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检索条件"机构=Department of Robotics Engineering and Computer Science"

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A needle in a haystack: Local one-class optimization

A needle in a haystack: Local one-class optimization

引用

Proceedings, Twenty-First International Conference on Machine Learning, ICML 2004

作者： Crammer, Koby Chechik, Gal Sch. of Comp. Sci. and Engineering Hebrew University of Jerusalem Jerusalem 91925 Israel Robotics Laboratory Computer Science Department Stanford University Stanford CA 94305 United States

ISBN: (纸本)1581138385

This paper addresses the problem of finding a small and coherent subset of points in a given data. This problem, sometimes referred to as one-class or set covering, requires to find a small-radius ball that covers as many data points as possible. It rises naturally in a wide range of applications, from finding gene-modules to extracting documents' topics, where many data points are irrelevant to the task at hand, or in applications where only positive examples are available. Most previous approaches to this problem focus on identifying and discarding a possible set of outliers. In this paper we adopt an opposite approach which directly aims to find a small set of coherently structured regions, by using a loss function that focuses on local properties of the data. We formalize the learning task as an optimization problem using the Information-Bottleneck principle. An algorithm to solve this optimization problem is then derived and analyzed. Experiments on gene expression data and a text document corpus demonstrate the merits of our approach.

关键词： Learning systems

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A comparison of maximum likelihood methods for appearance-based minimalistic SLAM

A comparison of maximum likelihood methods for appearance-ba...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： P.E. Rybski S.I. Roumeliotis M. Gini N. Papanikolopoulos Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

This paper compares the performances of several algorithms that address the problem of Simultaneous Localization and Mapping (SLAM) for the case of very small, resource-limited robots. These robots have poor odometry and can typically only carry a single monocular camera. These algorithms do not make the typical SLAM assumption that metric distance/bearing information to landmarks is available. Instead, the robot registers a distinctive sensor "signature", based on its current location, which is used to match robot positions. The performances of a physics-inspired maximum likelihood (ML) estimator, the iterated form of the Extended Kalman Filter (IEKF), and a batch-processed linearized ML estimator are compared under various odometric noise models.

关键词： Simultaneous localization and mapping Robot sensing systems Maximum likelihood estimation Mobile robots Robot vision systems Cameras Workstations Lenses Robustness computer science

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Integrating theory and practice: the agent architecture framework APOC and its development environment ADE

Integrating theory and practice: the agent architecture fram...

引用

Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS

作者： V. Andronache M. Scheutz Artificial Intelligence and Robotics Laboratory Department of Computer Science and Engineering University of Notre Dame Notre Dame IN USA

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Heuristic selection for stochastic search optimization: Modeling solution quality by extreme value theory

引用

10th International Conference on Principles and Practice of Constraint Programming, CP 2004

作者： Cicirello, Vincent A. Smith, Stephen F. Department of Computer Science College of Engineering Drexel University 3141 Chestnut Street PhiladelphiaPA19104 United States The Robotics Institute Carnegie Mellon University 5000 Forbes Avenue PittsburghPA15213 United States

ISBN: (纸本)3540232419

The success of stochastic algorithms is often due to their ability to effectively amplify the performance of search heuristics. This is certainly the case with stochastic sampling algorithms such as heuristic-biased stochastic sampling (HBSS) and value-biased stochastic sampling (VBSS), wherein a heuristic is used to bias a stochastic policy for choosing among alternative branches in the search tree. One complication in getting the most out of algorithms like HBSS and VBSS in a given problem domain is the need to identify the most effective search heuristic. In many domains, the relative performance of various heuristics tends to vary across different problem instances and no single heuristic dominates. In such cases, the choice of any given heuristic will be limiting and it would be advantageous to gain the collective power of several heuristics. Toward this goal, this paper describes a framework for integrating multiple heuristics within a stochastic sampling search algorithm. In its essence, the framework uses online-generated statistical models of the search performance of different base heuristics to select which to employ on each subsequent iteration of the search. To estimate the solution quality distribution resulting from repeated application of a strong heuristic within a stochastic search, we propose the use of models from extreme value theory (EVT). Our EVT-motivated approach is validated on the NP-Hard problem of resource-constrained project scheduling with time windows (RCPSP/max). Using VBSS as a base stochastic sampling algorithm, the integrated use of a set of project scheduling heuristics is shown to be competitive with the current best known heuristic algorithm for RCPSP/max and in some cases even improves upon best known solutions to difficult benchmark instances. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Heuristic algorithms

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Robust bilateral control with Internet communication

Robust bilateral control with Internet communication

引用

Annual Conference of Industrial Electronics Society

作者： K. Natori T. Tsuji K. Ohnishi A. Hace K. Jezernik Department of System Design Engineering Keio University Yokohama Kanagawa Japan Faculty of electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia

Smith predictor is a well-known method for compensating time delay in control systems. Therefore, it has been applied to many systems with time delay so far. However, delay time should be estimated precisely in this method. So, if time delay is fluctuant and unpredictable, like the communication delay over the Internet, performance of Smith predictor deteriorates. This paper proposes "Communication Disturbance Observer". It regards the error caused by time delay as disturbance torque (or acceleration), then it can observe and compensate the error. Furthermore, it doesn't need to estimate the value of delay time; therefore it can be applied to control systems with fluctuant and unpredictable time delay. It can be said that control system with "Communication Disturbance Observer" is robust to time delay and fluctuation of that. Effectiveness and robustness of proposed method is shown by result of simulation and experiment. In experiment, master-slave manipulator was used over the Internet. We were able to get the sense of touch from the environment of remote site.

