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Generalized adaptive output-feedback form with unknown parameters multiplying high output relative-degree states

Generalized adaptive output-feedback form with unknown param...

引用

IEEE Conference on Decision and Control

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

We propose a global high-gain scaling based observer/controller for systems in the uncertain generalized output-feedback canonical form. Time-varying nonlinear parametric uncertainty is allowed to occur coupled with unmeasured states in the system dynamics. This represents a significant generalization from existing results which allow unknown parameters only in output-dependent terms. This restriction in previous results is mainly owing to the fact that no general solution is known for systems involving bilinear terms in unmeasured states. The design utilizes the dual architecture of a high-gain observer and controller with the underlying state scaling being dynamically output-dependent. The proposed observer/controller structure provides a globally asymptotically stabilizing output-feedback solution for the benchmark open problem proposed in our earlier work with the provision that a magnitude bound on the unknown parameter be given.

关键词： Riccati equations Control systems Linear matrix inequalities Differential equations Robot control Laboratories Ear Uncertainty Lyapunov method Linear systems

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Triangle mesh-based edge detection and its application to surface segmentation and adaptive surface smoothing

Triangle mesh-based edge detection and its application to su...

引用

IEEE International Conference on Image Processing

作者： Y. Sun D.L. Page J.K. Paik A. Koschan M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

Triangle meshes are widely used in representing surfaces in computer vision and computer graphics. Although 2D image processing-based edge detection techniques have been popular in many application areas, they are not well developed for surfaces represented by triangle meshes. This paper proposes a robust edge detection algorithm for triangle meshes and its applications to surface segmentation and adaptive surface smoothing. The proposed edge detection technique is based on eigen analysis of the surface normal vector field in a geodesic window. To compute the edge strength of a certain vertex, the neighboring vertices in a specified geodesic distance are involved. Edge information are used further to segment the surfaces with the watershed algorithm and to achieve edge-preserved, adaptive surface smoothing. The proposed algorithm is novel in robustly detecting edges on triangle meshes against noise. The 3D watershed algorithm is an extension from previous work. Experimental results on surfaces reconstructed from multi-view real range images are presented.

关键词： Image edge detection Smoothing methods Application software Image segmentation Surface reconstruction computer vision computer graphics Geophysics computing Noise robustness Image reconstruction

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Distributed heterogeneous outdoor multi-robot localization

Distributed heterogeneous outdoor multi-robot localization

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Madhavan K. Fregene L.E. Parker Center for Engineering Science Advanced Research Computer Science and Mathematics Division Oak Ridge National Laboratory Oak Ridge TN USA Department of Electrical and Computer Engineering University of Waterloo Canada

An extended Kalman filter (EKF)-based algorithm for the localization of a team of robots is described in this paper. The distributed EKF localization scheme is straightforward in that the individual robots maintain a pose estimate using EKFs that are local to every robot. We then show how these results can be extended to perform heterogeneous cooperative localization in the absence or degradation of absolute sensors aboard the team members. The proposed algorithms are implemented using field data obtained from a team of ATRV-mini robots traversing on uneven outdoor terrain.

关键词： Robot sensing systems Global Positioning System Centralized control Kalman filters Mobile robots computer science Mathematics Laboratories Electronic mail Degradation

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Certainty and expertness-based credit assignment for cooperative Q-Learning agents with an AND-type task

Certainty and expertness-based credit assignment for coopera...

引用

International Conference on Neural Information Processing

作者： A. Harati M.N. Ahmadabadi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence & AI and Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In multiagent reinforcement learning, inter-agent credit assignment is a fundamental problem, since a single scalar reinforcement signal is the only reliable feedback that teams of learning agents receive. This problem is more critical in groups of independent learners with a joint task. In this research, it is assumed that a critic agent receives the environment feedback and assigns a proper credit to each agent using some measures. Three of such measures for a team of cooperative agents with a parallel and AND-type task are introduced. These measures somehow compare the agents' knowledge. One of these criteria, called normal expertness, is a non-relative measure while two other ones (certainty and relative normal expertness) are relative measure. It is experimentally shown that relative measures work better as they contain more information for the critic agent.

关键词： Feedback Intelligent agent Intelligent robots Process control Control systems Intelligent control Artificial intelligence Robot kinematics Physics computing Reliability engineering

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Dynamic support of service differentiation in wireless networks

Dynamic support of service differentiation in wireless netwo...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： Yi Han Zhang D. Makrakis S. Primak Yun Bo Huang Department of Electrical and Computer Engineering University of Western Ontario London ONT Canada Broadband Wireless and Internetworking Research Laboratory School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada

Wireless networks are becoming progressively the access technology of preference to the global Internet, while fast backbone wired networks (mostly optical IP based) will be transporting large volumes of aggregate traffic. This scenario is one of the main visions set for 4th generation wireless networks. However, in order for this vision to become reality, new features need to be introduced in the wireless networking infrastructure, one of the "key" ones being the ability to provide service differentiation. This is the subject of the present work. It addresses the issues of extending service differentiation to wireless communication systems enabling a network to effectively service delay and throughput sensitive applications. We propose a service differentiation capable network architecture. Our study investigates how different packet scheduling can be accommodated in wireless networks to provide service differentiation for several types of traffic. Our design considers the need for interoperability between wired and wireless world, the spectrum limitations and "error" prone behavior of the wireless channel.

