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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： G. Sandini G. Lucarini M. Varoli Department of Communication Computer Systems Science Laboratory for Integrated Advanced Robotics (LIRA-Lab) University of Genova Genoa Italy

The aim of this paper is to discuss and present some experimental data on the use of optical, chemical and ultrasound sensors to control the motion of single and cooperating robots. The distinctive feature is that in both cases the motion of the robots is not driven by a localized target (e.g. a light, or a sound) but by a concentration gradient such as the one generated by a gas leak. Experiments using a simple optical sensor reading a variable density pattern of dark spots painted on the ground plane, are presented along with experiments performed using simple chemical sensors measuring the local gradient of a substance. Different strategies are discussed based on different configurations of the sensing devices and reflexive motor controls. The goal of the experiment is to analyze the performance of simple autonomous robots in reaching the point of highest concentration (i.e. the gas leak). This performance has been analyzed for single robots and for cooperating robots using a very simple communication channel.

关键词： Robot sensing systems Optical sensors Chemical sensors Performance analysis Ultrasonic imaging Acoustic sensors Motion control Optical control Performance evaluation Density measurement

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Active/dynamic stereo: a general framework

Active/dynamic stereo: a general framework

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Conference on computer Vision and Pattern Recognition (CVPR)

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

A general framework for dynamic stereo is proposed. It is shown that a binocular system, able to actively control the gaze of the cameras, can profitably exploit stereo and motion analysis to compute the relative orientation and time-to-impact with respect to the environment. The cooperative schema, in which motion and stereo vision are combined to take under control the temporal evolution of disparity, is particularly suitable for robot navigation or for tasks involving a robotic head mounted on a mobile platform. The framework takes into account tilt and pan motion of the cameras, and generic translation of the binocular system. An experiment performed on a stereo image sequence from a prototype robotic head is presented.< >

关键词： Robot vision systems Motion control Cameras Mobile robots Head Control systems Motion analysis Stereo vision Navigation Image sequences

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DYNAMIC ASPECTS IN ACTIVE VISION

CVGIP-IMAGE UNDERSTANDING

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CVGIP-IMAGE UNDERSTANDING 1992年第1期56卷 108-129页

作者： TISTARELLI, M SANDINI, G Department of Communication Computer and Systems Science Integrated Laboratory for Advanced Robotics (LIRA-Lab) University of Genoa Via Opera Pia 11A-16145 Genoa Italy

The term active stresses the role of the motion or, generally speaking, the dynamic interaction of the observer with the environment. This concept emphasizes the relevance of determining scene properties from the temporal evolution of image features. Within the active vision approach, two different aspects are considered: the advantages of space-variant vision for dynamic visual processing and the qualitative analysis of optical flow. A space-variant sampling of the image plane has many good properties in relation to active vision. In particular, two examples are presented in which a log-polar representation is used for active vergence control and to estimate the time-to-impact during tracking egomotion. These are just two modules which could fit into a complete active vision system, but already highlight the advantages of space-variant sensing within the active vision paradigm. In the second part of the paper the extraction of qualitative properties from the optical flow is discussed. A new methodology is proposed in which optical flows are analyzed in terms of anomalies as unexpected velocity patterns or inconsistencies with respect to some predicted dynamic feature. Two kinds of knowledge are necessary: about the dynamic of the scene (for example, the approximate motion of the camera) and about the task to be accomplished, which is analogous to (qualitatively) knowing the kind of scene I would expect to see. The first simply implies the measurement of some motion parameters (for example, with inertial sensors) directly on the camera, or to put some constraints in the egomotion. The second requirement implies that the visual process is task-driven. Some examples are presented in which the method is successfully applied to robotic tasks.

