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International Conference on Recent Advances in Space Technologies (RAST)

作者： Cemr Unsalan Computer Vision Research Laboratory Department of Electrical and Electronics Engineering Yeditepe University Istanbul Turkey

Change detection using satellite images is of major concern to government agencies, military, and scientists. Government agencies can monitor the construction activity on a region automatically by detecting changes. They can update maps accordingly. Forests in satellite images may be monitored automatically for any change in their condition. As for military applications, strategic plans may be updated based on the observed changes on targets. After a natural disaster, even if that region can not be reached, automatically detecting changes in the region's satellite image may provide necessary information to measure the effect of the damage. To solve all these and related problems, there exists commercially available high resolution satellite images. The problem here is automatically detecting changes using these images. In this study, we introduce a method using multispectral information to detect changes on Ikonos imagery.

关键词： Vegetation mapping Military satellites Principal component analysis Image resolution Government computerized monitoring Spatial resolution computer vision Condition monitoring Remote sensing

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Multimodal human-robot interaction in an assistive technology context

Multimodal human-robot interaction in an assistive technolog...

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2007 Australasian Conference on robotics and Automation, ACRA 2007

作者： Harte, Elizabeth Jarvis, Professor Raymond Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia ARC Centre for Perceptive and Intelligent Machines in Complex Environments Australia

ISBN: (纸本)9780958758390

In this paper, we present a prototype robotic system that captures, processes and fuses speech, vision and laser-depth data to more accurately interpret and perform simple tasks in a domestic environment. We can never assume that any one of these inputs are completely accurate, but by using a combination, a more accurate interpretation could be found. For each speech, gesture recognition and object recognition input, an associated probability of correctness is calculated. Using these probabilities, a predefined associative map between specific words and gestures, and contextual information, we update the associated probability until some threshold has been reached. This contextual information includes the history of recently uttered phrases, as well as the information about known objects in the environment. Once an interpretation, complete or otherwise, is found, a response is formulated. This system has been developed using a Mitsubishi Heavy Industries robot, Wakamaru, as a platform.

关键词： Probability

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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Design of MIMO controller for a manipulator using Tabu Search algorithm

Design of MIMO controller for a manipulator using Tabu Searc...

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International Conference on Intelligent and Advanced Systems, ICIAS

作者： I. Hassanzadeh S. Mobayen H. Kharrati Research Laboratory of Robotics Control Engineering Department Faculty of Electrical & Computer Engineering University of Tabriz Tabriz Iran

In this paper, we present an optimum approach to design a MIMO controller for a manipulator using discrete tabu search (TS) algorithm. In the first step, the TS algorithm is reviewed and then we employ the proposed method in order to assign efficiently the optimal PID controller parameters. The design goal is to minimize the integral absolute error and reduce transient response by minimizing overshoot, settling time and rise time of the system. A 5-bar-linkage is considered as a case study. We define an objective function including these indexes. Then by minimizing this function using discrete TS algorithm, controller parameters design is performed efficiently and quickly. Superior features of this algorithm are fast tuning of PID parameters, rapid convergence, less computational burden and capability to avoid from local minima. Simulation results demonstrate that our proposed TS method compared with other heuristic method, i.e., the genetic algorithm (GA) is more efficient in terms of improving the step response of the robot.

关键词： Robots Algorithm design and analysis Manipulators Cost function MIMO Mathematical model Heuristic algorithms

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Editorial: Knowledge engineering, semantics, and signal processing in audio - visual information retrieval

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IEEE Transactions on Circuits and Systems for Video Technology 2007年第3期17卷 257-258页

作者： Izquierdo, Ebroul Zhang, Jian Sikora, Thomas Huang, Thomas S. Department of Electrical Engineering Queen Mary University of London London El 4NS United Kingdom Sydney Australia School of Computer Science and Engineering University of New South Wales Australia Communication Systems Group Technical University Berlin Berlin Germany ITG University of Illinois at Urbana-Champaign United States Department of Electrical and Computer Engineering Coordinated Science Laboratory United States Image Formation and Processing Group Beckman Institute for Advanced Science and Technology United States Institute's Major Research Theme Human Computer Intelligent Interaction National Academy of Engineering Chinese Academies of Engineering and Sciences China International Association of Pattern Recognition Optical Society of American United States

No abstract available

关键词： Special issues and sections Knowledge engineering Information retrieval Audio-visual systems

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Quantum robots for teenagers

Quantum robots for teenagers

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37th International Symposium on Multiple-Valued Logic, ISMVL 2007