关键词： Robust control Communication system control Internet Delay effects Delay estimation Control systems Torque Acceleration Fluctuations Robustness

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A new actuation approach for human friendly robot design

A new actuation approach for human friendly robot design

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： M. Zinn O. Khatib B. Roth Department of Mechanical Engineering Design Division University of Stanford Stanford CA USA Department of Computer Science Robotics Laboratory University of Stanford Stanford CA USA

Many successful robotic manipulator designs have been introduced. However, there remains the challenge of designing a manipulator that possesses the inherent safety characteristics necessary for human-centered robotics. In this paper, we present a new actuation approach that has the requisite characteristics for inherent safety while maintaining the performance expected of modern designs. By drastically reducing the effective impedance of the manipulator while maintaining high frequency torque capability, we show that the competing design requirements of performance and safety can be successfully integrated into a single manipulation system.

关键词： Manipulators Safety Acceleration Impedance Torque Human robot interaction Service robots Brain injuries Robot sensing systems computer science

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Optimizing supervision and control for industrial furnaces: Predictive control based design 4

Optimizing supervision and control for industrial furnaces: ...

引用

4th IFAC Workshop Automatic Systems for Building the Infrastructure in Developing Countries, DECOM-TT 2004

作者： Dimirovski, Georgi M. Dinibütün, A. Talha Vukobratovic, Miomir K. Zhao, J. Faculty of Electrical Engineering MK-1000 Skopje SS Cyril and Methodius University Macedonia Computer Engineering Department Faculty of Engineering Acibadem Dogus University Zeamet Sk. 21 Kadikoy IstanbulTR-34722 Turkey Centre of Robotics and Flexible Automation Institute Mihailo Pupin Belgrade11000 Serbia School of Information Science and Engineering Institute of Control Theory Northeastern University Shenyang Liaoning110004 China

A systems re-engineering technique to integrated control and supervision for applications to industrial multi-zone furnaces has been elaborated by using known theories on generalized predictive control and nonlinear programming. This paper presents the derivation of optimizing equations and inequalities. The design is based on the use of general predictive control to provide optimized set-points under the presumption a well designed regulatory control was implemented at the executive level. Digital implementation of control functions are sought within standard computer process control platform for practical engineering and maintenance reasons. Copyright © 2004 IFAC.

关键词： Integrated control

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A novel approach to pneumatic position servo control of a glass wall cleaning robot

A novel approach to pneumatic position servo control of a gl...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Houxiang Zhang Jianwei Zhang Rong Liu Guanghua Zong Department TAMS Faculty of Computer Science University of Hamburg Hamburg Germany Robotics Institute School of Mechanical Engineering and Automation BeiHang University Beijing China

Taking Shanghai science and Technology Museum as the operation target, the robot named skycleaner which is totally actuated by pneumatic cylinders and is sucked to the glass walls with vacuum suckers is presented. In order to solve the problems of lower stiffness and the nonlinear movement characteristic of the pneumatic system, a method of segment and variable bang-bang controller is proposed to implement the accurate control of the position servo system using the principle of pneumatic pulse width-modulation (PWM). Testing results show that the controller can effectively improve the control quality. This implies that the method can meet the requirements of realization.

关键词： Servosystems Glass Cleaning Robots Nonlinear control systems Control systems Pulse width modulation Vacuum technology Pneumatic systems Servomechanisms

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A novel shape descriptor based on interrelation quadruplet 1

引用

International Conference on Image Analysis and Recognition, ICIAR 2004

作者： Han, Dongil You, Bum-Jae Oh, Sang-Rok Department of Computer Engineering Sejong University 98 Gunja-Dong Gwangjin-GuSeoul143-747 Korea Republic of Intelligent Robotics Research Center Korea Institute of Science and Technology 39-1 Haweolkok-Dong Seongbuk-GuSeoul136-791 Korea Republic of

ISBN: (数字)9783540301257

ISBN: (纸本)3540232230

In this paper, we propose a new shape descriptor, which represents the 2-D shape information by using the concept of interrelation quadruplet. For this purpose, the polygonal approximation of 2-D shape is applied first. The line segments can be extracted from the polygonal shapes and the definition of interrelation quadruplet between ling segments is introduced. The properties of interrelation quadruplet that is invariant to translation, rotation and scaling of a pair of line segments is described. Several useful properties of the interrelation quadruplet are also derived in relation to efficient partial shape recognition. The shape recognition using the interrelation quadruplet requires only small space of storage and is shown to be computationally simple and efficient. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Artificial intelligence

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Quantitative comparison of bilateral teleoperation systems using H/sub /spl infin// framework

Quantitative comparison of bilateral teleoperation systems u...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Keehoon Kim M.C. Cavusoglu Wan Kyun Chung Robotics & Bio-Mechatronics Laboratory Pohang University of Science and Technology Pohang South Korea Department of Electrical Engineering and Computer Science Case Western Reserve University Cleveland OH USA

Since teleoperation systems are mostly executed in the extreme environment, there are constraints in designing the mechanism and choosing sensors. This paper presents a novel quantitative comparison method of teleoperators based on H/sub /spl infin// framework. The upper H/sub /spl infin// norm bound of the system including H/sub /spl infin// sub optimal controller is used as the performance index. As a case study, the method is applied to a real teleoperation system to study the effects of sensory configuration and back-drivability of the mechanism on the performance of the system in tasks, which involve different environment impedances. It can be important criteria to design a teleoperator from the control point of view.

关键词： Impedance Force sensors Teleoperators Communication system control Humans Admittance Performance analysis Control systems Haptic interfaces Minimally invasive surgery

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