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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Damien Browne Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Australia

Advanced sonar systems produce both accurate range and bearing measurements rather than just range alone as in conventional systems. Previous advanced sonar rings do not process incoming echo data as it arrives, but only after a completed measurement cycle and only on limited data samples that are above a noise floor threshold. The system described in this paper can process all echo data, as it is produced, with full matched filtering tuned to each receiver on all echo samples directly implemented in hardware. This minimises measurement latency, important for real time robotics applications and also provides optimal arrival time estimates due to the matched filters. Previous systems have used sequential firing of many transmitters around the ring to prevent interference between transmitters or used different pulses fired simultaneously. This paper presents a single transmitter solution where a reflector disperses a single ultrasonic pulse evenly around the sonar ring. Processing is performed with a dedicated hardware data processing architecture implemented with a Field Programmable Gate Array to achieve the desired real time performance. The system reports range and bearing results at a rate of 30 measurement cycles a second in a full 360 degree coverage to ranges up to 4 metres with the prototype processing over 4.9 Giga-arithmetic operations per second. Experimental results are presented that show the performance of the system is suitable for high speed mapping and localisation applications.

关键词： Matched filters Sonar measurements Transmitters Hardware Noise measurement Filtering Delay Robots Interference Data processing

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Interactive learning of visually symmetric objects

Interactive learning of visually symmetric objects

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Wai Ho Li Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper describes a robotic system that learns visual models of symmetric objects autonomously. Our robot learns by physically interacting with an object using its end effector. This departs from eye-in-hand systems that move the camera while keeping the scene static. Our robot leverages a simple nudge action to obtain the motion segmentation of an object in stereo. The robot uses the segmentation results to pick up the object. The robot collects training images by rotating the grasped object in front of a camera. Robotic experiments show that this interactive object learning approach can deal with top-heavy and fragile objects. Trials confirm that the robot-learned object models allow robust object recognition.

关键词： Object recognition intelligent robots Robustness Training data Humans Robot vision systems Cameras computer vision Image segmentation Object segmentation

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Loop exploration for SLAM with fusion of advanced sonar features and laser polar scan matching

Loop exploration for SLAM with fusion of advanced sonar feat...

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2009 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Fredy Tungadi Lindsay Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

SLAM is a well studied technique for robots to build a map of environments while at the same time keeping track of their pose (position and orientation). However SLAM does not provide control approaches for how the robot moves around the environment. This paper presents an integrated approach to create a fully autonomous exploring and mapping robot. An EKF-SLAM approach is used to fuse Advanced Sonar and Laser Scan-Matching. This also tackles the problem of map-drifts in some types of environment where lasers do not supply sufficient information in some directions such as along a corridor. In addition, the proposed exploration algorithm takes advantage of the characteristic of the Voronoi Graph to enable the robot to strategically explore the environments in a loop-closing fashion and safe manner. By revisiting areas to close loops as early as possible, the robot can build a more stable map incrementally while still reliably tracking its pose. Experimental results of the integrated approach are shown to demonstrate the algorithm provides real-time exploration of a mobile robot in an initially unknown real environment. Experimental comparisons of exploration strategies with and without early local loop closing demonstrate the benefits of the approach in the map quality.

关键词： Simultaneous localization and mapping Sonar Laser fusion intelligent robots Tracking loops Mobile robots Path planning systems engineering and theory Uncertainty USA Councils

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Cooperative mapping of multiple PTZ cameras in automated surveillance systems

Cooperative mapping of multiple PTZ cameras in automated sur...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Chung-Chen Chen Yi Yao Anis Drira Andreas Koschan Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical Engineering & Computer Science University of Tennessee Knoxville TN USA

Due to the capacity of pan-tilt-zoom (PTZ) cameras to simultaneously cover a panoramic area and maintain high resolution imagery, researches in automated surveillance systems with multiple PTZ cameras have become increasingly important. Most existing algorithms require the prior knowledge of intrinsic parameters of the PTZ camera to infer the relative positioning and orientation among multiple PTZ cameras. To overcome this limitation, we propose a novel mapping algorithm that derives the relative positioning and orientation between two PTZ cameras based on a unified polynomial model. This reduces the dependence on the knowledge of intrinsic parameters of PTZ camera and relative positions. Experimental results demonstrate that our proposed algorithm presents substantially reduced computational complexity and improved flexibility at the cost of slightly decreased pixel accuracy, as compared with the work of Chen and Wang. This slightly decreased pixel accuracy can be compensated by consistent labeling approaches without added cost for the application of automated surveillance systems along with changing configurations and a larger number of PTZ cameras.