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ACTIVE DYNAMIC STEREO FOR NAVIGATION 2nd

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2ND EUROPEAN CONF ON computer VISION ( ECCV 92 )

作者： GROSSO, E TISTARELLI, M SANDINI, G University of Genoa Department of Communication Computer and Systems Science Integrated Laboratory for Advanced Robotics (LIRA-Lab) Via Opera Pia 11A Genoa 16145 Italy

ISBN: (纸本)3540554262

Stereo vision and motion analysis have been frequently used to infer scene structure and to control the movement of a mobile vehicle or a robot arm. Unfortunately, when considered separately, these methods present intrinsic difficulties and a simple fusion of the respective results has been proved to be insufficient in practice. The paper presents a cooperative schema in which the binocular disparity is computed for corresponding points in several stereo frames and it is used, together with optical flow, to compute the time-to-impact. The formulation of the problem takes into account translation of the stereo set-up and rotation of the cameras while tracking an environmental point and performing one degree of freedom active vergence control. Experiments on a stereo sequence from a real scene are presented and discussed. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Stereo vision

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ARTIFICIAL NERVOUS SYSTEMS The Genetic Programming of Production-Rule-GenNet Circuits

ARTIFICIAL NERVOUS SYSTEMS The Genetic Programming of Produc...

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IJCNN International Joint Conference on Neural Networks

作者： Hugo de Garis Computational Models Section Computer Science DivisionElectro Technical Lab(ETL) Center for Artificial Intelligence Computer Science DepartmentGeorge Mason University(GMU) CADEPS Artificial Intelligence and Artificial Life Research Unit Universite Libre de Bruxelles(ULB)

A year ago,the author evolved a simulated artificial creature(biot,*** robot),called LIZZY,which consisted of fully connected neural network modules (called GenNets),whose weights were evolved such that each GenNet performed some desired behavior,such as making the biot walk straight ahead,turn clockwise or anticlockwise,peck,or mate[de Garis 1990,1991,1993].Other such GenNets were evolved to detect sinusoidal frequencies,or signal strengths,or signal strength differences,***,the middle layer,between the detector and the motion GenNets,was implemented with traditional symbolic production rules,for reasons of computer simulation *** time a GenNet was added to the system,simulation speed *** paper "completes" the above work,by proposing a model which shows how a circuit of production-rule-GenNets(*** which behave like production rules),can be evolved which implements the middle or "decisional" layer, which takes signals outputted from the detector GenNets,and then decides which motion GenNet should be switched *** work takes a first step towards the evolution of whole nervous systems,where circuits of GenNet modules(of appropriate types) are evolved to give a biot a total behavioral performance repertoire.

关键词： Artificial Nervous Systems Genetic Programming(GP) Genetic Algorithms(GAs) GenNets(Genetically Programmed Neural Network Modules) Artificial Creatures Biots(Biological Robots) Detector GenNets Decision GenNets Motion GenNets Production-Rule-GenNets Complexity Independence of GAs ALife 1000-GenNet Biots Darwinian robotics GenNet Accelerators Software Programmable Hardware Darwin Machines

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3-D substructure matching in protein molecules 3rd

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3rd Annual Symposium on Combinatorial Pattern Matching, 1992

作者： Fischer, Daniel Nussinov, Ruth Wolfson, Haim J. Computer Science Department Raymond and Beverly Suckler Faculty of Exact Sciences Tel Aviv University Israel Suckler Inst. of Molecular Medicine Faculty of Medicine Tel Aviv University Israel Lab of Math. Biology PRI - Dynacor NCI-FCRF NIH United States Robotics Research Laboratory Courant Inst. of Math. Sc. New York University United States

ISBN: (纸本)9783540560241

Pattern recognition in proteins has become of central importance in Molecular Biology. Proteins are macromolecules composed of an ordered sequence of amino acids, referred to also as residues. The sequence of residues in a protein is called its primary structure. The 3-D conformation of a protein is referred to as its tertiary structure. During the last decades thousands of protein sequences have been decoded. More recently the 3-D conformation of several hundreds of proteins have been resolved using X-ray crystallographic techniques. Todate, most work on 3-D structural protein comparison has been limited to the linear matching of the 3-D conformations of contiguous segments (allowing insertions and deletions) of the amino acid chains. Several techniques originally developed for string matching have been modified to perform 3-D structural comparison based on the sequential order of the structures. We present an application of pattern recognition techniques (in particular matching algorithms) to structural comparison of proteins. The problem we are faced with is to devise efficient techniques for routine scanning of structural databases, searching for recurrences of inexact structural motifs not necessarily composed of contiguous segments of the amino acid chain. The method uses the Geometric Hashing technique which was originally developed for model-based object recognition problems in computer Vision. Given the three dimensional coordinate data of the structures to be compared, our method automatically identifies every region of structural similarity between the structures without prior knowledge of an initial alignment. Typical structure comparison problems are examined and the results of the new method are compared with the published results from previous methods. Examples of the application of the method to identify and search for non-linear 3-D motifs are included. © Springer-Verlag Berlin Heidelberg 1992.

