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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： J.C. Pan S. Lee Department of Electrical Engineering-Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

An approach for representing signatures in an offline environment is presented. The approach first makes a tracing of a signature similar to the way a human normally does, using hierarchical decision-making for stroke identification and ordering based on a set of heuristic rules. The dynamic information from the tracing sequence is then incorporated into the representation of the signature. A multiresolution critical-point segmentation method is used to extract local feature points, at varying degrees of scale and coarseness, for subsequent representation of the signature. Experimental results are discussed.< >

关键词： Intelligent robots Writing Feature extraction Heuristic algorithms Humans Lifting equipment Intelligent systems Decision making Handwriting recognition Skeleton

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Computational Complexity of Path Planning Algorithms Based on Safe Triangles and Quadtree as Work Space Representations: A Comparison †

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IFAC Proceedings Volumes 1991年第9期24卷 277-281页

作者： Xiaozhao Mao Institute of Control Engineering Section Control Systems Theory and Robotics Technical University Darmstadt Schlossgraben 1 D-6100 Darmstadt Germany

Computational complexity of two path planning approaches for a two-dimensional (2D) work space is considered: The approach using safe triangles and the approach based on quadtree. The average cost of establishing work space representation, i.e. of building the safe triangles and the quadtree respectively, are estimated. Both approaches are simulated to plan paths for numerous work spaces with obstacles which are generated at random. The results of the simulation are summarized to show the expected behavior of each approach. Comparison based on analyses and simulation is presented.

关键词： Computational complexity path planning robotics space representation

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Use of monocular groupings and occlusion analysis in a hierarchical stereo system

Use of monocular groupings and occlusion analysis in a hiera...

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Conference on Computer Vision and Pattern Recognition (CVPR)

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

A hierarchical stereo system is described that uses structural descriptions up to the surface level. Surface descriptions are computed from monocular images, by using a perceptual grouping technique. Occlusion can be a major problem in stereo analysis and is often not treated explicitly. An analysis is presented of occlusion effects in stereo, and it is shown how structural descriptions can be used to deal with them. Experimental results are given for scenes with curved objects and significant occlusions.< >

关键词： Layout Intelligent robots Surface treatment Stereo image processing Image reconstruction Intelligent systems Intelligent structures Hierarchical systems Monitoring Contracts

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Temporal slice analysis of image sequences

Temporal slice analysis of image sequences

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： S.-L. Peng Institute for Robotics and Intelligent Systems Departments of Electrical Engineering and Computer Science University of Southern California Los Angeles CA USA

An early-processing algorithm to extract motion information from closely sampled image sequences is presented. This method outputs dense displacement field, based on the extraction of strips in slices taken from the image volume along the temporal dimension. The extracted strips provide estimates of the velocity component along the slice orientation. Because of the high sampling rate, the motion is assumed to be piecewisely translational. A voting scheme to estimate the position of FOE while extracting strips is proposed. The true velocity can then be calculated. Results on several real image sequences and a promising speedup from the parallel implementation on the Connection Machine are presented.< >

关键词： Image analysis Image sequence analysis Image sequences Image motion analysis Cameras Data mining Strips Intelligent robots Intelligent systems Image sampling

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Flow equivalent nets for the performance analysis of generalized stochastic Petri nets

Flow equivalent nets for the performance analysis of general...

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Jungnitz A.A. Desrochers Center for Intelligent Robotics for Space Exploration (CIRSSE) Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The reduction of the state space of generalized stochastic Petri net (GSPN) models is discussed. For a certain class of GSPNs it is possible to analyze subnets in isolation by keeping the number of tokens in the net constant. The authors construct a flow equivalent net (FEN), which has the same temporal and input/output properties of the original net, but with a strongly reduced state space. The FEN is substituted back into the complement of the original net.< >

关键词： Performance analysis Stochastic processes Petri nets State-space methods Stochastic systems Intelligent robots Coupled mode analysis System recovery Orbital robotics Space exploration

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A feasible collision-detection algorithm for mobile robot motion planning with moving obstacles

A feasible collision-detection algorithm for mobile robot mo...

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International Conference on Industrial Electronics, Control and Instrumentation

作者： T.-J. Pan R.C. Luo Department of Information Engineering Tatung Institute of Technology Taipei Taiwan Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

A new approach to solving the collision detection problem for mobile robots in the presence of moving obstacles is proposed. Both the robot and obstacles in the two-dimensional space are assumed to be polygonal and are composed of a set of convex polygons. The half-plane representation uses an algebraic method to describe the object motion including translation and rotation through time. Compared with previous methods, the proposed representation is more general in that obstacles are now allowed to move at nonconstant velocities. To detect collision between polygonal objects, a traversability vector method was developed. Traversability vectors are a simple mechanism used to analyze geometric constraints imposed by polygons. Using these vectors, a simple algorithm for predicting collision is derived. Computer simulations were conducted to show the feasibility of the proposed method.< >

关键词： Mobile robots Motion planning Robot motion Orbital robotics Intelligent robots Technology planning Space technology Motion detection Object detection Prediction algorithms

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Identification and Multi-Objective Controller Tuning of a Plastic Injection Molding Machine

Identification and Multi-Objective Controller Tuning of a Pl...

