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Annual Conference of AI, Simulation, and Planning in High Autonomy Syslems

作者： J. Lygeros D. Godbole S. Sastry Intelligent Machines and Robotics Laboratory Department of Electrical Engineering and Computer Sciences University of California Berkeley CA USA

A case study of the use of simulation as a tool for design and validation of hybrid systems is presented. We use an intelligent vehicle highway systems (IVHS) architecture, a system that involves both continuous state and discrete event controllers as our example of a hierarchical hybrid system. We point out that even though analytical methods do not exist for verification of hybrid control system, a simulation tool can be useful to (in)validate that the hybrid system operates properly.< >

关键词： Computational modeling Control systems Intelligent robots Intelligent vehicles Analytical models Performance analysis Optimal control Machine intelligence Laboratories computer simulation

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Model based fuzzy logic control

Model based fuzzy logic control

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IEEE Conference on Decision and Control

作者： J. Lygeros D.N. Godbole C.P. Coleman Intelligent Machines and Robotics Laboratory Department of Electrical Engineering & Computer Sciences University of California Berkeley CA USA

In this paper, we introduce a general formalism for generating a fuzzy plant model. We provide a description of fuzzification, inference rules, and defuzzification in terms of mappings from the set of real numbers to the fuzzy set domain; We demonstrate the use of this formalism by developing a general fuzzy logic, rule based plant model for a stable, discrete-time, linear time-invariant system, with rational coefficients. We prove that the fuzzy plant model exactly duplicates the behavior of the discrete-time linear system. A worked example and simulation results are also presented. Finally, we outline a method for control design using fuzzy rule base plant models. Possible application of this method for regulation and tracking is considered.< >

关键词： Fuzzy logic Fuzzy control Control system synthesis Fuzzy sets Control design Intelligent robots Ear Control systems Machine intelligence Laboratories

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Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control Intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

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Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control Intelligent robots Nonlinear equations Control systems Distributed control

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Anisotropic diffusion pyramids for image segmentation

Anisotropic diffusion pyramids for image segmentation

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IEEE International Conference on Image Processing

作者： S.T. Acton A.C. Bovik M.M. Crawford School of Electrical & Computer Engineering Oklahoma State University Stillwater OK USA Department of Electrical & Computer Engineering Laboratory for Vision Systems Center for Vision and Image Science Center for Space Research and Department of Mechanical Engineering University of Texas Austin Austin TX USA

We introduce the Anisotropic Diffusion Pyramid (ADP), a structure for multiresolution image processing. We also develop the ADP for use in region-based segmentation. The pyramid is constructed using the anisotropic diffusion equations, creating an efficient scale-space representation. Segmentation is accomplished using pyramid node linking. Since anisotropic diffusion preserves edge localization as the scale is increased, the region boundaries in the coarse-to-fine ADP segmentation are accurately delineated. An application to segmentation of remotely sensed data is provided. The results of ADP segmentation are compared to Gaussian-based pyramidal segmentation. The examples show that the ADP has a superior ability to subdivide the image into integral groupings, minimizing the error in boundary localization and in pixel intensity.< >

关键词： Anisotropic magnetoresistance Image segmentation Smoothing methods Equations Image resolution Pixel computer vision Machine vision Hemorrhaging Radiometry

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An optimal sonar array for target localization and classification

An optimal sonar array for target localization and classific...

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IEEE International Conference on robotics and Automation (ICRA)

作者： L. Kleeman R. Kuc Intelligent Robotics Research Centre Department of Electrical & Computer Systems Eng Monash University Australia Intelligent Sensors Laboratory Department of Electrical Engineering Yale University USA

A novel sonar array for mobile robots is presented with applications to localization and mapping of indoor environments. The ultrasonic sensor localizes and classifies multiple targets in two dimensions to ranges of up to 8 meters. By accounting for effects of temperature and humidity, the system is accurate to within 1 mm and 6.1 degrees in still air. Targets separated by 10 mm can be discriminated. Targets are classified into planes, corners, edges and unknown, with the minimum of two transmitters and two receivers. A novel approach is that receivers are closely spaced to minimize the correspondence problem of associating echoes from multiple targets. A set of templates is generated for echoes to allow the optimal arrival time to be estimated, and overlapping echoes and disturbances to be rejected.< >

关键词： Intelligent sensors Pulse measurements Transmitters Leg Sonar measurements Sensor arrays Intelligent robots Robot localization Rough surfaces Surface roughness

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MANIPULATIONS OF OCTREES AND QUADTREES ON MULTIPROCESSORS

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International Journal of Pattern Recognition and Artificial Intelligence 1994年第2期8卷 439-455页

