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Parallel texture analysis using high-order statistics and neural networks

Parallel texture analysis using high-order statistics and ne...

引用

International Symposium on Speech, Image Processing and Neural Networks

作者： H. Araujo J. Dias A.T. Almeida Institute of Systems and Robotics Department of Electrical Engineering University of Coimbra Coimbra Portugal

In this paper we present a texture analysis and classification method based on the computation of high-order statistics of gray-levels or selected features. The computation of these high-order statistics can be performed in parallel in non-overlapping windows that cover the full image. Classification is performed by neural networks. In this extended summary results are presented for backpropagation networks only, but several other types of neural nets were also tested.< >

关键词： Statistical analysis Neural networks Stochastic processes Robots Higher order statistics High performance computing Data mining Autocorrelation Gaussian processes Probability density function

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Sensor-based 3-D autonomous contour-following control

Sensor-based 3-D autonomous contour-following control

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： U. Nunes P. Faia A.T. de Almeida Institute of Systems and Robotics and Electrical Engineering Department University of Coimbra Coimbra Portugal

Many industrial operations can be automated using robot arms but, however, require the use of robots being able to perform surface following in an adaptive way. Contour-following in real-time based on sensor information is a delicate task, yet very useful in operations like painting, welding, glues administration and surface polishing. The contour-following can be accomplished either by using previous knowledge of the shape of the surface, by executing a sequence of movements point-by-point, or in an adaptive way. In the last case a sensor or a set of sensors for collecting data about the environment are used. Furthermore, the contour-following can occur with or without contact. The paper describes a 3-D contour-following behavior controller. The contour-following operation is performed in real-time without contact using proximity information. Results of simulations and real-time implementation are presented and discussed.< >

关键词： Robot sensing systems Control systems Robot kinematics Ultrasonic imaging Service robots robotics and automation Manipulators Automatic control Force measurement Force control

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Integrated design of navigation, guidance and control systems for unmanned underwater vehicles

Integrated design of navigation, guidance and control system...

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OCEANS

作者： D. Fryxell P. Oliveira A. Pascoal C. Silvestre Institute for Systems and Robotics and Department of Electrical Engineering Instituto Superior Técnico Lisboa Portugal

The paper describes an integrated approach to the design of navigation, guidance and control systems for autonomous-unmanned-underwater vehicles (AUVs). The framework adopted is illustrated with a design example in which developments in H-infinity control theory, multi-rate navigation techniques and classical guidance strategies were applied to the design of a high level controller for the underwater vehicle MARIUS (Marine Utility Vehicle System). The problem statement requires the design of a command following system for the vehicle to achieve precise tracking of reference trajectories defined in an universal reference frame. This objective should be accomplished in the presence of shifting sea currents, sensor noise and vehicle parameter uncertainty. The design phase is described, and the interaction among navigation, control and guidance is analyzed. The performance of the complete command following system is evaluated using a simulation package that allows the designer to assess the impact of navigation, control and guidance algorithms on the dynamic performance of the vehicle.< >

关键词： Navigation Control systems Remotely operated vehicles Underwater vehicles Mobile robots H infinity control Control theory Marine vehicles Underwater tracking Trajectory

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Position and force control of a multifingered hand: a comparison of fuzzy logic to traditional PID control

Position and force control of a multifingered hand: a compar...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： D. Hristu J. Babb H. Singh S. Gottschlich NYS Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

In this paper we will discuss the control of a five-fingered, 18 degree of freedom, tendon driven robot hand known as the Atlas Anthrobot. Developing a traditional PID controller for this hand has proved difficult because the behavior of the tendon drive system produces is highly nonlinear. This nonlinear nature of the system however does suggest it as a candidate for fuzzy control. Along these lines we have developed a PID control system and a fuzzy control system for the hand which are both capable of simultaneously controlling the position of the fingertips and the amount of force exerted through a contact point on the fingertip. In this paper we will present a comparison between the two systems in order to generally make statements about the appropriateness of each controller for controlling complicated tendon driven devices such as our robot hand.< >

关键词： Force control Fuzzy logic Three-term control Control systems Robots Fingers Tendons Fuzzy control robotics and automation Automatic control

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A tactile sensing system for dexterous manipulation

A tactile sensing system for dexterous manipulation

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

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

One factor that limits the range of tasks that robots can perform robustly is the scarcity of useful sensors available to provide feedback to the robot control system. While much progress has been made with vision sensors and force/torque sensors, tactile sensing systems have fallen behind, and so general-purpose tactile sensing systems are not commercially available. The aim of this work is therefore to produce a tactile sensing system that could be manufactured inexpensively, could be used on a wide variety of robotic systems, and would provide the kind of output typically required in dexterous manipulation applications. Such a tactile sensing system will be presented in this paper. The tactile transducers used in this system are based on semiconductive ink technology that allows transducers of any size, shape, and resistance range to be produced merely by altering the ink printing process and substrate geometry. Each sensor outputs three pieces of information that are useful in robotic manipulation-two parameters indicating the location of a contact point on the transducer and one parameter specifying the amount of force being exerted at the contact point. So that the sensing system could support transducers of different shapes and sizes, the analog interface circuitry of this system has been designed to be fully programmable, and also includes circuitry to enable self-calibration with appropriate software.< >

