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检索条件"机构=Computer Vision and Robotics Laboratory Department of Electrical Engineering"

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Robust internal-force based impedance control for coordinating manipulators-theory and experiments

Robust internal-force based impedance control for coordinati...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Department of Electrical and Computer Engineering Systems Control and Robotics Laboratory University of California Davis CA USA

A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal force-based impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. The scheme is computationally inexpensive and suitable for general-purpose microcomputer implementation. Rigorous experimental investigations are performed and the results presented which validate the proposed concepts.

关键词： Robust control Impedance Manipulator dynamics Force control Nonlinear dynamical systems Velocity control Robot kinematics Uncertainty Payloads Stability analysis

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3D segmentation and labeling using self-organizing Kohonen network for volumetric measurements on brain CT imaging to quantify TBI recovery

3D segmentation and labeling using self-organizing Kohonen n...

引用

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

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

In this paper, we present a new system to segment and label CT brain slices using a self-organizing Kohonen network. Our aim is to extract reliable and robust measures from CT images of Traumatic Brain Injury (TBI) patients that can accurately describe the morphological changes in the brain as recovery progresses. Segmentation is performed by assigning a feature pattern to each voxel, consisting of a scaled family of differential geometrical invariant features. The invariant feature pattern is input to Kohonen network for an unsupervised classification of the voxels into regions.

关键词： Labeling Volume measurement Image segmentation Computed tomography Layout Electric variables measurement engineering in Medicine and Biology Society Brain injuries Data mining Filters

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What programmable vector fields can (and cannot) do: force field algorithms for MEMS and vibratory plate parts feeders

What programmable vector fields can (and cannot) do: force f...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： K.-F. Bohringer B.R. Donald N.C. MacDonald Robotics & Vision Lab. Cornell Univ. Ithaca NY USA Robotics & Vision Laboratory Department of Computer Science Cornell University Ithaca NY USA School of Electrical Engineering and Cornell Nanofabrication Facility Cornell University Ithaca NY USA

Programmable vector fields can be used to control a variety of flexible planar parts feeders. When a part is placed on our devices, the programmed vector field induces a force and moment upon it. Over time, the part may come to rest in a dynamic equilibrium state. We demonstrate lower bounds on what the devices cannot do, and results on a classification of control strategies. We suggest sufficient conditions for programmable fields to induce well-behaved equilibria on every part placed on our devices. We define composition operators to build complex strategies from simple ones, and show the resulting fields are also well-behaved. We discuss whether fields outside this class can be useful and free of pathology. Using these tools, we describe new manipulation algorithms, and improve existing planning algorithms by a quadratic factor, and the plan-length by a linear factor. We relax earlier dynamic and mechanical assumptions to obtain more robust and flexible strategies. Finally, we consider parts feeders that can only implement a very limited "vocabulary" of vector fields. We discuss the trade-off between mechanical complexity and planning complexity.

关键词： Micromechanical devices Automatic control Force control Feeds Assembly Robot vision systems Laboratories computer science Nanofabrication Uniform resource locators

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Efficient coding by neuro-fuzzy clustering in vector quantization of wavelet decomposed signals

Efficient coding by neuro-fuzzy clustering in vector quantiz...

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： S. Mitra S. Pemmaraju Computer Vision and Image Analysis Laboratory Department of Electrical Engineering Texas Tech University Lubbock TX USA

Multiresolution representation of wavelets in image decomposition and coding shows potential of developing an efficient image compression technique with minimum distortion when vector quantization (VQ) is used. This paper presents a multiresolution and adaptive approach to VQ codebook generation by employing a fuzzy distortion measure embedded in a self-organizing neural network ensuring fast convergence and minimum distortion. Multiresolution codebooks are generated for the wavelet decomposed images using neuro-fuzzy clustering algorithms resulting in significant improvement in the coding process. The signal transformation and vector quantization stages together yield at least, 64:1 bit rate reduction with good visual quality and acceptable peak signal to noise ratio and mean square error. The performance of this new VQ coding technique has been compared to that of the well-known Linde, Buzo, and Gray-VQ for a variety of image classes. In each case, the new VQ technique demonstrated superior ability for fast convergence with minimum distortion at similar bit rate reduction than the existing VQ techniques.

关键词： Vector quantization Image coding Signal resolution Image resolution Distortion measurement Convergence Bit rate Image decomposition Fuzzy neural networks Neural networks

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Efficient image coding using multiresolution wavelet transform and vector quantization

Efficient image coding using multiresolution wavelet transfo...

引用

IEEE Southwest Symposium on Image Analysis and Interpretation

作者： S. Pemmaraju S. Mitra Computer Vision and Image Analysis Laboratory Department of Electrical Engineering Texas Tech University Lubbock TX USA

Image compression forms the backbone for several applications such as storage of images in a database, picture archiving, TV and facsimile transmission, and video conferencing. Compression of images involves taking advantage of the redundancy in data present within an image. A fundamental goal of image compression is to reduce the bit rate for transmission and storage while maintaining an acceptable fidelity or image quality. Existing VQ algorithms however, suffer from a number of practical problems, e.g. codebook initialization, long search process, and getting trapped in local minima. This paper presents an adaptive vector quantization algorithm which uses a neuro-fuzzy clustering technique for optimizing the distortion measure. The fuzzy approach forms the basis for accurately optimizing each codevector by determining the fuzzy centroid of each class. In addition, a multiresolution wavelet decomposition scheme is adopted to make the image better suited for compression and to enable its progressive transmission.

