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American Control Conference (ACC)

作者： P. Krishnamurthy P. Khorrami Contml/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

We propose an adaptive control design technique for feedforward systems based on our results on dynamic high-gain scaling techniques for controller design for strict-feedback-type systems. Both the state-feedback and the output-feedback cases are considered. The system is allowed to contain uncertain functions of all the states even in the output-feedback case. Unknown parameters are allowed in the bounds assumed on the uncertain functions appearing in the dynamics. The designed controllers have a very simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer in the output-feedback case is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in the states and the parameter estimation errors (and the observer errors in the case of output-feedback). The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller design provides strong robustness properties both with respect to uncertain parameters in the system model and additive disturbances. This robustness is the key to the output-feedback controller design.

关键词： Adaptive control Feedforward systems Observers Robust control Control systems Linear feedback control systems State feedback Lyapunov method Parameter estimation Stability analysis

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Dynamic high gain scaling: an application to robust adaptive output feedback for feedforward systems

Dynamic high gain scaling: an application to robust adaptive...

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Asian Control Conference

作者： P. Krishnamurthy F. Khorrami Control/Robotics Research Laboratory (CRRL) Department of Electrical and Computer Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA

We propose an adaptive output feedback control design for global asymptotic stabilization of feedforward systems based on our recent results on dynamic high gain scaling based controller design for strict-feedback systems. The system is allowed to contain uncertain functions of all the states and the input as long as they satisfy certain bounds. Unknown parameters are allowed in the bounds assumed on uncertain functions. If the uncertain functions involve the input, then the output-dependent functions in the bounds need to be polynomially bounded. It is also shown that if the uncertain functions can be bounded by a function independent of the input, then the polynomial boundedness requirement can be relaxed. The designed controllers have a simple structure being essentially a linear feedback with state-dependent dynamic gains and do not involve any saturations or recursive computations. The observer utilized to estimate unmeasured states is similar to a Luenberger observer with dynamic observer gains. The Lyapunov functions are quadratic in state estimates, observer errors, and parameter estimation error. The stability analysis is based on our recent results on uniform solvability of coupled state-dependent Lyapunov equations. The controller provides strong robustness properties both with respect to uncertain parameters and additive disturbances. This robustness is the key to the output feedback controller design.

关键词： Robustness Output feedback Feedforward systems Observers Polynomials State estimation Robust control Programmable control Adaptive control Control design

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Enhancement of stents using interference of low-frequency ultrasonic echo signals

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Journal of Medical Ultrasonics 2004年第2期31卷 67-73页

作者： Ohashi, Gosuke Ohya, Akihisa Tobise, Kazimobu Akiyama, Iwaki Faculty of Engineering Shizuoka University Hamamatsu Japan Institute of Information Sciences and Electronics University of Tsukuba Tsukuba Japan Shoryo Electronic Corporation Kamakura Japan Faculty of Engineering Shonan Institute of Technology Fujisawa Japan Image Processing and Vision Research Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106-9560 United States

Purpose. We set out to enhance the imaging of stents used for coronary coarctation surgery without imaging the reticulation of the stent. Because the stent is a reticulated structure, there is a relation between ultrasound wavelength and the interstice reticulation that produces the echo. Methods. First we performed computer simulation by ultrasound frequency of transmitted signals to analyze this relation. Then, instead of controlling the transmitted wave, we processed the returned signals through a band-pass filter because of the difficulty of controlling the transmitted waves of diagnostic ultrasound equipment. Following this, we conducted experiments on an agar gel phantom containing a stent to verify the effectiveness of this method. Results. The simulation confirmed that the stent was apparent when the ultrasonic wavelength equaled the product of an integer and twice the interval of the reticulation of the stent. Application of a band-pass filter of 0.8 to 1.5MHz to the waveform returned from the agar gel phantom containing the stent. Conclusions. The effectiveness of this method in depicting the stent was confirmed. © The Japan Society of Ultrasonics in Medicine 2004.

关键词： Interference Received waveform Signal processing Stent Ultrasonic echography

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Fusion of Visual and Thermal Signatures with Eyeglass Removal for Robust Face Recognition

Fusion of Visual and Thermal Signatures with Eyeglass Remova...

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IEEE computer Society Conference on computer vision and Pattern Recognition Workshops (CVPRW)

作者： Jingu Heo S.G. Kong B.R. Abidi M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a fusion of visual and thermal infrared (IR) images for robust face recognition. Two types of fusion methods are discussed: data fusion and decision fusion. Data fusion produces an illumination-invariant face image by adaptively integrating registered visual and thermal face images. Decision fusion combines matching scores of individual face recognition modules. In the data fusion process, eyeglasses, which block thermal energy, are detected from thermal images and replaced with an eye template. Three fusion-based face recognition techniques are implemented and tested: Data fusion of visual and thermal images (Df), Decision fusion with highest matching score (Fh), and Decision fusion with average matching score (Fa). A commercial face recognition software FaceIt® is used as an individual recognition module. Comparison results show that fusion-based face recognition techniques outperformed individual visual and thermal face recognizers under illumination variations and facial expressions.

