of Natural sciences 1996年第Z1期1卷 605-610页

作者： Cuangming Lin Xin Yao(department of computer science, computational Intelligence GroupUniversity College, The University of New South Wales, ADFA)lain Macleod(computer sciences lab RSISE ANUCanberra, ACT, Australia 2600)Lishan Kang Yuping Chen(Institu Department of Computer Science Computational Intelligence Group University College The University of New South Wales ADFA Australia Computer Sciences Lab. RSISE ANU Canberra Australia Institute of Software Engineering Wuhan University Wuhan P.R.China

In this paper we describe an implementation of some kinds of parallel genetic algorithms on the PVM,Parallel Virtual Machine, a portable parallel environment. We give details of a genetic algorithm running On many small subpopulations with an occasional identification and exchange of their useful information among subpopulations by means of message-passing functions of PVM. In this work, experiments were done to compare the parallel genetic algorithm and traditional sequential genetic algorithms.

关键词： Parallel Genetic Algorithms Parallel Virtual Machine(PVM) Island Model Cellular Model.

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems laboratories computer science Nanofabrication Uniform resource locators

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ACTIVE SPACE-VARIANT OBJECT RECOGNITION

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IMAGE AND VISION COMPUTING 1995年第3期13卷 215-226页

作者： TISTARELLI, M Department of Communication Computer and Systems Science Laboratory for Integrated Advanced Robotics (LIRA-Lab) University of Genoa Via Opera Pia 13 16145 Genoa Italy

The problem of object recognition is addressed. In the literature this task has been generally considered in a passive perspective, where everything is static and there is no definite relation between the object and its environment. In this paper, several aspects related to the application of active vision techniques to object recognition are discussed. The capability of the observer to move is very important to give a better description of the object during acquisition of the model database, and also for recognition. The recognition task can be simplified considerably by defining classes of expected objects based on contextual information. Moreover, a selective attentional mechanism allows us to reduce the amount of information needed to describe a database of objects. This is accomplished both at the task level, by performing planned fixations, and at the sensor level, by adopting a space-variant sampling of the image. The face recognition problem based on the face-space approach is considered to demonstrate the advantage of adopting an active retina in recognition tasks. By using an active space-variant retina, the size of the database is considerably reduced and, consequently, so too is the processing time for recognition.

关键词： OBJECT RECOGNITION ACTIVE VISION SPACE-VARIANT SENSING

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Computation of optical flow and its derivatives from local differential constraints

Computation of optical flow and its derivatives from local d...

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International Symposium on computer Vision (ISCV)

作者： M. Tistarelli Department of Communication Computer and Systems Science (DIST) Laboratory for Integrated Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

The computation of the optical flow field from an image sequences requires the definition of constraints on the temporal change of image features. In general, these constraints limit the motion of the body in space and/or of the features on the image plane. In this paper we consider the implications in using multiple constraints, both in terms of the increased complexity, but also for its advantages. Considering multiple image points not only allows to obtain a (locally) better estimate of the velocity field but also to characterize the temporal behaviour of the image features and to detect erroneous measurements due to occlusions, motion/depth discontinuities or shadows. Moreover, by hypothesizing a constant acceleration motion model, the derivatives of the optical flow are computed. Several experiments are presented demonstrating the feasibility of the algorithm in real applications.

关键词： Optical computing Image motion analysis Brightness Differential equations laboratories Orbital robotics Integrated optics Image sequences Motion estimation computer vision

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Steady‐state security evaluation of electrical power systems by means of artificial neural network

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European Transactions on Electrical Power 1995年第2期5卷 91-97页

作者： Chiodo, E. Menniti, D. Testa, A. Picardi, C. Elio Chiodo (1959) received the degree in Electronics Engineering in 1985 and the Ph.D. degree in Computational Statistics both from the University of Naplefltaly. He is a Researcher at the Department of Electrical Engineering of the University of Naples and a member of the Italian Statistical Society. His areas of interest include probabilistic methods applied to electric power systems analysis. (University of Naples Fedrrico 11. Electrical Engineering Dept.via Claudio 21 1-80125 Naplefltaly T +3981/7683226 Fax+3981/2396897) Daniele Menniti (1958) received the degree in Electrical Engineering from the University of Calabria. Cosenzataly and the Ph.D. degree in Electrical Engineering from the University of NapleslItaly in 1984 and 1989 respectively. He is a researcher at the Electronic. Computer and Systems Science Department of the University of Calabria. Italy. Hiscurrent research interests concern electric power system analysis real-time control and automation. (University of Calabria Electronic Computer and Systems Science Dep. Arcavacataji Rende (CS). 1-87036 CosenzdItaly T +39984/494707. Fax +39984/4947 13) Alfredo Testa (1950) received the degree in Electrical Engineering from the University of Naples/Italy in 1975. He is an Associate Professor in Electrical Power Systems at the Department of Electrical Engineering of the University of Naples. He is engaged in researches on electrical power systems reliability and harmonic analysis. (University of Naples Federico 11. Electrical Engineering Dep. via Claudio '2 1 1-80 I25 NapleslItaly T + 39 8 I/7 68 3'2 11. Fax+3981/2396897) Ciro Picardi (1949) received the degree in Electronics Engineering from the University of Naples/Italy in 1975. He is currently Associate Professor in Process Control at the Department of Electronic Computer and System Science of the University of Calabria. Italy. His current research interests are in the area of electrical drives robotics neural networks and fuzzy control. (University of Calabria Electronic. Compu

