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IEEE International Conference on robotics and Automation (ICRA)

作者： Eui-jung Jung Ho Yul Lee Jae Hoon Lee Byung-Ju Yi Whee Kuk Kim Shin'ichi Yuta School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent Systems Research Institute Ubiquitous Functions Research Group AIST Japan Department of Control and Instrumentation Engineering Korea University South Korea Institute of Engineering Mechanics and Systems University of Tsukuba Japan

This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

关键词： Navigation Mobile robots Wheels Kinematics computer science Position measurement Roads robotics and automation USA Councils Motion planning

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Reports of the AAAI 2008 Spring Symposia

Reports of the AAAI 2008 Spring Symposia

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作者： Balduccini, Marcello Baral, Chitta Brodaric, Boyan Colton, Simon Fox, Peter Gutelius, David Hinkelman, Knut Horswill, Ian Huberman, Bernardo Hudlicka, Eva Lerman, Kristina Lisetti, Christine McGuinness, Deborah Maher, Mary Lou Musen, Mark A. Sahami, Mehran Sleeman, Derek Thönssen, Barbara Velasquez, Juan Ventura, Dan Eastman Kodak Company Arizona State University Tempe AZ United States Geological Survey of Canada Department of Computing Imperial College London United Kingdom National Center for Atmospheric Research Artificial Intelligence Center SRI International Menlo Park CA United States University of Applied Sciences Zurich Switzerland Department of Computer Science Northwestern University Evanston IL United States Social Computing Lab. Hewlett-Packard Laboratories Psychometric Associates USC Information Sciences Institute University of Southern California Los Angeles CA United States Computer Science Department University of Southern California Los Angeles CA United States School of Computing and Information Sciences Florida International University Miami FL United States Rensselaer Polytechnic Institute Information and Intelligent Systems Division National Science Foundation University of Sydney Sydney NSW Australia Faculty of Architecture Design and Planning University of Sydney Sydney NSW Australia Department of Medicine Biomedica Informatics Research Department Stanford University Stanford CA United States Computer Science Department Stanford University Stanford CA United States Department of Computing Science University of Aberdeen Aberdeen United Kingdom MIT CSAIL Department of Computer Science Brigham Young University Provo UT United States

The Association for the Advancement of Artificial Intelligence (AAAI) was pleased to present the AAAI 2008 Spring Symposium Series, held Wednesday through Friday, March 26-28, 2008, at Stanford University, California. The eight symposia were titled (1) AI Meets Business Rules and Process Management, (2) Architectures for intelligent Theory-Based Agents, (3) Creative intelligent systems, (4) Emotion, Personality, and Social Behavior, (5) Semantic Scientific Knowledge Integration, (6) Social Information Processing, (7) Symbiotic Relationships between Semantic Web and Knowledge Engineering, (8) Using Al to Motivate Greater Participation in computer science. The goal of the AI Meets Business Rules and Process Management AAAI symposium was to investigate the various approaches and standards to represent business rules, business process management, and the semantic web with respect to expressiveness and reasoning capabilities. The focus of the Architectures ror intelligent Theory-Based Agents AAAI symposium was the definition or architectures for intelligent theory-based agents, comprising languages, knowledge representation methodologies, reasoning algorithms, and control loops. The Creative intelligent systems symposium included five major discussion sessions and a general poster session (in which all contributing papers were presented). The purpose of this symposium was to explore the synergies between creative cognition and intelligent systems. The goal of the Emotion, Personality, and Social Behavior symposium was to examine fundamental issues in affect and personality in both biological and artificial agents, focusing on the roles of these factors in mediating social behavior. The Semantic Scientific Knowledge Integration symposium brought together the semantic technologies community with the scientific information technology community in an effort to build the general semantic science information community. The Social Information Processing symposium's goal was to

关键词： Knowledge representation

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A high order periodic adaptive learning compensator for cogging effect in PMSM position servo system

A high order periodic adaptive learning compensator for cogg...

