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Book review Modelling Neural Development , Arjen van Ooyen , The MIT , Cambridge, Massachusetts ( 2003 ) , xvi + 336 pp., 96 illustrations , ISBN: 0-262-22066-0

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Mathematical Biosciences 2006年第1期200卷 124-126页

作者： Andreas Schierwagen University of Leipzig Institute of Computer Science Intelligent Systems Department Neuronal and Cognitive Modeling Branch Augustusplatz 10–11 D-04109 Leipzig Germany

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Wide Dynamic Range Vision for Robot Eyes based on Double Capturing Scheme

Wide Dynamic Range Vision for Robot Eyes based on Double Cap...

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IEEE SENSORS

作者： Sung-Kee Park Jin Heon Kim Intelligent Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Computer Engineering Seokyeong University Seoul South Korea

A new method of combining double captured images to extend dynamic range is proposed in this paper. Two images taken with long and short exposure times respectively are combined by proposed DSPA (difference & slant based pixel adjustment) algorithm, dynamically varying weighted averaging scheme to present a scene of wide dynamic range. Compared with the previous works using multiple capturing, our approach captures only twice to facilitate practical implementation. It is characterized by simple arithmetic operations which can be easily implemented by a small H/W. Compared with the previous double capturing scheme, it shows enhanced contrast which contains more edge information, easy control of resultant effects while still retaining simple architectural merit. The test results for the several scenes show it has logarithmic convergence characteristics and more edge quantity compared to the previous works.

关键词： Dynamic range Robot vision systems Eyes Layout intelligent robots Cameras intelligent sensors Robot sensing systems Pixel Charge coupled devices

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Word frequency approximation for Chinese without using manually-annotated corpus

Word frequency approximation for Chinese without using manua...

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7th International Conference on Computational Linguistics and intelligent Text Processing, CICLing 2006

作者： Sun, Maosong Zhang, Zhengcao T'sou, Benjamin Ka-Yin Lu, Huaming State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing 100084 China Language Information Sciences Research Center City University of Hong Kong Hong Kong School of Business Beijing Institute of Machinery Beijing 100085 China

ISBN: (纸本)3540322051

Word frequencies play important roles in a variety of NLP-related applications. Word frequency estimation for Chinese is a big challenge due to characteristics of Chinese, in particular word-formation and word segmentation. This paper concerns the issue of word frequency estimation in the condition that we only have a Chinese wordlist and a raw Chinese corpus with arbitrarily large size, and do not perform any manual annotation to the corpus. Several realistic schemes for approximating word frequencies under the framework of STR (frequency of string of characters as an approximation of word frequency) and MM (Maximal matching) are presented. Large-scale experiments indicate that the proposed scheme, MinMaxMM, can significantly benefit the estimation of word frequencies, though its performance is still not very satisfactory in some cases. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Word processing

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Building an English-Iraqi Arabic machine translation system for spoken utterances with limited resources

Building an English-Iraqi Arabic machine translation system ...

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INTERSPEECH 2006 and 9th International Conference on Spoken Language Processing, INTERSPEECH 2006 - ICSLP

作者： Riesa, Jason Mohit, Behrang Knight, Kevin Marcu, Daniel Department of Computer Science Johns Hopkins University Baltimore MD 21218 United States Intelligent Systems Program University of Pittsburgh Pittsburgh PA 15260 United States Information Sciences Institute University of Southern California Marina del Rey CA 90292 United States

ISBN: (纸本)9781604234497

This paper presents an English-Iraqi Arabic speech-to-speech statistical machine translation system using limited resources. In it, we explore the constraints involved, how we endeavored to mitigate such problems as a non-standard orthography and a highly inflected grammar, and discuss leveraging existing plentiful resources for Modern Standard Arabic to assist in this task. These combined techniques yield a reduction in unknown words at translation time by over 40% and a +3.65 increase in BLEU score over a previous state-of-the-art system using the same parallel training corpus of spoken utterances.

