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International Conference on Neural Networks

作者： Y.V. Venkatesh N. Rishikesh Computer Vision and Artificial Intelligence Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

We propose a new technique, based on self-organization, for localizing salient contours in an image, with applications to, for instance, object and character recognition, stereopsis and motion tracking. A neuronal network which is isomorphic to the template/initial contour is created. This network acts as an active contour, which, using self-organization, undergoes deformation in an attempt to cling on to the nearest salient contour in the test image. The application areas of the model proposed are similar to "snake", but distinct from it both in the underlying mathematics and implementation. The new technique is illustrated with some examples.

关键词： Active contours Neural networks Humans Image edge detection Artificial intelligence Shape Character recognition Object recognition Prototypes Spline

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Probabilistic octree modeling of a 3D dynamic environment

Probabilistic octree modeling of a 3D dynamic environment

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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Payeur P. Hebert D. Laurendeau C.M. Gosselin Computer Vision and Digital Systems Laboratory Department of Electrical and Computer Engineering Laval University Sainte Foy QUE Canada Computer Vision and Digital Systems Laboratory Department of Mechanical Engineering Laval University Sainte Foy QUE Canada

Probabilistic occupancy grids have proved to be very useful for workspace modeling in 2D environments. Due to the expansion of computational load, this approach was not tractable for mapping a 3D environment in real applications. In this paper, the original occupancy grid scheme is revisited and a generic closed-form function is introduced to avoid numerical computation of probabilities for a range sensor with Gaussian error distribution. Occupancy probabilities are computed and stored in a multiresolution octree for improved performance and compactness. Occupancy models are built in local reference frames and linked to a global reference frame through uncertain spatial relationships that can be updated dynamically. This scheme is used for building a 3D map in a telerobotic maintenance application of electric power lines where perturbations may cause motion of object assembly.

关键词： Layout computer vision Grid computing Spatial resolution Robotic assembly Solid modeling Bayesian methods Digital systems Mechanical engineering Distributed computing

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Robust telemanipulator control using a partitioned neural network architecture

Robust telemanipulator control using a partitioned neural ne...

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1997 IEEE International Conference on Neural Networks (ICNN 97)

作者： Tzafestas, SG Prokopiou, PA Tzafestas, CS Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical Unhersity of Athens Zografou 15773 Athens Greece Laboratoire de Robotique de Paris CNRS UPMC-UVSQ 78140 Velizy 10-12 AV. de 1' Europe France

ISBN: (纸本)0780341236

In this paper the control problem of telemanipulators is considered under the condition that they are subject to modeling and other uncertainties of considerable levels. The design is based on the S. Lee and H. S. Lee teleoperator control scheme, which is modified so as to be able to compensate the uncertainties, and is implemented using a partitioned multilayer perceptron neural network. Several subnetworks are used each one identifying a term of the manipulator's dynamic model. A new learning algorithm is proposed which distributes the learning error to each subnetwork and enables online training Several simulation results are provided which show the robustness ability by the partitioned neurocontroller, and compare it with the results obtained through sliding mode control.

关键词： Sliding mode control

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Introducing the theory of fuzzy cognitive maps in distributed systems

Introducing the theory of fuzzy cognitive maps in distribute...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： C.D. Stylios V.C. Georgopoulos P.P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rio Greece School of Electrical Engineering and Computer Science Ohio University Athens OH USA

This paper investigates a novel hybrid fuzzy neural system, fuzzy cognitive map (FCM), and its implementation in distributed systems and control problems. The description and the methodology of this system will be examined and then it will be shown the application of FCM in a process control problem, which will reveal the characteristics and qualities of FCM. There is an oncoming need for more autonomous and intelligent systems, which could be satisfied with the application of FCM in the field of systems and control.

关键词： Fuzzy cognitive maps Fuzzy systems Fuzzy logic Intelligent systems robotics and automation Fuzzy control Control systems Control system synthesis Neural networks Humans

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Using local 3D structure for segmentation of bone from computer tomography images

Using local 3D structure for segmentation of bone from compu...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： C.-F. Westin A. Bhalerao H. Knutsson R. Kikinis Surgical Planning Laboratory Harvard Medical School USA Computer Vision Laboratory Department of Electrical Engineering Linköping University Sweden

In this paper we focus on using local 3D structure for segmentation. A tensor descriptor is estimated for each neighbourhood, i.e. for each voxel in the data set. The tensors are created from a combination of the outputs form a set of 3D quadrature filters. The shape of the tensors describe locally the structure of the neighbourhood in terms of how much it is like a plane, a line, and a sphere. We apply this to segmentation of bone from computer Tomography data (CT). Traditional methods are based purely on gray-level value discrimination and have difficulties in recovering thin bone structures due to so called partial voluming, a problem which is present in all such sampled data. We illuminate the partial voluming problem by showing that thresholding creates complicated artifacts even if the signal is densely enough sampled and can be perfectly reconstructed. The unwanted effects of thresholding can be reduced by a change of the signal basis. We show that by using additional local structure information can significantly reduce the degree of sampling artifacts. Evaluation of the method on a clinical case is presented, the segmentation of a human skull from a CT volume. The method shows that many of the thin bone structures which disappear in a pure thresholding can be recovered.

