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IEEE International Conference on robotics and Automation (ICRA)

作者： P. Payeur D. Laurendeau C.M. Gosselin Computer Vision and Digital Systems Laboratory Department of Electrical and Computer Engineering Laval University Sainte Foy QUE Canada Computer Vision and Digital Systems Laboratory Department of Mechanical Engineering Laval University Sainte Foy QUE Canada

In a previous paper by Payeur et al. (1997), probabilistic occupancy modeling has been successfully extended to 3D environments by means of a closed-form approximation of the probability distribution. In this paper, the closed-form approximation is revisited in order to provide more reliable and meaningful models. A merging strategy of local probabilistic occupancy grids originating from each sensor viewpoint is introduced. The merging process takes advantage of the multiresolution characteristics of octrees to minimize the computational complexity and enhance performances. An experimental testbed is used to validate the approach and models computed from real range images are presented.

关键词： Merging computer vision Testing Layout Computational complexity Power system modeling Data structures Bayesian methods Digital systems Distributed computing

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A system for human jaw modeling using intra-oral images

A system for human jaw modeling using intra-oral images

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： S.M. Yamany A.A. Farag Computer Vision and Image Processing Laboratory Department of Electrical Engineering University of Louisville Louisville KY USA

A novel integrated system is developed to obtain a record of the patient's occlusion using computer vision. Data acquisition is obtained using intra-oral video camera. A modified Shape from Shading (SFS) technique using perspective projection and camera calibration is then used to extract accurate 3D information from a sequence of 2D images of the jaw. A novel technique for 3D data registration using Grid Closest Point (GCP) transform and genetic algorithms (GA) is used to register the output of the SFS stage. Triangulization is then performed, and a solid 3D model is obtained via a rapid prototype machine. The overall purpose of this research is to develop a model-based vision system for orthodontics that will replace traditional approaches and can be used in diagnosis, treatment planning, surgical simulation and implant purposes.

关键词： Humans Cameras computer vision Data acquisition Shape Calibration Data mining Genetic algorithms Solid modeling Prototypes

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Analysis of nonlinear neural network impedance force control for robot manipulators

Analysis of nonlinear neural network impedance force control...

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IEEE International Conference on robotics and Automation (ICRA)

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

A force tracking nonlinear impedance control scheme using a neural network is introduced. Due to the nonlinear characteristics of the proposed control law, stability has been analyzed. The numerical bound of environment position uncertainty for ensuring robot contact with the environment and to perform desired force tracking has been found. Intensive simulation studies with a three link rotary robot manipulator tracking the surface with a desired force are carried out to confirm the boundary solutions of the proposed scheme under no knowledge of environment surface position and environment stiffness.

关键词： Neural networks Impedance Force control Robots Manipulators Iron Orbital robotics Nonlinear equations Uncertainty Nonlinear control systems

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An Overview and Critical Issues for research and Education of Intelligent Manufacturing Systems

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IFAC Proceedings Volumes 1998年第15期31卷 679-687页

作者： Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +3061 997295 Fax. +3061 997309

Intelligent Manufacturing Systems is the major challenge that must be met by scientific community in order to develop the next generation sophisticated manufacturing systems. This paper presents an overview of new promising domains, such as fuzzy logic, neural networks and hybrid intelligent control systems, that could be utilised to achieve human intention for more advanced manufacturing systems. The modelling of the supervisor of manufacturing systems using fuzzy cognitive map is proposed and system functionalization architecture is presented. Finally, conclusions of an international symposium on issues and challenges of Manufacturing and Control Education for the 21 st Century are presented.

关键词： Modelling Supervisory Control Fuzzy Neural Systems Intelligent Manufacturing Systems

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Movement control system design for an artificial eye implant

Movement control system design for an artificial eye implant

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IEEE International Conference on Systems, Man and Cybernetics

作者： J. Gu M. Meng M.G. Faulkner A. Cook Department of Electrical and Computer Engineering Advanced Robotics and Teleoperation Laboratory Edmonton AB Canada Department of Mechanical Engineering University of Alberta Edmonton AB Canada Faculty of Rehabilitation Medicine University of Alberta Edmonton AB Canada

The main objective of the research project reported in this paper is to design an assistive device that will help patients with eye-implant to have natural eye movement. The patients lose their eye for various reasons. The loss of an eye can be solved by the ocular implant. The artificial eye can be made like a real eye cosmetically. But the problem is that it is static and does not have the natural movement of an eye. We design an ocular assistive system to enable the artificial eye have the natural movement of a real eye. This paper starts with the literature review of the eye movement detection methods and followed by the description of the experimental system we designed and constructed. The paper is concluded with further considerations.

关键词： Control systems Implants Servomotors Space vector pulse width modulation Eyelids Amorphous magnetic materials Magnetic separation Infrared sensors Medical control systems Medical robotics

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Jigsaw puzzle solver using shape and color

Jigsaw puzzle solver using shape and color

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International Conference on Signal Processing Proceedings (ICSP)

作者： Min Gyo Chung M.M. Fleck D.A. Forsyth Multimedia Technology Research Laboratory Korea Telecom Seoul South Korea Department of Computer Science Harvey Mudd College Claremont CA USA Department of Electrical Engineering&Computer Sciences University of California Berkeley CA USA

The jigsaw puzzle assembly problem is significant in that it can be applied to diverse areas such as repair of broken objects, restoration of archaeological findings, molecular docking problem for drug design, etc. This paper describes a new pictorial jigsaw puzzle solver which, in contrast to previous apictorial jigsaw puzzle solvers, uses chromatic information as well as geometric shape. We develop three new puzzle assembly algorithms (TSP&Kbest-based, TSP&AP-based, and AP-based algorithm) and new boundary and color matching operation. We tested the new puzzle solver with 6 different sets of color puzzle pieces. Experimental results show that chromatic information greatly aids in seeking the solution to the jigsaw puzzle problem. It is also discovered that in terms of how rapidly each assembly algorithm reaches a solution, the TSP and Kbest-based algorithm is the best, followed by TSP and AP-based algorithm, and followed by AP-based algorithm.

