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作者： Kammel, Sören Ziegler, Julius Pitzer, Benjamin Werling, Moritz Gindele, Tobias Jagzent, Daniel Schöder, Joachim Thuy, Michael Goebl, Matthias Von Hundelshausen, Felix Pink, Oliver Frese, Christian Stiller, Christoph Institute for Measurement and Control University of Karlsruhe Karlsruhe 76131 Germany Institute for Applied Computer Science/Automation University of Karlsruhe Karlsruhe 76128 Germany Industrial Applications of Informatics and Microsystems University of Karlsruhe Karlsruhe 76131 Germany Institute for Distributed Measurement Systems Technical University of Munich Munich 80290 Germany Institute for Institute for Real-Time Computer Systems Technical University of Munich Munich 80290 Germany Department of Aerospace Engineering University of the Federal Armed Forces Neubiberg 85577 Germany

ISBN: (纸本)9783642039904

This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that has successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner which delivers both range and reflectivity measurements. While range measurements are used to provide 3D scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a concurrent hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Reflection

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Non-Preemptive Scheduling to Maximize the Minimum Global Inter-Completion time (MGICT) 1

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IFAC Proceedings Volumes 1998年第14期31卷 135-140页

作者： Carlos C. Amaro Sanjoy K. Baruah Alexander D. Stoyen Wolfgang A. Halang Dependable Real- Time Systems Laboratory Department of Computer & Information Science New Jersey Institute of Technology University Heights Newark NJ 07102 USA Department of Computer Science The University of Vermont Burlington VT 05405 Faculty of Electrical Engineering Fernuniversität 58084 Hagen Germany

Temporal load-balancing - "spreading out" the executions of tasks over time - is desirable in many applications. A form of temporal load-balancing is discussed: scheduling to maximize minimum global inter-completion time (MGICT-scheduling). It is shown that MGICT-scheduling is, in general, NP-hard. A number of restricted classes of task systems are identified, which can be efficiently MGICT-scheduled.

关键词： non-preemptive scheduling independent tasks multiple processors loadbalancing

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Leg synchronization of a walking machine by means of backpropagation-networks

Leg synchronization of a walking machine by means of backpro...

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International Joint Conference on Neural Networks (IJCNN)

作者： K. Berns St. Piekenbrock H. Dillmann Group Interactive Planning Research Centre for Computer Science University of Karlsruhe Germany Institute for Real Time Process Control and Robotics University of Karlsruhe Germany

In this paper various approaches to synchronize leg movement of a walking machine are reported. Backpropagation-networks with diverse topologies, different types of encodings of information and of training methods are... 详细信息

关键词： Leg Legged locomotion Network topology Mobile robots Robot kinematics Neural networks Propulsion Switches Foot computer science

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An Efficient Medical Image Deep Fusion Model Based on Convolutional Neural Networks

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computers, Materials & Continua 2023年第2期74卷 2905-2925页

作者： Walid El-Shafai Noha A.El-Hag Ahmed Sedik Ghada Elbanby Fathi E.Abd El-Samie Naglaa F.Soliman Hussah Nasser AlEisa Mohammed E.Abdel Samea Department of Electronics and Electrical Communications Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Security Engineering Laboratory Department of Computer SciencePrince Sultan UniversityRiyadh11586Saudi Arabia Higher Institute of Commercial Science Management Information SystemsEl-Mahala El-KobraEgypt Department of the Robotics and Intelligent Machines Faculty of Artificial IntelligenceKafrelsheikh UniversityKafr El-SheikhEgypt Department of Industrial Electronics and Control Engineering Faculty of Electronic EngineeringMenoufia UniversityMenouf32952Egypt Department of Information Technology College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah Bint Abdulrahman UniversityRiyadhSaudi Arabia Medical Imaging and Interventional Radiology National Liver InstituteMenoufia UniversityEgypt

Medical image fusion is considered the best method for obtaining one image with rich details for efficient medical diagnosis and *** learning provides a high performance for several medical image analysis *** paper proposes a deep learning model for the medical image fusion *** model depends on Convolutional Neural Network(CNN).The basic idea of the proposed model is to extract features from both CT and MR ***,an additional process is executed on the extracted *** that,the fused feature map is reconstructed to obtain the resulting fused ***,the quality of the resulting fused image is enhanced by various enhancement techniques such as Histogram Matching(HM),Histogram Equalization(HE),fuzzy technique,fuzzy type,and Contrast Limited Histogram Equalization(CLAHE).The performance of the proposed fusion-based CNN model is measured by various metrics of the fusion and enhancement *** realistic datasets of different modalities and diseases are tested and ***,real datasets are tested in the simulation analysis.