关键词： computer aided language translation

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SYSTEM DESIGNING FOR A SMALL-SCALE AUTONOMOUS HELICOPTER

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International Journal of Information Acquisition 2006年第4期3卷 359-367页

作者： WENBING CHEN MING LIU YUNJIAN GE Institute of Intelligent Machines Chinese Academy of Sciences Department of Automation University of Science and Technology of China Hefei Anhui China Department of Electrical and Computer Systems Engineering Monash University Melbourne Australia Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui China

This paper presents the design of a relative low-cost and more compatible autonomous helicopter system using HIROBO 50 scale as an experimental platform. Because of the limit of helicopter payload, we choose the MP2128 Autopilot and a number of sensors to build the system and the weight of instrumentation is about 500 g, much less than the payload capability of model helicopter. Thus it is feasible to design the binocular stereo-camera system to achieve full autonomous flight and the whole weight (include power) of instrumentation is about 1500 g. After getting the model of the helicopter using the subspace model identification (SMI) algorithms, we present the structure of fuzzy PID controller.

关键词： Helicopter MP2128 MOESP Fuzzy PID controller

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Towards Open Architectures for Mobile Robots: ZeeRO

Towards Open Architectures for Mobile Robots: ZeeRO

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IEEE International Conference on Automation, Quality and Testing, robotics, AQTR

作者： Radu Bogdan Rusu Radu Robotin Gheorghe Lazea Cosmin Marcu Robotics Research Group Department of Automation Technical University of Cluj Napoca Cluj-Napoca Romania Intelligent Autonomous Systems Computer Science Department Technische Universität München Munich Germany

We report on ongoing research regarding the development of open mobile robot architectures. Preliminary results of our work show that a great degree of modularity and complexity in mobile robot design can be achieved, by simply using off-the-shelf available hardware components. A hardware robotic platform would not be nearly as efficient, if it wouldn't be sustained by an adequate software system. We are proposing the use and the development of the player/stage software project, of which we are active contributors, as the backbone of our software robotic platform. This paper presents the experimental results regarding the development of the ZeeRO mobile robot, with an emphasis on its hardware and software architecture. We give insight on the structure of the main modules (navigation, sensing, processing), as well as the robot's interface with the Player server. Several tests with virtual environment navigation algorithms by means of simulation tools (Stage, Gazebo) have also been conducted. A small section of the paper is dedicated to Javaclient, a player/stage client for the Java programming language, initially developed at the University of Southern California, and later moved to SourceForge

关键词： Mobile robots Hardware Robot sensing systems Navigation Java computer architecture Software systems Spine Software architecture Testing

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Output-feedback control for stabilization on SE(3)

Output-feedback control for stabilization on SE(3)

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IEEE Conference on Decision and Control

作者： Rita Cunha Carlos Silvestre Joao Hespanha Department of Electrical Engineering and Computer Science and Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

ISBN: (纸本)1424401704;9781424401703

This paper addresses the problem of stabilizing systems that evolve on SE(3). The proposed solution consists of an output-feedback controller that guarantees almost global asymptotic stability (GAS) of the desired equilibrium point, i.e. the point is stable and, except for a set of zero measure, all initial conditions converge to it. The output vector is formed by the position coordinates, expressed in the body frame, of a collection of landmarks fixed in the environment. The resulting closed-loop system exhibits the following properties: i) the position error is globally exponentially stable and ii) the norm of the angle-axis of the error rotation matrix is monotonically decreasing almost everywhere. Results are also provided that allow one to select landmark configurations so as to control how the position and orientation of the rigid body converge to their desired values

关键词： Control systems Asymptotic stability Quaternions Extraterrestrial measurements State feedback Error correction USA Councils US department of Transportation Kinematics Satellites

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Improving Data Association in Vision-based SLAM

Improving Data Association in Vision-based SLAM

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Arturo Gil Oscar Reinoso Oscar Martinez Mozos Cyrill Stachniss Wolfram Burgard Department of Systems Engineering Miguel Hernández University Elche(Alicante) Spain Department of Computer Science University of Freiburg Freiburg Germany Eidgenössische Technische Hochschule (ETH) Inst. of Robotics and Intelligent Systems Zurich Switzerland