关键词： Shape Assembly Cameras Application software computer vision Displays Feature extraction Telecommunications computer science Educational institutions

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Fuzzy logic controlled genetic algorithms versus tuned genetic algorithms: an agile manufacturing application

Fuzzy logic controlled genetic algorithms versus tuned genet...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： R. Subbu A.C. Sanderson P.P. Bonissone Electronics Agile Manufacturing Research Institute and Electrical Computerand Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Information Technology Laboratory General Electric Corporate Research and Development Center Schenectady NY USA

This paper presents a comparison of the performance of a fuzzy logic controlled genetic algorithm (FLC-GA) and a parameter tuned genetic algorithm (TGA) for an agile manufacturing application. In the FLC-GA, fuzzy logic controllers dynamically schedule parameters of the object-level GA. A fuzzy knowledge-base is automatically identified and tuned using a high-level GA. In the TGA, a high-level GA is used to determine an optimal static parameter set for the object-level GA. The object-level GA supports a global evolutionary optimization of design, manufacturing, and supplier planning decisions for manufacturing of printed circuit assemblies in an agile environment. We demonstrate that high-level system identification or tuning performed with small object-level search spaces, can be extended to more elaborate object-level search spaces. The TGA performs superior searches, but incurs large search times. The FLC-GA performs faster searches than a TGA, and is slower than the GA that utilizes a canonical static parameter set. However, search quality of the FLC-GA is comparable to that of the GA which utilizes a canonical static parameter set.

关键词： Fuzzy logic Genetic algorithms Automatic control Agile manufacturing Manufacturing automation Optimal control Job shop scheduling Dynamic scheduling Fuzzy control Fuzzy sets

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Bounded tracking for non-minimum phase nonlinear systems with fast zero dynamics

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INTERNATIONAL JOURNAL OF CONTROL 1997年第4期68卷 819-847页

作者： Tomlin, CJ Sastry, SS Department of Electrical Engineering and Computer Sciences Intelligent Machines and Robotics Laboratory University of California Berkeley CA 94720-1770 United States

In this paper, we derive tracking control laws for non-minimum phase nonlinear systems with both fast and slow, possibly unstable, zero dynamics. The fast zero dynamics arise from a perturbation of a nominal system. These fast zeros can be problematic in that they may be in the right half plane and may cause large magnitude tracking control inputs. In this paper, we combine the ideas from some recent work of Hunt, Meyer and Su with that of Devasia, Chen and Paden on an asymptotic tracking procedure for non-minimum phase nonlinear systems. We give (somewhat subtle) conditions under which the tracking control input is bounded as the magnitude of the perturbation of the nominal system becomes zero. Explicit bounds on the control inputs are calculated for both SISO and MIMO systems using some interesting non-standard singular perturbation techniques. The method is applied to a suite of examples, including the simplified planar dynamics of VTOL and CTOL aircraft.

关键词： STABILIZATION AIRCRAFT perturbation Vertical take off Fasting tracking control Zero dynamics control input Aircraft Bounded multiple input multiple output systems

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Visually guided navigation

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robotics AND AUTONOMOUS SYSTEMS 1997年第1期21卷 37-50页

作者： Kosecka, J Robotics laboratory Department of Electrical Engineering and Computer Science 333 Cory Hall 98 UC Berkeley Berkeley CA 94720-1772 USA

Rich sensory information, robust control strategies and proper representation of the environment are crucial for successful navigation of the mobile robot. We propose a model of the environment which is suitable for global navigation using visual sensing. At the lowest level of interaction of the robot with the environment we employ visual servoing techniques which facilitate robust local navigation by means of relative positioning. Further we demonstrate how to use these local control strategies in a global setting. The environment is represented in terms of place graph, where the nodes correspond to places and arcs have associated servoing strategies for moving from one place to another. The global navigation is expressed as a sequence of relative positioning tasks obtainable from the search of a place graph. The proposed model facilitates generation of motion plans which can be executed in a robust manner thanks to the presence of the sensory information in the feedback loop.

关键词： visual servicing motion planning navigation

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On an effective design approach of Cartesian space neural network control for robot manipulators

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ROBOTICA 1997年第pt 3期15卷 305-312页

作者： Jung, S Hsia, TC Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA 95616 USA. E-mail: hsia@ece.ucdavis.edu and jung@ece.ucdavis.edu

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network (NN) compensation techniques are promising. In this paper we examine the effectiveness of neural network (NN) as a compensator for the complex problem of Cartesian space control. In particular we examine the differences in system performance of accurate position control when the same NN compensator is applied at different locations in the controller structure. It is found that using NN to modify the reference trajectory to compensate for model uncertainties is much more effective than the traditional approach of modifying control input or joint torque/force. To facilitate the analysis, new NN training signal is introduced and used for all cases. The study is also extended to non-model based Cartesian control problems. Simulation results with three-link rotary robot are presented and performances of different compensating locations are compared.

关键词： neural network robot control Cartesian space design

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