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A new solution methodology for fuzzy relation equations 11th

A new solution methodology for fuzzy relation equations

11th International Conference on Industrial and engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 1998

作者： Tzafestas, Spyros G. Stamou, Giorgos B. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zographou Athens15773 Greece Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Greece

ISBN: (纸本)3540645829

In this paper a general methodology for studying and solving fuzzy relation equations based on sup-t composition, where t is any continuous triangular norm, is proposed. To this end the concept of the "solution matrices" is introduced, as a way of representing the process information required for the resolution. Using this concept, the solution existence of a fuzzy relation equation is first examined. When the relation equation has no solution, the reasons for this lack of solvability are found. Otherwise, the solution set is determined. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Fuzzy systems

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Progress on the deictically controlled wheelchair

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Lecture Notes in computer Science

作者： Crisman, Jill D. Cleary, Michael E. Robotics and Vision Systems Laboratory Dept. of Electrical and Computer Engineering Northeastern University Boston MA 02115 United States College of Computer Science Northeastern University Boston MA 02115 United States

ISBN: (纸本)9783540647904

We aim to develop a robot which can be commanded simply and accurately, especially by users with reduced mobility. Our shared control approach divides task responsibilities between the user (high level) and the robot (low level). A video interface shared between the user and robot enables the use of a deictic interface. The paper describes our progress toward this goal in several areas. A complete command set has been developed which uses minimal environmental features. Our video tracking algorithms have proven robust on the types of targets used by the commands. Specialized hardware and new tactile and acoustic sensors have been developed. These and other advances are discussed, as well as planned work. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Robots

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New generation of multirobot systems

New generation of multirobot systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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Algorithmic navigation to train deictic mobile robot operators

Algorithmic navigation to train deictic mobile robot operato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.E. Cleary J.D. Crisman College of Computer Science Robotics and Vision Systems Laboratory Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Presents an algorithm for a simulator to train mobile robot operators in the use of deictic commands. It shows that robots can be deictically controlled in any reasonable environment. Deictic control is a technique which directs the robot by visually servoing on targets pointed out to the robot by its operator. This provides a direct, intuitive control method which any sighted operator can use. Previous work has formally defined canonical targets required for deictic control, and has described a training system for prospective users. This paper extends that work by providing a specific algorithm for the construction of deictically controlled paths. The algorithm is described in detail and results are presented. This algorithm shows that deictic commands and their targets can be simply determined by an agent able to sense the surrounding environment.

关键词： Navigation Mobile robots Robot control Automatic control Control systems Robot vision systems Machine vision Object recognition Humans robotics and automation

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Pose alignment of an eye-in-hand system using image morphing

Pose alignment of an eye-in-hand system using image morphing

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

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 Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Positioning an eye-in-hand robotic system with respect to a static target is a challenging research problem since it involves recognition of the object and the desired pose at which alignment is to occur, planning a trajectory for the robot to attain this pose, and careful calibration of the system and the environment. In this paper we introduce a unified framework based on image morphing, to address the above problems and apply it to the task of translational and rotational alignment of an eye-in-hand system to planar objects or planar projections of 3D objects. In our method the desired manipulator pose for each object is defined and stored as a view of the object taken from this pose. The identity of an unknown object in the workspace is established by morphing its image to the views in the database, and using a quantification of the morph as a dissimilarity measure. The synthetic images generated during the morph are used guide an eye-in-hand system to the desired pose. The framework can accommodate partially occluded or deformable targets and smooth trajectories can be generated since an arbitrary number of intermediate images can be used.

关键词： Calibration Robot vision systems Error correction Trajectory Artificial intelligence Intelligent robots Laboratories computer science Target recognition Image databases

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Motion Planning of Drift-Free Systems Under a Discrete Levels Constraint with Low-Bounded Switching Intervals

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IFAC Proceedings Volumes 1998年第20期31卷 645-652页

作者： P.G. Skiadas N.T. Koussoulas Laboratory for Automation and Robotics Electrical and Computer Engineering Department University of Patras Rio Patras 265 00 Greece

We study the behavior of drift-free systems, whose inputs take values in a finite discrete levels set with low bounded switching intervals. In particular, we solve the motion planning problem of drift-free systems under the above constraints and we prove that the proposed methods provide exact steering when the system is nilpotent. Finally, we explore the details of our methods applying them to the motion planning of a drift-free system.

