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Kernel methods and support vector machines for handwriting recognition

Kernel methods and support vector machines for handwriting r...

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Student Conference on Research and Development (SCOReD)

作者： A.R. Ahmad M. Khalid R. Yusof Department of Computer Science and IT College of Engineering Universiti Tenaga Malaysia (UNITEN) Kajang Selangor Darul Ehsan Malaysia Centre for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Kuala Lumpur Malaysia

This paper presents a review of kernel methods in machine learning. The support vector machine (SVM) as one of the methods in machine learning to make use of kernels is first discussed with the intention of applying it to handwriting recognition. SVM works by mapping training data for a classification task into a higher dimensional feature space using the kernel function and then finding a maximal margin hyperplane, which separates the mapped data. Finding the solution hyperplane involves using quadratic programming which is computationally intensive. Algorithms for practical implementation such as sequential minimization optimization (SMO) and its improvements are discussed. A few simpler methods similar to SVM but requiring simpler computation are also mentioned for comparison. Usage of SVM for handwriting recognition is then proposed.

关键词： Kernel Support vector machines Handwriting recognition Support vector machine classification Neural networks Hidden Markov models Quadratic programming Intelligent robots Machine learning Pattern recognition

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Homography-based visual servoing of wheeled mobile robots

Homography-based visual servoing of wheeled mobile robots

引用

IEEE Conference on Decision and Control

作者： Y. Fang D.M. Dawson W.E. Dixon M.S. de Queiroz Department of Electrical & Computer Engineering Clemson University Clemson SC USA Department of Electrical & Computer Engineering Clemson University Clemson SC Eng. Science and Tech. Div. Robotics Oak Ridge Nat. Lab. Oak Ridge TN Department of Mechanical Engineering Louisiana State University Baton Rouge LA

By comparing the features of an object from a desired image to features of the object in the current image, geometric relationships are exploited to enable a Euclidean reconstruction from a homography matrix that relates the image-space feedback to the position/orientation of the wheeled mobile robot (WMR) in a local coordinate system. The information obtained from the homography is used to develop a kinematic controller that yields asymptotic regulation of the position/orientation of a WMR system that is modeled as an underactuated "kinematic wheel" subject to nonholonomic constraints. The control design is facilitated by performing the stability analysis in terms of the unmeasurable camera/WMR Euclidean position. In contrast to many of the previous homography-based visual servo controllers, the kinematic control law does not depend on the numerical estimation of depth measurements. The control design is based on the nonlinear model of the vision system and the mobile robot system and is analyzed through a Lyapunov-based stability analysis.

关键词： Visual servoing Mobile robots Kinematics Control design Stability analysis Image reconstruction Feedback Wheels Robot vision systems Cameras

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A new model of the visual feedback coordinate transformation in humans based on disturbance noise and feedback error that accounts for time delays

A new model of the visual feedback coordinate transformation...

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： E. Oyama K.F. MacDorman T. Maeda S. Tachi A. Agah Science and Technology (AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Intelligent Robotics Laboratory Graduate School of Systems Engineering Wakayama University Wakayama Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

An essential factor in understanding the motor learning capability of humans, is the coordinate transformation learning of the visual feedback controller. Although a number of learning models for the visual feedback controller have been proposed, none has been able to establish a definitive approach. In our previous work, we have suggested a learning model that uses disturbance noise and the feedback error signal to learn the human visual feedback controller's coordinate transformation. However, the model does not fully consider the time delay in the visual feedback control loop. This paper presents a modified learning model taking into account the time delay and the convergence properties of the model. Numerical simulations are presented to illustrate the effectiveness of the proposed approach.

