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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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Investigation of Performance of Distributed Complex Systems Using Information-theoretic Means and Genetic Algorithms

Investigation of Performance of Distributed Complex Systems ...

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

作者： D. W. Repperger R. L. Ewing J. B. Lyons R. G. Roberts Air Force Research Laboratory OH USA Department of Electrical and Computer Engineering FAMU and FSU College of Engineering Tallahassee FL USA

An investigation is conducted into performance measures to evaluate network-centric systems via their information or other flow properties. To approach this problem, concepts are borrowed from Graph Theory Information Theory, and current methods to analyze network-centric systems. A number of tools are presented to help better understand how to measure the flow in distributed networks. The efficacy of the proposed method is demonstrated by taking a known distributed paradigm (logistics system) and examining situations that produce maximum and minimum flow conditions. The optimization problem involving flow variables is computationally complex (NP-hard) and thus is determined via genetic algorithms.

关键词： Genetic algorithms Fluid flow measurement Military computing Man machine systems Graph theory Information analysis Computational intelligence robotics and automation USA Councils Robustness

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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

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Asian Journal of Control 2008年第3期1卷

作者： M. Feemster D.M. Dawson A. Behal W. Dixon Matthew Feemster received the B.S degree in Electrical Engineering from Clemson University Clemson South Carolina in December 1994. Upon graduation he remained at Clemson University and received the M.S. degree in Electrical Engineering in 1997. During this time he also served as a research/teaching assistant. His research work focused on the design and implementation of various nonlinear control algorithms with emphasis on the induction motor and mechanical systems with friction present. He is currently working toward his Ph.D. degree in Electrical Engineering at Clemson University. Darren M. Dawson was born in 1962 in Macon Georgia. He received an Associate Degree in Mathematics from Macon Junior College in 1982 and a B.S. Degree in Electrical Engineering from the Georgia Institute of Technology in 1984. He then worked for Westinghouse as a control engineer from 1985 to 1987. In 1987 he returned to the Georgia Institute of Technology where he received the Ph.D. Degree in Electrical Engineering in March 1990. During this time he also served as a research/teaching assistant. In July 1990 he joined the Electrical and Computer Engineering Department and the Center for Advanced Manufacturing (CAM) at Clemson University where he currently holds the position of Professor. Under the CAM director's supervision he currently leads the Robotics and Manufacturing Automation Laboratory which is jointly operated by the Electrical and Mechanical Engineering departments. His main research interests are in the fields of nonlinear based robust adaptive and learning control with application to electro-mechanical systems including robot manipulators motor drives magnetic bearings flexible cables flexible beams and high-speed transport systems. Aman Behal was born in India in 1973. He received his Masters Degree in Electrical Engineering from Indian Institute of Technology Bombay in 1996. He is currently working towards a Ph.D in Controls and Robotics at Clemson University. His research focuses on the control of no

In this paper, we extend the observer/control strategies previously published in [25] to an n -link, serially connected, direct drive, rigid link, revolute robot operating in the presence of nonlinear friction effects modeled by the Lu-Gre model. In addition, we also present a new adaptive control technique for compensating for the nonlinear parameterizable Stribeck effects. Specifically, an adaptive observer/controller scheme is developed which contains a feedforward approximation of the Stribeck effects. This feedforward approximation is used in a composite controller/observer strategy which forces the average square integral of the position tracking error to an arbitrarily small value. Experimental results are included to illustrate the performance of the proposed controllers.

关键词： Friction compensation nonlinear control

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A probabilistic framework for content-based diagnosis of retinal disease

A probabilistic framework for content-based diagnosis of ret...

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29th Annual International Conference of IEEE-EMBS, engineering in Medicine and Biology Society, EMBC'07

作者： Tobin, Kenneth W. Abdelrahman, Mohamed Chaum, Edward Govindasamy, V. Priya Karnowski, Thomas P. IEEE Image Science and Machine Vision Group Oak Ridge National Laboratory Oak Ridge TN 37831-6075 United States Electrical and Computer Engineering Dept. Tennessee Tech. University Cookeville TN 38505-0001 United States Department of Retinal Diseases Hamilton Eye Institute University of Tennessee Memphis TN 38163 United States

ISBN: (纸本)1424407885

Diabetic retinopathy is the leading cause of blindness in the working age population in the industrialized world. computer assisted analysis has the potential to assist in the early detection of diabetes by regular screening of large populations. The widespread availability of digital fundus cameras today is leading to the accumulation of large image archives of diagnosed patient data that captures historical knowledge of retinal pathology. Through this research we are developing a content-based image retrieval method to verify our hypothesis that retinal pathology can be identified and quantified from visually similar retinal images in an image archive. We will present diagnostic results for specificity and sensitivity on a population of 395 fundus images representing the normal fundus and 14 stratified disease states. © 2007 IEEE.

