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作者： Yang, Chenguang Li, Yanan Ge, Shuzhi Sam Lee, Tong Heng Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom Social Robotics Lab Interactive Digital Media Institute and Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Singapore Institute of Intelligent Systems University of Electronic Science and Technology of China Chengdu 610054 China

ISBN: (纸本)9781424474264

In this paper, a novel adaptive predictive control is presented for a class of multi-input-multi-output (MIMO) nonlinear systems in block-triangular form with uncertain couplings of states/delayed states as well as inputs among subsystems. For each subsystem of the MIMO system, future states prediction is developed and using the predicted future states, adaptive predictive control is designed under certainty equivalence principal to compensate the parametric uncertainties in the couplings. To eliminate the functional uncertainties in the couplings, a novel compensation mechanism is developed for each subsystem. Under the proposed adaptive controls, all the signals in the closed-loop MIMO systems are guaranteed to be globally bounded. In addition, all the output tracking errors are guaranteed to converge to zeros. The effectiveness of the proposed control is demonstrated in the simulation. © 2010 AACC.

关键词： Couplings

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MULTI-CAMERA POSITIONING FOR AUTOMATED TRACKING systems IN DYNAMIC ENVIRONMENTS

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International Journal of Information Acquisition 2010年第3期7卷 225-242页

作者： YI YAO CHUNG-HAO CHEN BESMA ABIDI DAVID PAGE ANDREAS KOSCHAN MONGI ABIDI Visualization and Computer Vision Lab GE Global Research USA Department of Mathematics and Computer Science North Carolina Central University USA Imaging Robotics and Intelligent Systems Lab University of Tennessee Knoxville USA

Most existing camera placement algorithms focus on coverage and/or visibility analysis, which ensures that the object of interest is visible in the camera's field of view (FOV). According to recent literature, handoff safety margin is introduced to sensor planning so that sufficient overlapped FOVs among adjacent cameras are reserved for successful and smooth target transition. In this paper, we investigate the sensor planning problem when considering the dynamic interactions between moving targets and observing cameras. The probability of camera overload is explored to model the aforementioned interactions. The introduction of the probability of camera overload also considers the limitation that a given camera can simultaneously monitor or track a fixed number of targets and incorporates the target's dynamics into sensor planning. The resulting camera placement not only achieves the optimal balance between coverage and handoff success rate but also maintains the optimal balance in environments with various target densities. The proposed camera placement method is compared with a reference algorithm by Erdem and Sclaroff. Consistently improved handoff success rate is illustrated via experiments using typical office floor plans with various target densities.

关键词： Sensor planning visual surveillance multiple camera systems camera handoff

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Operating articulated objects based on experience

Operating articulated objects based on experience

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2010 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Jürgen Sturm Advait Jain Cyrill Stachniss Charles C. Kemp Wolfram Burgard Autonomous Intelligent Systems Laboratory Institute of Computer Science University of Freiburg Germany Healthcare Robotics Laboratory Georgia Tech Research Institute Georgia Institute of Technology USA

Many tasks that would be of benefit to users in domestic environments require that robots manipulate articulated objects such as doors and drawers. In this paper, we present a novel approach that simultaneously estimates the kinematic model of an articulated object based on the trajectory described by the robot's end effector, and uses this model to predict the future trajectory of the end effector. One advantage of our approach is that the robot can directly use these predictions to generate an equilibrium point control path for operating the mechanism. Additionally, our approach can improve these predictions based on previously learned articulation models. We have implemented and tested our approach on a real mobile manipulator. Through 40 trials, we show that the robot can reliably open various household objects, including cabinet doors, sliding doors, office drawers, and a dishwasher. Furthermore, we demonstrate that using the information from previous interactions as a prior significantly improves the prediction accuracy.

关键词： Trajectory Data models Kinematics Predictive models Computational modeling End effectors

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Bézier curve based dynamic obstacle avoidance and trajectory learning for autonomous mobile robots

Bézier curve based dynamic obstacle avoidance and trajector...

