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International Conference on Telecommunications (ConTEL)

作者： Hrvoje Sertic Kresimir Marzic Zoran Kalafatic Ericsson Nikola Tesla d.d. Research and Development Center Zagreb Croatia Ericsson Nikola Tesla d.d. System Integration Zagreb Croatia Department of Electronics Microelectronics Computer and Intelligent Systems Faculty of Electrical Engineering and Computing Microelectronics Zagreb Croatia

Development of the telecommunications software systems is a highly demanding task. Beside requirements for high reliability, availability and very complex features, customers today demand new releases to be delivered in a very short time frames. Usual development projects are faced with significant problems and obstacles that in most cases result with long development cycles, high cost and poor quality of implemented solutions. The transition from traditional software development towards agile projects with frequent releases is not trivial and demand significant changes in all aspects of project organization. This work analyzes major obstacles in telecommunication software development and proposes a method for the use of common project retrospectives to improve telecommunications software development. Proposed method is applied and evaluated on the actual project to demonstrate all benefits that project retrospectives can bring to the telecommunications software development.

关键词： Programming Scheduling Performance evaluation Telecommunication computing Availability Product customization Software testing Information analysis Microelectronics intelligent systems

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR CONTROL

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Asian Journal of Control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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A Dynamic bayesian network approach to surveillance decision planning

A Dynamic bayesian network approach to surveillance decision...

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2006 Australasian Conference on robotics and Automation, ACRA 2006

作者： Chong, Leon Jarvis, Raymond Intelligent Robotics Research Department of Electrical and Computer Systems Engineering Monash University Clayton Australia

ISBN: (纸本)9780958758383

This paper explores the use of Dynamic Bayesian Networks as a decision process to aid a mobile robot in planning its surveillance route. The primary concern of mobile surveillance robots is to determine the optimal route that will reduce the risk of not observing a relevant surveillance event. To aid the robot's decision process, a popular approach is to model the environment with prior probabilities of observing relevant events and utility values to represent the penalty costs of relevant events that remain undetected. By exploiting the general layout of indoor office buildings, a Dynamic Bayesian Network is applied to model the decision planning task as a Bayesian estimation problem. Combined with the prior and utility value, the expected cost for each segment of the building is obtained from the Bayesian estimate to aid in planning an optimal route for the mobile robot.

关键词： Mobile robots

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Mobile scanning system for the fast digitization of existing roadways and structures

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Sensor Review 2006年第4期26卷 283-289页

作者： Grinstead, Brad Sukumar, Sreenivas Page, David Koschan, Andreas Gorsich, David Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN United States US Army RDECOM Tank-Automotive Research Development and Engineering Center Warren MI United States

Purpose - To present a Mobile Scanning System for digitizing three-dimensional (3D) models of real-world terrain. Design/methodology/approach - A combination of sensors (video, laser range, positioning, orientation) is placed on a mobile platform, which moves past the scene to be digitized. Data fusion from the sensors is performed to construct an accurate 3D model of the target environment. Findings - The developed system can acquire accurate models of real-world environments in real time, at resolutions suitable for a variety of tasks. Originality/value - Treating the individual subsystems of the mobile scanning system independently yields a robust system that can be easily reconfigured on the fly for a variety of scanning scenarios. © Emerald Group Publishing Limited.

关键词： Analog to digital conversion

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A Panoramic color vision system for following ill-structured roads

A Panoramic color vision system for following ill-structured...

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2006 Australasian Conference on robotics and Automation, ACRA 2006

作者： Zhang, Alan M. Kleeman, Lindsay Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC 3800 Australia

ISBN: (纸本)9780958758383

The ability to follow ill-structured roads, such as footpaths, dirt tracks and corridors is important for mobile robot navigation. This paper presents a panoramic colour vision based road following system for ill-structured roads. Roads are modeled with rapidly adapting 3D colour histograms and a simple yet generic geometric model. The computational complexity of the geometric model fitting stage has been significantly reduced compared to other works. A Kalman filter is used to smooth out any measurement noise. Results from experiments in tracking a footpath demonstrate the robustness of the system.

关键词： Color vision

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A new architecture to execute CAs-based path-planning algorithm in mobile robots

A new architecture to execute CAs-based path-planning algori...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Akbarimajd, Adel Lucas, Caro Robotics and AI Lab. Department of Electrical and Computer Engineering University of Tehran Iran Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Engineering University of Tehran Iran

ISBN: (纸本)0780397134

Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts;it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts © 2006 IEEE.