关键词： Proteins

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A LITERATURE-REVIEW - ROBOTS IN MEDICINE

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IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE 1991年第2期10卷 13-&页

作者： PREISING, B HSIA, TC MITTELSTADT, B Robotics Research Lab Department of Electrical Engineering and Computer Science University of California Davis USA

Robotic systems employed in the laboratory, in rehabilitation, and in surgery are reviewed. The advantages of using a robot system over manual procedures in the laboratory to prepare samples is discussed, and some of the obstacles are noted. A typical laboratory robot is described. Rehabilitative applications in the major research areas of tactile sensors, assistive devices for the blind, prosthetics, and orthotics are examined. Manipulators that can help a disabled individual with important everyday tasks and other assistive robotic systems in rehabilitation are described. A variety of robots that assist or perform surgery is surveyed. These applications include positioning in stereotactic neurosurgery, patient manipulation, an in vivo spinal kinematic instrument, and robotic radial keratotomy, among others.< >

关键词： Medical robotics Rehabilitation robotics Robot sensing systems laboratories Surgery Tactile sensors Prosthetics Orthotics Manipulators Neurosurgery

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3D RECONSTRUCTION USING VIRTUAL PLANES AND HOROPTERS

3D RECONSTRUCTION USING VIRTUAL PLANES AND HOROPTERS

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CONF ON GEOMETRIC METHODS IN computer VISION

作者： GROSSO, E SANDINI, G TISTARELLI, M University of Genoa Department of Communication Computer and Systems Science (DIST) Integrated Laboratory for Advanced Robotics (LIRA - Lab) Via Opera Pia hA Genova 16145 Italy

ISBN: (纸本)0819406988

The paper presents some theoretical results useful in 3D reconstruction from disparity stereo maps. A practical implementation of the theory confirms the possibility of computing a fast spatial transposition of the observed scene without passing through an explicit computation of depth maps. Moreover, as the stereo pair moves controlling the vergence and maintaining the fixation point, it is possible to integrate spatial information and to refine gradually a simple volumetric model of the scene. A straight generalization of the approach suggests the introduction of the horopters theory, which is discussed in its weak and strong aspects. Some basic ideas related to the active vision paradigm are proposed and some experimental results on real data are presented. © 1991 SPIE. All rights reserved.

关键词： Stereo image processing

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Direct estimation of time-to-impact from optical flow

Direct estimation of time-to-impact from optical flow

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Workshop on Visual Motion

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

The estimation of time to impact is of vital importance for animals as well as for autonomous robots. The optical flow is used to estimate the time to impact. The authors demonstrate that the motion equations that relate the egomotion and/or the motion of the objects in the scene to the optical flow are considerably simplified if the velocity is represented in a polar or log-polar coordinate system, as opposed to a Cartesian representation. In the former case, the time-to-impact can be directly computed from the velocity field and its derivatives. The analysis takes place considering a tracking egomotion, but is then generalized to arbitrary sensor and object motion. The main result stems from the abundance of equations that can be written directly relating the optical flow, represented in a polar or log-polar coordinate system, with the time-to-impact. Experiments performed on images acquired from real scenes are presented.< >

关键词： Image motion analysis Optical sensors Robot kinematics Layout Robot sensing systems Retina Tracking Motion analysis Equations Optical computing

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Towards vision guided manipulation

Towards vision guided manipulation

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International Conference on Advanced robotics (ICAR)

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

One of the major problems in the realisation of a really autonomous robotic system, has certainly been the impossibility of being provided with perfect a priori information. The authors propose an architecture integrating sensory skills both as an aid to the manipulation process and as a means to extract information from the scene. The vision based self-calibration is described together with the first steps in closing the control loop with vision.< >

关键词： Robot sensing systems Layout Monitoring Data mining Robotic assembly Feature extraction Robot vision systems Proposals Sensor phenomena and characterization laboratories

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