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2010 10th International Conference on intelligent systems Design and Applications, ISDA'10

作者： Chaudhry, Tayyab Gulrez, Tauseef Zia, Ali Zaheer, Shyba Intelligent Machines and Robotics Research Group Department of Computer Science COMSATS Institute of Information Technology Lahore M.A. Jinnah Campus Defence Road Lahore Pakistan Department of Electrical Engineering College of Engineering and Applied Sciences Al Ghurair University Dubai United Arab Emirates

ISBN: (纸本)9781424481354

This paper addresses the problem of avoiding dynamic obstacles while following the learned trajectory through non-point based maps directly through laser data. The geometric representation of free configuration area changes while a moving obstacle enters into the safety region of autonomous mobile robot. We have applied the Bézier curve properties to the free configuration eigenspaces to satisfy the dynamic obstacle avoidance path constraints. The algorithm is designed to accurately represent the mobile robot's characteristics while avoiding obstacle such as minimum turning radius. Moreover, we also discuss the obstacle avoided path feasibility as a vectorial combination of free configuration eigen-vectors at discrete time scan-frames to manifest a trajectory, which once followed and mapped onto the two control signals of mobile robot will enable it to build an efficient and accurate online environment map. Preliminary results in Matlab have been shown to validate the idea, while the same has been implemented in Player/stage (robotics real-time software) to analyze the performance of the proposed system. © 2010 IEEE.

关键词： Trajectories

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Wireless jamming attacks under dynamic traffic uncertainty

Wireless jamming attacks under dynamic traffic uncertainty

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8th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks, WiOpt 2010

作者： Sagduyu, Yalin Evren Berry, Randall A. Ephremides, Anthony Intelligent Automation Inc. Rockville MD 20855 United States Institute for Systems Research University of Maryland College Park MD 20742 United States Department of Electrical Engineering and Computer Science Northwestern University Evanston IL 60208 United States Department of Electrical and Computer Engineering Institute for Systems Research University of Maryland College Park MD 20742 United States

ISBN: (纸本)9781424475254

We analyze the effects of dynamic packet traffic on jamming attacks in wireless networks. For random access over collision channels, the jamming problem is formulated as a non-cooperative game in which nodes choose their transmission probabilities under energy and delay constraints. We relax the standard assumption of backlogged nodes and evaluate the Nash equilibrium strategies for random arrivals, which introduces the possibility that jamming attacks fail due to empty packet queues at the transmitters. The maximum feasible throughput is derived depending on whether jammers have the queue state knowledge, or not. We also model the effects of erroneous queue state inference due to random packet traffic and incorporate the channel sensing capability before jamming. The analysis extends from one transmitter-jammer pair transmitting over a single channel at a single access point to multiple transmitters and jammers, and then to an arbitrary number of subchannels at multiple channel access points. In the resulting jamming games, we show that jammers cannot effectively increase the average energy cost and cannot decrease the feasible throughput for transmitters, if they face uncertainty on transmitter queue states. Therefore, medium access is less vulnerable to jamming attacks under increasing traffic uncertainty. This motivates the use of traffic dynamics as a defense mechanism to mitigate denial of service attacks in wireless access.

关键词： Medium access control

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Editorial Special issue on approximate dynamic programming and reinforcement learning

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控制理论与应用（英文版） 2011年第3期 309-309页

作者： Silvia Ferrari Jagannathan Sarangapani Frank L. Lewis Laboratory for Intelligent Systems and Control(LISC)Department of Mechanical Engineering & Materials Science Box 90300 Duke University Durham NC 27708-0005 Department of Electrical & Computer Engineering University of Missouri-Rolla MO 65401 U.S.A. Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Ft. Worth Texas 76118-7115 U.S.A.

We are extremely pleased to present this special issue of the Journal of Control Theory and *** dynamic programming (ADP) is a general and effective approach for solving optimal control and estimation problems by adapting to uncertain environments over *** optimizes the sensing objectives accrued over a future time interval with respect to an adaptive control law,conditioned on prior knowledge of the system,its state,and uncertainties.A numerical search over the present value of the control minimizes a Hamilton-Jacobi-Bellman (HJB) equation providing a basis for real-time,approximate optimal control.

关键词： reinforcement learning dynamic programming optimal control effective approach prior knowledge Control Theory real-time control law problems special search future ADP basis

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Load distribution algorithm based on transcoding time estimation for distributed transcoding servers

Load distribution algorithm based on transcoding time estima...