关键词： Wireless networks Telecommunication traffic Wireless sensor networks IP networks Spine Optical fiber networks Optical sensors Aggregates Wireless communication Delay effects

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Object tracking by a robot manipulator: a robust cooperative visual servoing approach

Object tracking by a robot manipulator: a robust cooperative...

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IEEE International Conference on robotics and Automation (ICRA)

作者： W.E. Dixon E. Zergeroglu Y. Fang D.M. Dawson Engineering Science and Technology Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA Optical Fiber Division OFS Fitel Sturbridge MA USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

In this paper, we utilize a Lyapunov-based design approach. to construct a visual servoing controller for a robot manipulator that ensures uniformly ultimately bounded (UUB) end-effector position tracking performance despite parametric uncertainty throughout the entire robot/camera system. The UUB end-effector tracking result exploits information from both a fixed camera and a camera-in-hand. although both cameras contain parametric uncertainty in the calibration parameters (e.g., focal length, image center, scaling factors, and camera position and orientation). The advantages of the cooperative camera configuration are that: (i) the fixed camera can be mounted so that a large robot workspace is visible, (ii) the camera-in hand is mounted so that a high resolution, close-up view of an object is achieved, facilitating the potential for more precise robotic motion. and (iii) the fixed camera provides a mechanism for treating the problem of determining the relative velocity of the robot end-effector with respect to the object for the camera-in-hand object tracking problem when the camera is uncalibrated.

关键词： Manipulators Robustness Visual servoing Robot vision systems Cameras Uncertainty Robot control Control systems Calibration Robot motion

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Articulated body posture estimation from multi-camera voxel data

Articulated body posture estimation from multi-camera voxel ...

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Conference on computer vision and Pattern Recognition (CVPR)

作者： I. Mikic M. Trivedi E. Hunter P. Cosman Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of California La Jolla CA USA

ISBN: (纸本)0769512720

We present a framework for articulated body model acquisition and tracking from voxel data. A 3D voxel reconstruction of the person's body is computed from silhouettes extracted from four cameras. The model acquisition process is fully automated. In the first frame, body parts are located sequentially. The head is located first, since its shape and size are unique and stable. Other parts are found by sequential template growing and fitting. This initial estimate of body part locations, sizes and orientations is then used as a measurement for the extended Kalman filter which ensures a valid articulated body model. The same filter, with a slightly modified state and state transition matrix, is then used for tracking. The performance of the system has been evaluated on several video sequences with promising results.

关键词： Cameras Image reconstruction Biological system modeling Data mining computer vision Robot vision systems Head Shape Filters Image segmentation

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A new camera calibration method for robotic applications

A new camera calibration method for robotic applications

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jun-Sik Kim In-So Kweon Department of Electrical Engineering and Computer Science Robotics and Computer Vision Laboratory KAIST South Korea Department of Electrical Engineering and Computer Science KAIST South Korea

In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3D target points and their image points, and greatly simplifies the calibration problem.

关键词： Robot vision systems Cameras Calibration Mobile robots Application software computer vision Laboratories computer science Layout Robot kinematics

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Using Motives and Artificial Emotions for Prolonged Activity of a Group of Autonomous Robots

Using Motives and Artificial Emotions for Prolonged Activity...

引用

2001 AAAI Fall Symposium

作者： Michaud, François Robichaud, Etienne Audet, Jonathan LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrooke SherbrookeQCJ1K 2R1 Canada

To operate over a long period of time in the real world, autonomous mobile robots must have the capability of recharging themselves whenever necessary. In addition to be able to find and dock into a charging station, robots must be able to decide when and for how long to recharge. This decision is influenced by the energetic capacity of their batteries and the contingencies of the environment. To deal with this temporality issue and using research evidences from the field of psychology, this study investigates the use of motives and artificial emotions to regulate the recharging need of autonomous robots. © 2001 AI Access Foundation. All rights reserved.

关键词： Robots

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Global adaptive output feedback tracking for nonlinear systems linear in unmeasured states

Global adaptive output feedback tracking for nonlinear syste...

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American Control Conference (ACC)

作者： P. Krishnamurthy F. Khorrami Department of Electrical and Computer Engineering Control Robotics Research Laboratory CRRL Polytechnic University Brooklyn NY USA

A global adaptive output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally diffeomorphic into systems in generalized output-feedback canonical form. This form includes as special cases the standard output-feedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain unknown parameters multiplying output-dependent nonlinearities. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve asymptotic tracking. It is also shown that this assumption can be removed by introducing extra dynamics. This represents the first adaptive output-feedback tracking results for this class of systems.

关键词： Output feedback Nonlinear systems Control systems Adaptive control Programmable control Backstepping State feedback Linear feedback control systems Robot control Linearization techniques

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