关键词： Image coding Image resolution Wavelet transforms Image storage Clustering algorithms Spine Image databases TV Facsimile Videoconference

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Robust dual-arm manipulation of rigid objects via palm grasping-theory and experiments

Robust dual-arm manipulation of rigid objects via palm grasp...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R.G. Bonitz T.C. Hsia Systems Control and Robotics Laboratory Department of Electrical and Computer Engineering University of California Los Angeles Davis CA USA

An internal force-based impedance control scheme for two coordinating robots manipulating a rigid object via palm grasping is introduced. The minimal internal force required to maintain the grasp on the object is computed from the frictional constraints and sensed forces. A closed-form solution to the minimization problem is developed which makes the algorithm suitable for real-time control. The controller uses sensed moments at the palm interface to maintain proper orientation of the palms to achieve maximum surface contact. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. Rigorous experimental investigations are are performed and the results presented which validate the proposed concepts.

关键词： Robustness Robot sensing systems Robot kinematics Impedance Force control Closed-form solution Minimization methods Manipulator dynamics Nonlinear dynamical systems Robust control

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Inductive learning in hand pose recognition

Inductive learning in hand pose recognition

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International Conference on Automatic Face and Gesture Recognition

作者： F.K.H. Quek M. Zhao Vision Interfaces and Systems Laboratory (VISLab) Electrical Engineering and Computer Science Department University of Illinois Chicago Chicago IL USA

Hand pose recognition for gestural systems must be able to handle variations in user hand anatomy, perspective effects, and the idiosyncrasies of individual gesture presentation. We present an inductive learning system that is able to derive a rulebase of disjunctive normal form formulae in which each DNF describes a hand pose, and each conjunct within the DNF constitutes a single rule. The system applies a suite of feature detectors during learning and is able to determine a salient subset of features for a given set of hand poses. Only the reduced feature set needs to be computed at recognition time. The rule-based induction system is capable of both exact and flexible matching. The latter produces a list of hand poses ordered by goodness of match when presented with a new hand pose image. We present the results of our experiments in which we trained our system with 931 instances of 20 different hand poses. Our system produced compact rule sets and had a recognition rate of 94%.

关键词： Anatomy Image recognition Hidden Markov models Vocabulary Machine vision Laboratories Learning systems computer vision Detectors Humans

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Attention control for robot vision

Attention control for robot vision

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： C.-F. Westin C.-J. Westelius H. Knutsson G. Granlund Computer Vision Laboratory Department of Electrical Engineering Linkoping University Linkoping Sweden Brigham and Womens Hospital Harvard Medical School Surgical Planning Laboratory Boston MA USA

Focus of attention mechanisms for robot vision are discussed. A new method for neglecting low level filter responses from already modelled structures is presented. The method is based on a filtering technique termed normalized convolution. In one experiment, the robot is continuously moving its arm in the scene while tracking other objects. It is shown how the arm can be made "invisible" so that only the moving object of interest is detected. This makes tracking of objects much simpler. In another experiment, the attention of the system is shifted between objects by simply cancelling the mask of the object to be attended to. With this strategy the low level processes do not need to know the difference between a new object entering the scene and a mask being cancelled, and thus a complex communication structure between high and low levels is avoided.

关键词： Robot control Robot vision systems Layout Laboratories Focusing Robot sensing systems Feature extraction Context modeling Computational modeling Filtering

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A Polarization Contrast Retina Using Patterned Iodine-doped PVA Film

A Polarization Contrast Retina Using Patterned Iodine-doped ...

引用

European Conference on Solid-State Circuits (ESSCIRC)

作者： Zaven Kalayjian Andreas G Andreou Larry Wolff Norman Sheppard Sensory Communication Laboratory Department of Electrical and Coputer Engineering Johns Hopkins University Baltimore MD USA Computer Vision Laboratory Department of Computer Science Johns Hopkins University Baltimore MD USA Department of Biomedical Engineering Johns Hopkins University Baltimore MD USA

Many insect species and some animals can sense light polarization in their environment, but humans are blind to this property of light. In this paper, we present a one-dimensional polarization imager as an example of a polarization retina, and we describe recent advances in developing a high resolution, integrated, two dimensional polarization retina. We discuss how iodine-doped poly(vinyl alcohol) linear polarizers can be processed using standard microfabrication lithographic techniques to delineate features with resolution comparable to pixel sizes of standard imagers.

关键词： Retina Optical polarization Circuits Filters Photodiodes Humans Image resolution computer vision Cameras Analog computers

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Modular robotics: design and examples

Modular robotics: design and examples

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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