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A New Algorithm for Generalized Optimal Discriminant Vectors

Journal of computer science & technology 2002年第3期17卷 324-330页

作者：吴小俊杨静宇王士同郭跃飞曹奇英 East China Shipbuilding Institute Zhenjiang 212003 P.R. ChinaSchool of Information Nanjing University of Science & Technology Nanjing 210094 P.R. ChinaRobotics Laboratory The Chinese Academy of Sciences Shengyang 110016 P.R. China School of Information Nanjing University of Science & Technology Nanjing 210094 P.R. China East China Shipbuilding Institute Zhenjiang 212003 P.R. ChinaSchool of Information Nanjing University of Science & Technology Nanjing 210094 P.R. China Department of Computer Science and Technology Fudan University Shanghai 200433 P.R. China East China Shipbuilding Institute Zhenjiang 212003 P.R. China

A study has been conducted on the algorithm of solving generalized optimal set of discriminant vectors in this paper. This paper proposes an analytical algorithm of solving generalized optimal set of discriminant vectors theoretically for the first time. A lot of computation time can be saved because all the generalized optimal sets of discriminant vectors can be obtained simultaneously with the proposed algorithm, while it needs no iterative operations. The proposed algorithm can yield a much higher recognition rate. Furthermore,the proposed algorithm overcomes the shortcomings of conventional human face recognition algorithms which were effective for small sample size problems only. These statements are supported by the numerical simulation experiments on facial database of ORL.

关键词： pattern recognition feature extraction discriminant analysis generalized optimal set of discriminant vectors

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Recognizing hand posture by vision: applications in humanoid personal robotics

Recognizing hand posture by vision: applications in humanoid...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C. Laschi M. Gonzalo-Tasis J.F. Codes P. Dario Arts Lab (Advanced Robotics Technology and Systems Laboratory) Scuola Superiore Sant'' Anna Pisa Italy Humanoid Robotics Institute Waseda University Tokyo Japan Eca-Simm Group Department of Computer Science University of Valladolid Spain Department of Algebra Geometry and Topology University of Valladolid Spain

In the development of humanoid personal robots, accompanying the life of humans in their everyday activities, vision is no doubt an extremely important sensory capability to provide the robots with. We propose the application of robot vision to the identification of hand posture, as a first step in gesture detection, for two main classes of reasons: 1) the recognition of human hand posture can help human-robot interaction, especially in relation to 'teaching by demonstration'; 2) the recognition of the robot hand can allow visual servoing, especially helpful in environments and tasks with a high level of uncertainty. The paper presents the development of a vision system for hand posture recognition, by describing the basic algorithmic implementation, based on symbolic representations, and reporting the experimental results obtained in the recognition of a three-fingered robotic hand.

关键词： Humanoid robots Robot vision systems Robot kinematics Robot sensing systems Human robot interaction Visual servoing Education robotics and automation Grasping Subspace constraints

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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...

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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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Performance tuning of sliding mode controllers: structural analysis approach

Performance tuning of sliding mode controllers: structural a...

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American Control Conference (ACC)

作者： Bong Keun Kim Wan Kyun Chung Il Hong Suh Robotics and Bio-Mechatronics Laboratory Pohang University of Science and Technology South Korea INCORL School of Electrical Engineering and Computer Science Hanyang University South Korea

In this paper, a structural design method of sliding mode controller, which makes it possible to predict the performance of the closed loop system, is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, robust internal-loop compensator(RIC) is proposed. Next, using the structural characteristics of the RIC, disturbance attenuation property is analyzed and the performance of the closed-loop system of sliding mode controller is predicted. The proposed performance predictable design of sliding mode controller provides a systematic approach to the problem of robust stability and performance specifications in the presence of uncertainty.

关键词： Sliding mode control Performance analysis Control systems Robust control Uncertainty Design methodology Closed loop systems Attenuation Robust stability Optimal control

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Using LabVIEW to prototype an industrial-quality real-time solution for the Titan outdoor 4WD mobile robot controller

Using LabVIEW to prototype an industrial-quality real-time s...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： D. Ratner P. M'Kerrow Intelligent Robotics Laboratory School of Information Technology and Computer Science University of Wollongong NSW Australia

In the Titan project we applied a new approach to prototyping mobile robots by choosing tools which are commonly used by leading aerospace manufacturers and many other industries. We have gained substantial experience when using the LabVIEW real-time programming environment coupled with the industrial quality data acquisition cards, both are made by National Instruments. The methodology of virtual instruments software tools combined with the graphical programming environment was found to be very efficient for interactive cycles of design and testing, which are at the core of robotics prototyping.

