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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene.

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Team scheduling by genetic search 2

Team scheduling by genetic search

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2nd International Conference on Intelligent Processing and Manufacturing of Materials, IPMM 1999

作者： Zhang, Tiehua Graver, William A. Smith, Michael H. Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University BurnabyBCV5A1S6 Canada University of California at Berkeley Department of Electrical Engineering and Computer Science BerkeleyCA United States

ISBN: (纸本)0780354893

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple Travelling Salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem. © 1999 IEEE.

关键词： Cost functions

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Adaptive force tracking impedance control of robot for cutting nonhomogeneous workpiece

Adaptive force tracking impedance control of robot for cutti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics & Computational Intelligence Laboratory(ROCIL) Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

This paper presents the feasibility study of an adaptive impedance force control application to deburring/milling process. The proposed control regulates desired force on nonhomogeneous workpiece in regardless of unknown location and stiffness of the workpiece. The adaptive technique of minimizing the force error between the desired and the actual force is used to compensate for uncertainties in unknown workpiece. Effect of selecting the impedance damping gain with different workpiece stiffness on force tracking is analytically determined. Analyzing the stability of the proposed adaptive force control yields the bound of the adaptive gain for stability. Simulation studies of deburring/milling process show the excellent force tracking and confirm stability bound for stable force tracking.

关键词： Force control Programmable control Adaptive control Impedance Robot control Deburring Milling Stability analysis Process control Uncertainty

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Taxonomy of research on human interactions with intelligent systems

Taxonomy of research on human interactions with intelligent ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： A. Agah K. Tanie Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA Department of Robotics Mechanical Engineering Laboratory Tsukuba Japan

The objective of the paper is to provide a taxonomy of current research on human interactions with intelligent systems. This embodies human-computer interactions, human-machine interactions, and human-robot interactions. The research undertakings are classified based on five criteria of: research approach, application, system autonomy, interaction distance, and interaction media. Additionally, more than 150 cited references are listed in summary tables with respect to each classification category. This provides an easy guide to search for related works with certain characteristics. The intelligent systems discussed in the paper cover a wide range, including: telerobots, virtual reality, user interfaces, bio-feedback, mobile robots, intelligent interfaces, sport machines, medical technology, human-machine interfaces, entertainment, intelligent systems, computer input/output devices, human-computer interfaces, and multimedia.

关键词： Taxonomy Humans Intelligent systems Intelligent robots Machine intelligence Man machine systems Virtual reality User interfaces Mobile robots Paper technology

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The challenge of using soft computing methodologies in supervisory control systems

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IFAC Proceedings Volumes 1999年第2期32卷 285-290页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 Greece Tel +30 61 997293 Fax. +30 61 997309

In Complex Large Scale Systems there is an oncoming need for more autonomous and intelligent systems, new methodologies from discipline research areas have been proposed. A general formulation for the Overall Control Problem of Complex Systems is presented. Then, the use of a hybrid methodology, which combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for the modeling Supervisory Complex Systems, using is investigated. The description and the construction of Fuzzy Cognitive Map is examined and a model for the supervisor is proposed.

关键词： Supervisory Control Cognitive Systems Modeling Complex Systems

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On filtering short-duration sinusoids, periodic signals and damped sinusoids

On filtering short-duration sinusoids, periodic signals and ...

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Canadian Conference on electrical and computer engineering (CCECE)

作者： R.R. Galigekere Y.V. Venkatesh D.W. Holdsworth Imaging Research Laboratories J. P. Robarts Research Institute London ONT Canada Computer Vision Laboratory Department of Electrical Engineering Indian Institute of Science Bangalore India

Adaptive filtering of damped sinusoids is considered in this paper. Damped sinusoids include sinusoids as a special case. The recently proposed instantaneous matched filter (IMF) approach, its limitation, and a remedy, are discussed. Its recursive implementation that circumvents the limitation is shown to consist of the same equations as those of recursive least squares (RLS) adaptive linear combiner. A procedure that does not require a knowledge of the frequencies and damping factors is discussed. Its modified version leads to the idea of using a projection matrix for orthogonalization, and to the interpretation that an autoregressive RLS scheme is an adaptive null-filter to the class of sinusoidal signals.

关键词： Filtering Adaptive filters Resonance light scattering Damping Matched filters Frequency Shape Laboratories Nonlinear filters Least squares approximation

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New generation of multirobot systems

New generation of multirobot systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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Algorithmic navigation to train deictic mobile robot operators

Algorithmic navigation to train deictic mobile robot operato...

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IEEE International Conference on robotics and Automation (ICRA)

作者： M.E. Cleary J.D. Crisman College of Computer Science Robotics and Vision Systems Laboratory Boston MA USA Department of Electrical and Computer Engineering Northeastern University Boston MA USA

Presents an algorithm for a simulator to train mobile robot operators in the use of deictic commands. It shows that robots can be deictically controlled in any reasonable environment. Deictic control is a technique which directs the robot by visually servoing on targets pointed out to the robot by its operator. This provides a direct, intuitive control method which any sighted operator can use. Previous work has formally defined canonical targets required for deictic control, and has described a training system for prospective users. This paper extends that work by providing a specific algorithm for the construction of deictically controlled paths. The algorithm is described in detail and results are presented. This algorithm shows that deictic commands and their targets can be simply determined by an agent able to sense the surrounding environment.

关键词： Navigation Mobile robots Robot control Automatic control Control systems Robot vision systems Machine vision Object recognition Humans robotics and automation

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Pose alignment of an eye-in-hand system using image morphing

Pose alignment of an eye-in-hand system using image morphing

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： R. Singh R.M. Voyles D. Littau N.P. Papanikolopoulos Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA Artificial Intelligence Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

Positioning an eye-in-hand robotic system with respect to a static target is a challenging research problem since it involves recognition of the object and the desired pose at which alignment is to occur, planning a trajectory for the robot to attain this pose, and careful calibration of the system and the environment. In this paper we introduce a unified framework based on image morphing, to address the above problems and apply it to the task of translational and rotational alignment of an eye-in-hand system to planar objects or planar projections of 3D objects. In our method the desired manipulator pose for each object is defined and stored as a view of the object taken from this pose. The identity of an unknown object in the workspace is established by morphing its image to the views in the database, and using a quantification of the morph as a dissimilarity measure. The synthetic images generated during the morph are used guide an eye-in-hand system to the desired pose. The framework can accommodate partially occluded or deformable targets and smooth trajectories can be generated since an arbitrary number of intermediate images can be used.

关键词： Calibration Robot vision systems Error correction Trajectory Artificial intelligence Intelligent robots Laboratories computer science Target recognition Image databases

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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