关键词： Algorithms

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Who moved?! An investigation into distribution of actions and behaviors in a multi agent system

Who moved?! An investigation into distribution of actions an...

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2006 IEEE International Conference on Mechatronics, ICM

作者： Daneshvar, Roozbeh Lucas, Caro Artificial Intelligence and Robotics Lab. Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering University of Tehran and School of Intelligent Systems Tehran Iran

ISBN: (纸本)0780397134

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group. © 2006 IEEE.

关键词： Multi agent systems

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Design and control of a four steered wheeled mobile robot

Design and control of a four steered wheeled mobile robot

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Lauria, Michel Nadeau, Isabelle Lepage, Pierre Morin, Yan Giguère, Patrick Gagnon, Fréderic Létourneau, Dominic Michaud, François Department of Electrical Engineering and Computer Engineering Research Laboratory on Mobile Robotics and Intelligent Systems Université de Sherbrooke Sherbrooke QC J1K 2R1 Canada

ISBN: (纸本)1424401364

This paper presents the kinematical analysis of AZIMUT-2, a four steered wheeled mobile robot. The utilization of a new wheel concept called the AZIMUT wheel allowed us to create an innovative omnidirectional non-holonomic robot. Novelty of this wheel concept resides in the non-conventional positioning of the steering axis and the wheel axis. We propose a kinematical model based on the geometrical constraints of these wheels. The degree of mobility, steerability and maneuverability are studied. Additionally, we describe a special design implementation of the wheel mechanism to overcome a hypermotorization issue inherent to the wheel's geometrical properties. Finally, we describe AZIMUT-2's two operational and seven locomotion modes, along with a control algorithm based on the kinematical model of the robot. © 2006 IEEE.

关键词： Wheels

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On parameter selection for an adaptive neural network fuzzy inference controller using evolutionary tuning

On parameter selection for an adaptive neural network fuzzy ...

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21st International Conference on computers and Their Applications, CATA 2006

作者： Lee, Gordon K. Grant, Edward Dept. of Electrical and Computer Engineering San Diego State University 5500 Campanile Drive San Diego CA United States Department of Electrical and Computer Engineering Center for Robotics and Intelligent Machines North Carolina State University Raleigh NC United States

ISBN: (纸本)9781604234961

Controlling nonlinear systems continues to be a challenging problem, particularly when the environment is uncertain or noisy. A nonparametric approach which has gained success is to employ a neural network to learn about the unknown plant and fuzzy inference to compensate for the uncertainty (GANFIS control). Inherent in the design of such controllers is the need to tune the weights of the GANFIS controller. Evolutionary learning has been suggested to tune the GANFIS parameters but a difficulty is selecting the parameters for tuning. In this paper, simple tuners using current fitness function values are developed. Results show that this approach is a feasible method for tuning the evolutionary parameters for the GANFIS architecture.

关键词： Fuzzy inference

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A novel approach to automatic music composing: Using genetic algorithm

A novel approach to automatic music composing: Using genetic...

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International computer Music Conference, ICMC 2006

作者： Zad, Damon Daylamani Araabi, Babak N. Lucas, Caru Department of Information Systems and Computing Brunel University United Kingdom Dept. of Electrical and Computer Engineering Control and Intelligent Processing Center of Excellence University of Tehran Iran

Artificial music composition is one of the ever rising problems of computer science. Genetic Algorithm has been one of the most useful means in our hands to solve optimization problems. By use of precise assumptions and adequate fitness function it is possible to change the music composing into an optimization problem. This paper proposes a new genetic algorithm for composing music. Considering entropy of the notes distribution as a factor of fitness function and developing mutation and crossover functions based on harmonic rules and trying to keep the melodies intact during these processes would result in a musical piece pleasant to human ears and interesting for human mind. This algorithm does not have the constraints of the previous algorithms. Restraining mutation and crossover functions with a goal of producing melodies based on acceptable melodies composed by humans, this algorithm is not bound to any genre, instrument or melody. The experimental results of this approach show that it is near to the human composing and the results produced from it are more acceptable than the ones produced by its predecessors.

关键词： Genetic algorithms

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