检索结果-内蒙古大学图书馆

Editorial Special issue on approximate dynamic programming and reinforcement learning

控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

来源：评论

学校读者我要写书评

暂无评论

Design and implementation of embedded computer vision systems based on particle filters

Design and implementation of embedded computer vision system...

引用

作者： Saha, Sankalita Bambha, Neal K. Bhattacharyya, Shuvra S. Mission Critical Technologies Inc NASA Ames Research Center Moffett Field CA 94035 United States U.S. Army Research Laboratory Adelphi MD 20783 United States Department of Electrical and Computer Engineering Institute for Advanced Computer Studies University of Maryland College Park MD 20742 United States

Particle filtering methods are gradually attaining significant importance in a variety of embedded computer vision applications. For example, in smart camera systems, object tracking is a very important application and particle filter based tracking algorithms have shown promising results with robust tracking performance. However, most particle filters involve vast amount of computational complexity, thereby intensifying the challenges faced in their real-time, embedded implementation. Many of these applications share common characteristics, and the same system design can be reused by identifying and varying key system parameters and varying them appropriately. In this paper, we present a System-on-Chip (SoC) architecture involving both hardware and software components for a class of particle filters. The framework uses parameterization to enable fast and efficient reuse of the architecture with minimal re-design effort for a wide range of particle filtering applications as well as implementation platforms. Using this framework, we explore different design options for implementing three different particle filtering applications on field-programmable gate arrays (FPGAs). The first two applications involve particle filters with one-dimensional state transition models, and are used to demonstrate the key features of the framework. The main focus of this paper is on design methodology for hardware/software implementation of multi-dimensional particle filter application and we explore this in the third application which is a 3D facial pose tracking system for videos. In this multi-dimensional particle filtering application, we extend our proposed architecture with models for hardware/software co-design so that limited hardware resources can be utilized most effectively. Our experiments demonstrate that the framework is easy and intuitive to use, while providing for efficient design and implementation. We present different memory management schemes along with results on t

关键词： Monte Carlo methods

来源：评论

学校读者我要写书评

暂无评论

An Electric Ray Inspired Biomimetic Autonomous Underwater Vehicle

An Electric Ray Inspired Biomimetic Autonomous Underwater Ve...

引用

American Control Conference

作者： P. Krishnamurthy F. Khorrami J. de Leeuw M. E. Porter K. Livingston J. H. Long Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Polytechnic Institute of NYU Brooklyn NY 11201 Vassar College Poughkeepsie NY 12604

ISBN: (纸本)9781424474264

The development of a novel Biologically-inspired (or Biomimetic) Autonomous Underwater Vehicle (BAUV) inspired by the Pacific electric ray is addressed. The design and hardware implementation of experimental prototypes of the "RayBot" BAUV are described. Extensive observations of live electric rays provided key biological inspirations in the development of the BAUV. As part of the effort, a six degree-of-freedom impulse-based multi-body approach for modeling and simulation of BAUVs was also developed and validated through comparison with experimental data.

关键词： Torpedinidae Autonomous underwater vehicles underwater vehicles Biomimetics

来源：评论

学校读者我要写书评

暂无评论

Cutting graphene using an atomic force microscope based nanorobot

Cutting graphene using an atomic force microscope based nano...

引用

2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Zhang, Yu Liu, Lianqing Xi, Ning Wang, Yuechao Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States Graduate School Chinese Academy of Sciences Beijing100001 China

ISBN: (纸本)9781424470334

Rapid progress in graphene-based applications is calling for an inexpensive technique for creating mass graphene components with specialized shapes, sizes, and edge structures. In this paper, an Atomic Force Microscopy (AFM) based mechanical cutting method is developed to approach this goal, through which we are able to structure trenches into multilayer graphene flakes with different directions, and generate different graphene shapes: graphene nanoribbons and triangles. Combining parallel multi-tip technology, this method makes it possible to fabricate large-scale graphene-based device at low cost and high efficiency. This research also reveals that the cutting force of graphene varies with different cutting directions, based on which a close-loop fabrication method with interaction force as real-time feedback may be developed for tailoring graphene into desired edge structures and shapes in a controllable high-precise way. ©2010 IEEE.

关键词： Graphene

来源：评论

学校读者我要写书评

暂无评论

Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

引用

IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： Lazaros Nalpantidis Georgios Ch. Sirakoulis Andrea Carbone Antonios Gasteratos Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Autoagent Laboratory of Cognitive Robotics Department of Computer and Systems Science University of Roma La Sapienza Rome Italy

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed.

关键词： Simultaneous localization and mapping Area measurement Robustness computer vision Robot vision systems Cameras Robot sensing systems robotics and automation Image analysis Algorithm design and analysis

来源：评论

学校读者我要写书评

暂无评论

A prediction- and cost function-based algorithm for robust autonomous freeway driving

A prediction- and cost function-based algorithm for robust a...

引用

IEEE Symposium on Intelligent Vehicle

作者： Junqing Wei John M. Dolan Bakhtiar Litkouhi Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA Robotics Institute and the Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA GM-CMU Autonomous Driving Collaborative Research Laboratory GM Research and Development Center Warren MI USA

In this paper, a prediction- and cost function-based algorithm (PCB) is proposed to implement robust freeway driving in autonomous vehicles. A prediction engine is built to predict the future microscopic traffic scenarios. With the help of a human-understandable and representative cost function library, the predicted traffic scenarios are evaluated and the best control strategy is selected based on the lowest cost. The prediction- and cost function-based algorithm is verified using the simulator of the autonomous vehicle Boss from the DARPA Urban Challenge 2007. The results of both case tests and statistical tests using PCB show enhanced performance of the autonomous vehicle in performing distance keeping, lane selecting and merging on freeways.