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IEEE International Conference on systems, Man and Cybernetics

作者： Ying Luo YangQuan Chen Hyo-Sung Ahn Youguo Pi Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA Department of Automation Science and Technology South China University of Technology Guangzhou China Electrical and Computer Engineering department Utah State University Logan UT USA Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea Department of Automation Science and Engineering South China University of Technology China

In this paper, a simulation model of PMSM position servo system is presented briefly first, we then propose a high order periodic adaptive learning compensation (HO-PALC) method for cogging effect on PMSM position and velocity servo tasks. The cogging force is considered as a position-dependent disturbance that is periodic. The key idea of the implemented cogging disturbance compensation method is to use past information of more than one position period along the state axis to update the current adaptation learning law. Simulation results are presented to illustrate the effectiveness of the high order periodic adaptive cogging compensation scheme. Furthermore, the advantage of the HO-PALC is demonstrated through comparing with the first order periodic adaptive learning compensation.

关键词： Forging Servomechanisms Adaptive control Programmable control Synchronous motors Permanent magnet motors Control systems Force control Electrical equipment industry Servomotors

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Conservatism-free Robust Stability Check of Fractional-order Interval Linear systems

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IFAC Proceedings Volumes 2008年第2期41卷 15256-15261页

作者： Hyo-Sung Ahn YangQuan Chen Department of Mechatronics Gwangju Institute of Science and Technology (GIST) 1 Oryong-dong Buk-gu Gwangju 500-712 Korea Center for Self-Organizing and Intelligent Systems (CSOIS) Dept. of Electrical and Computer Engineering 4160 Old Main Hill Utah State University Logan UT 84322-4160 USA

This paper addresses a necessary and sufficient robust stability condition of fractional-order interval linear time invariant systems. The state matrix A is considered as a parametric interval uncertain matrix and fractional commensurate order is considered belonging to 1 ≤ α < 2. Using the existence condition of Hermitian matrix P = P * for a complex Lyapunov inequality, we show that a fractional-order interval linear system is robust stable if and only if there exist Hermitian matrices P = P * such that complex Lyapunov inequalities are satisfied for all vertex matrices, which is a set of selected matrices. Two numerical examples are presented to verify the validity of the proposed approach.

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Solving Sum and Product Riddle via BDD-Based Model Checking

Solving Sum and Product Riddle via BDD-Based Model Checking

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IEEE WIC ACM International Conference on Web Intelligence (WI)

作者： Xiangyu Luo Kaile Su Abdul Sattar Yan Chen Tsinghua National Laboratory for Information Science and Technology Key Laboratory of Security for Information System of Ministry of Education School of Software Tsinghua University Beijing China Department of Computer Science Guilin University of Electronic and Technology Guilin China School of Electronics Engineering and Computer Science Peking University Beijing China Institute for Integrated and Intelligent Systems Griffith University Brisbane QLD Australia

We model the sum and product riddle in public announcement logic, which is interpreted on an epistemic Kripke model. The model is symbolically represented as a finite state program with n agents. A model checking method to the riddle is developed by using the BDD-based symbolic model checking algorithm for logic of knowledge we developed in [7]. The method is implemented by extending the model checker MCTK [7] and then the solution of the riddle is verified successfully.

关键词： Data structures Boolean functions IEEE news intelligent agent Educational technology Automatic logic units Laboratories computer science Information science computer security

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Dual-high-order periodic adaptive learning compensation for state-dependant periodic disturbance

Dual-high-order periodic adaptive learning compensation for ...

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IEEE Conference on Decision and Control

作者： Ying Luo YangQuan Chen Hyo-Sung Ahn Center for Self-Organizing and Intelligent Systems (CSOIS) Department of ElectricaJ and Computet Bngineering Utah State University Logan UT USA Department of Automation Science and Technology South China University of Technology Guangzhou China Electrical and Computer Engineering Department Utah State University Logan UT USA Department of Mechatronics Gwangju Institute of Science and Technology Gwangju South Korea

ISBN: (纸本)9781424431236

State-periodic disturbances are frequently found in motion control systems. Examples include cogging in permanent magnetic linear motor, eccentricity in rotary machines and etc. This paper considers general form of state-dependent periodic disturbance and proposes a new high-order periodic adaptive learning compensation (HO-PALC) method for state-dependent periodic disturbance where the stored information of more than one previous periods is used. The information includes composite tracking error as well as the estimate of the periodic disturbance. This dual HO-PALC (DHO-PALC) scheme offers potential to achieve faster learning convergence. In particular, when the reference signal is also periodically changing, the proposed DHO can achieve much better convergence performance in terms of both convergence speed and final error bound. Asymptotical stability proof of the proposed DHO-PALC is presented. Extensive lab experimental results are presented to illustrate the effectiveness of the proposed DHO-PALC scheme over the first order periodic adaptive learning compensation (FO-PALC).

