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IEEE Swarm Intelligence Symposium, SIS

作者： O. Sjahputera J.M. Keller Ellis Fishcel Cancer Research Laboratory Pathology & Anatomical Sciences Department University of Missouri Columbia Columbia MO USA Electrical and Computer Engineering Department University of Missouri Columbia MO USA

Advances in a scene matching approach based on objects spatial relationships are discussed. Objects spatial relationships are captured using force histograms, which are used as affine-invariant image descriptors. Object mapping across images is performed by finding the best correspondence map between image descriptors. Due to a very large search space, the particle swarm optimization method is used to facilitate more efficient search. The image descriptors map is then translated into an object map identifying the correspondences between objects in the two images.

关键词： Particle swarm optimization Layout Histograms Object recognition Humans Image analysis computer vision Image segmentation Shape Geometry

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Task allocation for event-aware spatiotemporal sampling of environmental variables

Task allocation for event-aware spatiotemporal sampling of e...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： M.A. Batalin G.S. Sukhatme Yan Yu R. Pon J. Gordon M.H. Rahimi W.J. Kaiser G.J. Pottie D.E. Estrin Center for Robotics and Embedded Systems Robotic Embedded Systems Laboratory Computer Science Department University of Southern California Los Angeles CA USA Department of Computer Science Center for Embedded Networked Sensing University of California Los Angeles CA USA Department of Electrical Engineering Center for Embedded Networked Sensing University of California Los Angeles CA USA

Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena coupled with the demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m/sup 2/ over transects exceeding 1000 m/sup 2/. Clearly, adequate sampling coverage of such transect requires an impractically large number of sensing nodes. A new approach, networked infomechanical system (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on the critical parts of NIMS, the task allocation module. We present our methodologies and the two basic greedy task allocation policies - based on time of the task arrival (time policy) and distance from the robot to the task (distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies.

关键词： Spatiotemporal phenomena Sampling methods Sensor phenomena and characterization Solar radiation Mobile robots Atmospheric measurements Ecosystems Robot sensing systems Embedded system computer science

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Autonomous power-scavenging MEMS robots

Autonomous power-scavenging MEMS robots

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： D.J. Denninghoff L.A. Starman P.E. Kladitis C.E. Perry Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Air Force Research Laboratory AFRL Micro Munitions Technology Team Munitions Directorate Eglin Air Force Base FL USA

The initial development of novel 80- and 500-mum MEMS flying robots with potential autonomous movement and power-scavenging abilities are described in this paper. Microrobot applications as well as the developments of walking and flying miniature robots are discussed. Laser-heating theory as a powering scheme and residual-stress deflection are investigated. Several pinwheel-based robots composed of polysilicon and gold have been designed and fabricated in polyMUMPs. Residual-stress actuators are imbedded into each robot wing and powered optothermally with a 660-nm laser. The robots are designed to heat and cool asymmetrically so as to rotate and generate lift. Preliminary results from 500-mum fabricated designs show a vertical wingtip deflection of 7.2-mum. Laser-powered actuation is yet to be tested. Once these robots demonstrate autonomous flight, further research in integrating CMOS processing circuitry and MEMS-based sensors and actuators are investigated

关键词： Micromechanical devices Legged locomotion Robot sensing systems Service robots Medical robotics Laboratories Actuators Weapons Laser theory Power lasers

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Fusion of biomedical microcapsule endoscope and microsystem technology

Fusion of biomedical microcapsule endoscope and microsystem ...

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International Conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： Tae Song Kim Byungkyu Kim Dongil Dan Cho Si Young Song P. Dario M. Sitti Microsyst. Res. Center Korean Inst. of Sci. & Technol. South Korea Microsystem Research Center Korean Institute of Science and Technology South Korea School of Electrical Engineering and Computer Science ERC-NBS ISRC ASH Seoul National University South Korea College of Medicine Yonsei University South Korea CRIM Laboratory Polo SantAnna Valdera Scuola Superiore Sant'' Anna Italy NanoRobotics Laboratory Mechanical Engineering Department Carnegie Mellon University USA

Wireless endoscopic capsules as a novel non-invasive imaging device could be realized through the integration of wireless communication and microsystem technologies. These capsules would open many new health-care opportunities for the diagnosis and treatment of digestive system diseases non-invasively and efficiently. This paper describes our recent research activities which are aimed to enable more functional and controllable robotic endoscopic capsules by the fusion of biomedical, microsystem, and robotics technologies.

关键词： Endoscopes Biopsy CMOS technology Wireless sensor networks Biomedical imaging Surges Gastrointestinal tract Intelligent sensors Digestive system Robots

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MULTI-SENSORY SYNERGIES IN HUMANOID robotics

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International Journal of Humanoid robotics 2004年第2期1卷 289-314页

作者： RUSSELL, R. ANDREW TAYLOR, GEOFFREY KLEEMAN, LINDSAY PURNAMADJAJA, ANIES H. Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3800 Australia

Sensing is a key element for any intelligent robotic system. This paper describes the current progress of a project in the Intelligent robotics research Center at Monash University that has the aim of developing a synergistic set of sensory systems for a humanoid robot. Currently, sensing modes for colour vision, stereo vision, active range, smell and airflow are being developed in a size and form that is compatible with the humanoid appearance. Essential considerations are sensor calibration and the processing of sensor data to give reliable information about properties of the robot's environment. In order to demonstrate the synergistic use of all of the available sensory modes, a high level supervisory control scheme is being developed for the robot. All time-stamped sensor data together with derived information about the robot's environment are organized in a blackboard system. Control action sequences are then derived from the blackboard data based on a task description. The paper presents details of each of the robot's sensory systems, sensor calibration, and supervisory control. Results are also presented of a demonstration project that involves identifying and selecting mugs containing household chemicals. Proposals for future development of the humanoid robot are also presented. © 2004 World Scientific Publishing Company

关键词： Stereo vision

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Fusion of visual and thermal signatures with eyeglass removal for robust face recognition

Fusion of visual and thermal signatures with eyeglass remova...

