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Design and development of autonomous driving vehicle

Design and development of autonomous driving vehicle

引用

International Symposium on systems and Control in Aerospace and Astronautics

作者： Gao, Meng He, Kezhong Liu, Huaping Sun, Fuchun Shijiazhuang Railway Institute Shijiazhuang Hebei Province China Department of Computer Science and Technology Tsinghua University State Key Laboratory of Intelligent Technology and Systems China

ISBN: (纸本)9781424460441

In this paper, a new type of autonomous vehicle is developed. This vehicle consists of three sets of control systems to regulate the direction, brake and fuels. The sensing system is a combination of laser radar and camera. The localization system is constructed with GPS device and electronically compass. Currently, three tasks, including lane detection and following, object detection, and obstacle avoidance, has been implemented on this platform. We reported some experimental results. ©2010 IEEE.

关键词： Object detection

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Self-learning scheduling approach for wireless sensor network

Self-learning scheduling approach for wireless sensor networ...

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2010 2nd International Conference on Future computer and Communication, ICFCC 2010

作者： Niu, Jianjun State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China Beijing Special Engineering Design and Research Institute Beijing China

ISBN: (纸本)9781424458226

Energy efficiency is one of key issues of wireless sensor network (WSN). In this paper, we propose a self-learning scheduling approach (SSA) to reduce energy consumption for wireless sensor network (WSN). This approach integrates sleep scheduling together with packet transmission scheduling to reduce energy consumption. It enables nodes to learn continuous transmission parameters and sleep parameter through interacting with the WSN. The continuous value of transmission parameter is achieved by our extension of Q-learning method, and the value of sleep parameter can be calculated from the transmission parameter. We valid this approach in a MAC protocol and compare some network performances between the SSA and SMAC protocol. The simulation results show that our SSA performs much better than SMAC protocol in these QoS metrics. ©2010 IEEE.

关键词： Reinforcement learning

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Haptic terrain classification for legged robots

Haptic terrain classification for legged robots

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Mark A. Hoepflinger C. David Remy Marco Hutter Luciano Spinello Roland Siegwart Autonomous Systems Lab Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology ETH Zurich Zurich Switzerland Social Robotics Lab Department of Computer Science University of Freiburg Freiberg Germany

In this paper, we are presenting a method to estimate terrain properties (such as small-scale geometry or surface friction) to improve the assessment of stability and the guiding of foot placement of legged robots in rough terrain. Haptic feedback, expressed through joint motor currents and ground contact force measurements that arises when prescribing a predefined motion was collected for a variety of ground samples (four different shapes and four different surface properties). Features were extracted from this data and used for training and classification by a multiclass AdaBoost machine learning algorithm. In a single leg testbed, the algorithm could correctly classify about 94% of the terrain shapes, and about 73% of the surface samples.

关键词： Haptic interfaces Legged locomotion Rough surfaces Surface roughness Machine learning algorithms Computational geometry Friction Stability Foot Force feedback

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Evolutionary self-learning scheduling approach for wireless sensor network

Evolutionary self-learning scheduling approach for wireless ...

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2010 International Conference on intelligent Computation Technology and Automation, ICICTA 2010

作者： Niu, Jianjun Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China Beijing Special Engineering Design and Research Institute Beijing China

ISBN: (纸本)9780769540771

Energy efficiency is very important for wireless sensor network (WSN). This paper presents an evolutionary self-learning scheduling approach (ESSA) to reduce energy consumption for WSN. The ESSA is based on a new proposed scheme - evolutionary Q-learning with continuous-action (EQC) approach, which combines an extension of Q-learning method with particle swarm optimization (PSO) algorithm. The action space of EQC is partitioned into lots of subintervals. And each endpoint of the subintervals is characterized by a discrete action value and a Q-value. The continuous action value is the weighted average of discrete actions according to their Q-values. The PSO algorithm is combined to let an agent profit the experience of other agents. We valid the ESSA in a MAC protocol and simulation results show that the ESSA is an effective method and performs much better than SMAC protocol. © 2010 IEEE.

关键词： Scheduling

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Grounded event-based and modal representations for objects, relations, beliefs, etc

Grounded event-based and modal representations for objects, ...