关键词： Programmable control Adaptive control Convergence Forging Friction Control systems Asymptotic stability Servomechanisms Electromechanical systems Engines

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Time-coordinated path following of multiple UAVs over time-varying networks using L1 adaptation

Time-coordinated path following of multiple UAVs over time-v...

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作者： Aguiar, A.P. Pascoal, A.M. Kaminer, I. Dobrokhodov, V. Xargay, E. Hovakimyan, N. Cao, C. Ghabcheloo, R. Instituto Superior Técnico Lisbon Portugal Naval Postgraduate School Monterey CA 93943 United States University of Illinois at Urbana-Champaign Urbana IL 61801 United States University of Connecticut Storrs CT 06269 United States Tampere University of Technology Tampere Finland Institute for Systems and Robotics and Electrical Engineering and Computers Instituto Superior Técnico Portugal Department of Mechanical and Astronautical Engineering Naval Postgraduate School United States Department of Mechanical Science and Engineering University of Illinois Urbana-Champaign United States Department of Mechanical Engineering University of Connecticut United States Department of Intelligent Hydraulics and Automation Tampere University of Technology Finland

ISBN: (纸本)9781563479458

Motivated by challenging mission scenarios, this paper tackles the problem of multi-Unmanned Aerial Vehicle (UAV) cooperative control in the presence of time-varying communication networks. Specifically, we address the problem of steering a fleet of UAVs along given paths (path following) so as to meet spatial and/or temporal constraints. One possible scenario is the situation where a fleet of vehicles is tasked to execute collision-free maneuvers under strict spatial constraints and arrive at their final destinations at exactly the same time. The paper builds on previous work by the authors on coordinated path following and extends it to allow for time-varying communication topologies. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level (outer-loop control). This is followed by the design of an L1 adaptive output feedback control law that effectively augments an existing autopilot and yields an inner-outer loop control structure with guaranteed performance. Multiple vehicle time-critical coordination is achieved by enforcing temporal constraints on the speed profiles of the vehicles along their paths in response to information exchanged over a dynamic communication network. We address explicitly the situation where each vehicle transmits its coordination state to only a subset of the other vehicles, as determined by the communications topology adopted. Further, we consider the case where the communication graph that captures the underlying communication network topology may be disconnected during some interval of time (or may even fail to be connected at any instant of time) and provide conditions under which the complete coordinated path following closed-loop system is stable. Hardware-in-the-Loop (HITL) simulation results demonstrate the benefits of the developed algorithms. ©;2008 by A. P. Aguiar, I. Kaminer, R. Ghabcheloo, A. M. Pascoal, E. Xargay, N. Hovakimyan, C. Cao, V. Dobrokhodov.

关键词： Cooperative communication

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intelligent patient profiling for diagnosis, staging and treatment selection in colon cancer

Intelligent patient profiling for diagnosis, staging and tre...

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IEEE Symposium on Bioinformatics and Bioengineering (BIBE)

作者： Yorgos Goletsis Themis P. Exarchos Nikolaos Giannakeas Dimitrios I. Fotiadis Department of Economics University of Ioannina (UoI) Ioannina Greece Department of Medical Physics Medical School University of Ioannina (UoI) Ioannina Greece Institute of Biomedical Technology CERETETH Larissa Greece Panepistimio Ioanninon Ioannina GR Unit of Medical Technology and Intelligent Information Systems Department of Computer Science University of Ioannina (UoI) Ioannina Greece