关键词： Humans Delay effects Adaptive control Error correction Biological system modeling Feedback control Convergence Kinematics Intelligent robots Velocity control

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Object tracking by a robot manipulator: a robust cooperative visual servoing approach

Object tracking by a robot manipulator: a robust cooperative...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： W.E. Dixon E. Zergeroglu Y. Fang D.M. Dawson Engineering Science and Technology Division-Robotics Oak Ridge National Laboratory Oak Ridge TN USA Optical Fiber Division OFS Fitel Sturbridge MA USA Department of Electrical & Computer Engineering Clemson University Clemson SC USA

In this paper, we utilize a Lyapunov-based design approach. to construct a visual servoing controller for a robot manipulator that ensures uniformly ultimately bounded (UUB) end-effector position tracking performance despite parametric uncertainty throughout the entire robot/camera system. The UUB end-effector tracking result exploits information from both a fixed camera and a camera-in-hand. although both cameras contain parametric uncertainty in the calibration parameters (e.g., focal length, image center, scaling factors, and camera position and orientation). The advantages of the cooperative camera configuration are that: (i) the fixed camera can be mounted so that a large robot workspace is visible, (ii) the camera-in hand is mounted so that a high resolution, close-up view of an object is achieved, facilitating the potential for more precise robotic motion. and (iii) the fixed camera provides a mechanism for treating the problem of determining the relative velocity of the robot end-effector with respect to the object for the camera-in-hand object tracking problem when the camera is uncalibrated.

关键词： Manipulators Robustness Visual servoing Robot vision systems Cameras Uncertainty Robot control Control systems Calibration Robot motion

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System architecture for versatile autonomous and teleoperated control of multiple miniature robots

System architecture for versatile autonomous and teleoperate...

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IEEE International Conference on robotics and Automation (ICRA)

作者： P.E. Rybski I. Burt T. Dahlin M. Gini D.F. Hougen D.G. Krantz F. Nageotte N. Papanikolopoulos S.A. Stoeter Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis USA Center for Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

ISBN: (纸本)0780365763

Using robots for surveillance and reconnaissance applications requires a versatile connection between the human operator and robotic hardware. Some application domains require a fully teleoperated system while others may benefit by giving robots more autonomy. This paper describes a robotic control architecture which merges both paradigms. The whole scheme is implemented using the miniature Scout robot and involves a suite of user interfaces that can be tailored to specific surveillance and reconnaissance missions. Hardware capabilities are presented and a visual servoing strategy, important for semi-autonomous Scout operation, is discussed.

关键词： Control systems Robot kinematics Mobile robots Robot sensing systems Humans Robot control Surveillance Hardware Reconnaissance Communication system control

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A new camera calibration method for robotic applications

A new camera calibration method for robotic applications

引用

IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jun-Sik Kim In-So Kweon Department of Electrical Engineering and Computer Science Robotics and Computer Vision Laboratory KAIST South Korea Department of Electrical Engineering and Computer Science KAIST South Korea

In this paper, we present a camera calibration method using two views of three pairs of concentric circles with known sizes. A new invariant property for circle is introduced to determine the position of the center of the projected circle. Given two image ellipses and their corresponding centers, a cross-ratio based method estimates the center of projected circles using the new invariant property. The accurate center of projected concentric circles provides correct correspondences between ellipses in the image plane and circles in 3D plane. We also demonstrate that two views of three pairs of coplanar concentric circles are enough to determine the intrinsic camera parameters, such as the focal length, the aspect ratio, and the principal point. We validate the performance of the method using both synthetic and real images. Our method shows a comparable performance with respect to similar calibration methods using planes. The use of concentric circles, however, provides correct correspondences between 3D target points and their image points, and greatly simplifies the calibration problem.

关键词： Robot vision systems Cameras Calibration Mobile robots Application software computer vision Laboratories computer science Layout Robot kinematics

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Effects of limited bandwidth communications channels on the control of multiple robots

Effects of limited bandwidth communications channels on the ...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： P.E. Rybski S.A. Stoeter M. Gini D.F. Hougen N. Papanikolopoulos Center of Distributed Robotics Department of Computer Science and Engineering University of Minnesota Minneapolis MN USA

We describe a distributed software system for controlling a group of miniature robots using a very low capacity communication system. Space and power limitations on the miniature robots drastically restrict the capacity of the communication system and require sharing bandwidth and other resources among the robots. We have developed a process management/scheduling system that dynamically assigns resources to each robot in an attempt to maximize the utilization of the available resources while still maintaining a priori behavior priorities. We describe a surveillance task in which the robots patrol an area and watch for motion, and present experimental results.