作者： VIPIN CHAUDHARY K. KUMARI P. ARUNACHALAM J.K. AGGARWAL Parallel and Distributed Computing Laboratory Department of Electrical and Computer Engineering Wayne State University Detroit MI 48202 USA Sun Microsystems 2820 Orchard Parkway San Jose CA 95134 USA Computer and Vision Research Center Department of Electrical and Computer Engineering University of Texas at Austin Austin Texas 78712–1084 USA

Octrees offer a powerful means for representing and manipulating 3-D objects. This paper presents an implementation of octree manipulations using a new approach on a shared memory architecture. Octrees are hierarchical data structures used to model 3-D objects. The manipulation of these data structures involves performing independent computations on each node of the octree. Octrees are much easier to deal with than other forms of representations used to model 3-D objects especially where extensive manipulations are involved. When these operations are distributed among multiple processing elements (PEs) and executed simultaneously, a significant speedup may be achieved. Manipulations such as a complement, a union, an intersection and other operations such as finding the volume and centroid which this paper describes are implemented on the Sequent Balance multiprocessor. In this approach the PEs are allocated dynamically, resulting in a uniform load balancing among them. The experimental results presented illustrate the feasibility of the approach. Although this evaluation has been originally done for shared memory machines, it will provide insight for the evaluation of other architectures.

关键词： Shared memory architecture dynamic allocation union intersection orthogonal views

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Subpixel edge estimation using geometrical edge models with noise miniaturization

Subpixel edge estimation using geometrical edge models with ...

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IEEE Southwest Symposium on Image Analysis and Interpretation

作者： D.C.D. Hung O.R. Mitchell Computer Vision Laboratory Department of Computer Information Science New Jersey Institute of Technology Newark NJ USA Department of Electrical Engineering University of Texas Arlington Arlington TX USA

The significant disadvantage for traditional contour representation is as the resolution is reduced the effort of undersampling is proportional enlarged. The goal of this study is to improve edge detection results, especially for those corner points in low resolution. This study describes a method, which is based on 4-connected pixel-wise linearization, for finding contours from low resolution video images. This allows a more accurate inspection and identification of objects from image data. In practice, geometrical models are used to manipulate this linearization. A method is employed for examining the corner points as well.< >

关键词： Solid modeling Image edge detection computer vision Image resolution Laboratories Information science Pixel Inspection Object recognition Brightness

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Robust N-dimensional orientation estimation using quadrature filters and tensor whitening

Robust N-dimensional orientation estimation using quadrature...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： H. Knutsson M. Andersson Department of Electrical Engineering Computer Vision Laboratory Linköping University Linkoping Sweden Linkopings universitet Linkoping SE Comput. Vision Lab. Linkoping Univ. Sweden

It is shown how estimates of local structure and orientation can be obtained using a set of spherically separable quadrature filters. The method is applicable to signals of any dimensionality the only requirement being that the filter set spans the corresponding orientation space. The estimates produced are second order tensors, the size of the tensors corresponding to the dimensionality of the input signal. A central part of the algorithm is an operation termed 'tensor whitening' reminiscent of classical whitening procedures. This operation compensates exactly for any biases introduced by non-uniform filter orientation distributions and/or non-uniform filter output certainties. Examples of processing of 2D-images, 3D-volumes and 2D-image sequences are given. Sensitivity to noise and missing filter outputs are analyzed in different situations. Estimation accuracy as a function of filter orientation distributions are studied. The studies provide evidence that the algorithm is robust and preferable to other algorithms in a wide range of situations.< >

关键词： Filters Tensile stress Signal analysis computer vision Laboratories Noise robustness Convolution Fault tolerant systems Neural networks Filtering theory

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Surface profile description: reliable geometric primitive extraction

Surface profile description: reliable geometric primitive ex...

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International Conference on Pattern Recognition

作者： P. Hebert D. Laurendeau D. Poussart Dept. of Electr. Eng. Laval Univ. Que. Canada Computer Vision and Digital Systems Laboratory Department of Electrical Engineering Laval University QUE Canada

This paper is concerned with the reliability of a shape description recovered from a set of scattered measurements. The recovering process of the description should not introduce a bias that is caused by specific acquisition conditions such as the presence of spurious measurements and the relative position of the sensor with respect to the object. Moreover, the recovered description should be stable for a sampling variation. While the fitting stage is based on a measurement error model which takes into account the sensor's viewpoint, the stability with sampling is tested by perturbing an hypothesized section. The validity of the approach is demonstrated by extracting reliable estimates of polynomial sections (lines, conics) from surface profile range data obtained from one or several viewpoints.

关键词： Shape measurement Sampling methods Scattering Position measurement Sensor phenomena and characterization Measurement errors Stability Testing Data mining Polynomials

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