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A Simulation Environment for Fuzzy Control of Traffic Systems

IFAC Proceedings Volumes 1993年第2期26卷 753-756页

作者： R. Kelsey K. Bisset M. Jamshidi Los Alamos National Laboratory Los Alamos NM 87545 USA CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 USA

In this paper fuzzy control and decision making are used to simulate the control of traffic flow at an intersection. Fuzzy logic can be used as an alternative method for control of traffic environments. A traffic environment includes the lanes to and from an intersection, the intersection, vehicle traffic, and signal lights in the intersection. To test the fuzzy logic controller a computer simulation is constructed to model a traffic environment. A typical cross intersection was chosen for the traffic environment and the performance of the fuzzy logic controller was compared with the performance of two different types of conventional control. The fuzzy logic controller proved to be a better method of control than conventional control methods, especially in the case of highly uneven traffic flow between different directions

关键词： Fuzzy logic fuzzy control traffic control simulation

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Fuzzy logic based collision avoidance for a mobile robot

Fuzzy logic based collision avoidance for a mobile robot

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International Conference on Industrial Fuzzy Control and intelligent Systems

作者： A. Martinez E. Tunstel M. Jamshidi CAD Laboratory for Intelligent and Robotic Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA NASA Jet Propulsion Laboratory Pasadena CA USA

Navigation and collision avoidance are major areas of research in mobile robotics that involve varying degrees of uncertainty. In general, the problem consists of achieving sensor based motion control of a mobile robot among obstacles in structured and/or unstructured environments with collision-free motion as the proirity. A fuzzy logic based intelligent control strategy has been developed here to computationally implement the approximate reasoning necessary for handling the uncertainty inherent in the collision avoidance problem.< >

关键词： Fuzzy logic Collision avoidance Mobile robots intelligent robots intelligent sensors Robot sensing systems Circuits Navigation DC motors Uncertainty

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Assigning Segment And Link Identifiers For ADVANCE

Assigning Segment And Link Identifiers For ADVANCE

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IEEE Symposium on intelligent Vehicle

作者： P.C. Nelson P. Petrov P. Pollock Intelligent Vehicle Highway Systems Laboratory Department of Electrical Engineering and Computer Science University of Illinois Chicago Chicago IL USA Motorola Inc. Northbrook IL USA

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TRANSFORMATION RELATIONSHIPS FOR 2 COMMONLY UTILIZED EULER ANGLE REPRESENTATIONS

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IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS 1992年第3期22卷 555-559页

作者： CHEN, CX TRIVEDI, MM Computer Vision and Robotics Research Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN USA

There is no standard representation scheme that is followed by different groups of robot designers to describe the orientation of a rotating rigid body. For a sensor-based robot, the particular rotation representation scheme used by the robot affects not only the specification of the positioning of the arm and end-effector, but also the specification of the placement of the sensors and the method of computing the sensory-to-world transformation. Thus the need for finding the transformation between different rotation representations is obvious for one involved in the development of high-level software systems that need to be transported to different robots utilizing different rotation representation schemes. Among those representation schemes, Euler angle representations are widely used in commercial robots as well as in research laboratory robots. Typically, there are three different Euler angle representation systems, and each system describes a particular orientation of a rigid body in a reference coordinate frame by specifying three angles. Mathematical derivations of the transformation relationships underlying the parameters from two most commonly utilized representation schemes are presented. These relationships are derived in two different ways. One is based upon the solution of the inverse transform for Euler angles and the other is based upon the Napier's rules associated with spherical trigonometry.

关键词： Robot kinematics Robot sensing systems Manipulators Laboratories Quaternions US department of Energy Software systems Hardware Software standards Control systems

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NEURAL NETWORK APPROACH TO DPCM SYSTEM-DESIGN FOR IMAGE-CODING

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IEE PROCEEDINGS-I COMMUNICATIONS SPEECH AND VISION 1992年第5期139卷 501-507页

作者： MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark USA

This paper presents a neural network approach to differential pulse code modulation (DPCM) design for the encoding of images. Instead of traditional algorithms for the computation of the relevant coefficients, such as the autocovariance and autocorrelation methods, the predictor is designed by supervised training of a neural network on examples, i.e. on a typical sequence of pixel values. This allows the use of nonlinear as well as linear correlations. Efficient and fast neural net architectures, for nonlinear one-dimensional DPCM (NNDPCM) as well as two-dimensional adaptive DPCM (NNADPCM), have been designed and applied to still image coding. computer simulation experiments have shown that the resulting encoders work very well. At a transmission rate of 1 bit/pixel, the 1-D NNDPCM offers an advantage of about 4dB in peak signal-to-noise ratio over the standard linear DPCM system. At a bit rate of 0.525 bit/pixel, the 2-D NNADPCM achieves 29.5 dB for the 512 x 512 Lena image, while there is little visible distortion in the reconstructed image. This performance is comparable to that of the best schemes known to date, whether DPCM based or not, while maintaining a lower encoding complexity. Furthermore, this establishes that there is substantial amount of nonlinear content available for 1-D and 2-D prediction in DPCM image coding.

