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Handwritten numeral recognition based on hierarchically self-organizing learning networks with spatio-temporal pattern representation

Handwritten numeral recognition based on hierarchically self...

引用

Conference on Computer Vision and Pattern Recognition (CVPR)

作者： S. Lee J.C. Pan Department of Electrical Engineering-Systems and Computer Science Institute for Robotics and Intelligence Systems University of Southern California USA

An approach for tracing, representation, and recognition of a handwritten numeral in an offline environment is presented. A 2D spatial representation of a numeral is first transformed into a 3D spatiotemporal representation by identifying the tracing sequence based on a set of heuristic rules acting as transformation operators. Given the dynamic information of the tracing sequence, a multiresolution critical-point segmentation method is proposed to extract local feature points, at varying degrees of scale and coarseness. A neural network architecture, the hierarchically self-organizing learning (HSOL) network (S. Lee, J.C. Pan, 1989), especially for handwritten numeral recognition, is presented. Experimental results based on a bidirectional HSOL network indicated that the method is robust in terms of variations, deformations, and corruption, achieving about 99% recognition rate for the test patterns.< >

关键词： Handwriting recognition Pattern recognition Feature extraction Character recognition Intelligent robots Neural networks Humans Heuristic algorithms Skeleton Lifting equipment

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A smooth variable structure position control of PCB motor

A smooth variable structure position control of PCB motor

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1992 Singapore International Conference on Intelligent Control and Instrumentation

作者： Paul, A.K. Bandyopadhyay, B. Srisailam, M.C. Divn. of Remote Handling and Robotics Bhabha Atomic Research Center Bombay400085 India Systems and Control Engg. Dept. of Electrical Engineering Indian Institute of Technology Bombay Bombay400076 India

ISBN: (纸本)0780306325

This paper presents a mew algorithm for variable structure control systems. In the proposed algorithm a VEViable strnctnre controller for low moment of inertia systems has been discnssed. The concept nses the position and velocity loop independently at different instants of time. Switching from position loop to velocity loop generates sliding mode motion. The proposed method requires only one switching. Chattering is totally absent. The algorithm has been tested successfully in printed circuit DC motor throngh computer simulation aa well as practical implementation. The practical controller is a hybrid one where adog, digital and au IBM PC has been used to verify the concept. © 1992 by IEEE Singapore Section.

关键词： Controllers

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Recovering LSHGCs and SHGCs from stereo

Recovering LSHGCs and SHGCs from stereo

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： R.C.-K. Chung R. Nevatia Institute for Robotics and Intelligent Systems Departments of Computer Science and Electrical Engineering University of Southern California Los Angeles CA USA Institute for Robotics and Intelligent Systems Departments of Computer Science and Electrical Engineering University of Southern California Los Angeles CA USA

The problem of computing volumetric shape from stereo is examined. It is argued that intermediate two-and-one-half-dimensional dense or wire-frame descriptions may not be always possible from stereo, especially when there are curved surfaces in the scene, and that 3D volumetric descriptions of objects may have to be derived directly from stereo correspondences. Methods are then presented for recovering volumetric shape with linear straight homogeneous generalized cones (LSHGCs) and straight homogeneous generalized cones (SHGCs) as the shape models, using some invariant properties in their monocular and stereo projections. Experimental results on images of objects with curved surfaces are given.< >

关键词： Layout Intelligent robots Image recognition Image segmentation Indexing Shape measurement Intelligent systems Computer science Surface texture Interpolation

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Variable structure control of a tank gun

Variable structure control of a tank gun

引用

IEEE Conference on Control Technology and Applications (CCTA)

作者： R. Dana E. Kreindler Tank Systems Division Elbit Computers Limited Haifa Israel Department of Electrical Engineering Technion-Israel Institute of Technology Haifa Israel

Variable structure control (VSC), which provides immunity to plant parameter changes when the system is in the sliding mode, is applied to the position control of a tank gun with its large uncertainties. The VSC design is based on a second-order linear time-invariant plant with bounded uncertain parameters. This is a huge reduction of an elaborate nonlinear model of the tank's turret and gun system. Two VSC strategies were designed and tested: one, with a linear switching line, termed the conventional VSC (CVSC), and the second, in which the entire state trajectory is a sliding curve, termed the modified VSC (MVSC). The CVSC was tested by simulation on a full model as well as on a stationary tank; the MVSC, which is a more complex control law, was tested by simulation only. Both designs showed excellent robustness. The chattering did not excite high-frequency modes, but it caused a large energy drain.< >

关键词： Sliding mode control Robust control Testing Friction Robustness Equations Control systems Position control Adaptive control Torque control

