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Single landmark based self-localization of mobile robots

Single landmark based self-localization of mobile robots

引用

Canadian Conference on computer and Robot vision, CRV

作者： A. Bais R. Sablatnig J. Gu Robotics Research Group Department of Electrical and Computer Engineering Dalhousie University Halifax Canada Institute of Computer Technology University of Technology Vienna Vienna Austria Pattern Recognition and Image Processing Group Institute of Computer Aided Automation University of Technology Vienna Vienna Austria

In this paper we discuss landmark based absolute localization of tiny autonomous mobile robots in a known environment. Landmark features are naturally occurring as it is not allowed to modify the environment with special navigational aids. These features are sparse in our application domain and are frequently occluded by other robots. This makes simultaneous acquisition of two or more landmarks difficult. Therefore, we propose a system that requires a single landmark feature. The algorithm is based on range measurement of a single landmark from two arbitrary points whose displacement can be measured using dead-reckoning sensors. Range estimation is done with a stereo vision system. Simulation results show that the robot can localize itself if it can estimates range of the same landmark from two different position and if the displacement between the two position is known.

关键词： Mobile robots Robot sensing systems Robot vision systems Cameras Navigation Position measurement robotics and automation Displacement measurement Educational robots Goniometers

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Incorporating spatial information into entropy estimates to improve multimodal image registration

Incorporating spatial information into entropy estimates to ...

引用

IEEE International Symposium on Biomedical Imaging

作者： N.D. Cahill C.M. Williams Shoupu Chen L.A. Ray M.M. Goodgame Research & Development Eastman Kodak (Japan) Limited Rochester NY USA Wolfson Medical Vision Laboratory University of Oxford Oxford UK Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

We propose an approach to incorporate spatial information into the estimate of the entropy of an image by partitioning a high-dimensional space into regions over which a one-dimensional histogram can be indexed. This approach obviates the need for the construction of high-dimensional histograms and makes no assumptions on the form of the high-dimensional probability mass function. We use this partitioned estimate of entropy to compute image similarity measures, useful in image registration, and we examine the convergence properties of the registration process

关键词： Entropy Image registration Histograms Mutual information Convergence Noise measurement Size measurement Biomedical imaging Laboratories State estimation

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

引用

IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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Computational Nanomechatronics: A Pathway for Control and Manufacturing Nanorobots

Computational Nanomechatronics: A Pathway for Control and Ma...

引用

International Conference on Computational Intelligence for Modelling, Control and Automation, and International Conference on Intelligent Agents, Web Technologies and Internet Commerce

作者： Adriano Cavalcanti Warren W. Wood Luiz C. Kretly Bijan Shirinzadeh Robotics and Mechatronics Research Laboratory Department of Mechanical Engineering Monash University Melbourne VIC Australia Department of Integrative Studies Michigan State University East Lansing MI USA Microwave and Optics Department Electrical and Computer Engineering School State University of Campinas-UNICAMP Sao Paulo Brazil

This paper describes an innovative work for nanorobot design and manufacturing, using a computer simulation and system on chip prototyping approach. The use of CMOS as integrated circuits, with the miniaturization from micro towards nanoelectronics, and the respective advances of nanowires are considered into the proposed model design and discussed as a practical pathway to enable embedded sensors for manufacturing nanorobots. The proposed nanorobot model is applied to hydrology monitoring. It can be useful for agriculture or environmental monitoring and management.

关键词： computer aided manufacturing Virtual manufacturing Integrated circuit modeling Semiconductor device modeling Monitoring Pulp manufacturing computer simulation System-on-a-chip Virtual prototyping CMOS integrated circuits

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Body Localization in Still Images Using Hierarchical Models and Hybrid Search

Body Localization in Still Images Using Hierarchical Models ...

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： Jiayong Zhang Jiebo Luo R. Collins Yanxi Liu The Robotics Institute Carnegie Mellon University PA USA Kodak Research Laboratory Eastman Kodak (Japan) Limited NY USA Department of Computer Science and Engineering Pennsylvania State University PA USA

We present a 3-level hierarchical model for localizing human bodies in still images from arbitrary viewpoints. We first fit a simple tree-structured model defined on a small landmark set along the body contours by Dynamic Programming (DP). The output is a series of proposal maps that encode the probabilities of partial body configurations. Next, we fit a mixture of view-dependent models by Sequential Monte Carlo (SMC), which handles self-occlusion, anthropometric constraints, and large viewpoint changes. DP and SMC are designed to search in opposite directions such that the DP proposals are utilized effectively to initialize and guide the SMC inference. This hybrid strategy of combining deterministic and stochastic search ensures both the robustness and efficiency of DP, and the accuracy of SMC. Finally, we fit an expanded mixture model with increased landmark density through local optimization. The model hierarchy is trained on a large number of gait images. Extensive tests on cluttered images with varying poses including walking, dancing and various types of sports activities demonstrate the feasibility of the proposed approach.