关键词： Image segmentation Bones Tensile stress Computed tomography Image reconstruction Surgery Signal sampling Laboratories Shape Image sampling

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SmartATMS : A Simulator For Air Traffic Management Systems

SmartATMS : A Simulator For Air Traffic Management Systems

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Simulation Winter Conference

作者： Tak-Kuen John Koo Yi Ma G.J. Pappas C. Tomlin Robotics and Intelligent Machines Laboratory Department of Electrical Engineering and Computer Science University of California Berkeley Berkeley CA USA

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Vector fields for task-level distributed manipulation: experiments with organic micro actuator arrays

Vector fields for task-level distributed manipulation: exper...

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IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer J.W. Suh B.R. Donald G.T.A. Kovacs Robotics & Vision Lab Department of Computer Science Cornell University Ithaca NY USA Transducers Lab Department of Electrical Engineering University of Stanford Stanford CA USA Robotics Lab Department of Computer Science University of Stanford Stanford CA USA

Distributed manipulation experiments were performed using a massively-parallel, microfabricated actuator array. An organic ciliary array of thin-film polyimide bimorph microactuators exploiting combined thermal and electrostatic control was employed to implement task-level, sensorless manipulation strategies for macroscopic objects. The tasks of parts-translation, -rotation, -orientation, and -centering were demonstrated using small integrated circuit (IC) dice. Strategies were programmed in a fine-grained SIMD (single instruction, multiple data) fashion by specifying planar force vector fields. When a part is placed on the array, the programmed vector field induces a force and moment upon it. The part's equilibrium states may be predicted and cascaded (using a sequence of fields) to bring the part to a desired final state. Vector fields with and without potential were tested in experiments, and the behavior of parts in the fields was compared with the theory of programmable vector fields. These fields were implemented by actuating the organic cilia in a cyclic, gait-like fashion. Motion in non-principal (e.g. diagonal) directions was effected by a pairwise coupling of the cilia to implement virtual cilia. These experiments suggest that MEMS actuator arrays are useful for parts-orientation, -posing, -transfer, -singulation, and -sorting.

关键词： Actuators Sensor arrays Thin film circuits Thin film sensors Polyimides Microactuators Electrostatics Sensorless control Force sensors Testing

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Optimal neural network realizations of nonlinear FIR and IIR filters

Optimal neural network realizations of nonlinear FIR and IIR...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： R.J.P. de Figueiredo Laboratory for Machine Intelligence Vision and. Neural Computing Department of Electrical and Computer Engineering University of California Irvine CA USA

A rigorous framework is presented for the design of nonlinear digital and analog filters. The approach followed is based on a Generalized Fock (GF) space framework developed by the Principal Investigator and T.A.W. Dwyer, III. A GF space is a reproducing kernel Hilbert space of discrete or continuous Volterra series with a problem-dependent weighted inner product. The optimal nonlinear filter structure is obtained by an orthogonal projection of the desired filter into the subspace spanned by the representers of interpolating, smoothing, and other design constraint functionals in the appropriate GF space. One of the attractive features of this approach is that the solutions to the filter design problem appear naturally as feedforward (FIR) or recurrent (IIR) artificial neural networks. These results are derived for a GF space F(E/sup N/) on a finite-dimensional Euclidian space E/sup N/. Generalization to functional FIR and IIR nonlinear filters follows immediately from replacing F(E/sup N/) by F(L/sub 2/(I)), where L/sub 2/(I) is the space of square integrable functions on an interval I of the real line.

关键词： Neural networks Finite impulse response filter IIR filters Nonlinear filters Digital filters Kernel Hilbert space Smoothing methods Subspace constraints Artificial neural networks

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A Polynomial Function Discovery System — FFS

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International Journal on Artificial Intelligence Tools 1997年第1期6卷 1-13页

作者： Spyros Tzafestas Zhifang Ma Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece On leave from the Department of Computer Science Jilin University Changchun P.R.China

This paper presents a function discovery system FFS that has two core parts: FFS-0-CORE and FFS-1-CORE. Both cores are with polynomial time complexity in discovering functions of either a•f(x)+b form or a 1 f 1 (x)+…+a n f n (x)+b form. FFS-0-CORE allows users to define their own models. FFS-1-CORE uses novel principles to increase information which helps the function discovery procedures. Three computational examples are included.

关键词： Formula discovery machine discovery machine learning artificial intelligence

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Motion vision sensor architecture with asynchronous self-signaling pixels

Motion vision sensor architecture with asynchronous self-sig...

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computer Architectures for Machine Perception (CAMP)

作者： M. Arias-Estrada D. Poussart M. Tremblay Computer Vision and Systems Laboratory Department of Electrical and Computer Engineering Laval University QUE Canada HexaVision Technologies Inc. Sainte-Foy QUE Canada

A custom CMOS imager with integrated motion computation is described. The architecture is based on correlating in time moving edges. Edges are located in time by a custom sensor; and correlated in a coprocessing module. The sensor architecture is centered around a compact pixel with analog signal processing and digital self-signaling capabilities. The sensor pixels detect moving edges in the image and communicate their position using an address-event protocol associated to temporal stamps. The coprocessing module correlates the edges and computes the velocity vector map. The motion sensor could be used in applications such as self-guided vehicles, mobile robotics and smart surveillance systems. The article details the motion sensor architecture, the simulated performance, the VLSI implementation and some preliminary results on fabricated prototypes.

关键词： Image edge detection computer architecture Intelligent sensors CMOS image sensors Digital signal processing Image sensors Pixel Protocols Sensor systems and applications Intelligent vehicles

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