关键词： Robustness Face recognition Face detection Lighting Optical imaging Intelligent robots Infrared imaging Pattern recognition computer vision Temperature

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Fusion of visual, thermal, and range as a solution to illumination and pose restrictions in face recognition

Fusion of visual, thermal, and range as a solution to illumi...

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International Carnahan Conference on Security Technology

作者： B. Abidi S. Huq M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper summarizes the various components of face recognition research conducted at the IRIS Lab. First, fusion of visual and thermal infrared (IR) images for robust face recognition is discussed. Two techniques are implemented: data fusion and decision fusion. With the knowledge that eyeglasses block the emission of thermal energy, an algorithm is designed to detect and replace eyeglasses with an eye template in thermal images. A commercial face recognition software (FaceIt/spl reg/) is used in the evaluation of the various fusion algorithms. Comparison results show that fusion-based face recognition outperforms individual visual or thermal face recognizers under illumination variations and facial expressions. Efforts in the 3D arena are also described. Results of high resolution stereo-based 3D reconstruction of faces are shown and analyzed, in a first approach, then in a second approach, a warping technique is applied to overlay color and thermal textures on 3D mannequin head models, obtained using a laser range scanner.

关键词： Lighting Face recognition Face detection Iris Infrared imaging Robustness Algorithm design and analysis Software algorithms Image reconstruction Image color analysis

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Autonomous controller design for unmanned aerial vehicles using multi-objective genetic programming

Autonomous controller design for unmanned aerial vehicles us...

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Congress on Evolutionary Computation

作者： C.K. Oh G.J. Barlow US Naval Research Laboratory Washington D.C. DC USA Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

Autonomous navigation controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications using multiobjective genetic programming (GP). We designed four fitness functions derived from flight simulations and used multiobjective GP to evolve controllers able to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle closely around the emitter. Controllers were evolved for three different kinds of radars: stationary, continuously emitting radars, stationary, intermittently emitting radars, and mobile, continuously emitting radars. We selected realistic flight parameters and sensor inputs to aid in the transference of evolved controllers to physical UAVs.

关键词： Unmanned aerial vehicles Genetic programming Erbium Robot kinematics Robot control Automatic control Radar Intelligent robots Mobile robots Navigation

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Building an autonomous humanoid tool user

Building an autonomous humanoid tool user

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IEEE-RAS International Conference on Humanoid Robots

作者： W. Bluethmann R. Ambrose M. Diftler E. Huber A. Fagg M. Rosenstein R. Platt R. Grupen C. Breazeal A. Brooks A. Lockerd R.A. Peters O.C. Jenkins M. Mataric M. Bugajska NASA Johnson Space Center Houston TX USA Dexterous Robotic Laboratory Houston TX USA Computer Science Department University of Massachusetts Amherst MA USA MIT Media Lab Massachusetts Institute of Technology Cambridge MA USA Electrical Engineering & Computer Science Vanderbilt University Nashville TN USA Computer Science Department University of Southern California Los Angeles CA USA Computer Science Department Unversity of Southern California Los Angeles CA USA Navy Cenfer for Applied Research in Artificial Intelligence Naval Research Laboratory (NRL) Washington DC Navy Center for Applied Research in Artificial Intelligence Naval Research Laboratory (NRL) Washington DC

To make the transition from a technological curiosity to productive tools, humanoid robots will require key advances in many areas, including, mechanical design, sensing, embedded avionics, power, and navigation. Using the NASA Johnson Space Center's Robonaut as a testbed, the DARPA mobile autonomous robot software (MARS) humanoids team is investigating technologies that will enable humanoid robots to work effectively with humans and autonomously work with tools. A novel learning approach is being applied that enables the robot to learn both from a remote human teleoperating the robot and an adjacent human giving instruction. When the remote human performs tasks teleoperatively, the robot learns the salient sensory-motor features to executing the task. Once learned, the task may be carried out fusing the skills required to perform the task, guided by on-board sensing. The adjacent human takes advantage of previously learned skills to sequence the execution of these skills. Preliminary results from initial experiments using a drill to tighten lug nuts on a wheel are discussed.

关键词： Humans Robot sensing systems Space technology Humanoid robots Aerospace electronics Orbital robotics Buildings Navigation NASA Software testing

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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

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The Fourteenth International Offshore and Polar engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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Parametric face modeling and affect synthesis

Parametric face modeling and affect synthesis

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2003 International Conference on Multimedia and Expo, ICME 2003

作者： Mallick, Satya Prakash Trivedi, Mohan University of Califomia San Diego Department of Electrical and Computer Engineering: Computer Vision and Robotics Research United States

ISBN: (纸本)0780379659

In this paper, we present a fast algorithm for automatically generating a 3D model of a human face and synthesizing affects on it. This work is a step towards low bandwidth virtual tele-presence using avatars. The idea is to generate a 3D model of a person's face and animate different emotions on the face at a remote observer's end, thus eliminating the need to send raw video. This research is part of a larger project, which deals with development of novel sensory systems and interfaces to enhance safety of a driver. The proposed algorithm uses a stereo pair of images of a driver's face and creates a 3D mesh model by deforming and texture mapping a predefined 3D mesh. © 2003 IEEE.

关键词： Three dimensional computer graphics

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