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International Conference on Information Intelligence and Systems

作者： R. Singh R.M. Voyles D. Littau N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

The article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration.

关键词： Shape control Robot control Shape measurement Object recognition Physics Deformable models Motion control Manipulators Calibration Humans

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Critical aspects of structural control schemes for multilevel hierarchical systems

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IFAC Proceedings Volumes 1999年第2期32卷 5909-5914页

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical & Computer Engineering University of Patras Rion 26500 GREECE Tel +30 61 997295 Fax +***

In this paper a class of two level systems where N linear subsystems S1, S2,…, SN in a lower hierarchical level are interconnected through a cordinator S 0 in a higher hierarchical level is considered. The model of such a system is presented together with a controlling algorithm that preserves the structure of the system. The paper is mainly a survey of all related work and presents all the critical aspects of such a controlling scheme such as structural controllability, fixed modes, the algorithm itself and stability of the closed loop system.

关键词： Large Scale Systems Decentralized Control Multilevel Hierarchical Systems

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Real-time motion planning of car-like robots

Real-time motion planning of car-like robots

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Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)

作者： Xianyi Yang Max Meng Advanced Robotics and Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

A neural network approach is proposed for real-time collision-free motion planning of holonomic and nonholonomic car-like robots in a nonstationary environment. This model is capable of planning real-time robot motion with sudden environmental changes, motion of a car with multiple targets, and motion of multiple robots. The proposed neural network model is biologically inspired, where the dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation. There are only local connections among neurons. The real-time optimal robot motion is planned through the dynamic neural activity landscape of the neural network without explicitly searching over the free workspace nor the collision paths, without explicitly optimizing any cost functions, without any prior knowledge of the dynamic environment, without any learning process, and without any local collision checking procedures. Therefore it is computationally efficient. The stability of the neural network is guaranteed by Lyapunov stability analysis. The effectiveness and efficiency of the proposed approach are demonstrated through simulation studies.

关键词： Motion planning Neural networks Biological system modeling Robot motion Neurons Equations Cost function Stability analysis Lyapunov method Computational modeling

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Free-form surface registration using surface signatures

Free-form surface registration using surface signatures

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International Conference on computer vision (ICCV)

作者： S.M. Yamany A.A. Farag Computer Vision and Image Processing Laboratory Electrical Engineering Department University of Louisville Louisville KY USA

The paper introduces a new free-form surface representation scheme for the purpose of fast and accurate registration and matching. Accurate registration of surfaces is a common task in computer vision. The proposed representation scheme captures the surface curvature information seen from certain points and produces images called surface signatures at these points. Matching signatures of different surfaces enables the recovery of the transformation parameters between these surfaces. We propose to use template matching to compare the signature images. To enable partial matching, another criterion, the overlap ratio, is used. This representation scheme can be used as a global representation of the surface as well as a local one and performs near real time registration. We show that the signature representation can be used to match objects in 3D scenes in the presence of clutter and occlusion. Applications presented include free-form object matching, multimodal medical volume registration and dental teeth reconstruction from intra-oral images.

关键词： Shape computer vision Surface reconstruction Application software Biomedical imaging Image processing Layout Dentistry Teeth Image reconstruction

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Neural network application in robot motion planning

Neural network application in robot motion planning

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： X. Yang M. Meng Advanced Robotics & Teleoperation Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

The application of neural networks to real-time motion planning of robotic systems is studied. The proposed framework, using biologically inspired neural networks, for robot motion planning with obstacle avoidance in a nonstationary environment is computationally efficient. The neural dynamics of each neuron in the topologically organized neural network is characterized by a simple shunting equation derived from Hodgkin and Huxley's (1952) membrane model. The real-time optimal robot motion is planned through the dynamic activity landscape of the neural network that represents the dynamic environment. The proposed model can deal with point mobile robots, manipulation robots, holonomic and nonholonomic car-like robots and multi-robot systems. The efficiency and effectiveness are demonstrated by simulation studies.

关键词： Neural networks Robot motion Motion planning Mobile robots Real time systems Biology computing computer networks Neurons Equations Biomembranes

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Team scheduling by genetic search 2

Team scheduling by genetic search

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2nd International Conference on Intelligent Processing and Manufacturing of Materials, IPMM 1999

作者： Zhang, Tiehua Graver, William A. Smith, Michael H. Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University BurnabyBCV5A1S6 Canada University of California at Berkeley Department of Electrical Engineering and Computer Science BerkeleyCA United States

ISBN: (纸本)0780354893

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple Travelling Salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem. © 1999 IEEE.