关键词： Cost function Robustness Traffic control Remotely operated vehicles Mobile robots Road vehicles Testing Vehicle driving Engines Microscopy

来源：评论

学校读者我要写书评

暂无评论

Effects of facial alignment for age estimation

Effects of facial alignment for age estimation

引用

International Conference on Control, Automation, robotics and vision (ICARCV)

作者： Hee Lin Wang Jian-Gang Wang Wei-Yun Yau Xing Lun Chua Yap Peng Tan Computer Vision and Image Understanding Department Institute for Infocomm Research Singapore Electrical & Electronic Engineering Nanyang Technological University Singapore

Age estimation is an important enabling capability for the near future, especially in applications related to Human computer Interaction. Perhaps due to technical difficulties, age estimation has only recently begun to receive more attention. One of the more important pre-processing steps before age estimation is facial alignment, which spatially transforms a face image to align certain facial features, in order to maximize classification accuracy. However the capability for facial alignment in automated age estimation literature is commonly assumed, and the effects of facial alignment is not addressed, even though it is an important issue especially for live deployment. In this paper, we present, to our knowledge, the results of the first systematic investigation on the effects of facial alignment on age estimation accuracy, and conclude with some directions on further topics of investigation in this area.

关键词： Face Estimation Manifolds Accuracy Correlation Aging Training

来源：评论

学校读者我要写书评

暂无评论

Performance Evaluation of Three Schemes Applied to Bilateral Control of a Hydraulic Actuator Interacting with Deformable Environments

Performance Evaluation of Three Schemes Applied to Bilateral...

引用

IEEE International Conference on robotics and Biomimetics

作者： M. Esfandiari K. Zarei-nia W. K. Fung N. Sepehri Fluid Power and Telerobotics Research Laboratory University of Manitoba Department of Electrical and Computer Engineering University of Manitoba

ISBN: (纸本)9781424493197

In this paper, the effect of deformable environment to the performance of three bilateral teleoperation control schemes for hydraulic actuators are investigated through dynamic simulation. The considered schemes are Force Reflection, Position Error and Lyapunov feedback controllers. Two type of environments are considered, first is spring model and the second one is environment which is described by the Hertz contact model. Using a teleoperation platform, the master device is a PHANToM haptic device and the slave manipulator is a simulated hydraulic actuator. The master and slave are connected by the on-campus Intranet network setting with small and fairly constant communication delay. The stability and transparency of the overall system are evaluated according to the following criteria: (i) position tracking error of the slave manipulator;(ii) force tracking error of the master haptic device;and (iii) perceived stiffness of the environment at the master site.

关键词： Bilateral Teleoperation Stability Transparency Hydraulic Actuators Deformable Environments

来源：评论

学校读者我要写书评

暂无评论

Online signature verification using combination of two classifiers

Online signature verification using combination of two class...

引用

Iranian Machine vision and Image Processing (MVIP)

作者： M. Saeidi R. Amirfattahi A. Amini M. Sajadi Digital Signal processing Research Laboratory Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan Iran

The objective of signature verification is to distinguish forgery signature from genuine one. Online signature is the one which is registered through electronic devices such as digitizers and stored on computers in time sequence form. In this kind of signatures in addition to location information, time information such as speed and acceleration is stored. In this paper after accomplishment of some pre-processing procedures like normalization of signature size, smoothing and elimination of rotation on signatures using algorithms based on extremum matching of signals and ant colony, their time duration will be equalized. Afterwards, similarities between signatures will be determined using extended regression and finally will try to distinguish between forgery signatures from genuine one using support vector machine (SVM). The suggested online verification system is tested on SVC2004 signature set which is related to the first international signature verification competition and results are compared to respective results of participants. The results state that suggested method exhibits equal error rate (EER) of %4.3 in skilled forger group.

关键词： Forgery Mathematical model Equations Support vector machines Training Error analysis

来源：评论

学校读者我要写书评

暂无评论

A 7-DOF haptics-enabled teleoperated robotic system: Kinematic modeling and experimental verification

A 7-DOF haptics-enabled teleoperated robotic system: Kinemat...

引用

IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Simon Perreault Ali Talasaz Ana Luisa Trejos Christopher D.W. Ward Rajni V. Patel Bob Kiaii Robotics Laboratory Department of Mechanical Engineering Laval University Quebec QUE Canada Department of Electrical & Computer Engineering University of Western Ontario Canada Lawson Health Research Institute CSTAR Canada Western University London ON CA

The purpose of this paper is to demonstrate the development of a novel 7-degree-of-freedom teleoperated robotic system that provides force reflection to the surgeon's hands while performing minimally invasive surgery and therapy (MIST). An endoscopic tool has been sensorized and modified for use as the end effector of this haptics-enabled system. In this paper, mathematical models required for controlling the main components of the system have been determined and experimentally validated. Several experiments have been performed with this MIST robotic system in order to compare its force exertion capabilities with those of the da Vinci system from Intuitive Surgical Inc. Force reflection from the slave to the master in the new system is also demonstrated experimentally.

关键词： Robot sensing systems Instruments Haptic interfaces Force Grippers Surgery

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：