关键词： Transducers Robot sensing systems Sensor systems Tactile sensors Force sensors Ink Shape Circuits Robust control Feedback

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Variably-autonomous manipulation

Variably-autonomous manipulation

引用

IEEE International Conference on robotics and Automation (ICRA)

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

There are numerous applications in which robots are needed to assist rather than replace human operators. These applications typically involve either work in a dangerous environment or performing tasks that are physically impossible for humans to accomplish by themselves. Robots used in this mode do not need to be autonomous because they can essentially be controlled by the operator. Nonetheless, it is difficult for an operator to flawlessly control a robot with a large number of degrees of freedom. Therefore, an intelligent control system is needed to correct and improve the operator's input to the robot. In this paper the authors discuss a central component in this control system known as the variably-autonomous trajectory generator (VATG). The VATG combines input from the operator with input from one or more autonomous control modules (CM) to generate the robot trajectory. The amount of impact the autonomous CMs will have on the overall trajectory will depend on a number of factors such as the task being performed and the sensing modalities available, hence the authors refer to this type of control as being variably-autonomous.< >

关键词： Robot sensing systems robotics and automation Humans Control systems Application software Wrist Tactile sensors Force sensors Grasping systems engineering and theory

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Model-based multisensor data fusion: a minimal representation approach

Model-based multisensor data fusion: a minimal representatio...

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IEEE International Conference on robotics and Automation (ICRA)

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

A general approach to model-based multisensor data fusion using a minimal representation size criterion is described. Each sensor is modeled by a general constraint equation which defines a data constraint manifold (DCM), and observed sensor data populate the measurement space according to these constraints. The choice of multisensor interpretations is based on a minimal representation size criterion which evaluates the complexity through correspondence and encoded errors weighted by relative sensor accuracy and precision. This general framework automatically selects subsets of data features called constraining data feature sets (CDFS) and chooses the CDFS corresponding to a minimal representation interpretation of the observed data. The resulting procedure fuses heterogeneous sensor readings into a single estimation method. The method is illustrated for a visual and tactile data fusion example. The approach generalizes to problems with non-geometric models, and can be used for multisensor system identification in other domains such as process control.< >

关键词： robotics and automation Sensor fusion Robot sensing systems Sensor systems Probability distribution Data engineering systems engineering and theory Equations Manifolds Fuses

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE International Conference on robotics and Automation (ICRA)

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper presents an algorithm for finding a kinematically feasible path which satisfies a given set of nonholonomic constraints while enforcing both equality and inequality constraints on the configuration vector. The path planning problem is transformed from a finite time nonlinear control problem into a static root finding problem which is iteratively solved. By using an exterior penalty function method, the constrained root finding problem is converted to an unconstrained problem. Convergence of the algorithm depends upon a certain gradient operator being full rank. It has recently been shown that, in the absence of any configuration inequality constraints, the full rank condition is generic. In this paper, we show the full rank condition for a special inequality constraint case. An experiment in which the algorithm is applied to an actual double tractor-trailer vehicle is presented.< >

关键词： Path planning Control systems Controllability Motion control Velocity control Nonlinear control systems robotics and automation systems engineering and theory Iterative algorithms Convergence

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A new method to calculate looming for autonomous obstacle avoidance

A new method to calculate looming for autonomous obstacle av...

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Joarder Raviv Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA

The concept of visual looming can be used as a powerful visual cue for autonomous obstacle avoidance. In this paper a method that measures looming quantitatively by fixating a camera at a point on the surface of an object is presented. It is based on studying the texture and its temporal change near the fixation point. The surface may be tilted relative to the optical axis. Looming can be calculated from the relative change in texture density and from the local orientation of the surface. The orientation is obtained from a set of one-dimensional directional densities of the texture primitives. This visual cue is used as a feedback signal of a closed loop system to implement obstacle avoidance using a six-degree-of-freedom simulator.< >

关键词： Image texture analysis Object recognition Image orientation analysis Mobile robots, motion planning Robots, vision systems

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A visual-motion fixation invariant

A visual-motion fixation invariant

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IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)

作者： Raviv Ozery Robotics Center and Department of Electrical Engineering Florida Atlantic University Boca Raton FL USA Robot Systems Division National Institute for Standards and Technology Gaithersburg MD USA Florida Atlantic University Boca Raton FL US Robotics Center Florida Atlantic Univ. Boca Raton FL USA

The paper deals with a visual-motion fixation invariant. We show that during fixation there is a measurable nonlinear function of optical flow that produces the same value for all points of a stationary environment, regardless of the 3D shape of the environment. During fixated camera motion relative to a rigid object, e.g., a stationary environment, the projection of the fixated point remains (by definition) at the same location in the image, and all other points located on the 3D rigid object can only rotate relative to the 3D fixation point. This rotation rate of the points is invariant for all points that lie on the particular environment, and it is measurable from a sequence of images. This new invariant is obtained from a set of monocular images, and is expressed explicitly as a closed form solution. We show how to extract this invariant analytically from a sequence of images using optical flow information, and we present results obtained from real data experiments.< >

关键词： Image motion analysis Robots, vision systems Cameras Image sequence analysis

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