关键词： Image fusion CNN deep learning feature extraction evaluation metrics medical diagnosis

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Navigation Stack for Robots Working in Steep Slope Vineyard

Navigation Stack for Robots Working in Steep Slope Vineyard

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Intelligent systems Conference, IntelliSys 2020

作者： Santos, Luís C. Aguiar, André S. Santos, Filipe N. Valente, António Ventura, José Boa Sousa, Armando J. INESC TEC - Institute for Systems and Computer Engineering Technology and Science Porto Portugal UTAD - University of Trás-os-Montes e Alto Douro Vila Real Portugal FEUP - Faculty of Engineering of University of Porto Porto Portugal

ISBN: (纸本)9783030551797

Agricultural robotics is nowadays a complex, challenging, and relevant research topic for the sustainability of our society. Some agricultural environments present harsh conditions to robotics operability. In the case of steep-slope vineyards, there are several robotic challenges: terrain irregularities, characteristics of illumination, and inaccuracy/unavailability of the Global Navigation Satellite System. Under these conditions, robotics navigation, mapping, and localization become a challenging task. Performing these tasks with safety and accuracy, a reliable and advanced Navigation stack for robots working in a steep slope vineyard is required. This paper presents the integration of several robotic components, path planning aware of robot centre of gravity and terrain slope, occupation grid map extraction from satellite images, a localization and mapping procedure based on high-level visual features reliable under GNSS signals blockage/missing, for steep-slope robots. © 2021, Springer Nature Switzerland AG.

关键词： Mapping

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Distributed state estimation for linear multi-agent systems with time-varying measurement topology

Distributed state estimation for linear multi-agent systems ...

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作者： Viegas, Daniel Batista, Pedro Oliveira, Paulo Silvestre, Carlos Philip Chen, C.L. Institute for Systems and Robotics Instituto Superior Técnico Av. Rovisco Pais Lisboa1049-001 Portugal Department of Mechanical Engineering Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Taipa China Department of Computer and Information Science Faculty of Science and Technology University of Macau Taipa China

This paper addresses the problem of distributed state estimation in formations of vehicles with time-varying measurement topology. One or more vehicles have access to measurements of their own state, while the rest must rely on measurements relative to other vehicles in the vicinity and limited communication to estimate their own state, and it is assumed that the vehicles may gain or lose access to some measurements over time. The proposed solution consists in the implementation of a local state observer on-board each vehicle, and the effects of changes in the measurement topology on the estimation error dynamics are studied resorting to switched systems theory. Sufficient conditions for exponential stability of the global estimation error dynamics are presented for two different switching laws. The results are applied to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and simulation results are presented that validate the proposed solution. © 2015 Elsevier Ltd.

关键词： Multi agent systems

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Tool support for service oriented development from business processes

Tool support for service oriented development from business ...

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2nd International Workshop on Model-Driven Service Engineering, MoSE 2010

作者： Delgado, Andrea De Guzmán, Ignacio García-Rodríguez Ruiz, Francisco Piattini, Mario Faculty of Engineering Computer Science Institute University of Republica Julio Herrera y Reissig 565 1300 Montevideo Uruguay Dep. of Information Technologies and Systems Alarcos Research Group University of Castilla - la Mancha 13071 Ciudad Real Spain

The integration of Business Process Management (BPM), Service Oriented Computing (SOC) and Model Driven Development (MDD) paradigms to improve the development of services oriented solutions from business models is nowadays in the spotlight. Organizations wanting to remain competitive despite the constant changes in their business are paying more attention to their business processes and its base lifecycle. Business process modeling is also at the centre of software development efforts, as making those models explicitly constitutes the basis for services definition. Transformations between business process and services models allow the automatic generation of services from business processes in a repeatable and systematic way, easing the development process. In this paper we present MINERVA's tool support for service oriented development from business processes, including QVT transformations from BPMN to SoaML models to automatically generate service models from business process models.

