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IVS O5: New developments and research trends for intelligent vehicles

IEEE Intelligent systems 2005年第4期20卷 10-14页

作者： Wang, Fei-Yue Li, Li Song, Jingyan Niehsen, Wolfgang Zheng, Nan-Ning University of Arizona Chinese Academy of Science United States University of Arizona United States Tsinghua University China Chinese Academy of Sciences China Robert Bosch Corporate Research United States Xi'an Jiaotong University China Department of Automation Tsinghua University Beijing China University of Arizona's Systems Industrial Engineering Department United States University's Program in Advanced Research of Complex Systems United States Key Laboratory of Complex Systems and Intelligence Science Chinese Academy of Sciences China Robert Bosch Corporate Research United States Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China

Recent advances and research trends for intelligent vehicles were studied. Vehicle-state sensing focuses on measuring a vehicle's movement and monitoring its actuators. Individual-vehicle-control research focuses mainly on guaranteeing driving safety. The results suggest that intervehicle, vehicle-roadside, and vehicle-driver information sharing currently the most attractive trend in intelligent-vehicle research.

关键词： Intelligent vehicle highway systems

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Assembling virtual fixtures for guidance in training environments

Assembling virtual fixtures for guidance in training environ...

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International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator systems (HAPTICS)

作者： A.B. Kuang S. Payandeh Bin Zheng F. Henigman C.L. MacKenzie Human Motor Systems Laboratory School of Kinesiology Experimental Robotics Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

We set up a library of virtual fixtures with both haptic and graphic properties and behaviors. For a given task, Virtual Fixture Assembly Language (VFAL) could be used to construct various virtual fixture series, with graphic and force guidance rules, making the low-level haptic and graphic rendering details transparent to the developers. An experiment evaluated the application of virtual fixtures as an aid for guiding a user in a path navigation task. The task was performed with or without force field guidance of virtual fixtures, and then transferred to the condition with no virtual fixtures. Results showed significant learning and transfer effects measured by performance time and path length. However, training using virtual fixtures with force guidance had comparable results to training with graphic only fixtures representing the path. Results are discussed in terms of motor learning theory, future work and applications for the design of better VR training environments.

关键词： Assembly Fixtures Graphics Haptic interfaces Libraries Rendering (computer graphics) Navigation Length measurement Time measurement Virtual reality

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Modular hybrid Petri nets for studying multi-operational production systems where parts follow multiple alternative processes

Modular hybrid Petri nets for studying multi-operational pro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.J. Tsinarakis K.P. Valavanis Intelligent Systems and Robotics Laboratory Department of Production Engineering and Management Technical University of Crete Chania Greece Department of Computer Science and Engineering University of South Florida Center for Robot-Assisted Search and Rescue Tampa FL USA

This work presents a modular hybrid timed Petri net (MHTPN) methodology used to study multi-operational production systems in which parts are used for the production of different product types. This research generalizes work presented in Tsinarakis, GJ et al., (2003) that studied production systems where all parts of the same type were used for the production of a type of final products following a common route. 3 fundamental system modules are derived; their MHTPN models are defined, followed by modules synthesis to obtain the overall system Petri net. For any topology, system's nodes and invariants are calculated. Applicability of the method is illustrated through an analytical example.

关键词： Petri nets Production systems Topology Fluid dynamics Assembly Intelligent robots Hybrid intelligent systems Laboratories Production engineering engineering management

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Using a non-prior training active feature model

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3333卷 69-78页

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul 156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville TN 27996-2100 United States

This paper presents a feature point tracking algorithm using optical flow under the non-prior training active feature model (NPT-AFM) framework. The proposed algorithm mainly focuses on analysis of deformable objects, and provides real-time, robust tracking. The proposed object tracking procedure can be divided into two steps: (i) optical flow-based tracking of feature points and (ii) NPT-AFM for robust tracking. In order to handle occlusion problems in object tracking, feature points inside an object are estimated instead of its shape boundary of the conventional active contour model (ACM) or active shape model (ASM), and are updated as an element of the training set for the AFM. The proposed NPT-AFM framework enables the tracking of occluded objects in complicated background. Experimental results show that the proposed NPT-AFM-based algorithm can track deformable objects in real-time. © Springer-Verlag 2004.