关键词： Mobile robots drift-free system differential geometry

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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MULTI-AGENT ROBOT ARCHITECTURES: THE DECOMPOSITION ISSUE AND A CASE STUDY

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International Journal on Artificial Intelligence Tools 1998年第2期7卷 163-187页

作者： ELPIDA S. TZAFESTAS SPYROS N. RAPTIS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou 15773 Greece

In this paper, some fundamental issues of modern multi-agent robot architectures are discussed. It is argued that the multi-agent approach provides the necessary flexibility and adaptivity for such architectures, and that the primary issue in designing a multi-agent robot architecture is the selection of the granularity level, i.e., the decision on decomposing the overall desired functionality physically or across tasks. It is explained why at the various system levels different decomposition grains are needed; physical components, tasks or hybrid. This granularity decision is made on the basis of specific criteria of control localization, knowledge decoupling and interaction minimization so as to identify the decision points of the overall functionality. The above criteria lead to a dual composition-decomposition relation, which provides a good basis for system scaling. The paper specializes the discussion to a proposed neuro-fuzzy multi-agent architecture, which is then applied to design the local path planning system of an indoor mobile robot.

关键词： Multi-agent robot systems distributed artificial intelligence robotic modeling decomposition neuro-fuzzy systems fuzzy agents neural agents robot path planning

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Fuzzy Cognitive Maps Modelling Supervisory Large Scale Control Systems

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IFAC Proceedings Volumes 1998年第20期31卷 93-98页

作者： Chrysostomos D. Stylios Peter P. Groumpos Voula C. Georgopoulos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE School of Electrical Engineering and Computer Science Ohio University Athens OH 45701 USA

This paper investigates the implementation of a hybrid methodology, which combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for the modeling of the supervisor of Large Scale Systems. The description and the construction of Fuzzy Cognitive Map will be extensively examined and it will be proposed a model for the supervisor. There is an oncoming need for more autonomous and intelligent systems, especially in Large Scale Systems and the application of Fuzzy Cognitive Map for the modeling of the Supervisor may contribute in the development of more autonomous systems.

关键词： Modeling Supervisory Control Cognitive Systems

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Object skeletons from sparse shapes in industrial image settings

Object skeletons from sparse shapes in industrial image sett...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Singh N.P. Papanikolopoulos V. Cherkassky Artificial Intelligence Robotics and Vision Laboratory USA Department of Electrical Engineering University of Minnesota Minneapolis MN USA

Presents a method for computing the shape skeleton of planar objects in presence of noise occurring inside the image regions. Such noise may be due to poor control of lighting conditions, incorrect thresholding or image subsampling. Binary images of objects with such noise exhibit sparseness (lack of connectivity), within their image regions. Such non-contiguity may also be observed in thresholded images of objects which consist of regions having varying albedo. The problem of obtaining the skeletal description of sparse shapes is ill posed in the sense of conventional skeletonization techniques. We propose a skeletonization method which is based on obtaining the shape skeleton by evolving an approximation of the principal curve of the shape distribution. Our method is implemented as a batch mode Kohonen self-organizing map algorithm and involves iterating the following two steps: (1) Voronoi tessellation of the data, (2) kernel smoothing on the Voronoi centroids. Adjacency relationships between the Voronoi regions are obtained by computing a Delaunay triangulation of the centroids. The Voronoi centroids are connected by a minimum spanning tree after each iteration. The final shape skeleton is obtained by joining centroids which are disjoint in the spanning tree, but have adjacent Voronoi regions. The skeletal descriptions obtained with the method are invariant to translation, rotation, and scale changes of the shape. The potential of the method is demonstrated on industrial objects having varying shape complexity under different imaging conditions.

关键词： Skeleton Shape Noise shaping Intelligent robots Service robots Robot vision systems Inspection Object recognition Laboratories computer science

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