关键词： IMAGE CODING NEURAL NETWORKS PREDICTION ALGORITHM

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ROUTER CONNECTED PHYSICAL MEDIA IN NETWORKING THE intelligent HOME

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IEEE TRANSACTIONS ON CONSUMER ELECTRONICS 1992年第1期38卷 30-35页

作者： YANG, J MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

The performance of the CEBus, a proposed computer network standard for the intelligent home, implemented with Power Line (PL) and Twisted Pair (TP) media, interconnected through a router, has been investigated. The delay and throughput characteristics of each of the three priority class of messages, i.e., DEFERRED, STANDARD and HIGH, have been measured. Overall, the PL - Router - TP network system has behaved well and as expected, however care must be taken to restrict traffic from the high (TP) to the low (PL) capacity medium to reasonable levels from the point of view of the low capacity medium.

关键词： intelligent networks Delay effects computer networks Throughput Optical fiber communication Access protocols Multiaccess communication ISO standards Optical signal processing Laboratories

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INVESTIGATION OF THE PERFORMANCE OF A CONTROLLED ROUTER FOR THE CEBUS

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IEEE TRANSACTIONS ON CONSUMER ELECTRONICS 1992年第4期38卷 831-841页

作者： YANG, JS MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

The delay and throughput of the Consumer Electronics Bus (CEBus) with two media, Power Line (PL) and Twisted Pair (TP), interconnected through a new-type of router, a controlled router, have been investigated with three priorities HIGH, STANDARD, and DEFERRED. The controlled router aims to provide fair channel access opportunity for intra-network traffic for messages of all priorities, even in the presence of large inter-network traffic. It reduces excessive channel access by inter-network traffic through the router, even when the router is assigned HIGH priority, and maintains the delay of intra-network traffic at reasonable levels. The results of the simulation experiments have shown that the controlled router with HIGH priority achieves all its goals. The message delay of HIGH for the inter-network traffic on the PL is of larger value than that of HIGH and STANDARD for intra-network traffic at light load, and is smaller than that of the STANDARD and DEFERRED at heavy load. Moreover, the intra-network message throughputs and delays of STANDARD and DEFERRED have improved greatly, in comparison to a traditional uncontrolled router, at only a small cost in inter-network HIGH performance.

关键词： Cebus Traffic Messages Information Network lighter load Consumer Electronics Bus home automation simulation test delay

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DETERMINATION OF THE OPTIMUM PACKET LENGTH AND BUFFER SIZES FOR THE CONSUMER ELECTRONICS BUS

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IEEE TRANSACTIONS ON CONSUMER ELECTRONICS 1992年第4期38卷 884-894页

作者： YANG, JS MANIKOPOULOS, CN Intelligent Systems Laboratory Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This paper addresses two issues of the Consumer Electronics Bus (CEBus) implemented on the Power Line medium: the determination of (a) optimum packet length, and (b) optimum buffer size. The delay-throughput characteristics of each of the three priority classes of messages, i.e., HIGH, STANDARD, and DEFERRED, have been measured by simulation experiments for various packet lengths and buffer sizes. This way optimum packet length and buffer sizes have been deduced. The optimum packet length has been obtained by evaluating the effect of increasing packet size for a particular traffic pattern and offered load. The optimum buffer size at a node corresponds to the best overall performance for messages of all priorities in terms of overflow rates at the buffers of the nodes with respect to increasing offered loads. The optimum packet length has been found to be between 276 and 400 USTs, i.e., 184 and 276 bits. If we assign 276 USTs as the optimum packet length, the optimum buffer size at each node is found to be between 150 and 200 packets, i.e., approximately 28 to 37 Kbits.

关键词： Consumer electronics Access protocols Encoding intelligent systems Laboratories Delay Throughput Measurement standards Length measurement Size measurement

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The segmented bus: A dynamically segmentable interprocessor communication network for intelligent mobile robot systems

The segmented bus: A dynamically segmentable interprocessor ...

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1992 IEEE/RSJ International Conference on intelligent Robots and Systems, IROS 1992

作者： Aras, C.M. Luo, Ren C. Reeves, D.S. Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering United States Department of Computer Science North Carolina State University RaleighNC27695 United States

ISBN: (纸本)0780307372

We propose a new interprocessor communication network, named the Segmented Bus, for multiprocessor message passing computer architectures executing groups of processes with localized communication patterns and time varying computational demands. The control of autonomous robots includes such process sets, making this architecture suitable for the intelligent robot control problem and other control systems with localized and changing message communication patterns. The Segmented Bus also allows dynamic segmentation of the interprocessor communication network for dynamic reconfiguration based on task communication locality. Virtual cut-Through and preemptive circuit switched data transfers are used for inter-segment data transfers on the Segmented Bus. Hardware and protocols for implementing these two techniques are discussed. The performance of the Segmented Bus using the two data transfer techniques is evaluated with simulation and the results are compared to the single bus and the multiple bus in terms of the performance, expandability and the complexity of hardware. © 1992 Institute of electrical and Electronics Engineers Inc. All rights reserved.

关键词： Data transfer

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Autonomous robot localisation by sensor fusion

Autonomous robot localisation by sensor fusion

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1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992

作者： Jarvis, R.A. Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University VIC3168 Australia

ISBN: (纸本)0780308867

Being able to determine the position of an indoor autonomous robot in an accurate and robust way is an essential component of a workable navigation strategy. This paper describes a technique which combines ultrasonic tracking and visual target analysis to allows the location of an autonomous robot in sight of the apparatus to be determined reliably and simply. The ultrasonic and visual targets can easily be transferred to any vehicle which is required to be tracked with a minimum of effort. Preliminary results are reported. © 1992 IEEE.

关键词： Robots

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