关键词： Optical flows

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Various emotional expressions with emotion expression humanoid robot WE-4RII

Various emotional expressions with emotion expression humano...

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IEEE Technical Exhibition Based Conference on robotics and Automation, TExCRA

作者： K. Itoh H. Miwa M. Matsumoto M. Zecca H. Takanobu S. Roccella M.C. Carrozza P. Dario A. Takanishi Graduate School of Science and Engineering Waseda University Tokyo Japan Department of Mechanical Engineering Waseda University Tokyo Japan ARTS Laboratory Scuola Superiore Sant'' Anna Pontedera Italy Humanoid Robotics Institute Waseda University Tokyo Japan Department of Mechanical Systems Engineering Kogakuin University Tokyo Japan

The authors have been developing humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotion. In 2004, we developed the emotion expression humanoid robot WE-4RII (Waseda Eye No.4 Refined II) by integrating the new humanoid robot hands RCH-I (RoboCasa Hand No.1) into the emotion expression humanoid robot WE-4R. We confirmed that WE-4RII can effectively express its emotion.

关键词： Humanoid robots Robot kinematics Emotion recognition Subspace constraints Olfactory Robot sensing systems Human robot interaction Motion pictures Mechanical engineering Mechanical systems

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Extreme ecosystem studies in the deep OCEan: Technological developments EXOCET/D

Extreme ecosystem studies in the deep OCEan: Technological d...

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The Fourteenth International Offshore and Polar engineering Conference - ISOPE 2004

作者： Sarradin, P.-M. Sarrazin, J. Cadiou, J.F. Olu, K. Desbruyères, D. Rigaud, V. Drogou, J.F. Lecornu, F. Rolin, J.F. Vuillemin, R. Cambon-Bonavita, M.A. Sauter, E. Von Juterzenka, K. Boetius, A. Serrão Santos, R. Colaço, A. Pascoal, A. Oliveira, P. Shillito, B. Zal, F. Schultz, A. Taylor, P. Lane, D. Loke, R.E. Du Buf, H. Waldmann, C. Cormack, A. Sanfilippo, L. Masson, M. Ifremer DRO/EP Plouzané and La Seyne sur Mer France DNIS Plouzané and La Seyne sur Mer France TMSI Plouzané and La Seyne sur Mer France DRV/VP Plouzané and La Seyne sur Mer France AWI Dept. Geosystem and Project Group Deep-Sea Research Bremerhaven Germany Project Group AUV Payload Development and Deep-Sea Gradients Bremerhaven Germany Geosystem Paleoenvironment from Marine Sediments Bremerhaven Germany University of the Azores Horta Portugal Dept. of Electrical Engineering Institute for Systems and Robotics Instituto Superior Técnico Lisbon Portugal UMR CNRS 7138 Systématique Adaptation et Evolution Université Pierre et Marie Curie Paris France Equipe Ecophysiologie Station Biologique Roscoff France School of Earth Ocean and Planetary Sciences Cardiff University Cardiff United Kingdom Dept. Electrical Electronic and Computer Engineering Heriot-Watt University Edinburgh United Kingdom Dept. of Electronics and Computer Science Vision Laboratory University of Algarve Faro Portugal University of Bremen FB5/MARUM Bremen Germany SeeByte Ltd Edinburgh United Kingdom Systea Srl Anagni Italy CAPSUM Technologie GmbH Trittau Germany

The general objective of EXOCET/D is to develop, implement and test specific instruments aimed at exploring, describing, quantifying and monitoring biodiversity in deep-sea fragmented habitats as well as at identifying links between community structure and environmental dynamics. Onboard experimental devices will complement the approach, enabling experiments on species physiology. The EXOCET/D working fields include: video and acoustic imagery, in situ analysis of physico-chemical factors, quantitative sampling of macro- and micro-organisms, in vivo experiments, integration of multidisciplinary data, implementation on European deep-submersibles and a final phase of technical and scientific validation. Copyright © 2004 by The International Society of Offshore and Polar Engineers.

关键词： Submersibles

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Solution to the general robust strictly positive real synthesis problem for polynomial segments

Solution to the general robust strictly positive real synthe...

