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Springer Tracts in Advanced robotics 2006年 26卷 1-10页

作者： Taylor, Geoffrey Kleeman, Lindsay Monash University Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash VIC 3800 Australia

ISBN: (纸本)3540334548

Since the middle of last century, technologists have confidently predicted the imminent revolution in domestic and service robotics. We are told that intelligent robots will begin to appear in guises such as cars, vacuum cleaners, and even humanoids. These machines will lift the burden of work in our homes and offices by taking the role of cleaner, courier, nurse, and security guard among others. Robots will recognize their owners by appearance and voice, and understand natural modes of communication including gestures and speech. We will give simple commands such as "Set the table" or "Bring the coffee to my desk", and our service robot will have the necessary sensing and intelligence to fulfill the request. Robotic tele-presence will allow owners to remotely feed pets, check security and perform other tasks while away. Robotic aids will improve the quality of life for the elderly and disabled, while society as a whole will benefit from the reduced demand on health care services. Eventually, service robots will roam freely around our homes and offices to help in whatever way they see fit, driven by an internal emotional model and learning from their surroundings. © Springer-Verlag Berlin/Heidelberg 2006.

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An improvement on competitive neural networks applied to image segmentation

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Yan, Rui Er, Meng Joo Tang, Huajin Intelligent Systems Center Nanyang Technical University Border X Block Singapore 637553 Singapore Department of Electrical and Computer Engineering Tional University of Singapore 4 Engineering Drive 3 Singapore 117576 Singapore

ISBN: (纸本)3540344373

Image segmentation is a long existing problem and still regarded as unsolved to a large extent in computer vision. This letter describes the modeling method of competitive neural networks and elucidates its connection with the Hopfield type optimization network. A new algorithm to map the image segmentation problem onto competitive networks is proposed and its convergence is shown by the stability analysis. Finally, the improvement on the competitive neural networks based method is validated by the simulation results. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Image segmentation

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Tracking Chemical Plumes in 3-Dimensions

Tracking Chemical Plumes in 3-Dimensions

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IEEE International Conference on robotics and Biomimetics

作者： R. Andrew Russell Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper considers the problem of tracking airborne chemical plumes in 3-dimensions. Finding the source of a volatile chemical plume is considered to be a valuable capability for a mobile robot, with potential applications in areas such as locating chemical leaks, incipient fires, explosives, narcotics, plant material, and survivors of avalanches and earthquakes. Many of the robotic systems that are being developed for this task restrict themselves to a 2-dimensional search where the chemical sensor is held at a constant height above the ground. This may prevent the robot from tracking the plume close to its source, especially if the source is positioned high above the robot or close to the ground. In this project a search strategy for tracking chemical plumes in 3-dimensions has been developed and tested on a robot. This robot has a limited capability for sensing and following chemical plumes in 3-dimensions. This paper describes the search strategy and the robot that was developed to test it. Results of practical plume tracking experiments are also presented.

关键词： Robot sensing systems Chemical sensors Sensor arrays Position measurement Gas detectors intelligent robots Mobile robots Testing Dogs Underwater tracking

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A Generalized and Automatic Image Contrast Enhancement Using Gray Level Grouping

A Generalized and Automatic Image Contrast Enhancement Using...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Zhi Yu Chen B.R. Abidi D.L. Page M.A. Abidi Electrical and Computer Engineering Department Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville TN USA

Contrast enhancement has an important role in image processing applications. Conventional contrast enhancement techniques either fail to produce satisfactory results for a broad variety of low-contrast images, or cannot be automatically applied to different images, because their parameters must be specified manually to produce a satisfactory result for a given image. This paper describes a new automatic method for contrast enhancement. The basic procedure is to first group the histogram components of a low-contrast image into the proper number of bins according to a selected criterion, then redistribute these bins uniformly over the grayscale, and finally ungroup the previously grouped gray-levels. Accordingly, this new technique is named gray-level grouping (GLG). GLG not only produces results superior to conventional contrast enhancement techniques, but is also fully automatic in most circumstances, and is applicable to a broad variety of images

关键词： Histograms Gray-scale Background noise intelligent robots Image processing Helium robotics and automation intelligent systems Laboratories Electronic mail

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Real Time Object Tracking using Reflectional Symmetry and Motion

Real Time Object Tracking using Reflectional Symmetry and Mo...

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2006 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

Many objects found in domestic environments are reflectionally symmetric. In this paper, we present a system that can visually track moving objects by their reflectional symmetry in real time. Apart from the assumption of symmetry, the tracking system does not require any prior object models of the target, such as its colour and shape. The system is robust to shadows and specular reflections. It can also deal with transparent objects. Block motion detection is used in conjunction with symmetry for object tracking. A Kalman filter is used to estimate the object state. Predictions from the Kalman filter is used to improve the efficiency of the symmetry detector. The tracker provides a real time segmentation of an object by searching for motion that is symmetric about the object's mirror line. The tracking system also generates a rotated bounding box, aligned with the object's symmetry line, which can be used as a window for other image processing operations. The final system can track single objects in 640times480 videos at over 40 frames per second using a standard notebook PC

关键词： Target tracking Real time systems Shape Robustness Reflection Motion detection State estimation Detectors Image segmentation Mirrors

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A Moving Object Tracked by A Mobile Robot with Real-Time Obstacles Avoidance Capacity

A Moving Object Tracked by A Mobile Robot with Real-Time Obs...