The selection of a personalized treatment plan for a patient with cancer can be of critical importance for his health or even survival. A Decision Support Platform that can associate the patient clinical situation with the patient DNA Single Nucleotide Polymorphisms (SNPs) can provide the oncologist with a better understanding of the personalized conditions of every single patient. In this paper we present the MATCH platform which performs data integration between medicine and molecular biology, by developing a framework where, clinical and genomic features are appropriately combined in order to handle colon cancer diseases. The core of the platform is based on clustering techniques which provide profiles of patients with similar clinical features and genetic predispositions to cancer. The patients which share the same profile should probably have similar treatment plan and follow up. Through the integration of the clinical and genetic data of a patient, real time conclusions can be drawn for his early diagnosis, staging and more effective colon cancer treatment. intelligent components are designed and developed which identify single nucleotide polymorphisms (SNPs) from the gene sequences and combine them with the clinical situation of the patient. The produced clinico-genomic profiles are used as a decision support tool for newly sequenced patients.

关键词： Cancer Medical treatment Colon Genetics DNA Medical diagnostic imaging Genomics Bioinformatics Diseases Sequences

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Parallel approaches for multiobjective optimization

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作者： Talbi, El-Ghazali Mostaghim, Sanaz Okabe, Tatsuya Ishibuchi, Hisao Rudolph, Günter Coello Coello, Carlos A. Laboratoire d'Informatique Fondamentale de Lille Université des Sciences et Technologies de Lille Villeneuve d'Ascq cedex 59655 France Institute AIFB University of Karlsruhe Karlsruhe 76128 Germany Honda Research Institute Japan Co. Ltd. 8-1 Honcho Wako-City Saitama 351-0188 Japan Department of Computer Science and Intelligent Systems Osaka Prefecture University Osaka 599-8531 Japan Computational Intelligence Research Group Department of Computer Science University of Dortmund Dortmund 44227 Germany Depto. de Computación Av. IPN No 2508 Col. San Pedro Zacatenco México D.F. 07360 Mexico

ISBN: (纸本)3540889078

This chapter presents a general overview of parallel approaches for multiobjective optimization. For this purpose, we propose a taxonomy for parallel metaheuristics and exact methods. This chapter covers the design aspect of the algorithms as well as the implementation aspects on different parallel and distributed architectures. © 2008 Springer Berlin Heidelberg.

关键词： Multiobjective optimization

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Audio-Visual Speech Processing Framework for Lip Reading

Audio-Visual Speech Processing Framework for Lip Reading

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International Conference on Information and Communication Technologies: From Theory to Applications, ICTTA

作者： Abdulbaset M. Nasr Abd Rahman Ramli Mohammad Hamiruce Shamala K Subramaniam Robotics Lab Institute of advanced technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Computer and Communications Systems Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Electrical and Electronics Engineering Faculty of Engineering Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia Department of Communication Technology & Networks Faculty of Computer Science and Information Technology Universiti Putra Malaysia Serdang Selangor Darul Ehsan Malaysia

It is well known that speech production and perception process is inherently bimodal consisting of audio and visual components. Recently there has been increased interest in using the visual modality in combination with the acoustic modality for improved speech processing. This field of study has gained the title of audio-visual speech processing. Lip movement recognition, also known as lip reading, is a communication skill which involves the interpretation of lip movements in order to estimate some important parameters of the lips that include, but not limited to, size, shape and orientation. In this paper, we represent a hybrid framework for lip reading which is based on both audio and visual speech parameters extracted from a video stream of isolated spoken words. The proposed algorithm is self-tuned in the sense that it starts with an estimations of speech parameters based on visual lip features and then the coefficients of the algorithm are fine-tuned based on the extracted audio parameters. In the audio speech processing part, extracted audio features are used to generate a vector containing information of the speech phonemes. These information are used later to enhance the recognition and matching process. For lip feature extraction, we use a modified version of the method used by F. Huang and T. Chen for tracking of multiple faces. This method is based on statistical color modeling and the deformable template. The experiments based on the proposed framework showed interesting results in recognition of isolated words.

关键词： Speech processing Image processing Parameter estimation Data mining Feature extraction Robots computer networks systems engineering and theory Communications technology computer science

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