This paper presents an approach to vision-based simultaneous localization and mapping (SLAM). Our approach uses the scale invariant feature transform (SIFT) as features and applies a rejection technique to concentrate on a reduced set of distinguishable, stable features. We track detected SIFT features over consecutive frames obtained by a stereo camera and select only those features that appear to be stable from different views. Whenever a feature is selected, we compute a representative feature given the previous observations. This approach is applied within a Rao-Blackwellized particle filter to make the data association easier and furthermore to reduce the number of landmarks that need to be maintained in the map. Our system has been implemented and tested on data gathered with a mobile robot in a typical office environment. Experiments presented in this paper demonstrate that our method improves the data association and in this way leads to more accurate maps

关键词： Simultaneous localization and mapping Cameras intelligent robots Euclidean distance Mobile robots Robot kinematics Robot vision systems Particle filters Gas insulated transmission lines intelligent systems

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A parallel cost-based abductive reasoning system on workstation cluster

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systems and computers in Japan 2006年第3期37卷 80-89页

作者： Kato, Shohei Nakamura, Tomonori Itoh, Hidenori Department of Computer Science and Engineering Graduate School of Engineering Nagoya Institute of Technology Nagoya 466-8555 Japan Department of Intelligent and Computer Science Nagoya Institute of Technology Nagoya 466-8555 Japan Matsushita Electric Industrial Corp. Department of Computer Science and Engineering Nagoya Institute of Technology Information Processing Society of Japan Japanese Society for Artificial Intelligence Robotics Society of Japan Development of Home Networks Platform Development Center Department of Computer Science and Engineering Society for Science on Form Japan

This paper proposes a method for dynamic load balancing which works efficiently in the workstation cluster environment. A parallel abductive reasoning system based on the proposed method is also proposed. In the workstation cluster environment, parallel processing is performed using workstations with various processing abilities and loads. Thus, dynamic load balancing must consider the performance and loading conditions of the workstations. This paper proposes a method of estimating the processing ability of the workstation during operation, and also a dynamic load balancing algorithm to balance the estimated conditions. Using the proposed method, a parallel abductive reasoning system which can derive the most preferable explanation for a given observation is implemented. The results of experiments on the system are also reported. © 2006 Wiley Periodicals, Inc.

关键词： Information retrieval systems

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Redar: A Remote Desktop Architecture for the Distributed Virtual Personal Computing

Redar: A Remote Desktop Architecture for the Distributed Vir...

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International Conference on Grid and Cooperative Computing (GCC)

作者： Yuedong Zhang Zhenhua Song Dingju Zhu Zhuan Chen Yuzhong Sun National Research Center for Intelligent Computing Systems Institute of Computing Technology Chinese Academy and Sciences China Department of Computer Science University of Science and Technology China

Some popular computing technologies, such as ubiquitous computing, grid computing and thin-client computing, bring people to a much more distributed and pervasive computing environment. Based on these innovative technologies, a distributed virtual personal computing (DVPC) paradigm is coming into being. One of the fundamental challenges in the DVPC design is the virtually integrated but physically distributed desktop system. We proposed Redar, a remote desktop architecture for the DVPC. Redar integrates various user interfaces from diverse service nodes into one virtual desktop, and present the virtual desktop to the ultra-thin user client. The user interfaces currently supported by Redar include the application GUIs as well as the mobile storage interfaces. The key components in Redar are the GUI merger, the virtual desktop manager, the ultra-thin-client and the transport protocols. We have implemented Redar in a DVPC prototype system. According to our evaluation, Redar shows perfect display latency, storage I/O, overhead, scalability and robustness

关键词： computer architecture Distributed computing Pervasive computing Grid computing User interfaces Ubiquitous computing Graphical user interfaces Corporate acquisitions Transport protocols Prototypes

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