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3D object recognition using spin-images for a humanoid stereoscopic vision system

3D object recognition using spin-images for a humanoid stere...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Olivier Stasse Sylvain Dupitier Kazuhito Yokoi AIST IS-CNRS STIC Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method

关键词： Object recognition Machine vision Humanoid robots intelligent robots Service robots Computational modeling Robot vision systems intelligent systems Databases Solid modeling

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Neurodynamics based Complete Coverage Navigation with Real-time Map Building in Unknown Environments

Neurodynamics based Complete Coverage Navigation with Real-t...

引用

2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Chaomin Luo Simon X. Yang Max Q.-h. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

A rectangular cell map representation and a neural dynamics based technique are proposed for real-time map building and complete coverage navigation (CCN) of a cleaning robot. The proposed model is compared with a triangular cell map based method proposed by Oh et al. (2004), which combined distance transform path planning, wall-following algorithm, and template based technique. Our method does not need any templates, even in unknown environments. A local map composed of rectangular cells is built through the proposed neural dynamics during CCN with restricted sensory information in unknown environments. The robot is able to dynamically build an accurate map of its immediate limited surroundings for its navigation. Comparison studies to triangular cell map based CCN approach show that the proposed model is capable of planning more reasonable and shorter coverage path in unknown environments

关键词： Neurodynamics Navigation Biomembranes Cleaning Robot sensing systems Path planning intelligent robots Biological system modeling Capacitance Real time systems

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Vague Sets Based Evidence Combinational Rule With Generalized Belief Function

Vague Sets Based Evidence Combinational Rule With Generalize...

引用

International Conference on Information and Automation (ICIA)

作者： Lizhong Xu Zhigui Lin Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems ARIS Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a new vague evidence theory is proposed to expand the conventional evidence theory. First, the concept of vague evidence theory is introduced. Based on the features of vague sets, a belief function is formulated, and its characteristics is analyzed and proved mathematically. After that, based on the degree of similarity in vague sets, the relative contribution to the combined vague sets is obtained, and a vague sets based combinational rule is formulated. Finally, experiments are conducted to demonstrate the effectiveness of the proposed vague evidence theory. The proposed vague evidence theory based method is capable of representing and processing problems with vagueness, uncertainties and imprecision.

关键词： Fuzzy sets Set theory Area measurement Measurement uncertainty Humans intelligent robots Fuzzy set theory Educational institutions intelligent systems Arithmetic

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Spatial Distribution of Water Quality Based on Generalized Regression Neural Network

Spatial Distribution of Water Quality Based on Generalized R...

引用

International Conference on Information and Automation (ICIA)

作者： Huibin Wang Lizhong Xu Shaohua Sun Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

The paper proposes a new model for analyzing spatial distribution of water quality. The model is based on statistics and generalized regression neural network. The model is based on statistic theories and easy to approximate a nonlinear function. The advantages of the model include simple net structure, few artificial parameters, and high accuracy calculation. The developed approach is successfully applied to the water quality assessment of the Taihu Lake of China P.R, which includes the dissolved oxygen concentration of water-quality index and the spatial distribution of the water-quality level. The results show that the model can generate a credible spatial distribution of the water quality.

关键词： Neural networks Lakes Statistical distributions Monitoring intelligent robots Function approximation Probability density function Sun Educational institutions Computer networks

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Who Moved?! An Investigation into Distribution of Actions and Behaviors in a Multi Agent System

Who Moved?! An Investigation into Distribution of Actions an...

引用

International Conference on Mechatronics (ICM)

作者： Roozbeh Daneshvar Caro Lucas Artificial Intelligence and Robotics Laboratory Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran Center of Excellence for Control and Intelligent Processing Faculty of Electrical and Computer Engineering School of Intelligent Systems IPM University of Tehran Tehran Iran

In this paper we have considered systems in which agents communicate via their environment. In these systems the agents do not have direct and explicit communication with each other and instead they have implicit communication which is performed via the environment they are located in. Different kinds of environment elements are considered to be changed while on the other hand for all of these situations there is a change in the environment and this change means potential stimuli that fires behaviors of agents for future. It is considered that if we can find a track of changes in the environment and find the roots of a movement in an agent that is originally made by another agent of the group

关键词： Artificial intelligence intelligent robots Fires Tracking Process control Communication system control control systems intelligent control Optical computing intelligent systems

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Hybrid Model of WT and ANFIS and Its Application on Time Series Prediction of Ship Roll Motion

Hybrid Model of WT and ANFIS and Its Application on Time Ser...