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2003 European Control Conference, ECC 2003

作者： Yu, Wensheng Wang, Long Ackermann, Jürgen Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing100080 China Center for Systems and Control Department of Mechanics and Engineering Science Peking University Beijing100871 China Robust Control Group Institute of Robotics and Mechatronics German Aerospace Center DLR-Oberpfaffenhofen Postfach 1116 WesslingD-82230 Germany

For any two n-th order polynomials a(s) and b(s), the Hurwitz stability of their convex combination is necessary and sufficient for the existence of a polynomial c(s) such that c(s)/a(s) and c(s)/b(s) are both strictl... 详细信息

ISBN: (纸本)9783952417379

关键词： Polynomials

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Real-time path planning with deadlock avoidance of multiple cleaning robots

Real-time path planning with deadlock avoidance of multiple ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chaomin Luo S.X. Yang D.A. Stacey Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada Department of Computing and Information Science University of Guelph Guelph ONT Canada

In this paper, a cooperative sweeping strategy with deadlock avoidance of complete coverage path planning for multiple cleaning robots in a changing and unstructured environment is proposed, using biologically inspired neural networks. Cleaning tasks require a special kind of trajectory being able to cover every unoccupied area in specified cleaning environments, which is an essential issue for cleaning robots and many other robotic applications. Multiple robots can improve the work capacity, share the cleaning tasks, and reduce the time to complete sweeping tasks. In the proposed model, the dynamics of each neuron in the topologically organized neural network is characterized by a shunting neural equation. Each cleaning robot treats the other robots as moving obstacles. The robot path is autonomously generated from the dynamic activity landscape of the neural network, the previous robot location and the other robot locations. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation studies on three cases of two cooperating cleaning robots. The multiple cleaning robots sweeping will not be trapped in deadlock situations.

关键词： Path planning System recovery Cleaning Orbital robotics Robot sensing systems Intelligent robots Neural networks Computational modeling Chaos Intelligent systems

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Automatic face region tracking for highly accurate face recognition in unconstrained environments

Automatic face region tracking for highly accurate face reco...

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IEEE Conference on Advanced Video and Signal Based Surveillance (AVSS)

作者： Y.-O. Kim J. Paik Jingu Heo A. Koschan B. Abidi M. Abidi Korea Electronics and Technology Institute Puchon Gyeonggi South Korea Image Processing Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University Seoul South Korea Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee Knoxville USA

We present a combined real-time face region tracking and highly accurate face recognition technique for an intelligent surveillance system. High-resolution face images are very important to achieving accurate identification of a human face. Conventional surveillance or security systems, however, usually provide poor image quality because they use only fixed cameras to record scenes passively. We have implemented a real-time surveillance system that tracks a moving face using four pan-tilt-zoom (PTZ) cameras. While tracking, the region-of-interest (ROI) can be obtained by using a low-pass filter and background subtraction with the PTZ. Color information in the ROI is updated to extract features for optimal tracking and zooming. FaceIt/sup /spl reg//, which is one of the most popular face recognition software packages, is evaluated and then used to recognize the faces from the video signal. Experimentation with real human faces showed highly acceptable results in the sense of both accuracy and computational efficiency.

关键词： Face recognition Surveillance Real time systems Humans Cameras Intelligent systems Security Image quality Layout Low pass filters

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Robot motion decision-making system in unknown environments

Robot motion decision-making system in unknown environments

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Boonphoapichart S. Komada T. Hori W.A. Gruver Department of Electric and Electronic Eng. Mie University Tsu Mie Japan Department of Electronics & Information Eng. Aichi University of Technology Gamagori Aichi Japan Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

A fuzzy decision-making system for multi-criteria robot motion planning and control is described for a constant speed omni-directional mobile robot with active stereo cameras capable of panoramic viewing. The robot can be commanded to move to a target point through an unknown environment while satisfying multiple criteria. Advantages of the proposed method are confirmed by simulation. A multi-agent approach is also described for path planning with multiple robots.

关键词： Robot motion Decision making Fuzzy control Fuzzy systems Motion planning Motion control Control systems Mobile robots Robot vision systems Cameras

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