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2007 IEEE International Workshop on Imaging Systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center, The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane, Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation, ©2007 IEEE.

关键词： Image analysis

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A Control System Development for Submersible Sea Cage System

A Control System Development for Submersible Sea Cage System

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2007 OCEANS, vol.3

作者： Levente Molnar Daniel Toal Mobile & Marine Robotics Research Centre Electronics and Computer Engineering Department University of Limerick Limerick Ireland

ISBN: (纸本)9780933957374

This paper proposes a flexible control system design for use in offshore aquaculture systems. The system proposed will provide a single integrated control solution to the variety of control tasks required on commercial submersible fish cages i.e. control of feeding, control of buoyancy and in addition, provide functionalities such as external hazard detection and prevention. The control system is being developed with the view to augmenting the functionality of existing sea cage systems and automating functionality such as cage submersible capabilities.

关键词： Control systems Underwater vehicles Marine animals Sea surface Ocean temperature Storms Automatic control Hazards Navigation Gravity

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A Rotational and Translational Image Stabilization System for Remotely Operated Robots

A Rotational and Translational Image Stabilization System fo...

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos N. Kyriakoulis Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements. Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 times 240 pixel image sequences at approximately 10 frames/sec, with a maximum acceleration of A deg/sec 2 .

关键词： Image sequences Cameras Optical filters Robot vision systems Performance evaluation Navigation Image processing Frequency Fluctuations Video sequences

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A Log-Polar Interpolation Applied to Image Scaling

A Log-Polar Interpolation Applied to Image Scaling

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IEEE International Workshop on Imaging Systems and Techniques (IST)

作者： A. Amanatiadis I. Andreadis A. Gasteratos Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace Xanthi Greece

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center. The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane. Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation.

关键词： Interpolation Pixel Digital images Hardware Retina Photoreceptors Color Conferences Laboratories robotics and automation

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Design of VY: A Mini Visual IDE for the Development of GUI in Embedded Devices

Design of VY: A Mini Visual IDE for the Development of GUI i...

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International Conference on Software engineering Research, Management and Applications (SERA)

作者： Le Yang Yongsun Choi Changjun Seo Tongfeng Yang MinSung Kim Department of Systems Management & Engineering Inje University South Korea Department of Electronics and Intelligent Robotics Engineering Inje University South Korea Department of Computer Science and Technology Shandong University China Department of Information & Communications Engineering Tongmyong University South Korea

Graphical user interface (GUI) for applications of embedded devices (ED) has been increasingly in demand. Rapid GUI development tools are being required more than ever. However, traditional way of GUI development for ED applications has some limitation in support of visual environment and blocks rapid development. In this paper, we introduce a new mini visual IDE, called VY, which supports rapid development utilizing control library, and simulation of GUI. VY can realize the development of GUI in ED efficiently by means of "what you see is what you get"(WYSIWYG). It consists of five modules: simulator, control library, script complier, script virtual machine (SVM) and visual window. By utilizing the hardware-independent control library of graphical interfaces, an attractive GUI can be produced with much less script effort on the visual window. Then, the script file is compiled into script data (including instructions) which will be executed by the SVM with visiting system calls in ED, and the Simulator will display the resulting GUI. After all these steps, the final GUI can be downloaded into the ED system. In this way, VY supports rapid development of hardware-independent GUI for ED applications on a visual metaphor.

关键词： Graphical user interfaces Libraries Application software Design engineering Virtual machining Support vector machines Conference management Research and development management Software development management Technology management

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ML DESIGNERTM as simulation tool in robotics

ML DESIGNERTM as simulation tool in robotics

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International Conference on Telecommunications in Modern Satellite, Cable and Broadcasting Service (TELSIKS)

作者： Mario Schulz Ivan Velickovic Sasa Andelkovic Volker Zerbe Goran S. Dordevic Computer Science and Automation Faculty System and Control Theory Department Technical University Ilmenau Ilmenau Germany Faculty of Electronics engineering Robotics Lab University of Nis Nis Serbia

Robots are complex systems that require multidisciplinary approach to development. Hence, both research and production of a robotic system require a tool that would provide means for coordination between teams with different areas of expertise as well as the ability to integrate, simulate and debug the system in a comprehensive way. Also, with the growing popularity of service robotics, research and modeling of human-machine interaction gains the attention. From a simulation tool, it is expected to support the means for describing this interaction. For that purpose we are investigating the ML Designer TM , not just as a possible simulation tool, but also as a modeling and design paradigm. For verification purposes we will compare it against MATLAB Simulink TM . A pneumatic system will be modeled with both tools and a comparison will be performed.

关键词： Mathematical model Robot kinematics Cleaning System testing Power system modeling MATLAB Pneumatic systems Control systems Level control Costs

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Gas turbine engine fault isolation based fuzzy inference logic with ECM trend plot report

Gas turbine engine fault isolation based fuzzy inference log...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Eun-Jong Mo Min-Seok Jie Chin-Su Kim Kang-Woong Lee School of Electronics Telecommunication and Computer Engineering Korea Aerospace University Koyang Gyeonggi South Korea Center for Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea

A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the fuzzy inference logic system are measurement deviations of gas path parameters which are transferred directly from the ECM (Engine Control Monitoring) program and outputs are engine module faults. The proposed fuzzy inference logic system is tested using simulated data developed from the ECM trend plot reports and the results show that the proposed fuzzy inference logic system isolates module faults with high accuracy rate in the environment of high level of uncertainty.

关键词： Fuzzy logic Turbines Engines Electrochemical machining Fuzzy systems Logic testing Fluid flow measurement Velocity measurement Temperature Fuels

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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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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