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2004 IEEE computer Society Conference on computer vision and Pattern Recognition Workshops, CVPRW 2004

作者： Heo, Jingu Kong, Seong G. Abidi, Besma R. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee KnoxvilleTN37996-2100 United States

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions. © 2004 IEEE.

关键词： Face recognition

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Conditions for uniform solvability of parameter-dependent Lyapunov equations with applications

Conditions for uniform solvability of parameter-dependent Ly...

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American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We consider the problem of finding a common quadratic Lyapunov function to demonstrate stability of a family of matrices which incorporate design freedoms. Generically, this can be viewed as picking a family of controller (or observer) gains so that the family of closed-loop system matrices admits a common Lyapunov function. We provide several conditions, necessary and sufficient, for various structures of matrix families. Families of matrices containing a subset of diagonal matrices invariant under the design freedoms is also considered since this is a case that occurs in many applications. Conditions for uniform solvability of the Lyapunov equations are explicitly given and involve inequalities regarding relative magnitudes of terms in the matrices. Motivating applications of the obtained results to observer and controller designs for time-varying, switched, and nonlinear systems are highlighted.

关键词： Equations Symmetric matrices Application software Lyapunov method Control systems Time varying systems Nonlinear systems Robot control Laboratories Design engineering

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A high gain multiple time-scaling technique for global control of nonlinear systems

A high gain multiple time-scaling technique for global contr...

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American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory(CRRL) Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We consider a general high-gain scaling technique for global control of strict-feedback-like systems. Unlike previous results, the scaling utilizes arbitrary powers (instead of requiring successive powers) of the high gain parameter with the powers chosen to satisfy certain inequalities depending on system nonlinearities. The scaling induces a weak-cascading upper diagonal dominance (w-CUDD) structure on the dynamics. The analysis is based on our recent results on the w-CUDD property and uniform solvability of coupled state-dependent Lyapunov equations. The proposed scaling provides extensions in both state-feedback and output-feedback cases. The state-feedback problem is solved for a class of systems with certain ratios of nonlinear terms being polynomially bounded. The controller has a simple form being essentially linear with state-dependent dynamic gains and does not involve recursive computations. In the output-feedback case, the scaling technique is applied to the design of the observer which is then coupled with a backstepping controller. The results relax the assumption in our earlier papers on cascading dominance of upper diagonal terms. However, since the required upper diagonal cascading dominance in observer and controller contexts are dual, it is not possible to use a dual high-gain observer/controller in the proposed design preventing the bounds on uncertain functions from being of the more general form in our earlier work. A topic of further research is to examine the possibility of a scaling (perhaps utilizing more than one high gain parameter) that achieves bidirectional cascading dominance.

关键词： Nonlinear control systems Control systems Nonlinear systems Backstepping Linear matrix inequalities Riccati equations Robot control Laboratories Power engineering computing Power engineering and energy

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Localization of simultaneous moving sound sources for mobile robot using a frequency- domain steered beamformer approach

Localization of simultaneous moving sound sources for mobile...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.-M. Valin F. Michaud B. Hadjou J. Rouat LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

Mobile robots in real-life settings would benefit from being able to localize sound sources. Such a capability can nicely complement vision to help localize a person or an interesting event in the environment, and also to provide enhanced processing for other capabilities such as speech recognition. We present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on a frequency-domain implementation of a steered beamformer along with a probabilistic post-processor. Results show that a mobile robot can localize in real time multiple moving sources of different types over a range of 5 meters with a response time of 200 ms.

关键词： Mobile robots Auditory system Orbital robotics Intelligent robots Head Acoustic noise Humans Robustness Microphone arrays Signal processing

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Enhanced robot audition based on microphone array source separation with post-filter

Enhanced robot audition based on microphone array source sep...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.-M. Valin J. Rouat F. Michaud Department of Electrical Engineering and Computer Engineering LABORIUS-Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrook Sherbrooke QUE Canada

We propose a system that gives a mobile robot the ability to separate simultaneous sound sources. A microphone array is used along with a real-time dedicated implementation of geometric source separation and a post-filter that gives us a further reduction of interferences from other sources. We present results and comparisons for separation of multiple non-stationary speech sources combined with noise sources. The main advantage of our approach for mobile robots resides in the fact that both the frequency domain geometric source separation algorithm and the post-filter are able to adapt rapidly to new sources and non-stationarity. Separation results are presented for three simultaneous interfering speakers in the presence of noise. A reduction of log spectral distortion (LSD) and increase of signal-to-noise ratio (SNR) of approximately 10 dB and 14 dB are observed.

关键词： Microphone arrays Source separation Mobile robots Acoustic noise Auditory system Humans Intelligent robots Interference Robot sensing systems Mobile computing

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