关键词： Bandwidth Communication channels Communication system control Orbital robotics Software systems Control systems Resource management Power system management Dynamic scheduling Surveillance

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Length estimation for curves with Ε-uniform sampling 9th

引用

9th International Conference on computer Analysis of Images and Patterns, CAIP 2001

作者： Noakes, Lyle Kozera, Ryszard Klette, Reinhard Department of Mathematics and Statistics The University of Western Australia 35 Stirling Highway CrawleyWA6009 Australia Department of Computer Science and Software Engineering The University of Western Australia 35 Stirling Highway CrawleyWA6009 Australia Centre for Image Technology and Robotics The University of Auckland Tamaki Campus Building 731 Auckland New Zealand

ISBN: (纸本)9783540425137

This paper* discusses the problem of how to approximate the length of a parametric curve γ : [0;T] → IRn from points qi = γ (ti), where the parameters ti are not given. Of course, it is necessary to make some assumptions about the distribution of the ti: in the present paper Ε-uniformity. Our theoretical result concerns an algorithm which uses piecewise-quadratic interpolants. Experiments are conducted to show that our theoretical estimates are sharp, and that the assumption of Ε-uniformity is needed. This work may be of interest in computer graphics, approximation and complexity theory, digital and computational geometry, and digital image processing. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Computational geometry

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Proprioception based behavioral advances in a hexapod robot

Proprioception based behavioral advances in a hexapod robot

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Komsuoglu D. McMordie U. Saranli N. Moore M. Buehler D.E. Koditschek Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA Center for Intelligent Machines Ambulatory Robotics Laboratory McGill University Montreal Canada

ISBN: (纸本)0780365763

We report on our progress in extending the behavioral repertoire of RHex, a compliant leg hexapod robot. We introduce two new controllers, one for climbing constant slope inclinations and one for achieving higher speeds via pronking, a gait that incorporates a, substantial aerial phase. In both cases, we make use of an underlying open-loop control strategy, combined with low bandwidth feedback to modulate its parameters. The inclination behavior arises from our initial alternating tripod walking controller and adjusts the angle offsets of individual leg motion profiles based on inertial sensing of the average surface slope. Similarly, the pronking controller makes use of a "virtual" leg touchdown sensing mechanism to adjust the frequency of the open-loop pronking, effectively synchronizing the controller with the natural oscillations of the mechanical system. Experimental results demonstrate good performance on slopes inclined up to /spl sim/250 and pronking up to speeds approaching 2 body lengths per second (/spl sim/1.0 m/s).

关键词： Robots Open loop systems Leg Legged locomotion Control systems Bandwidth Feedback Motion control Frequency synchronization Mechanical systems

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Hierarchical systems control using threshold fuzzy systems

Hierarchical systems control using threshold fuzzy systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： J.L. Overholt K.C. Cheok Behavioral Robotics Laboratory U.S. Army Tank-Automotive and Armaments Command Warren MI USA Department of Electrical and Systems Engineering School of Engineering and Computer Science Oakland University Rochester MI USA

This paper describes a behavior-based method of controlling an autonomous skid-steer robot operating in an unknown environment. We introduce a new modular, neural-fuzzy system called a threshold fuzzy system (TFS). Supervised training, using error backpropagation, is used to find optimal parameters of the TFS. In this paper, a TFS controller is developed for a skid-steer autonomous vehicle system (AVS). Several hundred simulations are conducted and results for the AVS are compared (favorably) with a traditional neural network approach.

关键词： Hierarchical systems Control systems Fuzzy systems Mobile robots Neural networks Fuzzy neural networks Engines Systems engineering and theory computer science computer errors

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