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2010 International Conference in Information science and Applications, ICISA 2010

作者： Seo, Dongmahn Kim, Jongwoo Jung, Inbum Imaging Media Center Robotics/Systems Division Korea Institute of Science and Technology Seoul 136-791 Korea Republic of Department of Computer and Communications Engineering College of Information Technology Kangwon National University Chuncheon Gangwon 200-701 Korea Republic of

ISBN: (纸本)9781424459438

As a result of improvements in wireless communication technologies, a multimedia data streaming service can be provided for mobile clients such as PDAs and cellular phones. Because mobile devices have low computing power and work on a low network bandwidth, a transcoding technology is needed to adapt the original streaming media for mobile environments. To provide quality of service, original encoded media are transcoded within limited time and transmitted to clients without ceasing and jittering phenomena. In particular, when large-scale mobile clients demand streaming services, load distribution methods among distributed transcoding servers have a tremendous impact on the total number of quality of service streams. In this paper, a new load distribution method is proposed based on transcoding time estimation with transcoding servers' information, movie information and target transcoding bit-rate. In experiments, the proposed method produces the best performance scalability according to the increase of transcoding servers. ©2010 IEEE.

关键词： Quality of service

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Design of an automotive traffic sign recognition system targeting a multi-core SoC implementation

Design of an automotive traffic sign recognition system targ...

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Design, Automation and Test in Europe Conference and Exhibition, DATE 2010

作者： Müller, Matthias Braun, Axel Gerlach, Joachim Rosenstiel, Wolfgang Nienhüser, Dennis Zöllner, J. Marius Bringmann, Oliver Wilhelm-Schickard-Institute for Computer Science Department of Computer Engineering University of Tübingen Sand 13 72076 Tübingen Germany Intelligent Systems and Production Engineering FZI Forschungszentrum Informatik Haid-und-Neu-Str. 10-14 76131 Karlsruhe Germany

ISBN: (纸本)9783981080162

This paper describes the design of an automotive traffic sign recognition application. All stages of the design process, starting on system-level with an abstract, pure functional model down to final hardware/software implementations on an FPGA, are shown. The proposed design flow tackles existing bottlenecks of today's system-level design processes, following an early model-based performance evaluation and analysis strategy, which takes into account hardware, software and real-time operating system aspects. The experiments with the traffic sign recognition application show, that the developed mechanisms are able to identify appropriate system configurations and to provide a seamless link into the underlying implementation flows. © 2010 EDAA.

关键词： System-on-chip

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Spatial and Temporal Enhancement of Depth Images Captured by a Time-of-Flight Depth Sensor

Spatial and Temporal Enhancement of Depth Images Captured by...

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International Conference on Pattern Recognition

作者： Sung-Yeol Kim Ji-Ho Cho Andreas Koschan Mongi A. Abidi Imaging Robotics and Intelligent Systems Laboratory University of Tennessee Knoxville USA Department of Mechatronics Gwangju Institute of Science and Technology South Korea

In this paper, we present a new method to enhance depth images captured by a time-of-flight (TOF) depth sensor spatially and temporally. In practice, depth images obtained from TOF depth sensors have critical problems, such as optical noise existence, unmatched boundaries, and temporal inconsistency. In this work, we improve depth quality by performing a newly-designed joint bilateral filtering, color segmentation-based boundary refinement, and motion estimation-based temporal consistency. Experimental results show that the proposed method significantly minimizes the inherent problems of the depth images so that we can use them to generate a dynamic and realistic 3D scene.

关键词： Image color analysis Image segmentation Three dimensional displays Color Optical noise Pixel Robot sensing systems

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Vision-based quadrotor stabilization using a pan and tilt camera

Vision-based quadrotor stabilization using a pan and tilt ca...

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2010 49th IEEE Conference on Decision and Control

作者： D. Cabecinhas C. Silvestre R. Cunha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Tecnico 1049-001 Lisboa Portugal

ISBN: (纸本)9781424477456

This paper proposes a nonlinear control architecture for the stabilization of a quadrotor vehicle based on image measurements of a set of landmarks obtained from a pan and tilt camera. The vehicle is stabilized vertically using an additional vertical position sensor and lateral-longitudinal stabilization is achieved with a nested saturation control law by feedback of image measurements, body attitude, and angular rate. Additionally, the pan and tilt camera is actively actuated to to keep the landmarks visible in the image sensor for most operating conditions. Simulation results are presented to assess the performance of the proposed control architecture.

关键词： Control Architecture Sensors (image) Cameras TILT landmarks position sensor

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