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International Conference on Pattern Recognition

作者： Chung-Hao Chen Chang Cheng D. Page A. Koschan M. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

This paper describes a robotic application that tracks a moving object by utilizing a mobile robot with multiple sensors. The robotic platform uses a visual camera to sense the movement of the desired object and a range sensor to help the robot detect and then avoid obstacles in real time while continuing to track and follow the desired object. In terms of real-time obstacle avoidance capacity, this paper also presents a modified potential field algorithm called dynamic goal potential field algorithm (DGPF) for this robotic application specifically. Experimental results show that the robotic and intelligent system can fulfill the requirements of tracking an object and avoiding obstacles simultaneously when the object is moving

关键词： Mobile robots Robot sensing systems intelligent robots Sensor phenomena and characterization Robot vision systems Cameras Object detection Tracking Heuristic algorithms intelligent systems

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TASTI Follows Chemical Trails with its Robot Tongue

TASTI Follows Chemical Trails with its Robot Tongue

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IEEE International Conference on robotics and Biomimetics

作者： R. Andrew Russell Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Clayton VIC Australia

This paper describes initial progress of a project to build a mobile robot that can detect and respond to non-volatile chemicals. Most people would be aware that sniffer dogs and insects such as ants are capable of following chemical trails that release volatile components into the air. However, chemicals with a molecular weight greater than 300 have very low volatility and do not produce a detectable concentration in air. A number of creatures sense deposits of low volatility chemicals by dissolving them before applying the solution to taste-sensory nerve endings. Snakes and many species of flies taste the ground when searching for food items. In this project a mobile robot called TASTI has been equipped with a robotic tongue that dissolves ionic compounds in distilled water and then measures the resulting ion concentration using a conductivity sensor. This paper describes the tongue sensor and a robot control algorithm that has been developed to use the tongue sensory data to follow trails of low-volatility chemicals deposited on the ground. Results of practical trail following experiments are also provided.

关键词： Tongue Mobile robots Chemical sensors Dogs Insects Nerve endings Robot sensing systems Conductivity measurement Sensor phenomena and characterization Robot control

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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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International Conference on Mechatronics (ICM)

作者： Adel Akbarimajd Caro Lucas Robotics and AI Laboratory 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

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

关键词： Path planning Mobile robots Robot kinematics Content addressable storage Lattices computer architecture Orbital robotics Automata intelligent sensors robotics and automation

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Learning Individual Skills and Team Behaviors for Distributed Object Pushing

Learning Individual Skills and Team Behaviors for Distribute...

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IEEE International Conference on Mechatronics and Automation

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics Laboratory Department of Electrical and Computer Engineering University of Tehran Tehran Iran

In this paper we discuss a learning approach to distributed object pushing. In the proposed approach, first the required individual skills for single-robot object pushing are learned using a fuzzy reinforcement learning method. Then, the robots learn how to coordinate their actions to push the object to the desired configuration cooperatively in a distributed manner. The proposed team-level learning benefits from the knowledge, which is in the form of a Q-table, that the agent has gained in its individual learning phase by a special design of reward signal and state-action representation. Each robot learns a threshold on its Q-value using a single state reinforcement learning method and pushes the object when the Q-value of its best action in the current state is above this threshold. The reward signal is designed based on the robots' Q-tables and no external critic is needed for learning cooperation. Simulation results show that the robots learn their individual skills and a cooperation protocol to push the object cooperatively

关键词： Robot kinematics Learning Protocols Robot control robotics and automation intelligent robots Signal design Mechatronics Process control intelligent control

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Learning Distributed Object Pushing: Individual Learning and Distributed Cooperation Protocol

Learning Distributed Object Pushing: Individual Learning and...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Hossein Aminaiee Majid Nili Ahmadabadi Control and Intelligent Processing Center of Excellence Robotics and AI Lab Department of Electrical and Computer Engineering University of Tehran Iran

In this paper we study learning in cooperative object pushing systems. The proposed approach is based on the idea of learning individual skills and then mapping the required cooperative behaviors on the learned skills. The control point for each individual robot is chosen so as to simplify the design of the reinforcement signal and reduce the role of delayed reward on individual learning in addition to make cooperative protocol simpler. A fuzzy Q-learning system for learning individual object pushing is proposed, together with a method for coordination among the robots to push the object cooperatively. The coordination method takes into account the dynamics of the object and the learned individual skills. The idea of the coordination protocol is based on the notion of ability and active regions defined in this paper. In effect, the cooperation protocol is mapped to a Q-value based policy. Simulation results supportively show that the robots learn individual and cooperative object pushing efficiently

关键词： Protocols Robot kinematics intelligent robots Fuzzy systems Learning Friction Control systems Artificial intelligence Robot control Fuzzy control

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