In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly cons...
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In this paper, we present a real-time stereo vision based pose and motion estimation system that will be used for landing an unmanned helicopter on a moving target such as a ship deck. The vision algorithm mainly consists of a feature extraction task and a pose and motion estimation task. The 2D planer target with regular features defined can significantly simplify the feature extraction task such as corner detection and feature points matching. To effectively estimate the distance between the camera carrier and target a stereo camera system is applied. By means of sub-pixel corner location the precisions of pose estimation and relative motion detection can be improved. We present results from semi-physical simulation which show that our vision algorithm is accurate and robust. The methodology provides an effective subsystem for the development of autonomous robot helicopter that will land on a given target under the guide of vision.
A behavior-based control and learning architecture is proposed, where reinforcement learning is applied to learn proper associations between stimulus and response by using two types of memory called as short Term Memo...
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ISBN:
(纸本)0780377362
A behavior-based control and learning architecture is proposed, where reinforcement learning is applied to learn proper associations between stimulus and response by using two types of memory called as short Term Memory and Long Term Memory. In particular, to cope with delayed-reward problem, a knowledge-propagation (KP) method is proposed, where well-designed or well-trained S-R(stimulus-response) associations for low-level sensors are utilized to learn new S-R associations for high-level sensors, in case that those S-R associations require same objective such as obstacle avoidance. To show the validity of our proposed KP method, comparative experiments are performed for the cases that:(1) only a delayed reward is used, (2) some of S-R pairs are preprogrammed, (3) immediate reward is possible, and (4) our KP method is applied.
Color-based object tracking is an important issue since color is an efficient and robust visual cue for characterizing one object from the other objects. Color segmentation is, however, suffered from color variations ...
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ISBN:
(纸本)0780365763
Color-based object tracking is an important issue since color is an efficient and robust visual cue for characterizing one object from the other objects. Color segmentation is, however, suffered from color variations induced from irregular illumination variations and the viewing geometry of a camera. This paper proposes a reliable color modeling approach including intensity information in HSI color space using B-spline curves based on the fact that the color distribution of a single-colored object, even in a hue-saturation plane, is not invariant with respect to brightness variations in practical cameras. By using the approach, our color-based visual tracker is able to adapt to irregular illumination variations and abrupt changes of brightness. The approach is applied to real-time face tracking under various illumination conditions in a PC-based vision system.
A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various ...
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ISBN:
(纸本)0780365763
A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.
Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. ...
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ISBN:
(纸本)0780365763
Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. 2D and 3D examples are illustrated to show the characteristics of the task-based stiffness matrix. It is shown that some of coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.
Presents a situation-driven reconfigurable architecture for a schema-based robot controller which is operating in partially known indoor environments. Instead of the purely repulsive forces from the obstacles, we empl...
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ISBN:
(纸本)0780365763
Presents a situation-driven reconfigurable architecture for a schema-based robot controller which is operating in partially known indoor environments. Instead of the purely repulsive forces from the obstacles, we employ the linear combination of the repulsive and the detouring forces around the obstacle, so that the obstacles generate virtual forces pushing the robot toward the goal rather than just blocking it. By reconfiguring the detouring direction and the activation level of each schema based on the geometric and/or topological information provided by the variable resolution maps, the robot can navigate through the environments in very natural way. Simulation results show that our approach can remarkably improve the intrinsic defects of traditional potential field-bused schemas.
作者：
Djukanovic, M.B.Sobajic, D.J.Pao, Y.‐H.Miodrag B. Djukanovic (1959) received his B.S.
M.Sc. and Ph.D. degrees in Electrical Engineering from the University of Belgrade/Yugoslavia in 1982 1985 and 1992 respectively specializing in electric power systems. In 1984 he joined the Electrical Engineering Institute “Nikola Tesla” in Belgrade where he was working on the scientific studies in the field of power systems planning operation and control. In 1985 and 1990 he was appointed as a research scholar at the Royal Institute of Technology Stockholm and Case Western Reserve University Cleveland Ohio. His major in- terests are in the area of power system analysis steady-state and dynamic security and application of neural networks in electric power systems. (Electrical Engineering Institute “Nicola Tesla” ul. Koste Glavinica 8A YU-11000 Belgrad T +3811/2351-619 Fax + 3811/2351-823) Dejan J. Sobajic (1949) received the B.S.E.E. and the M.S.E.E. degrees from the University of Belgrade/Yugoslavia in 1972 and 1976
respectively and the Ph.D. degree from Case Western Reserve University Cleveland Ohio in 1988. At present he is with the Department of Electrical Engineering and Applied Physics Case Western Reserve University Cleveland. He is also the Engineering Manager of A1 WARE Inc. Cleveland. His current research interests include power system operation and control neuralnet systems and adaptive control. He is a member of the IEEE Task Force on Neural-Network Applications in Power Systems and of the IEEE Intelligent Controls Committee. He is the Chairman of the International Neural-Networks Society Special Interest Group on Power Engineering. (Case Western Reserve University Department of Electrial Engineering and Computer Sciences Glennan Building Ohio 44 106 USA T + 1216/421-2380 Fax +1216/368-8776) Yoh-Han Pao (1922) has been a Professor of Electrical Engineering and Computer Science at Case Westem Reserve University (CWRU)
Cleveland Ohio since 1967. He has served as chairman of the University's Electrical Engineering Department
The Transient Energy Function (TEF) method has been intensely investigated over the last decade as a reliable and accurate tool for transient stability assessment of multimachine power systems. In this paper we propos...
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