An artificial‐neural‐network (ANN) application for steady‐state security evaluation of electrical power systems is presented. Such application is based upon a combined use of a multilayer back‐propagation neural network and of an opportune electrical system model, previously proposed by some of the authors. In the paper, the definition of steady‐state security and the problems arising from its on‐line evaluation are briefly recalled. Then, the ANN utilized is described with particular reference to the solutions adopted by the authors. Afterwards, some remarks on the system model utilized are reported. Finally, numerical applications on the AEP‐14 bus system are presented and the results obtained with different ANN configurations are analyzed. Copyright © 1995 John Wiley & Sons, Ltd.

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A unified view of belief revision and update

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Journal of Logic and Computation 1994年第5期4卷 797-810页

作者： Val, Alvaro Del Shoham, Yoav Robotics Lab Computer Science Department Stanford University Stanford CA 94035 United States

Belief revision and belief update have been considered as two distinct types of belief modification. In this paper, we show that both can be captured within a unified formalism, in which revision is encoded as update of the mental state. Specifically, we show that the framework for belief update developed by the authors can be used to capture revision as well, by extending the underlying language to include explicit representations of the agent's beliefs. The resulting framework allows for the definition of a wide variety of revision operators. These include, in particular, all the AGM operators, for which we provide a representation theorem. © 1994 Oxford University Press.

关键词： Belief revision Non-monotonic reasoning. Reasoning about action Update

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Application of optical flow for automated overtaking control

Application of optical flow for automated overtaking control

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IEEE Workshop on Applications of computer Vision (WACV)

作者： M. Tistarelli F. Guarnotta D. Rizzieri F. Tarocchi Department of Communication Computer and Systems Science (DIST) Laboratory for Integrated Advanced Robotics (LIRA-Lab) University of Genoa Genoa Italy

In this paper the problem of automated control of a road vehicle is addressed. In particular, a system is presented where optical flow techniques are applied to monitor overtaking maneuvers of other vehicles coming from the rear of the car. During car driving, most visual information is conveyed by the motion perceived within the visual field. The proposed approach for overtaking control is based on the computation of the optical flow (or the normal flow) from an image stream acquired from a camera sensor mounted on board of the vehicle. The method applies for a road vehicle and constitutes a building block of a software and hardware architecture devised to provide helpful information as an aid to the driver. Several experiments are presented from real image sequences.< >

关键词： Image motion analysis Automatic control Optical control Optical sensors Road vehicles Optical computing Monitoring Streaming media Cameras Image sensors

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Trajectory planning and real-time control of an autonomous mobile robot equipped with vision and ultrasonic sensors

Trajectory planning and real-time control of an autonomous m...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

作者： C. Innocenti G. Mondino P. Regis G. Sandini Department of Communication Computer and Systems Science Laboratory for Integrated Advanced Robotics (LIRA-Lab) University of Genova Liguria Italy AITEK S.r.l Liguria Italy Universita degli Studi di Genova Genova Liguria IT Dept. of Commun. Comput. & Syst. Sci. Genoa Univ. Italy

The aim of this paper is to discuss and present a navigation architecture for an autonomous mobile robot, based on the integration of ultrasonic sensors and stereo vision. The distinctive features are the integration of a "classical" planning approach and subsumption architecture for obstacle avoidance, and the fusion of visual and ultrasonic sensory data. The goal of the experiment is to plan missions between two user defined points in the environment, autonomously avoiding static and dynamic obstacles along the planned path.< >

关键词： Trajectory Mobile robots Robot sensing systems Navigation Robot kinematics Control systems Orbital robotics Real time systems Communication system control Sensor systems

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Towards real-time execution of motion tasks 2nd

Towards real-time execution of motion tasks

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2nd International Symposium on Experimental robotics, ISER 1991

作者： Quinlan, Sean Khatib, Oussama A I Lab. Robotics Laboratory Computer Science Department Stanford University StanfordCA94305 United States

ISBN: (纸本)9783540198512

The goal of the research described in this paper is to build robotic systems that can execute motion tasks in real time. We present two ideas towards this goal: a real-time path planner for static three-dimensional configuration spaces and a new framework for the integration of planning and control. The planner is based on a new class of cells, slippery cells, incorporated in an approximate cell decomposition algorithm. The elastic band concept is proposed to provide an effective link between planning and execution. With elastic bands, a path is treated as a flexible entity. The initial configuration of the elastic band is the path provided by the planner. The shape of the elastic dynamically evolves during execution, using sensory data about the environment. © Springer-Verlag London Limited 1993.

关键词： Real time systems

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