引用

作者： McCall, Ryan Franklin, Stan Friedlander, David Computer Science Department Institute for Intelligent Systems University of Memphis #403h 365 Innovation Dr Memphis TN 38152 United States Computer Science Department Institute for Intelligent Systems University of Memphis #312 365 Innovation Dr Memphis TN 38152 United States 1111 Post Oak Blvd Houston TX 77056 United States

ISBN: (纸本)9781577354475

intelligent software agents (agents) adhering to the action selection paradigm have only one primary task that they need accomplish at any given time: to choose their next action. Consequently, modeling the current situation effectively is a critical task for any agent. With an accurate model of the current situation, actions can be better selected. We propose an event-based representational framework designed to provide grounded perceptual representations of events for agents. We describe how they are produced and detail their role in a comprehensive cognitive architecture designed to explain, integrate, and model human cognition. Event-based representations draw inspiration from research on thematic roles, and integrate research on event perception. Events are represented as parameterized actions, that is, nodes with thematic role links that can bind to Agent, Object, and other node types. Copyright © 2010, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Cognitive systems

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Extrinsic calibration of a camera with dual 2D laser range sensors for a mobile robot

Extrinsic calibration of a camera with dual 2D laser range s...

引用

IEEE International Symposium on intelligent Control (ISIC)

作者： Lixia Meng Fuchun Sun Shuzhi Sam Ge Department of Computer Science and Technology Tsinghua University China Institute of Intelligent Systems and Information Technology ISIT Robotics Institute University of Electronic Science and Technology of China China

ISBN: (纸本)9781424453603

A simple and effective algorithm is Proposed for calibrating the extrinsic parameters among a camera and dual laser range sensors whose traces are invisible by using a specially designed checkerboard. On the basis of an analysis of reference coordinates, range data can be transformed into world coordinate, and then a linear solution can be obtained for the problem. The simulation results confirmed that the proposed algorithm can yield good results as compared with a typical calibration method.

关键词： Cameras Calibration Robot vision systems Pixel Measurement by laser beam Lasers

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Reports on the AAAI 2009 fall symposia

Reports on the AAAI 2009 fall symposia

引用

作者： Azevedo, Roger Bench-Capon, Trevor Biswas, Gautam Carmichael, Ted Green, Nancy Hadzikadic, Mirsad Koyejo, Oluwasanmi Kurup, Unmesh Parsons, Simon Pirrone, Roberto Prakken, Henry Samsonovich, Alexei Scott, Donia Souvenir, Richard Department of Psychology Institute for Intelligent Systems University of Memphis United States Department of Computer Science University of Liverpool United Kingdom Center for Intelligent Systems Vanderbilt University United States Department of Computer Science University of North Carolina Charlotte United States Department of Computer Science University of North Carolina Greensboro United States Department of Software and Information Systems University of North Carolina Charlotte United States Complex Systems Institute United States Department of Electrical and Computer Engineering University of Texas Austin United States Department of Cognitive Science Rensselaer Polytechnic Institute Troy NY United States Department of Computer and Information Science Brooklyn College City University New York United States University of Palermo Italy Computer Science Department Utrecht University Netherlands Department of Law and IT Law Faculty University of Groningen Netherlands Krasnow Institute for Advanced Study George Mason University United States Computational Linguistics Department Informatics at the University of Sussex United Kingdom

The Association for the Advancement of Artificial Intelligence was pleased to present the 2009 Fall Symposium Series, held Thursday through Saturday, November 5-7, at the Westin Arlington Gateway in Arlington, Virginia. The Symposium Series was preceded on Wednesday, November 4, by a one-day AI funding seminar. The titles of the seven symposia were as follows: (1) Biologically Inspired Cognitive Architectures, (2) Cognitive andMetacognitive Educational systems, (3) Complex Adaptive systems and the Threshold Effect: Views from the Natural and Social sciences, (4) Manifold Learning and Its Applications, (5) Multirepresentational Architectures for Human-Level Intelligence, (6) The Uses of Computational Argumentation, and (7) Virtual Healthcare Interaction. Copyright © 2010, Association for the Advancement of Artificial Intelligence. All rights reserved.

关键词： Cognitive systems

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Noncontact and contact micromanipulation using a rotating nickel nanowire

Noncontact and contact micromanipulation using a rotating ni...