关键词： Sliding mode control Biological system modeling Proposals Humans Dynamic programming Monte Carlo methods Stochastic processes Robustness Testing Legged locomotion

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Electroactive polymer actuation at the nanoscale

Electroactive polymer actuation at the nanoscale

引用

2006 6th IEEE Conference on Nanotechnology, IEEE-NANO 2006

作者： Lee, Alexander S. Ly, James V. Peteu, Serban F. Thompson, Mark E. Zhou, Chongwu Requicha, Aristides A. G. Laboratory for Molecular Robotics University of Southern California Los Angeles CA 90089-0781 United States Mork Family Department of Chemical Engineering and Materials Science University of Southern California Los Angeles CA 90089-0781 United States Department of Chemistry University of Southern California Los Angeles CA 90089-0781 United States Department of Electrical Engineering University of Southern California Los Angeles CA 90089-0781 United States Department of Computer Science University of Southern California Los Angeles CA 90089-0781 United States

ISBN: (纸本)1424400783

Nanoscale actuators are required for the development of nanorobots and other nanoelectromechanical systems (NEMS) of the future. Actuators based on electrochemically-induced volumetric changes in electroactive polymers (EAPs) have been demonstrated at the macro and microscales, and have been used for artificial muscles and other applications. Here we experimentally and quantitatively demonstrate for the first time that the fundamental phenomena underlying EAP actuation are still active at spatial scales below 100 nm. This opens new directions in nanorobot and NEMS research. Individual polypyrrole structures are investigated in this paper by using atomic force microscopy (AFM) with electrochemistry capabilities. Polypyrrole-based nanowires (∼ 50 nm diameter, ∼ 6 μm in length) and single-walled carbon nanotubes coated with a polypyrrole film ∼125 nm thick both show actuation behavior. The nanowire dimensions change from ∼ 2% to as much as ∼ 35%. The single-walled nanotube-polypyrrole structures show a considerably lower percentage of dimensional change. © 2006 IEEE.

关键词： Nanorobotics

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Using a qualitative sketch to control a team of robots

Using a qualitative sketch to control a team of robots

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IEEE International Conference on robotics and Automation (ICRA)

作者： M. Skubic D. Anderson S. Blisard D. Perzanowski A. Schultz Electrical and Computer Engineering Department University of Missouri Columbia Columbia MO USA Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory Inc. Washington D.C. DC USA

In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a tablet PC. The user sketches a qualitative map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user and the robots. The paper also includes results of a usability study, in which users were asked to perform a series of tasks

关键词： Robot kinematics Robot sensing systems Mobile robots Layout Prototypes Displays Navigation computer interfaces Military computing Design engineering

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vision-based UAV flight control and obstacle avoidance

Vision-based UAV flight control and obstacle avoidance

引用

American Control Conference (ACC)

作者： Zhihai He R.V. Iyer P.R. Chandler Department of Electrical and Computer Engineering University of Missouri Columbia MO USA Department of Mathematics and Statistics Texas Tech University Lubbock TX USA U.S. Air Force Research Laboratory Wright Patterson Air Force Base OH USA

In this work, we explore various ideas and approaches to deal with the inherent uncertainty and image noise in motion analysis, and develop a low-complexity, accurate and reliable scheme to estimate the motion fields from UAV navigation videos. The motion field information allows us to accurately estimate ego-motion parameters of the UAV and refine (or correct) the motion measurements from other sensors. Based on the motion field information, we also compute the range map for objects in the scene. Once we have accurate knowledge about the vehicle motion and its navigation environment (range map), control and guidance laws can be designed to navigate the UAV between way points and avoid obstacles

关键词： Unmanned aerial vehicles Aerospace control Navigation Motion analysis Motion estimation Videos Parameter estimation Motion measurement Layout Motion control

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A binary tree for probability learning in eye detection

A binary tree for probability learning in eye detection

引用

2005 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Wu, Junwen Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San DiegoCA92037 United States

ISBN: (纸本)0769526608

In this paper we proposed to solve the eye detection and localization problem under a general statistical model based object detection framework. A binary tree representation is used to discover the objects' underlying statistical structure. Tree structures enable us to describe the object local statistical structure in a coarse-to-fine fashion. Each subtree explains the statistics for certain local *** tree is built in a top-down fashion. Subsets with negligible conditional independency are found by k-means clustering using mutual information. The conditionally independent features are separated into different subtrees, while more dependent features are tended to appear close in the tree. The distribution of the object can be learned accordingly. Gaussian mixture in the independent component analysis (ICA) subspace is used to model the distribution of each high dependent feature subset, where each independent component explains the local substructure. The use of tree structure enables us to learn the distribution recursively by applying Bayesian criterion. Substantial experiments were done to evaluate the performance over the eyes detection accuracy as well as the localization ability. Experimental results show a better detection accuracy than the Viisage system with a reasonable localization ability, which validate the algorithm. © 2005 IEEE computer Society. All rights reserved.

关键词： Object detection

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Multiperspective thermal IR and video arrays for 3D body tracking and driver activity analysis

Multiperspective thermal IR and video arrays for 3D body tra...

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2005 IEEE computer Society Conference on computer vision and Pattern Recognition, CVPR 2005 - Workshops

作者： Cheng, Shinko Y. Park, Sangho Trivedi, Mohan M. Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California San Diego San DiegoCA United States

ISBN: (纸本)0769526608

This paper presents a multi-perspective (i.e., four camera views) multi-modal (i.e., thermal infrared and color) video based system for robust and real-time 3D tracking of important body *** multi-perspective characteristics of the system provides 3Dtrajectory of the body parts, while the multi-modal characteristics of the system provides robustness and reliability of feature detection and tracking. The application context for this research is that of intelligent vehicles and driver assistance systems. Experimental results demonstrate effectiveness of the proposed system. © 2005 IEEE computer Society. All rights reserved.

关键词： Automobile drivers

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