关键词： Surveillance Costs Robot vision systems Smart cameras Computational complexity intelligent robots Image resolution Polynomials Labeling Simultaneous localization and mapping

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Fault Diagnostics and Security of Critical Infrastructure systems

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IFAC Proceedings Volumes 2009年第8期42卷 203-204页

作者： Marios M. Polycarpou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus

Modern societies have reached a point where everyday life relies heavily on the reliable operation and intelligent management of critical infrastructures, such as electric power systems, telecommunication networks, water distribution networks, and transportation systems. Monitoring and controlling such systems is becoming increasingly more challenging as their size, complexity and interactions are steadily growing. Moreover, these critical infrastructures are susceptible to natural disasters, frequent failures, as well as malicious attacks. There is a need to develop a common system-theoretic framework for modelling the behavior of critical infrastructure systems and for designing algorithms for intelligent monitoring, control and security of such systems. The goal of this presentation is to motivate the key role of fault diagnostics and fault tolerant control methodologies in securing the reliable operation of critical infrastructure systems, and to provide a framework for achieving early detection, isolation and accommodation of faults in large-scale nonlinear dynamic systems. Various ideas based on distributed fault diagnostics and adaptive approximation techniques with learning algorithms will be presented, and directions for future research will be discussed.

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Editorial: Renewal for the IEEE transactions on neural networks

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IEEE Transactions on Neural Networks 2009年第12期20卷 1857-1857页

作者： Polycarpou, Marios M. KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus

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Fuzzy controller for cooperative object pushing with variable line contact

Fuzzy controller for cooperative object pushing with variabl...

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International Conference on Mechatronics (ICM)

作者： Mahsa Aliakbar Golkar Sarah Taghavi Namin Hossein Aminaiee Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory Department of Electrical and Computer Engineering University of Tehran Iran

Designing an appropriate cooperation protocol in multi-robot systems such as multi-robot object manipulation systems is a challenging task. In this paper designing and implementing a cooperation protocol between two robots pushing an object toward an arbitrary goal configuration is investigated. The proposed method benefits from task decoupling which simplifies the cooperation protocol design. Each robot gets its proper action from a particular fuzzy inference system independently. The fuzzy controllers outputs are low-level robot commands by which the need to a robot path planning algorithm is eliminated. Simulation results show that robots could push the object to the goal configuration cooperatively. Experiments have been conducted to approve the proposed system.

关键词： Fuzzy control Robot kinematics Protocols Fuzzy systems Electric variables control Control systems Multirobot systems Path planning Inference algorithms Mobile robots

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Indoor localization using neural networks with location fingerprints

Indoor localization using neural networks with location fing...

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19th International Conference on Artificial Neural Networks, ICANN 2009

作者： Laoudias, Christos Eliades, Demetrios G. Kemppi, Paul Panayiotou, Christos G. Polycarpou, Marios M. KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Kallipoleos 75 Nicosia 1678 Cyprus VTT Technical Research Centre of Finland Vuorimiehentie 3 Espoo FIN-02044 Finland

ISBN: (纸本)3642042767

Reliable localization techniques applicable to indoor environments are essential for the development of advanced location aware applications. We rely on WLAN infrastructure and exploit location related information, such as the Received Signal Strength (RSS) measurements, to estimate the unknown terminal location. We adopt Artificial Neural Networks (ANN) as a function approximation approach to map vectors of RSS samples, known as location fingerprints, to coordinates on the plane. We present an efficient algorithm based on Radial Basis Function (RBF) networks and describe a data clustering method to reduce the network size. The proposed algorithm is practical and scalable, while the experimental results indicate that it outperforms existing techniques in terms of the positioning error. © 2009 Springer Berlin Heidelberg.

关键词： Radial basis function networks

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A probabilistic roadmap based planning algorithm for wheeled-tip robots manipulating polygonal objects

A probabilistic roadmap based planning algorithm for wheeled...

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IEEE/ASME (AIM) International Conference on Advanced intelligent Mechatronics

作者： N. Noori E. Noohi H. Moradi A. H. Bakhtiary M. Nili Ahmadabadi Robotics and AI Lab Control and Intelligent Processing Center Department of Electrical and Computer Engineering University of Tehran Tehran Iran

This work extends the probabilistic roadmap (PRM) framework by efficiently incorporating the force closure (FC) criterion into motion planning. A new FC verification approach is proposed that eliminates the need for testing FC in the intermediate configurations of the local planner. The algorithm is tested for special kinds of planar robots that have two wheeled-tip fingers. The wheels are actuated and can roll along the object's edges. We propose a general planning algorithm for this new mechanism without any limitations on the fingers structure and the task. The algorithm is implemented and the simulation results in ADAMS verify the validity of our algorithm.

关键词： Mobile robots Fingers Wheels Service robots Humanoid robots intelligent robots Motion planning Testing Mechatronics Defense industry

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Time-Optimal Control of Fractional Dynamic systems

Time-Optimal Control of Fractional Dynamic Systems

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Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference

作者： Christophe Tricaud Yang Quan Chen Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer EngineeringUtah State University

This paper presents a formulation for fractional time-optimal control problems in terms of Riemann-Liouville fractional *** solution seeking purpose,the fractional operator is approximated using a rational approximation of the Hankel data matrix of the impulse response and the problem is *** problem is thoroughly studied for a fractional double integrator,and the solution is obtained by both numerical optimization and time-domain analysis.

关键词： Riemann domain Time-Optimal Control of Fractional Dynamic systems

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