关键词： Diseases

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Location tracker for a mobile robot

Location tracker for a mobile robot

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Abdul Bais Robert Sablatnig Jason Gu Yahya M. Khawaja Robotic Research Laboratory Dalhousie University Canada Institute of Computer Technology University of Technology Vienna Vienna Austria University of Technology Vienna Vienna Austria Department of Electrical and Computer Engineering Dalhousie University Halifax Canada Department of Electrical Engineering NWFP University of Engineering and Technology Peshawar Pakistan

This paper presents landmark based self-localization of a two-wheeled differential drive autonomous mobile robot in a known but highly dynamic environment. The robot is equipped with a pivoted stereo vision system, two digital encoders, a gyro sensor, two lOg accelerometers and a magnetic compass. Global position of the robot is estimated using range measurements of distinct features such as color transitions, corners, junctions and line intersections in the robot environment. However, due to scarcity of distinct features, it is not possible to extract the minimum required features for global position estimation from everywhere in the state space. Therefore, the robot position is tracked between intermittent global localization to have an all time position estimate available to the robot. The robot observation vector is composed of range and bearing measurements of distinct features in the robot environment which is merged with the current position estimate to suppress the accumulating errors. Simulation results illustrate the performance of the location tracker.

关键词： Mobile robots Orbital robotics Robot sensing systems Position measurement Robot vision systems Stereo vision Magnetic sensors Sensor systems Accelerometers State estimation

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Quantum Robots for Teenagers

Quantum Robots for Teenagers

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International Symposium on Multiple-Valued Logic

作者： Arushi Raghuvanshi Yale Fan Michal Woyke Marek Perkowski Valley Catholic Middle School Beaverton OR USA The Catlin Gabel School Portland OR USA Warsaw Poland Intelligent Robotics Laboratory Department of Electrical and Computer Engineering Portland State University Portland OR USA

Extending the ideas of quantum Braitenberg vehicles from (A. Raghuvanshi, 2006), 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 (Ch. Brawn et al, 2006) 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.

关键词： Robot sensing systems robotics and automation Quantum computing Circuits Vehicles Automatic control Robot control computer architecture Learning automata Brain modeling

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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vision-Based Target Geo-Location Using Camera Equipped MAVs

Vision-Based Target Geo-Location Using Camera Equipped MAVs

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Proceedings of the 46th IEEE Conference on Decision and Control, Pages 1-459

作者： Meir Pachter Nicola Ceccarelli Philip R. Chandler Department of Electrical and Computer Engineering Air Force Institute of Technology OH USA Research while he held a National Research Council Research Associateship Award at AFRL/VACA OH USA Air Force Research Laboratory AFRL/VACA OH USA

ISBN: (纸本)9781424414970;1424414970

A method for determining the location of a fixed ground target when imaged from the air using camera equipped Micro Air Vehicles (MAVs) is developed. The ground objects' elevation is assumed known. Rather than a "one shot" affair, multiple bearing measurements of the ground object taken as the aircrafts fly around the target are used. This makes it possible for the deleterious effects of both the random measurement errors and the systematic measurement errors, a.k.a., attitude sensor biases, to be mitigated. As a result, the target is accurately geo-located and the attitude sensors are calibrated. If only one target bearing measurement can be taken, the attitude sensors will be calibrated in proximity of and prior to the arrival at the target area using an Initial Point (IP). The technique has been successfully tested on actual flight data and has been extended to multiple MAVs operations and cooperative geo-location.

关键词： Targets Cameras flight data Aircraft Error measure Sensors ground Attitude Micro aerial vehicle

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Walking Phase Recognition for People with Lower Limb Disability

Walking Phase Recognition for People with Lower Limb Disabil...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Sang Wan Lee Taeyoub Yi Jeong-Su Han Hyoyoung Jang Heon-Hui Kim Jin-Woo Jung Zeungnam Bien Electrical Engineering and Computer Science Department Korean Advanced Institute of Science and Technology Daejeon South Korea Core Technology Laboratory Digital Appliances Research and Development Center Samsung Electronics Company Limited Suwon South Korea Human-friendly Welfare Robot System Engineering Research Center Korean Advanced Institute of Science and Technology Daejeon South Korea Computer Engineering Department Dongguk University Seoul South Korea

This paper presents a total solution on EMG signal-based walking phase recognition for people with lower limb disability. Various environmental factors such as sensed location, walking speed, and ground inclination are taken into consideration in all the phases of signal sensing, feature extraction, feature selection, and classification. Based on analysis on fourteen well-known feature extraction methods in varying environmental situation, this paper proposes a methodology for selecting a good feature set, and then demonstrates effectiveness of the proposed approach with the classification results.

关键词： Legged locomotion Electromyography Muscles Feature extraction Environmental factors Humans Rehabilitation robotics Robots Systems engineering and theory Working environment noise

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LANDING AN UNMANNED AIR VEHICLE: vision BASED MOTION ESTIMATION AND NONLINEAR CONTROL

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Asian Journal of Control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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