关键词： Cost functions

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Rigid neuroendoscope navigation system for minimally invasive surgery

Rigid neuroendoscope navigation system for minimally invasiv...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： A.M. Eldeib A. Mohamed A. Farag Computer Vision and Image Processing Laboratory Department of Electrical Engineering University of Louisville Louisville KY USA

This paper describes a high precision navigation system that helps neurosurgeons identify more easily the neuroendoscope's tip location in the patient's brain that can significantly reduce the length and increase the accuracy of minimally invasive procedures. It is an image-guided neurosurgery system that provides integrated information of preoperative 3-D medical volumes, intra-operative neuroendoscope 2-D images, position information of the endoscope and surgical tools. The system's components include data acquisition, segmentation, multi-modal registration, 3-D surface and volume reconstruction, 3-D visualization, surgical simulation and integration of tracking systems. An articulated arm (digitizer) is used for automated registration of the 3-D model to the patient, then it is integrated with the system to dynamically localize surgical instruments and the patient's head in the patient's coordinate system. The visualization subsystem shows the position and orientation of the neuroendoscope's tip in the 3-D model of preoperative Magnetic Resonance (MR) volume and in the three orthogonal (sagittal, cronoal and axial) MR slices. The system's components and clinical applications are described.

关键词： Navigation Minimally invasive surgery Neurosurgery Biomedical imaging Endoscopes Data acquisition Image segmentation Surface reconstruction Image reconstruction Data visualization

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Multi-modal medical volumes fusion by surface matching

Multi-modal medical volumes fusion by surface matching

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International Symposium on Signal Processing and Its Applications (ISSPA)

作者： A.M. Eldeib S.M. Yamany A. Farag Computer Vision and Image Processing Laboratory Department of Electrical Engineering University of Louisville Louisville KY USA

Presents a fast, six degrees of freedom, registration technique to accurately locate the position and orientation of medical volumes (e.g. CT, MRI) with respect to each other for the same patient. The technique uses surface registration and maximization of mutual information. We have developed a novel technique for surface registration which produces highly accurate results when registering two different volumes of the same individual generated from the same modality, such as preoperative MR and intraoperative MR volumes. In case surface registration is not able to accurately register the different volumes, the result is enhanced by multi-modal volume registration. The gain of this combination is to have an accurate alignment and to reduce time needed for registration. For the multi-modal volume registration, the maximization of mutual information (MI) as a matching criterion is used based on genetic algorithms (GA) as a search engine. Our results demonstrate that our registration technique allows for fast, accurate, robust and completely automatic registration of multimodality medical volumes.

关键词： Biomedical imaging Medical diagnostic imaging Computed tomography Mutual information Magnetic resonance imaging Data mining Magnetic resonance Genetic algorithms Shape computer vision

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Shape recognition and vision-based robot control by shape morphing

Shape recognition and vision-based robot control by shape mo...

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1999 International Conference on Information Intelligence and Systems, ICIIS 1999

作者： Singh, Rahul Voyles, Richard M. Littau, David Papanikolopoulos, Nikolaos P. Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota MinneapolisMN55455 United States Bio-Informatics Division Exelixis Pharmaceuticals 280 E. Grand Avenue So. San FranciscoCA94080 United States

ISBN: (纸本)0769504469

In this paper we article presents a unified approach for object recognition and recognition based control of robotic interactions with objects. The approach is based on morphing the shape of objects. The morph of one object to another is treated as a deformation and is defined such that it can be quantified using a physics based model. This quantification serves as a dissimilarity measure and is used for shape recognition. By storing the views that represent the grasp positions for different object, the proposed framework is used to identify the desired end position a robot needs to attain for interacting with the given object. Furthermore, the images synthesized during the morph define a view based trajectory, starting with the view defining the initial robot-object orientation to the view defining the desired robot-object orientation. We propose a technique where these synthetic images are used to control the motion of a PUMA 560 eye-in-hand manipulator to execute alignment and grasping tasks. The proposed approach does not require complete calibration information, obviates manual feature selection and correspondence, can provide smooth trajectories, and needs a single image for each object (in a 4-DOF formulation). Potential applications range from recognition and positioning with respect to partially occluded or deformable objects as well as planning robotic grasping based on human demonstration. © 1999 IEEE.

关键词： Object recognition

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Influence of mode truncation and elongation deformation to a flexible manipulator

Influence of mode truncation and elongation deformation to a...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Yan Liu M. Meng D. Wang ART (Advanced Robotics and Teleoperation) Laboratory Department of Electrical and Computer Engineering University of Alberta Edmonton AB Canada

Influences of the mode truncation and the longitudinal elongation on the dynamic response of a single link flexible robotic manipulator are studied. Firstly, the relationship between the mode truncation and the inertia matrix of the flexible manipulator dynamic equation is derived. The condition number of the inertia matrix is computed with respect to the number of mode shapes. The inertia matrix is becoming ill posed with the increasing of the mode number. Secondly, the dynamic model with longitudinal elongation is derived. The influence of the longitudinal elongation on the dynamic response, which is caused by the transversal deformation of the system, is analyzed.

关键词： Manipulator dynamics Robots Deformable models Frequency Payloads Equations Orbital robotics Angular velocity Subspace constraints Shape

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