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4th IEEE International Conference on Nano/Molecular Medicine and Engineering, IEEE NANOMED 2010

作者： Zhang, Li Petit, Tristan Peyer, Kathrin E. Kratochvil, Bradley E. Zhang, Jiangnan Lou, Jun Nelson, Bradley J. Institute of Robotics and Intelligent Systems ETH Zurich CH-8092 Zurich Switzerland Université de Toulouse ISAE F-31055 Toulouse France Department of Mechanical Engineering and Materials Science Rice University Houston TX-77005 United States

ISBN: (纸本)9781612841533

This paper reports an approach to perform basic noncontact and contact manipulation tasks using rotating nickel nanowires (Ni NWs) driven by a uniform rotating magnetic field. We show that a rotating NW is capable of propulsion near a solid surface by a tumbling motion. The tumbling NW is steered with micrometer positioning precision in 2-D. The FEM simulation shows that fluid flow is induced around the rotating NW, which was applied to manipulate microobjects in a noncontact fashion. Noncontact pushing and pulling tests of individual polystyrene (PS) microbeads are conducted using a tumbling NW. We also show that a rotating Ni NW can act as a microrotor to rotate a microobject on a solid surface. In addition, contact manipulation is demonstrated by transporting individual microobjects, i.e. a PS microbead and a human blood cell, using a rotating NW. The results imply that rotating magnetic NWs are good candidates for handling cellular and sub-cellular objects in an aqueous low Reynolds number environment. © 2010 IEEE.

关键词： Molecular biology

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Replication-based highly available metadata management for cluster file systems

Replication-based highly available metadata management for c...

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作者： Chen, Zhuan Xiong, Jin Meng, Dan National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy of Sciences China Graduate University of Chinese Academy of Sciences China Department of Computer Science University of Rochester United States

ISBN: (纸本)9780769542201

In cluster file systems, the metadata management is critical to the whole system. Past researches mainly focus on journaling which alone is not enough to provide high-available metadata service. Some others try to use replication, but the extra latency accompanied is a main problem. To guarantee both availability and efficiency, we propose a mechanism for building highly available metadata servers based on replication, which integrates Paxos algorithm effectively into metadata service. The Packed Multi-Paxos is proposed to reduce the latency brought by replication, which is self-adaptive and can make the replication to achieve high throughput under heavy client load and low latency under light client load. By designing efficient architecture and coordination mechanism, all replica server nodes simultaneously provide metadata read-access service. This high-available mechanism could decrease the impact of server failures and there is no interruption of service. The performance results show that the latency caused by replication and redundancy is well under control, and the performance of metadata read operation gains improvement. © 2010 IEEE.

关键词： Metadata

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Heterogeneous sensor fusion framework for autonomous mobile robot obstacle avoidance

Heterogeneous sensor fusion framework for autonomous mobile ...

引用

International Conference on intelligent systems Design and Applications (ISDA)

作者： Ali Zia Tauseef Gulrez Tayyab Chaudhry Department of Computer Science Intelligent Machines & Robotics Research Group COMSATS Institute of Information Technology Lahore Pakistan

This paper addresses the problem of moving obstacle detection for autonomous mobile robots in unknown urban environments through the fusion of (vehicle-mounted) forward looking laser and vision sensors. In this approach we reparameterize the 2D gaussian distribution of the laser free-configuration eigenspaces by vision saliency gaussian kernel function. The approach uses bi-sensor paradigm to achieve greater effective mapping of the environment and improved accuracy in obstacle position estimation. Where the laser lower dimensional manifolds provide an eigenvector which corresponds to the free configuration space of the high order geometric representation of the environment and vision based edge detection followed by the saliency mapping provides the road detection and existance of dynamic obstacles on the road. We have shown that while the vectorial combination of eigenvectors at discrete time scan-frames of laser data manifest a trajectory, and once followed and fused with the vision sensor data, enables mobile robot to build an efficient and accurate online environment map free of obstacles. We demonstrated this process using real-time NAVLAB CMU (Autonomous Jeep's) data-set which is a good representation of autonomous mobile robot's navigation in an urban environment.

关键词： Robot sensing systems Laser modes Collision avoidance Mobile robots Gaussian distribution

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