引用

Computational Engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Hui Li Chen Guo Simon X. Yang Hongzhang Jin Automation and Electrical Engineering College Dalian Maritime University Dalian China Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Canada Automation College Harbin Engineering of Technology Harbin China

Based on the multi time and frequency scale and the nonlinear character of ship roll motion, a hybrid model prediction approach combining wavelet transform (WT) and adaptive neuro-fuzzy inference system (ANFIS) is proposed in this paper. By using multi-resolution nalysis (MRA) of WT, multilevel 1-D wavelet decompositions of roll motion are completed to obtain simple and regular period signals. Then the multiple-input/single-output (MISO) ANFIS model is employed as prediction model for the main decomposed signals above. Finally, a prediction result is given through linear combination. The simulation experiments demonstrate the proposed method can effectively reduce the prediction difficulty and obtain better prediction precision. This method can also be used in ship pitch and heave motion prediction

关键词： Predictive models Marine vehicles Wavelet analysis Wavelet transforms Multiresolution analysis Wavelet domain robotics and automation Educational institutions intelligent robots Frequency

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Design of a Micro-Gripper and an Ultrasonic Manipulator for Handling Micron Sized Objects

Design of a Micro-Gripper and an Ultrasonic Manipulator for ...

引用

2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： F. Beyeler D.J. Bell B.J. Nelson Y. Sun A. Neild S. Oberti J. Dual Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Advanced Micro and Nanosystems Laboratory University of Toronto Toronto ONT Canada Center ofMechanics Swiss Federal Institute of Technology Zurich Switzerland

This work reports on a system consisting of a MEMS (microelectromechanical system) gripper and an ultrasonic manipulator. The gripper is electrostatically actuated and includes an integrated force sensor measuring the gripping force. The device is monolithically fabricated using a silicon-on-insulator (SOI) fabrication process. The resolution of the force sensor is in the sub-micronewton range and, therefore, provides feedback of the forces that dominate the micromanipulation processes. A MEMS ultrasonic device is described which aligns small objects such as biological cells prior to manipulation with the gripper. The concept is demonstrated with polymer spheres, glass spheres and Hela cancer cells, thus providing a useful tool in micro-robotics and biological research

关键词： Grippers Force sensors Micromechanical devices Force measurement Microelectromechanical systems Electrostatic measurements Ultrasonic variables measurement Silicon on insulator technology Fabrication Force feedback

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Stability analysis and control law design for acrobots

Stability analysis and control law design for acrobots

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IEEE International Conference on robotics and Automation (ICRA)

作者： Xu-Zhi Lai Jin-Hua She S.X. Yang Min Wu School of Information Science and Engineering Central South University Changsha Hunan China School of Bionics Tokyo University of Technology Hachioji Tokyo Japan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

This paper presents a novel control strategy based on a non-smooth Lyapunov function to guarantee the stability of the system in the whole motion space. Three control laws that are derived based on three Lyapunov functions are applied successively in three stages of motion control to achieve a suitable posture and increase the energy so as to make the acrobot move into the area around the unstable inverted equilibrium position, and to stabilize it at that position. These three Lyapunov functions are combined into one non-smooth function, which theoretically guarantees the stability of the acrobot in the whole motion space. Simulation results have demonstrated the validity of this strategy

关键词： Stability analysis Motion control Lyapunov method control systems Information science intelligent robots Actuators Fuzzy control intelligent systems Centralized control

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Optical flow-based tracking of deformable objects using a non-prior training active feature model 5th

Optical flow-based tracking of deformable objects using a no...

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5th Pacific Rim Conference on Multimedia, PCM 2004

作者： Kim, Sangjin Kang, Jinyoung Shin, Jeongho Lee, Seongwon Paik, Joonki Kang, Sangkyu Abidi, Besma Abidi, Mongi Image Processing and Intelligent Systems Laboratory Department of Image Engineering Graduate School of Advanced Imaging Science Multimedia and Film Chung-Ang University 221 Huksuk-Dong Tongjak-Ku Seoul156-756 Korea Republic of Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee KnoxvilleTN37996-2100 United States

ISBN: (纸本)9783540239857

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 Berlin Heidelberg 2004.

关键词： Optical flows

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The ice thickness sensor based on electric conduction characteristic of air, ice and water

The ice thickness sensor based on electric conduction charac...

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9th World Multi-Conference on Systemics, Cybernetics and Informatics, WMSCI 2005

作者： Qin, Jianmin Han, Zhennan Dou, Yinke Cui, Huaibei Chi, Huanying Key Laboratory of Advanced Transducers and Intelligent Control Systems Ministry of Education Taiyuan University of Technology Taiyuan 030024 Shanxi China Shanxi Institute of Comprehensive Professional Technic Taiyuan 030006 Shanxi China

ISBN: (纸本)9806560612

It is a new testing technology that ice thickness is measured by making use of electric conductivity in water and in ice. The electric conductivity in water gradually decrease from strong to weak during the state of water changing from liquid into solid. Bases on this characteristics, a new sensor structure for measuring thickness of ice layer and its testing method are developed in the paper, and its application to hydrologic gauging is also briefly introduced.

关键词： Electric conductivity

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