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Refinement of noisy correspondence using feedback from 3D motion

Refinement of noisy correspondence using feedback from 3D mo...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Y.C. Kim K. Price Institute for Robotics and Intelligent Systems Departments of Computer Science and Electrical Engineering University of Southern California Los Angeles CA USA

In automated feature-based motion analysis of multiple frames, correspondence data are usually noisy and fragmented. A technique that gradually refines the initial noisy correspondence data and links fragments of a single trajectory using feedback from 3D motion estimation is presented. First, 3D motion parameters are estimated using the initial correspondence data. Then, each noisy trajectory is partitioned into subsets of points, each of which conforms to the estimated motion. The best set is used as the input to the next motion estimation. This process is repeated, and the gaps in the refined correspondence data are filled by guidance from the predicted motion. Test results for a standard real image sequence are presented.< >

关键词： Motion analysis Motion estimation Intelligent robots Feature extraction Force feedback Joining processes Image segmentation robotics and automation Intelligent systems Computer science

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The window corner algorithm for robot path planning with translations

The window corner algorithm for robot path planning with tra...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S.S. Krishnan A.C. Sanderson Electrical Computer and Systems Engineering Department Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The feasible path problem is solved for planning a collision-free path to translate an arbitrary polyhedral robot from an initial position to some goal position in a polyhedral environment. The shortest path problem entails finding the shortest feasible path. The authors present two versions of the window corner (WC) algorithm, which is a novel solution to the problems for the case of single and multistep translational paths for two dimensions, and then summarize the extension to the three-dimensional WC algorithm, for feasible paths. The concept of window corners in the polyhedral cone representation (PCR) is introduced, which reduces the search space. The PCR cones store constraints between boundary elements. The PCO representation has O(m) vertices compared to O(m/sup 2/) in a C-space representation. The WC algorithm was tested and an example from assembly path planning is presented.< >

关键词： Path planning robotics and automation Optical wavelength conversion Euclidean distance Mobile robots Orbital robotics systems engineering and theory Technology planning Tail Testing

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Orienting generalized polygonal parts

Orienting generalized polygonal parts

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.S. Rao K.Y. Goldberg Institute of Robotics and Intelligent Systems Department of Electrical Engineering-Systems University of Southern California Los Angeles CA USA Inst. of Robotics & Intelligent Syst. Univ. of Southern California Los Angeles CA USA

K.Y. Goldberg (1990) described an algorithm for orienting planar polygonal parts using a modified parallel-jaw gripper. The authors extend this algorithm to handle parts with curved edges. They define a generalized polygon as a planar figure made up of piecewise linear and circular edges, and a generalized polygonal part as one of constant cross section, the convex hull of which is a generalized polygon. For this class of parts a complete algorithm for determining an optimal parts-orienting strategy is presented.< >

关键词： Grippers Transfer functions Intelligent robots Intelligent systems Piecewise linear techniques Assembly Shape Geometry robotics and automation Computer science

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The Window Corner Algorithm For Planning Translational Paths Among Polyhedral Subassemblies

The Window Corner Algorithm For Planning Translational Paths...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： S.S. Krishnan A.C. Sanderson New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

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Fuzzy proximity measures for robot grasp planning

Fuzzy proximity measures for robot grasp planning

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IEEE International Symposium on Intelligent Control (ISIC)

作者： K. Sridharan H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object.< >

关键词： Robots robotics and automation Solid modeling Paper technology systems engineering and theory Fuzzy systems Electric variables measurement Fingers Kinematics End effectors

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Finding a sequence of sensor operations for volumetric inspection

Finding a sequence of sensor operations for volumetric inspe...

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IEEE International Conference on systems, Man and Cybernetics

作者： G.H. Tarbox S.N. Gottschlich L.A. Gerhardt New York State Center for Advanced Technology in Robotics and Automation Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

A system for exhaustively inspecting a workpiece, not merely certain features, is presented. The system is based on comparing a volumetric representation of a reference object to a volumetric representation of an actual object iteratively created from sensor data. The use of volumetric representations gives this approach a number of distinct advantages over the more traditional boundary-based inspection methods. The method is capable of handling arbitrarily complex geometries and does not rely on the identification of features. It lends itself naturally to a multisensor environment, and facilitates true 3-D inspection as opposed to methods that require dimensional reductions of data by projection onto a 2-D plane. The authors focus on an important aspect of volumetric inspection which is the automatic generation of a sequence of sensor operations that will acquire the complete geometry of the object being inspected.< >

关键词： Inspection Geometry robotics and automation Casting Space technology Sensor systems Solid modeling systems engineering and theory Sensor phenomena and characterization Production

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