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American Control Conference (ACC)

作者： C. M. Seaman A. A. Desrochers G. F. List Robotics & Automation Laboratories Rensselaer Polytechnic Institute Troy NY USA Electrical Computer & Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA Decision Sciences and Engineering System Department Rensselaer Polytechnic Institute Troy NY USA

In this paper, a multi-objective approach to controller tuning is described. An algorithm for implementation of this tuning is given. This approach has the following merits: there is no restriction on the type or number of performance criteria; no a 'priori weights need be chosen since performance criteria are not combined into a single objective function. The intention is that the algorithm is implemented to run in real-time so as to provide immediate feedback to a process operator about the current operating point. If the current operating point is not Pareto optimal, the algorithm can automatically adjust the parameters to achieve this. If it is Pareto optimal but not desirable, the algorithm can provide information on how trade-offs can be made so that the desired operating point is achieved. The algorithm is applied to the tuning of a PID controller for the plastication phase of an injection molding process. An analytic model for this process is presented. Experiments are described in which data was collected from this process, and an empirical discrete-time transfer function was identified. This transfer function was then used, within a simulation, to allow the algorithm to tune the controller, with respect to two objective functions. The tradeoff curve for these objectives, and corresponding controller gains is presented.

关键词： Plastics Injection molding Transfer functions Pareto optimization Three-term control Constraint optimization Minimization methods Problem-solving Delta modulation Error correction

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A new approach to vision-based road following for autonomous vehicles

A new approach to vision-based road following for autonomous...

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IEEE International Conference on systems, Man and Cybernetics

作者： D. Raviv M. Herman Robotics Center and Electrical Engineering Department Florida Atlantic University Boca Raton FL USA Sensory Intelligence Group Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA

A new approach for vision-based autonomous road following is presented. By building on a recently developed optical flow-based theory, the authors suggest that motion commands can be generated directly from a visual feature, or cue, consisting of the projection into the image of the tangent point on the edge of the road, along with the optical flow of this point. Using this cue, fast computationally inexpensive, and simple partial control algorithms are derived for both circular and noncircular roads. Other inputs to these algorithms may be the current steering angle, the current vehicle speed, etc. The output of these control algorithms is the change in steering angle for the next instant of time. Only the kinematics of the vehicle and the camera are considered.< >

关键词： Remotely operated vehicles Road vehicles Mobile robots Optical sensors Intelligent robots Image motion analysis Cameras Robot vision systems Robot sensing systems Robot kinematics

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A quantitative approach to camera fixation

A quantitative approach to camera fixation

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： D. Raviv Robotics Center and Electrical Engineering Department Florida Atlantic University Boca Raton FL USA Sensory Intelligenae Group Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA

The quantitative aspects of camera fixation for a static scene are addressed. In general, when the camera undergoes translation and rotation, there is an infinite number of points that produce equal optical flow for any instantaneous point in time. Using a camera-centered spherical coordinate system, it is shown how to find these points in space. For the case where the rotation axis of the camera is perpendicular to the instantaneous translation vector, these points lie on cylinders. If the elevation component of the optical flow is set to zero then these points form a circle (called the equal flow circle or simply EFC) and a line, i.e. all points that lie on this circle or line are observed as having the same azimuthal optical flow. A special case of the EFCs is the zero flow circle (ZFC) where both components of the optical flow are equal to zero. A fixation point is the intersection of all the ZFCs. Points inside and outside the ZFC can be quantitatively mapped using the EFCs. It is shown how the concept of the EFC and ZFC can be used to explain the optical flow produced by points near the fixation point.< >

关键词： Image motion analysis Optical sensors Robot vision systems Intelligent robots Optical devices Robot sensing systems Smart cameras Intelligent systems Intelligent sensors NIST

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Task planning for flexible manufacturing systems

Task planning for flexible manufacturing systems

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1990 IEEE Colloquium in South America, COLLOQ 1990

作者： Sanderson, Arthur C. IEEE Robotics and Automation Society Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute TroyNY1218 United States

ISBN: (纸本)0879426101

The design and implementation of flexible manufacturing systems require the planning of task requirements to meet standards of reliability, cost, and throughput over a family of products. Tools for computer-aided engineering of manufacturing systems utilize automated planning and representation methods to enhance the capability of engineers to design better systems. Automated assembly sequence planning methods link product design to assembly system design and provide a basis for such interactive engineering tools. Methods for geometric reasoning, assembly plan representation, and automated assembly sequence selection will be discussed. © 1990 IEEE.

关键词： Flexible manufacturing systems

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