关键词： Software design

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A General Gray Code Quantized Method of Binary Feature Descriptors for Fast and Efficient Keypoint Matching

A General Gray Code Quantized Method of Binary Feature Descr...

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International Conference on Intelligent Autonomous systems (ICoIAS)

作者： Yunhan Lin Yalan Sun Huasong Min College of Computer Science and Technology Wuhan University of Science and Technology Wuhan China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial Systems Wuhan China Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology Wuhan China

In this paper, a general Gray code quantized method of binary feature descriptors is proposed for fast and efficient keypoint matching on 3D point clouds. In our method, it includes 2 variable L and N. L is rule variable which can be used to set the encoding group length according to the feature of the real-valued descriptor, and N is bits variable which can be used to set the number of Gray code bits according to the actual system requirements. Be different from the exist method, such as B-SHOT, our proposed method has the advantages of reasonable and flexible. As an example, our method is applied on the feature descriptor SHOT and tested in a standard benchmark dataset, different variable combinations of L and N are tested in the Gray code quantized processes, the best combination of L and N is dubbed as GRAY-SHOT through performance comparison. At last, GRAY-SHOT is compared with the state-of-the-art binary 3D feature descriptor B-SHOT, experimental evaluation result shows that GRAY-SHOT offers better keypoint matching performances to B-SHOT on a standard benchmark dataset with a slight more memory footprint and time consumption.

关键词： Three-dimensional displays Reflective binary codes Encoding Histograms Feature extraction Standards Benchmark testing

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Allocation and Migration of Virtual Machines Using Machine Learning

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computers, Materials & Continua 2022年第2期70卷 3349-3364页

作者： Suruchi Talwani Khaled Alhazmi Jimmy Singla Hasan JAlyamani Ali Kashif Bashir School of Computer Science&Engg. Lovely Professional UniversityPunjabIndia National Center for Robotics and Internet of Things Technology Communication and Information Technology Research InstituteKing Abdulaziz City for Science and Technology(KACST)Riyadh11442Saudi Arabia Department of Information Systems Faculty of Computing and Information Technology in RabighKing Abdulaziz UniversityRabigh21911Saudi Arabia Department of Computing and Mathematics ManchesterMetropolitan UniversityManchesterM156BHUK

Cloud computing promises the advent of a new era of service boosted by means of virtualization *** process of virtualization means creation of virtual infrastructure,devices,servers and computing resources needed to deploy an application *** extensively practiced technology involves selecting an efficient Virtual Machine(VM)to complete the task by transferring applications from Physical Machines(PM)to VM or from VM to *** whole process is very challenging not only in terms of computation but also in terms of energy and *** research paper presents an energy aware VM allocation and migration approach to meet the challenges faced by the growing number of cloud data *** Learning(ML)based Artificial Bee Colony(ABC)is used to rank the VM with respect to the load while considering the energy efficiency as a crucial *** most efficient virtual machines are further selected and thus depending on the dynamics of the load and energy,applications are migrated fromoneVMto *** simulation analysis is performed inMatlab and it shows that this research work results in more reduction in energy consumption as compared to existing studies.

关键词： Cloud computing VM allocation VM migration machine learning

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Utilizing spatial relations for natural language access to an autonomous mobile robot 18th

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18th Annual German Conference on Artificial Intelligence, KI 1994

作者： Stopp, Eva Gapp, Klaus-Peter Herzog, Gerd Laengle, Thomas Lueth, Tim C. SFB 314-Project VITRA FB 14 Informatik Universität des Saarlandes SaarbrückenD-66041 Germany Institute for Real-Time Computer Systems and Robotics Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. R. Dillmann Universität Karlsruhe KarlsruheD-76128 Germany

ISBN: (纸本)9783540584674

Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report on our joint efforts at providing natural language access to the autonomous mobile two-arm robot KAMRO. The robot is able to perform complex assembly tasks. To achieve autonomous behaviour, several camera systems are used for the perception of the environment during task execution. Since natural language utterances must be interpreted with respect to the robot’s current environment the processing must be based on a referential semantics that is perceptually anchored. Considering localization expressions, we demonstrate how, on the one hand, verbal descriptions, and on the other hand, knowledge about the physical environment, i.e., visual and geometric information, can be connected to each other. © 1994, Springer Verlag. All rights reserved.

关键词： Intelligent robots

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