作者： Raghuvanshi, Arushi Fan, Yale Woyke, Michal Perkowski, Marek Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Portland State University Portland OR Valley Catholic Middle School Beaverton OR United States Catlin Gabel School Portland OR 97225-6599 United States Gymnasium Number 20 Raszyńska 22 Warsaw Poland

ISBN: (纸本)0769528317

Extending the ideas of Quantum Braitenberg Vehicles from [14], we present here a family of Lego robots controlled by multiple-valued quantum circuits. The robots have at most 6 degrees of freedom (motors) and 6 sensors. Their basic architecture is a generalization of robots from [16] to more versatile multiple-valued quantum automata (simulated in software). We believe that building robots with "quantum brains" is an excellent future application of quantum computing and now it helps students to learn principles of quantum circuits. We present a one-year project in "quantum robotics for teenagers". Our project brings research and educational perspectives, which are both presented in this paper. © 2007 IEEE.

关键词： Intelligent robots

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Control design for unmanned sea surface vehicles: hardware-in-the-loop simulator and experimental results

Control design for unmanned sea surface vehicles: hardware-i...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： P. Krishnamurthy F. Khorrami T. L. Ng IntelliTech Microsystems Inc. Bowie MD USA Control/Robotics Research Laboratory CRRL Department of Electrical and Computer Engineering Polytechnic University Brooklyn NY USA

We address the control design problem for stabilization and tracking of unmanned sea surface vehicles (USSVs). To this end, we describe the design and implementation of a high-accuracy real-time six degree-of-freedom (DOF) hardware-in-the-loop (HITL) simulation platform for use in development and evaluation of controllers for USSVs. The HITL platform incorporates a nonlinear dynamic model of the USSV, emulation of sensors and instrumentation onboard the USSV, and the actual hardware and software components used for control of the USSV in the experimental testbed. Detailed models of hydrodynamic effects, actuators including thrusters/propellers and control surfaces, and disturbances including ocean currents, waves, and wind are included in the dynamic simulation. The fidelity of the developed HITL simulator is demonstrated through comparisons with experimental data collected from a USSV. We also propose a nonlinear backstepping-based controller for stabilization and tracking for USSVs and present closed-loop results from HITL simulation and experimental testing.

关键词： Control design Sea surface Vehicle dynamics Emulation Instruments Hardware Software testing Hydrodynamics Actuators Propellers

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vision aided proportional navigation for micro air vehicles

Vision aided proportional navigation for micro air vehicles

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AIAA Guidance, Navigation, and Control Conference 2007

作者： Beard, Randal W. Will Curtis, J. Eilders, Martin Evers, Johnny Cloutier, James R. Brigham Young University Provo UT 84602 United States Air Force Research Laboratory Eglin AFB FL 32542-6810 United States Department of Electrical and Computer Engineering AIAA Munitions Directorate Guidance and Navigation Branch Control Systems Research

ISBN: (纸本)1563479044

Most of the applications envisioned for micro air vehicles require an on-board E(MR camera. It is only natural to investigate using the on-board camera as a sensor for navigation, guidance, and control. This paper investigates the use of an EO/IR sensor as a seeker in a proportional navigation guidance law for micro air vehicles. Proportional navigation strategies require knowledge of the line-of-site rates and range rate between the vehicle and the target. This paper demonstrates how these quantities can be derived from pixel-specific information provided by an EO/IR sensor. The guidance laws are developed for gimbaled and strapdown sensors on both skid-to-turn and bank-to-turn MAV kinematic models.

关键词： Navigation

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A Rotational and Translational Image Stabilization System for Remotely Operated Robots

A Rotational and Translational Image Stabilization System fo...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos N. Kyriakoulis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements. Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 times 240 pixel image sequences at approximately 10 frames/sec, with a maximum acceleration of A deg/sec 2 .

关键词： Image sequences Cameras Optical filters Robot vision systems Performance evaluation Navigation Image processing Frequency Fluctuations Video sequences

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computer vision Studies Using Stochastic Resonance/Information-theoretic Methods

Computer Vision Studies Using Stochastic Resonance/Informati...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： D. W. Repperger R. G. Roberts A. R. Pinkus Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering FAMU and FSU College of Engineering Tallahassee FL USA

An investigation into computer vision techniques is conducted using a procedure from nonlinear dynamics termed "stochastic resonance." This work involves concepts from detection theory, information theory and nonlinear dynamics. An information distance metric is synthesized which helps define the dependent measure to be used with the stochastic resonance optimization. Monte Carlo simulations show the efficacy of the proposed method. A class of test objects are presented to fairly evaluate the utility of the proposed methods introduced.

关键词： computer vision Stochastic resonance Strontium Signal processing Physics Information theory Application software Object recognition Noise figure Computational intelligence

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