关键词： Prototypes Manufacturing industries Software prototyping Aerospace industry Programming environments Instruments Mobile robots Data acquisition Software tools Software testing

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Hardware-software run-time systems and robotics: A case study 24

Hardware-software run-time systems and robotics: A case stud...

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24th EUROMICRO Conference, EURMIC 1998

作者： Mooney, Vincent John Ruspini, Diego Khatib, Oussama De Micheli, Giovanni School of Electrical and Computer Enginering Georgia Institute of Technology United States Computer Science Robotics Laboratory Stanford University United States Computer Systems Laboratory Stanford University United States

ISBN: (纸本)0818686464

We present a sample implementation of a run time scheduler, split between hardware and software, controlling a real time robotics application. The hardware part of the run time scheduler, implemented as a finite state machine (FSM), schedules the tasks for the application and can be readily extended to include additional tasks in hardware or in software. The software part executes tasks based on which tasks are ready to execute as indicated by the FSM. We have successfully implemented the scheduler on a working prototype which shows the feasibility of our approach. © 1998 IEEE.

关键词： robotics

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Design decision support system for the engineering/re-engineering of complex naval systems

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NAVAL ENGINEERS JOURNAL 1997年第4期109卷 23-33页

作者： Graham, JH Ragade, RK Shea, J James H. Graham:is the Henry Vogt Professor of computer science and engineering at the University of Louisville. Previous professional employment includes positions at Rensselaer Polytechnic Institute and General Motors Corporation. He received his master's and doctoral degrees at Purdue University and his bachelor's degree at Rose-Hulman Institute of Ethnology. His research interests include artificial intelligence robotics and paraliel computing. Rammohan K. Ragade:is professor of engineering mathematics and computer science at the University of Louisville. He received his Ph.D. from the Indian Institute of Technology at Kampur in 1968. He has been a faculty member at the University of Waterloo and held an engineering position with Bell Northern Research. His research interests include human-computer interaction decision support systems object-oriented simulation and modeling distributed database systems and fuzzy logic. John G. Shea Jr.:served until 1995 as a project manager in the Phalanx Engineering Section of Naval Surface Warfare Center Crane Division Louisville Station. He received his bachelor's and master's degrees from the Speed Scientific School at the University of Louisville. He was a member of the American Society of Naval Engineers.

Hybrid simulation includes both functional computer software models and actual hardware subsystems operating as an integrated whole. A ''hot test bed'' or a ''hybrid simulator-emulator'' enables design engineers to evaluate conceptual models in a more realistic real-lime context, but places increased cognitive demands on the designer. This paper describes an architecture, and results from a prototype implementation, for a design decision support system to allow a designer to make more productive and cost effective use of a test bed system.

关键词： Decision support systems

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Terrain typing for real robots

Terrain typing for real robots

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IEEE Symposium on Intelligent Vehicle

作者： I.L. Davis A. Kelly A. Stentz L. Matthies School of Computer Science Robotics Institute Carnegie Mellon University Pittsburgh PA USA Let Propulsion Laboratory California Institute of Technology Pasadena CA USA

Many robotics tasks require an ability to determine quickly the nature of the terrain surrounding the robot. While much attention has been given to the general problem of terrain typing, the problem of effective real-time terrain typing remains open. For robot missions such as construction site work, military reconnaissance, hazardous waste removal, and planetary exploration this problem must be addressed. In particular, for cross country navigation with a wheeled vehicle, the robot needs to know where the vegetation is and where the rigid obstacles are because frequently the optimal, if not the only, path will pass through vegetation. Our groups have independently researched the problem of finding vegetation in a scene, and have developed systems tuned to the specific demands of real-time terrain typing for robots. This paper looks at three classifiers of increasing dimensionality and describes their applicability to different aspects of the terrain typing problem.

关键词： Vegetation mapping Pixel Propulsion Laboratories Mobile robots Vehicles Aircraft navigation Hidden Markov models Robot kinematics Roentgenium

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Hoeffding races: accelerating model selection search for classification and function approximation 93

Hoeffding races: accelerating model selection search for cla...

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Proceedings of the 6th International Conference on Neural Information Processing Systems

作者： Oded Maron Andrew W. Moore Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh PA

Selecting a good model of a set of input points by cross validation is a computationally intensive process, especially if the number of possible models or the number of training points is high. Techniques such as gradient descent are helpful in searching through the space of models, but problems such as local minima, and more importantly, lack of a distance metric between various models reduce the applicability of these search methods. Hoeffding Races is a technique for finding a good model for the data by quickly discarding bad models, and concentrating the computational effort at differentiating between the better ones. This paper focuses on the special case of leave-one-out cross validation applied to memory-based learning algorithms, but we also argue that it is applicable to any class of model selection problems.

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